A small robot for constructing injection holes in in-situ leaching mining of rare earth minerals

Abstract

This application relates to the field of rare earth leaching mining technology, and provides a small robot for drilling injection holes in rare earth leaching mining. The robot includes: a base, a power supply box, a control system, a drilling assembly, a lifting and walking assembly, a lifting and positioning assembly, and a telescopic side support assembly. The power supply box, control system, and drilling assembly are mounted on the base. At least four lifting and walking assemblies are located at the four corners of the base. The lifting and positioning assembly is located at the bottom of the base. The telescopic side support assembly is rotatably mounted on the base. The four lifting and walking assemblies are used to achieve stable operation in complex terrain environments. The lifting and positioning assembly and the telescopic side support assembly, in conjunction with the lifting and walking assemblies, provide triple support for the robot, ensuring its overall stability. The drilling assembly is used to automatically drill injection holes. This robot achieves mechanization and automation, saves time and labor costs, and improves safety and drilling efficiency.

Description

Technical Field

[0001] This application belongs to the field of rare earth leaching mining technology, and more specifically, it relates to a small robot for constructing injection holes in rare earth leaching mining. Background Technology

[0002] To achieve the goal of high-efficiency, low-cost, and low-risk in-situ leaching mining injection hole construction operations for rare earth mines, and to promote the automation, digitalization, and intelligent management of ion adsorption type rare earth mines, there is an urgent need for a rare earth mine in-situ leaching mining injection hole construction robot. Summary of the Invention

[0003] The purpose of this application is to provide a small robot for constructing injection holes in in-situ leaching mining of rare earth minerals, so as to solve the technical problems of low mechanization and automation, high time and labor costs in the initial stage of injection hole construction process in in-situ leaching mining of rare earth minerals due to manual operation in the prior art.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows: a small robot for constructing injection holes in in-situ leaching mining of rare earth minerals is provided, comprising: a base, a power supply box, a control system, a drilling assembly, a lifting and walking assembly, a lifting and positioning assembly, and a telescopic side support assembly; the power supply box, the control system, and the drilling assembly are disposed on the base, at least four lifting and walking assemblies are disposed at the four corners of the base, the lifting and positioning assembly is disposed at the bottom of the base, and the telescopic side support assembly is rotatably disposed on the base.

[0005] In one embodiment, the lifting and walking assembly includes a first linear lifting power component, a support frame, a walking wheel, and a hub motor. One end of the first linear lifting power component is disposed at the bottom of the base, and the other end is disposed on the support frame. The walking wheel is rotatably disposed on the support frame, and the hub motor is disposed on the walking wheel.

[0006] In one embodiment, the lifting and positioning assembly includes: a base plate, a scissor lift frame, a second linear lifting power component, and a positioning stake; both ends of the scissor lift frame are connected to the base plate and the machine base, respectively; the second linear lifting power component controls the extension and retraction of the scissor lift frame; and the positioning stake is disposed on the base plate and used to be inserted into the ground.

[0007] In one embodiment, multiple positioning stakes are spaced apart.

[0008] In one embodiment, the positioning pile is a wedge-shaped pile.

[0009] In one embodiment, the telescopic side support assembly includes: an electric rotary seat disposed on the base, a third linear lifting power member disposed on the electric rotary seat, and a universal support foot disposed on the third linear lifting power member.

[0010] In one embodiment, two telescopic side support assemblies are provided and symmetrically arranged on the base.

[0011] In one embodiment, the drilling assembly includes: a mounting bracket, a lead screw assembly disposed on the mounting bracket, a deflection motor disposed on the lead screw assembly, and a drill bit assembly connected to the deflection motor.

[0012] In one embodiment, the drill bit assembly includes: a rotary drive motor, a drill bit, a clamping member, and a spiral blade. The rotary drive motor is mounted on the deflection motor, the drill bit is mounted on the rotary drive motor, the rotary drive motor is provided with a limiting slot and an annular groove, the clamping member is positioned on the rotary drive motor through the limiting slot and the clamping member can rotate along the annular groove, and the spiral blade is mounted on the clamping member.

[0013] In one embodiment, radars are respectively installed at the four corners of the base, and cameras and balancers are installed on the base.

[0014] The beneficial effects of the small robot for constructing injection holes in in-situ leaching mining of rare earth minerals provided in this application are as follows:

[0015] First, four lifting and walking components are used to achieve stable operation in complex terrain environments and reduce damage to the ecological environment and surface vegetation. The lifting and positioning components and telescopic side support components work together with the lifting and walking components to provide triple support for the robot, ensuring the overall stability of the robot during the drilling process.

[0016] Secondly, the drilling assembly is used to realize automated drilling of injection holes. Compared with manual operation, this robot realizes mechanization and automation, saves time and labor costs, and improves safety and drilling efficiency.

[0017] Third, by setting up radar, cameras and balancers on the base, the surrounding environment can be monitored in real time and the information can be fed back to the control system in a timely manner. Combined with the robot's own state information collected by the balancer, the robot's next action can be adjusted and controlled to achieve stable operation.

[0018] Fourth, by adopting a drill bit assembly with a slot and annular groove, the robot can achieve vertical drilling and soil extraction, and use a deflection motor to drive the drill bit assembly to turn, thereby achieving rapid soil unloading through processes such as the retraction of the rotary blades. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure of the small robot for constructing injection holes in rare earth ore in-situ leaching mining according to an embodiment of this application.

[0021] Figure 2 A schematic diagram of the lifting and positioning component mounted on the base in a small robot for constructing injection holes in in-situ leaching mining of rare earth minerals, as provided in this embodiment of the application.

[0022] Figure 3 A partial structural diagram of the drilling component in the small robot for constructing injection holes in in-situ leaching mining of rare earth minerals provided in this application embodiment;

[0023] Figure 4 A bottom-view plan view of the drill bit assembly in a small robot for constructing injection holes in in-situ leaching mining of rare earth minerals, as provided in an embodiment of this application.

[0024] Figure 5 This is a schematic diagram showing the deflection state of the drill bit assembly in the small robot for constructing injection holes in in-situ leaching mining of rare earth minerals, as provided in the embodiments of this application.

[0025] The following are the labeling elements in the figure:

[0026] 1. Base; 11. Through hole; 2. Power supply box; 3. Control system; 4. Drilling assembly; 41. Mounting bracket; 42. Lead screw assembly; 43. Deflection motor; 44. Drill bit assembly; 441. Rotary drive motor; 442. Clamping component; 443. Spiral blade; 444. Limiting slot; 445. Annular slide groove; 5. Lifting and walking assembly; 51. First linear lifting power component; 52. Support frame; 53. Walking wheel; 6. Lifting and positioning assembly; 61. Base plate; 62. Scissor lifting frame; 63. Second linear lifting power component; 64. Positioning stake; 7. Telescopic side support assembly; 71. Electric rotating seat; 72. Third linear lifting power component; 73. Universal support foot; 8. Radar; 9. Camera; 10. Balancer. Detailed Implementation

[0027] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0028] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0029] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0031] like Figures 1-5 As shown in the figure, a small robot for constructing injection holes in in-situ leaching mining of rare earth minerals, provided in an embodiment of this application, will now be described. This small robot for constructing injection holes in in-situ leaching mining of rare earth minerals includes: a base 1, a power supply box 2, a control system 3, a drilling assembly 4, a lifting and walking assembly 5, a lifting and positioning assembly 6, and a telescopic side support assembly 7.

[0032] The base 1 is the main structure of the robot, used to install the other components. The power supply box 2, control system 3, and drilling assembly 4 are mounted on the base 1. The power supply box 2 provides power to the robot, and the control system 3 controls the operation of the drilling assembly 4, lifting and walking assembly 5, lifting and positioning assembly 6, and telescopic side support assembly 7. The drilling assembly 4 is used to automatically drill injection holes. A through hole 11 is provided on the base 1 for the drilling assembly 4 to pass through and drill injection holes in the ground.

[0033] In this embodiment, at least four lifting and walking components 5 are provided and located at the four corners of the base 1. Each lifting and walking component 5 can be raised and lowered independently, allowing for automatic adjustment according to the terrain and ensuring the horizontality of the base 1 at all times. A lifting and positioning component 6 is located at the bottom of the base 1. When the robot stops walking, the lifting and positioning component 6 is used to anchor itself in the ground to improve the robot's stability. A telescopic side support component 7 is rotatably mounted on the base 1. When the robot is walking, the telescopic side support component 7 rotates to a horizontal position, separating from the ground and not affecting the robot's normal walking. When the robot stops walking, the telescopic side support component 7 rotates to an inclined position and contacts the ground, providing stability.

[0034] In this embodiment, four lifting and walking components 5 are used to achieve stable operation in complex terrain environments and reduce damage to the ecological environment and surface vegetation. The lifting and positioning components 6 and the telescopic side support components 7 work together with the lifting and walking components 5 to provide triple support for the robot and ensure the overall stability of the robot. The drilling component 4 is used to realize automated drilling of injection holes. Compared with manual operation, this robot realizes mechanization and automation, saves time and labor costs, and improves safety and drilling efficiency.

[0035] like Figure 1 As shown, in this embodiment, the lifting and walking assembly 5 includes a first linear lifting power component 51, a support frame 52, walking wheels 53, and a hub motor. One end of the first linear lifting power component 51 is located at the bottom of the base 1, and the other end is located on the support frame 52. The walking wheels 53 are rotatably mounted on the support frame 52, and the hub motor is mounted on the walking wheels 53. The hub motor allows the walking wheels 53 to move and brake independently. The first linear lifting power component 51 is used to lift and lower the base 1. The cooperation of multiple lifting and walking assemblies 5 ensures that the base 1 remains level, making it suitable for complex and uneven terrain. The walking wheels 53 are small wheels, which cause less damage to vegetation compared to existing tracked walking mechanisms. In other embodiments, the lifting and walking assembly 5 includes an existing four-wheel drive structure and multiple lifting power components. These multiple lifting power components are connected to the four-wheel drive structure and the base 1, respectively. The level of the base 1 is adjusted by the extension and retraction of the multiple lifting power components, while the four-wheel drive structure ensures the normal movement of the robot.

[0036] like Figure 2As shown, in this embodiment, the lifting and positioning assembly 6 includes: a base plate 61, a scissor lift frame 62, a second linear lifting power component 63, and a positioning stake 64. The scissor lift frame 62 has two sections located at both ends of the base plate 61, with each end connected to the base plate 61 and the base 1, respectively. The second linear lifting power component 63 is mounted on the scissor lift frame 62, the base plate 61, or the base 1, and controls the extension and retraction of the scissor lift frame 62. The positioning stake 64 is mounted on the base plate 61 and inserted into the ground. During normal robot operation, the second linear lifting power component 63 drives the scissor lift frame 62 to retract, causing the positioning stake 64 to detach from the ground. When the robot stops, the second linear lifting power component 63 drives the scissor lift frame 62 to extend, causing the positioning stake 64 to insert into the ground, thereby improving the robot's stability.

[0037] Preferably, multiple positioning piles 64 are spaced apart to provide stability. The positioning piles 64 are wedge-shaped piles, each comprising a cylinder and a cone, the cone facilitating insertion into the ground.

[0038] In this embodiment, as Figure 1 As shown, the telescopic side support assembly 7 includes: an electric rotary seat 71 mounted on the base 1, a third linear lifting power member 72 mounted on the electric rotary seat 71, and a universal support foot 73 mounted on the third linear lifting power member 72. The electric rotary seat 71 is used to rotate the third linear lifting power member 72, which in turn enables the universal support foot 73 to extend and retract, allowing the universal support foot 73 to contact the ground. The universal support foot 73 can be adapted to different ground angles. During normal robot operation, the electric rotary seat 71 rotates the third linear lifting power member 72 to a horizontal position parallel to the robot's direction of travel, ensuring normal robot operation. When the robot stops, the electric rotary seat 71 drives the third linear lifting power member 72 to rotate to an inclined position, and the third linear lifting power member 72 extends, allowing the universal support foot 73 to contact the ground. In this embodiment, two telescopic side support assemblies 7 are provided and symmetrically arranged on the base 1. The two telescopic side support assemblies 7 cooperate with each other to ensure the stability of the robot. In this embodiment, the first linear lifting power component 51, the second linear lifting power component 63, and the third linear lifting power component 72 are all hydraulic cylinders.

[0039] In this embodiment, as Figure 1 , Figures 3-5As shown, the drilling assembly 4 includes: a mounting frame 41, a lead screw assembly 42 mounted on the mounting frame 41, a deflection motor 43 mounted on the lead screw assembly 42, and a drill bit assembly 44 connected to the deflection motor 43. The mounting frame 41 is vertically mounted on the base 1 and has a mounting groove. The lead screw assembly 42 is mounted in the mounting groove and is a conventional lifting structure, including at least a lead screw motor, a lead screw, and a lifting slider. The deflection motor 43 is mounted on the lifting slider. The lead screw assembly 42 controls the lifting and lowering of the deflection motor 43 and the drill bit assembly 44, thus ensuring the normal operation of the injection hole drilling process. The deflection motor 43 controls the deflection of the drill bit assembly 44 for easy soil unloading; the drill bit assembly 44 is used to drill the injection hole.

[0040] In this embodiment, the drill assembly 44 includes: a rotary drive motor 441, a drill bit, a clamping member 442, and a drilling blade 443. The rotary drive motor 441 is mounted on the deflection motor 43, and the drill bit is mounted on the rotary drive motor 441 for drilling. The rotary drive motor 441 has a limiting slot 444 and an annular groove 445. The clamping member 442 is positioned on the rotary drive motor 441 via the limiting slot 444 and can rotate along the annular groove 445. The drilling blade 443 is mounted on the clamping member 442. In this embodiment, the drill bit assembly 44 adopts a blade-type drill bit assembly, which can remove soil after drilling, thereby improving the efficiency of forming the injection hole. Three spiral blades 443 are provided, and three clamping members 442 and limiting slots 444 are provided. During drilling, the clamping members 442 cooperate with the limiting slots 444 so that the three spiral blades 443 form a circle, with the drill bit at the center of the circle. After drilling is completed, the lead screw assembly 42 retracts the drill bit assembly 44, and the deflection motor 43 drives the drill bit assembly 44 to deflect. The clamping members 442 retract from the limiting slots 444 and then rotate along the annular slide 445, so that the three spiral blades 443 overlap, and the soil is directly dropped, improving the soil unloading efficiency.

[0041] In this embodiment, as Figure 1 As shown, radar 8 is installed at each of the four corners of the base 1. A camera 9 and a balancer 10 are also mounted on the base 1. The radar 8 and camera 9 are used to scan and monitor the environment, facilitating normal robot movement. The balancer 10 works in conjunction with the walking and lifting components to ensure the robot's levelness. An alarm can also be installed on the base 1 to issue a warning and send a fault signal to personnel when the robot malfunctions, prompting them to resolve the issue on-site.

[0042] In this embodiment, the base 1 is also equipped with a positioning device, such as a GPS positioning device or a Beidou positioning device. The positioning device is used to remotely obtain the robot's position information, so as to automatically determine the position of the next drilling location.

[0043] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A small robot for constructing injection holes in in-situ leaching mining of rare earth minerals, characterized in that, include: The machine base (1), power supply box (2), control system (3), drilling assembly (4), lifting and walking assembly (5), lifting and positioning assembly (6), and telescopic side support assembly (7) are provided on the machine base (1). The power supply box (2), control system (3), and drilling assembly (4) are provided on the machine base (1). The lifting and walking assembly (5) is provided in at least four parts and is located at the four corners of the machine base (1). The lifting and positioning assembly (6) is located at the bottom of the machine base (1). The telescopic side support assembly (7) is rotatably mounted on the machine base (1). The lifting and walking assembly (5) includes a first linear lifting power component (51), a support frame (52), a walking wheel (53), and a hub motor. One end of the first linear lifting power component (51) is located at the bottom of the machine base (1), and the other end is located on the support frame (52). The walking wheel (53) is rotatably mounted on the support frame (52), and the hub motor is located on the walking wheel (53). The lifting and positioning assembly (6) includes: a base plate (61), a scissor lift frame (62), a second linear lifting power component (63), and a positioning stake (64); the two ends of the scissor lift frame (62) are respectively connected to the base plate (61) and the machine base (1), the second linear lifting power component (63) controls the extension and retraction of the scissor lift frame (62), and the positioning stake (64) is set on the base plate (61) and used to be inserted into the ground; the telescopic side support assembly (7) includes: an electric rotating seat (71) set on the machine base (1), a third linear lifting power component (72) set on the electric rotating seat (71), and a universal support foot (73) set on the third linear lifting power component (72); the drilling assembly (4) includes: a mounting frame (41), and a drilling device set on the mounting frame (41). The system includes a lead screw assembly (42), a deflection motor (43) mounted on the lead screw assembly (42), and a drill bit assembly (44) connected to the deflection motor (43). The drill bit assembly (44) includes a rotary drive motor (441), a drill bit, a clamping member (442), and a spiral blade (443). The rotary drive motor (441) is mounted on the deflection motor (43), and the drill bit is mounted on the rotary drive motor (441). The rotary drive motor (441) is provided with a limiting slot (444) and an annular groove (445). The clamping member (442) is positioned on the rotary drive motor (441) through the limiting slot (444) and the clamping member (442) can rotate along the annular groove (445). The spiral blade (443) is mounted on the clamping member (442).

2. The small robot for constructing injection holes in in-situ leaching mining of rare earth minerals as described in claim 1, characterized in that: The positioning stakes (64) are arranged at intervals.

3. The small robot for constructing injection holes in in-situ leaching mining of rare earth minerals as described in claim 2, characterized in that: The positioning pile (64) is a wedge-shaped pile.

4. The small robot for constructing injection holes in in-situ leaching mining of rare earth minerals as described in claim 3, characterized in that: Two telescopic side support components (7) are provided and symmetrically arranged on the base (1).

5. The small robot for constructing injection holes in in-situ leaching mining of rare earth minerals as described in any one of claims 1-4, characterized in that: The base (1) is equipped with radar (8) at each of the four corners, and a camera (9) and a balancer (10) are provided on the base (1).

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