An in-situ translation motion chassis for an unmanned mining robot

Abstract

The present invention is applicable to the field of mining robots, and provides an unmanned mining robot in-situ translational motion chassis, including a crawler-type mobile base; a steering shaft rotatably mounted on the crawler-type mobile base, the upper end of the steering shaft being connected to the upper body of the robot; a rotating drive disk is provided at a predetermined position in the middle of the steering shaft; the outer edge of the rotating drive disk is a wave-like structure consisting of a plurality of upper grooves arranged on the upper end surface and a plurality of lower grooves arranged on the lower end; a first drive motor and a second drive motor are mounted on the upper end surface of the crawler-type mobile base; the output ends of the first drive motor and the second drive motor are both equipped with gears; the gear arranged at the output end of the first drive motor meshes with the upper groove of the rotating drive disk; the gear arranged at the output end of the second drive motor meshes with the lower groove of the rotating drive disk. Thus, the steering mechanism of the present invention adopts a symmetrical transmission double transmission mode, which can withstand a larger load and reduce the occurrence of tooth jumping.

Description

Technical Field

[0001] The invention relates to the field of mining robots, and in particular to an in-situ translational motion chassis of an unmanned mining robot. Background Art

[0002] Mining is mainly carried out in mines. Traditional mining operations are mainly completed manually, and the efficiency of manual mining is low. With the development of robot technology, it has become a reality to use robots to help humans perform mining operations. The efficiency of robot mining is much higher than that of manual labor, and it can eliminate irregular operations and avoid casualties even if accidents occur. However, the existing intelligent mining robots used in mining projects still have some disadvantages when used;

[0003] Since mining robots are load-type robots, that is to say, when working, each component bears different degrees of load.

[0004] Most common steering mechanisms in the prior art use a working mode of cooperating between a gear and a gear ring. Although this structure is simple and occupies a small space, it is easy to cause gear popping under heavy load.

[0005] In summary, the existing technology obviously has inconveniences and defects in practical use, so it is necessary to improve it. Summary of the invention

[0006] In view of the above-mentioned defects, the purpose of the present invention is to provide an in-situ translational motion chassis for an unmanned mining robot, whose steering mechanism adopts a symmetrical double transmission method, which can withstand a larger load and reduce the occurrence of tooth jumping.

[0007] In order to achieve the above-mentioned purpose, the present invention provides an in-situ translational motion chassis of an unmanned mining robot, comprising a crawler-type mobile base; a steering shaft rotatably mounted on the crawler-type mobile base, the upper end of the steering shaft being connected to the upper body of the robot; a rotating drive disk is provided at a predetermined position in the middle of the steering shaft; the outer edge of the rotating drive disk is a wave-like structure consisting of a plurality of upper grooves arranged on the upper end surface and a plurality of lower grooves arranged on the lower end, and the plurality of upper grooves and the plurality of lower grooves are arranged alternately; a first drive motor and a second drive motor are mounted on the upper end surface of the crawler-type mobile base; gears are installed at the output ends of the first drive motor and the second drive motor; the gear arranged at the output end of the first drive motor is meshed with the upper groove of the rotating drive disk; the gear arranged at the output end of the second drive motor is meshed with the lower groove of the rotating drive disk.

[0008] According to the unmanned mining robot in-situ translation motion chassis of the present invention, the upper end of the crawler-type mobile base is also provided with a locking structure for locking the rotating drive disk.

[0009] The unmanned mining robot in-situ translation motion chassis according to the present invention is characterized in that the locking structure includes a locking bracket arranged at the upper end of the crawler-type mobile base; a composite gear rotatably mounted on the upper end of the locking bracket; the composite gear is composed of a large gear and a small gear concentrically fixed; the composite gear is coaxially connected to a third motor arranged at the upper end of the crawler-type mobile base, and the third motor can drive the composite gear to rotate; a locking arm group hinged on one side of the composite gear, and the locking arm group is composed of an upper clamping arm and a lower clamping arm that intersect each other. The upper clamp arm and the lower clamp arm are both S-shaped structures; the upper clamp arm and the lower clamp arm both include arc-shaped portions arranged at both ends and a straight rod portion arranged in the middle; the outer edge of the arc-shaped portion at one end of the upper clamp arm is provided with a plurality of tooth-like structures; the inner edge of the arc-shaped portion at one end of the lower clamp arm is provided with a plurality of tooth-like structures; one end of the upper clamp arm provided with the tooth-shaped structure is meshed with the large gear externally, and the other arc-shaped portion of the upper clamp arm can be inserted into the upper groove; one end of the lower clamp arm provided with the tooth-shaped structure is meshed with the small gear internally; the other arc-shaped portion of the lower clamp arm can be inserted into the lower groove.

[0010] According to the unmanned mining robot in-situ translation motion chassis of the present invention, the end of the arc-shaped portion is an arc-shaped structure, and its diameter corresponds to the diameter of the upper groove and the lower groove.

[0011] According to the unmanned mining robot in-situ translation motion chassis of the present invention, the diameters of the upper groove and the lower groove are equal.

[0012] According to the unmanned mining robot in-situ translation motion chassis of the present invention, the gear can be a ball-bearing structure, and the gear includes a first snap-fit ​​plate and a second snap-fit ​​plate. The mating surfaces of the first snap-fit ​​plate and the second snap-fit ​​plate are both provided with grooves for accommodating balls. The first snap-fit ​​plate and the second snap-fit ​​plate are fixedly connected by bolts, and the end face of the second snap-fit ​​plate is connected to the output end of the first drive motor or the second drive motor.

[0013] The present invention provides an in-situ translational motion chassis of an unmanned mining robot. The in-situ translational motion chassis of the unmanned mining robot comprises a crawler-type mobile base. The crawler-type mobile base adopts a traditional crawler-type mobile base structure and has higher stability. A steering shaft rotatably mounted on the crawler-type mobile base, the upper end of the steering shaft being connected to the upper body of the robot; a rotating drive disk being arranged at a predetermined position in the middle of the steering shaft; the outer edge of the rotating drive disk being a wave-shaped structure consisting of a plurality of upper grooves arranged on the upper end surface and a plurality of lower grooves arranged on the lower end, the plurality of upper grooves and the plurality of lower grooves being arranged in an interlaced manner; a first drive motor and a second drive motor being mounted on the upper end surface of the crawler-type mobile base; gears being mounted on the output ends of the first drive motor and the second drive motor; the gears being arranged on the output ends of the first drive motor being meshed with the upper groove of the rotating drive disk; the gears being arranged on the output ends of the second drive motor being meshed with the lower groove of the rotating drive disk; during the transmission process, the first drive motor and the second drive motor rotate synchronously (the technology for realizing the synchronous rotation of the two motors is a technology well known to those skilled in the art), the rotating drive disk being synchronously driven to rotate by the gears, the dual transmission mode of symmetrical transmission can withstand a larger load and reduce the occurrence of tooth jumping. The steering mechanism of the present invention adopts a dual transmission mode of symmetrical transmission, which can withstand a larger load and reduce the occurrence of tooth jumping. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the present invention;

[0015] Figure 2 yes Figure 1 Another schematic diagram of;

[0016] Figure 3 yes Figure 2 A magnified view of the structure of the middle locking structure;

[0017] Figure 4 yes Figure 1 Another structural schematic diagram of the middle gear;

[0018] In the figure, 1-crawler type mobile base, 2-steering shaft, 21-rotating drive plate, 211-upper groove, 212-lower groove, 3-first drive motor, 4-second drive motor, 5-gear, 51-first buckling plate, 52-second buckling plate, 53-ball, 511-groove, 6-locking bracket, 61-large gear, 62-small gear, 63-lower clamping arm, 64-upper clamping arm, 65-third motor. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0020] See also Figure 1 and Figure 2 The present invention provides an in-situ translation motion chassis for an unmanned mining robot, the in-situ translation motion chassis for an unmanned mining robot comprising:

[0021] The crawler-type mobile base 1 adopts a traditional crawler-type mobile base structure and has higher stability.

[0022] Rotate the steering shaft 2 mounted on the crawler-type mobile base 1, wherein the upper end of the steering shaft 2 is connected to the upper body of the robot;

[0023] A rotating drive disc 21 is provided at a predetermined position in the middle of the steering shaft 2;

[0024] The outer edge of the rotating driving disk 21 is a wave-shaped structure consisting of a plurality of upper grooves 211 disposed on the upper end surface and a plurality of lower grooves 212 disposed on the lower end, wherein the plurality of upper grooves 211 and the plurality of lower grooves 212 are arranged alternately;

[0025] A first drive motor 3 and a second drive motor 4 are installed on the upper end surface of the crawler-type mobile base 1; the output ends of the first drive motor 3 and the second drive motor 4 are both installed with gears 5; the gear 5 arranged at the output end of the first drive motor 3 is meshed with the upper groove 211 of the rotating drive disk 21; the gear 5 arranged at the output end of the second drive motor 4 is meshed with the lower groove 212 of the rotating drive disk 21;

[0026] During the transmission process, the first drive motor 3 and the second drive motor 4 rotate synchronously (the technology for realizing the synchronous rotation of the two motors is well known to those skilled in the art), and the rotating drive disk 21 is synchronously driven to rotate through the gear 5. The symmetrical dual transmission mode can withstand a larger load and reduce the occurrence of tooth jumping.

[0027] Preferably, a locking structure is also provided at the upper end of the crawler mobile base 1 of the present invention, which is used to lock the rotating drive disk 21 that is not performing steering work, so as to prevent the steering shaft 2 from being affected by the load and causing a certain degree of steering when the robot is working under load. The steering at this time may have a greater impact on the mining process.

[0028] See also Figure 3 , the locking structure comprises:

[0029] A locking bracket 6 provided at the upper end of the crawler-type mobile base 1;

[0030] The composite gear mounted on the upper end of the locking bracket 6 is rotatable; the composite gear is composed of a large gear 61 and a small gear 62 that are concentrically fixed; the composite gear is coaxially connected to a third motor 65 disposed on the upper end of the crawler-type mobile base 1, and the third motor 65 can drive the composite gear to rotate.

[0031] A locking arm assembly hinged to one side of the composite gear, the locking arm assembly being composed of an upper clamping arm 64 and a lower clamping arm 63 intersecting each other;

[0032] The upper clamp arm 64 and the lower clamp arm 63 are both S-shaped structures; the upper clamp arm 64 and the lower clamp arm 63 each include arc-shaped portions at both ends and a straight rod portion in the middle;

[0033] The outer edge of the arc-shaped portion at one end of the upper clamp arm 64 is provided with a plurality of tooth-like structures;

[0034] The inner edge of the arc-shaped portion at one end of the lower clamping arm 63 is provided with a plurality of tooth-like structures;

[0035] One end of the upper clamp arm 64 having a toothed structure is meshed with the large gear 61, and the other arc-shaped portion of the upper clamp arm 64 can be inserted into the upper groove 211;

[0036] One end of the lower clamp arm 63 having a toothed structure meshes with the pinion 62; the other arc-shaped portion of the lower clamp arm 63 can be inserted into the lower groove 212;

[0037] When the locking structure is working, the third motor 65 rotates forward, and the third motor 65 drives the composite gear to rotate counterclockwise. Since the large gear 61 and the small gear 62 are fixedly connected through the shaft, the large gear 61 and the small gear 62 both rotate counterclockwise, and the large gear 61 drives the upper clamping arm 64 to swing, and the arc-shaped end of the upper clamping arm 64 away from the large gear 61 is inserted into the upper groove 211; the small gear 62 drives the lower clamping arm 63 to swing, and the arc-shaped end of the lower clamping arm 63 away from the small gear 62 is inserted into the lower groove 212, so as to achieve locking of the rotating drive disk 21;

[0038] The third motor 65 rotates in the opposite direction, and the third motor 65 drives the composite gear to rotate clockwise. Since the large gear 61 and the small gear 62 are fixedly connected through the shaft, the large gear 61 and the small gear 62 both rotate clockwise, and the large gear 61 drives the upper clamping arm 64 to swing, and the arc-shaped end of the upper clamping arm 64 away from the large gear 61 will be disengaged from the upper groove 211; the small gear 62 drives the lower clamping arm 63 to swing, and the arc-shaped end of the lower clamping arm 63 away from the small gear 62 will be disengaged from the lower groove 212; the locking of the driving disk 21 is canceled;

[0039] In addition, the end of the arc portion of the present invention is an arc-shaped structure, and its diameter corresponds to the diameter of the upper groove 211 and the lower groove 212, so that the locking is more stable when the end of the arc portion is inserted into the groove during clamping.

[0040] Furthermore, the diameters of the upper groove 211 and the lower groove 212 of the present invention are equal. Firstly, in order to better process the rotating drive disk 21, the diameters of the two groups of grooves are set to be equal. When the rotating drive disk 21 is being processed, the position distribution of the upper and lower grooves is also more convenient for positioning. Secondly, by setting grooves of equal diameters, processing is also more convenient.

[0041] See also Figure 4 Preferably, the gear 5 of the present invention may be a ball-type structure, the gear 5 comprising a first snap-fit ​​plate 51 and a second snap-fit ​​plate 52, the mating surfaces of the first snap-fit ​​plate 51 and the second snap-fit ​​plate 52 are both provided with grooves 511 for accommodating the balls 53, the first snap-fit ​​plate 51 and the second snap-fit ​​plate 52 are fixedly connected by bolts, the end face of the second snap-fit ​​plate 52 is connected to the output end of the first drive motor 3 or the second drive motor 4, by setting the gear 5 as a ball-type structure, when a gear is damaged due to excessive load, it is not necessary to replace the entire workpiece, but only a single ball needs to be replaced.

[0042] When replacing the ball bearing 53, first remove the fastening bolts, then remove the first buckling plate 51, replace the damaged ball bearing 53 with a new ball bearing 53, then re-fasten the first buckling plate 51 and reinstall the bolts.

[0043] In summary, the present invention provides an in-situ translational motion chassis for an unmanned mining robot. The in-situ translational motion chassis for an unmanned mining robot includes a tracked mobile base, which adopts a traditional tracked mobile base structure and has higher stability. A steering shaft rotatably mounted on the crawler-type mobile base, the upper end of the steering shaft being connected to the upper body of the robot; a rotating drive disk being arranged at a predetermined position in the middle of the steering shaft; the outer edge of the rotating drive disk being a wave-shaped structure consisting of a plurality of upper grooves arranged on the upper end surface and a plurality of lower grooves arranged on the lower end, the plurality of upper grooves and the plurality of lower grooves being arranged in an interlaced manner; a first drive motor and a second drive motor being mounted on the upper end surface of the crawler-type mobile base; gears being mounted on the output ends of the first drive motor and the second drive motor; the gears being arranged on the output ends of the first drive motor being meshed with the upper groove of the rotating drive disk; the gears being arranged on the output ends of the second drive motor being meshed with the lower groove of the rotating drive disk; during the transmission process, the first drive motor and the second drive motor rotate synchronously (the technology for realizing the synchronous rotation of the two motors is a technology well known to those skilled in the art), the rotating drive disk being synchronously driven to rotate by the gears, the dual transmission mode of symmetrical transmission can withstand a larger load and reduce the occurrence of tooth jumping. The steering mechanism of the present invention adopts a dual transmission mode of symmetrical transmission, which can withstand a larger load and reduce the occurrence of tooth jumping.

[0044] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. An unmanned mining robot in-situ translation motion chassis, characterized in that: include: Crawler mobile base; Rotating a steering shaft mounted on the crawler-type mobile base, wherein the upper end of the steering shaft is connected to the upper body of the robot; A rotating drive disc is provided at a predetermined position in the middle of the steering shaft; The outer edge of the rotating drive disk is a wave-shaped structure consisting of a plurality of upper grooves provided on the upper end surface and a plurality of lower grooves provided on the lower end, and the plurality of upper grooves and the plurality of lower grooves are arranged alternately; A first drive motor and a second drive motor are mounted on the upper end surface of the crawler-type mobile base; the output ends of the first drive motor and the second drive motor are both equipped with gears; the gear disposed at the output end of the first drive motor is meshed with the upper groove of the rotating drive disk; A gear disposed at the output end of the second drive motor meshes with the lower groove of the rotating drive disk; The upper end of the crawler-type mobile base is also provided with a locking structure for locking the rotating drive disc; The locking structure comprises: A locking bracket provided at the upper end of the crawler-type mobile base; Rotate a composite gear mounted on the upper end of the locking bracket; the composite gear is composed of a large gear and a small gear that are concentrically fixed; the composite gear is coaxially connected to a third motor disposed on the upper end of the crawler-type mobile base, and the third motor can drive the composite gear to rotate; A locking arm assembly hinged to one side of the composite gear, the locking arm assembly being composed of an upper clamping arm and a lower clamping arm connected to each other; The upper clamp arm and the lower clamp arm are both S-shaped structures; the upper clamp arm and the lower clamp arm each include an arc portion disposed at both ends and a straight rod portion disposed in the middle; The outer edge of the arc-shaped portion at one end of the upper clamping arm is provided with a plurality of tooth-like structures; The inner edge of the arc-shaped portion at one end of the lower clamping arm is provided with a plurality of tooth-like structures; One end of the upper clamping arm provided with a toothed structure is meshed with the large gear, and the other arc-shaped portion of the upper clamping arm can be inserted into the upper groove; One end of the lower clamping arm provided with a toothed structure meshes with the pinion gear; the other arc-shaped portion of the lower clamping arm can be inserted into the lower groove.

2. The unmanned mining robot in-situ translation motion chassis according to claim 1 is characterized in that: The end of the arc-shaped portion is an arc-shaped structure, and the diameter of the arc-shaped structure corresponds to the diameter of the upper groove and the lower groove.

3. The unmanned mining robot in-situ translation motion chassis according to claim 1, characterized in that: The diameters of the upper groove and the lower groove are equal.

4. The unmanned mining robot in-situ translation motion chassis according to claim 1, characterized in that: The gear may be a ball bearing structure, comprising a first snap-fit ​​plate and a second snap-fit ​​plate, the mating surfaces of the first snap-fit ​​plate and the second snap-fit ​​plate are both provided with grooves for accommodating balls, the first snap-fit ​​plate and the second snap-fit ​​plate are fixedly connected by bolts, and the end face of the second snap-fit ​​plate is connected to the output end of the first drive motor or the second drive motor.

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