Mine parallel multi-link deformable carrying robot

Abstract

The application relates to a mine-used parallel multi-link deformable carrying robot, and relates to the field of mine-used carrying robots. The carrying robot comprises a bottom support base, four wheels arranged around the bottom support base, a main support plate arranged above the bottom support base, four extension support plates slidably connected to the main support plate, a horizontal and vertical telescopic adjusting mechanism arranged between the bottom support base and the main support plate and used for synchronously driving the four extension support plates to move away from or close to the center side of the main support plate in the horizontal and vertical directions and driving the four wheels to change various forms to avoid obstacles during driving, and a telescopic carrying bin arranged above the extension support plate and used for carrying articles and simultaneously adapting to the horizontal and vertical telescopic extension and the height direction telescopic adjustment along with the movement of the extension support plate. The application has the effects of adapting the carrying robot to run in mining roadways with different widths, heights and turning radii, improving the carrying efficiency and the carrying stability.

Description

Technical Field

[0001] This application relates to the field of mining handling robots, and in particular to mining parallel multi-link deformable handling robots. Background Technology

[0002] Because of their moderate size and flexible movement, transport robots are very suitable for driving and working in mining tunnels, and are therefore often used in many fields such as mining area transport or search and rescue exploration in complex environments.

[0003] Currently, traditional material handling robots typically consist of a hopper, wheels positioned below the hopper, and a drive unit between the wheels and the hopper. In use, workers place the minerals into the hopper, and the drive unit then moves the wheels to transport the hopper. Its function is relatively simple. However, mining tunnels vary in width, height, and turning radius, making it difficult for some robots to enter or turn within them. Furthermore, the relatively fixed size of material handling robots, coupled with long round-trip times, makes it difficult to efficiently adjust the robot's loading and unloading space, resulting in low handling efficiency. Additionally, mining tunnels are often harsh environments with rugged terrain, complex conditions, and numerous obstacles, making it difficult for robots to efficiently avoid obstacles and increasing the risk of tipping over. Summary of the Invention

[0004] In order to enable the handling robot to operate in mining roadways with different widths, heights and turning radii, and to improve handling efficiency and stability, this application provides a parallel multi-link deformable handling robot for mining.

[0005] The mining parallel multi-link deformable handling robot provided in this application adopts the following technical solution: The mining parallel multi-link deformable handling robot includes a bottom support base, four wheels respectively arranged around the bottom support base, a main support plate arranged above the bottom support base, four extension support plates slidably connected to the main support plate, a lateral and longitudinal telescopic adjustment mechanism arranged between the bottom support base and the main support plate for synchronously driving the four extension support plates to move laterally and longitudinally away from or closer to the center of the main support plate and driving the four wheels to change various shapes to avoid obstacles during travel, and a telescopic carrying compartment arranged above the extension support plates for carrying items and which can adapt to the movement of the extension support plates by telescopically extending and extending laterally and longitudinally, as well as telescopically extending and extending in the height direction.

[0006] By adopting the above technical solution, when using a transport robot for transport work in the mining area, the operator first uses the horizontal and vertical telescopic adjustment mechanism to simultaneously move four extended support plates laterally and longitudinally towards or away from the center of the main support plate. The four extended support plates then cause the telescopic load-bearing chamber to extend laterally and longitudinally. This allows the operator to adjust the length and width of the telescopic load-bearing chamber according to the width of the mining roadway and the curvature of curves within the roadway. Finally, the height of the telescopic load-bearing chamber is adjusted according to the height of the mining roadway. This quickly completes the adaptation and adjustment of the transport robot to the dimensions of the mining roadway, maximizing the robot's load-bearing capacity and operational stability. Furthermore, when the transport robot encounters obstacles or low-lying surfaces during its movement, the horizontal and vertical telescopic adjustment mechanism can adjust the height of individual wheels to maintain the robot's stability. Each wheel system of the transport robot can be raised or lowered, allowing it to navigate narrow roadways. By narrowing the wheelbase to adapt to handling and movement in confined spaces, the wheelbase can be increased when traversing sloping or side-tipping roads, widening the overall width of the handling robot, lowering the center of gravity, and reducing the risk of tipping over. When traversing rough terrain, the overall width can be increased while raising the robot body to improve maneuverability. Mining tunnels vary in width and height, as well as turning radii at bends, and are typically rugged, complex, and contain numerous obstacles. The lateral and longitudinal telescopic adjustment mechanism allows for rapid changes in the height, width, and length of the handling robot, adapting to tunnels of various sizes and improving its practicality and applicability. This maximizes the efficiency of adjusting the robot's loading and unloading space, enhancing handling efficiency. Furthermore, the lateral and longitudinal telescopic adjustment mechanism, combined with the telescopic carrying compartment, allows the handling robot to travel in mining tunnels of different widths, heights, and turning radii at bends, effectively avoiding obstacles and improving the robot's handling performance.

[0007] Optionally, the horizontal and vertical telescopic adjustment mechanism includes a rotating shaft rotatably connected to the main support plate in the vertical direction, four movable blocks slidably connected to the four extended support plates in the same circumferential direction, a support block disposed between the movable block and the rotating shaft, a push-pull assembly disposed between the rotating shaft and the movable block for driving the movable block to move radially toward or away from the rotating shaft, a synchronous reverse rotation assembly disposed between the main support plate and the movable block for driving two adjacent support blocks to rotate synchronously in opposite directions, a moving steering assembly disposed between the bottom support seat and the wheel for driving the wheel to move toward or away from the bottom support seat in the horizontal or vertical direction and to turn, and a locking drive assembly disposed between the rotating shaft and the bottom support seat for driving the rotating shaft to rotate and lock. The extended support plate has an arc-shaped groove, the center of which coincides with the center of the rotation axis, and the moving block slides within the arc-shaped groove.

[0008] By adopting the above technical solution, the four extension support plates are moved laterally and longitudinally towards or away from the center of the main support plate through the horizontal and vertical telescopic adjustment mechanism. This allows the telescopic load-bearing chamber to extend laterally and longitudinally to match the width of the mining roadway and the curvature of the bends in the roadway. First, the operator uses the synchronous reverse rotation component to rotate the support block and the moving block around the center of the rotation axis to adjust the proportion of the lateral and longitudinal movement of the extension support plates to the required proportion. Then, the operator activates the locking drive component, which drives the rotation axis to rotate. The rotation axis, through the push-pull component, drives the moving block to move radially along the rotation axis. The moving block then drives the extension support plates to move laterally and longitudinally towards or away from the center of the rotation axis. Subsequently, the extension support plates drive the telescopic load-bearing chamber to extend and retract laterally and longitudinally, thereby adjusting the width of the telescopic load-bearing chamber to match the width of the mining roadway. The dimensions of the telescopic carrying chamber should be adapted to the curvature of the curves in the tunnel. The synchronous reverse rotation component can simultaneously adjust the positions of the four moving blocks and the four support blocks, allowing workers to quickly adjust the telescopic carrying chamber's extension ratio in the lateral and longitudinal directions according to the width of the mining tunnel and the curvature of the curves. This ensures that the four extended support plates move smoothly and synchronously in the lateral and longitudinal directions according to the required ratio. The push-pull component and the synchronous reverse rotation component work together to make it more efficient and faster for workers to adjust the size of the telescopic carrying chamber in the lateral and longitudinal directions. The moving rotation component can also adjust the distance between the wheels and the bottom support base, thus facilitating the adjustment of the width between the bottom wheels of the transport robot and changing the width of the bottom of the transport robot. The wheels can also move up and down to adjust the distance between the telescopic carrying chamber and the top of the mining tunnel, making it easier for the transport robot to overcome obstacles and pass through the mining tunnel.

[0009] Optionally, the synchronous reverse rotation assembly includes a first internal gear ring rotatably connected to the main support plate, a driving gear and a driven gear, a drive motor disposed on one side of the rotating shaft of the driving gear, a second internal gear ring rotatably sleeved on the outside of the rotating shaft, and four connecting rods respectively fixed on four support blocks. Two of the connecting rods are fixedly connected to the outer side of the first internal gear ring, and the other two connecting rods are fixedly connected to the outer side of the second internal gear ring. The two connecting rods on the first internal gear ring are located on the same straight line and the straight line passes through the center of the rotation axis. The two connecting rods on the second internal gear ring are also located on the same straight line and the straight line passes through the center of the rotation axis. The driving gear meshes with the inner side of the first internal gear ring, the driven gear meshes with the inner side of the second internal gear ring, and the driving gear and the driven gear partially mesh vertically.

[0010] By adopting the above technical solution, the support block is driven to rotate circumferentially along the rotation axis by the synchronous reverse rotation component to adjust the support position of the support block and thus indirectly adjust the movement ratio of the extension support plate in the lateral and longitudinal directions. First, the operator starts the drive motor, which then drives the drive gear to rotate. The drive gear drives the first internal gear ring to rotate on one hand, and the driven gear to rotate in the opposite direction on the other hand. The driven gear then drives the second internal gear ring meshed with it to rotate. Then, the first and second internal gear rings drive their respective two connecting rods to rotate. The connecting rods drive the support block fixedly connected to them to rotate, and the support block drives the moving block to rotate, thereby adjusting the position of the moving block. The two adjacent moving blocks move synchronously in opposite directions, making it more efficient and convenient for the operator to adjust the position of the moving block.

[0011] Optionally, the push-pull assembly includes a drive sleeve rotatably connected to the support block, a drive screw disposed between the drive sleeve and the moving block, a drive bevel gear fixedly sleeved on the outside of the rotating shaft, and a driven bevel gear fixedly sleeved on one end of the drive sleeve near the rotating shaft. One end of the drive sleeve is fixedly connected to the driven bevel gear, one end of the drive screw is threadedly connected to the drive sleeve, and the other end is fixedly connected to the moving block. The drive bevel gear and the driven bevel gear mesh with each other.

[0012] By adopting the above technical solution, when the moving block is moved by the push-pull assembly, the operator first activates the locking drive assembly, then the locking drive assembly drives the rotating shaft to rotate, the rotating shaft drives the drive bevel gear to rotate, the drive bevel gear can synchronously drive the four driven bevel gears to rotate, and then the driven bevel gears drive the drive sleeve fixedly connected to them to rotate, the drive sleeve can drive the moving block to move radially along the rotating shaft through the drive screw, so that the moving block can drive the extension support plate to move.

[0013] Optionally, a limiting sleeve is fixed inside the end of the driving sleeve near the moving block. The limiting sleeve is threadedly connected to the driving screw. A limiting block is fixed at the end of the driving screw located inside the driving sleeve. The limiting block slides inside the limiting sleeve but cannot pass through the limiting sleeve.

[0014] By adopting the above technical solution, the length of the limiting sleeve is shorter, which not only reduces the connection area between the driving sleeve and the driving screw, thereby reducing the friction between the driving sleeve and the driving screw, making it less likely for the driving screw and the driving sleeve to jam, and improving the stability of the push-pull assembly; but also, the use of the limiting sleeve in conjunction with the limiting block makes it less likely for the driving screw to separate from the driving sleeve, further improving the operational stability of the push-pull assembly.

[0015] Optionally, the moving steering assembly includes a hub motor disposed inside the wheel, a fixed seat disposed on one side of the hub motor, a first electric telescopic cylinder, a second electric telescopic cylinder, a third electric telescopic cylinder, a fourth electric telescopic cylinder, and a fifth electric telescopic cylinder, which are sequentially hinged between the fixed seat and the side of the bottom support seat.

[0016] By adopting the above technical solutions, the coordinated use of the first, second, third, fourth, and fifth electric telescopic cylinders can widen the overall bottom of the handling robot, lowering its center of gravity and reducing the risk of tipping over when traversing sloping roads. If the road surface is rugged, the robot can be widened overall and then raised to improve its maneuverability. The robot's bottom can also be narrowed, allowing for smaller wheelbases to accommodate tight spaces when passing through narrow passages. Individual wheel systems can be raised or lowered to maintain stability when traversing obstacles or uneven surfaces. The robot can also achieve zero-radius rotation in place, making U-turns in tight spaces more flexible and convenient. It can also make small-radius turns, allowing for easier and more efficient obstacle avoidance in mining tunnels, thus improving its handling performance.

[0017] Optionally, the first, second, third, fourth, and fifth electric telescopic cylinders are all hinged to the bottom support base, and the connecting bases are detachably connected to the bottom support base.

[0018] By adopting the above technical solution, the mining environment is relatively harsh, and the wheels are wear parts. By using a detachable connection method, the staff can quickly replace the spare wheels, thereby responding quickly to emergencies during the handling process and improving the handling efficiency of the handling robot.

[0019] Optionally, the locking drive assembly includes a worm gear fixedly sleeved on a rotating shaft, a worm rotatably connected to a main support plate, and a power motor disposed at one end of the worm; the worm gear and the worm mesh with each other.

[0020] By adopting the above technical solution, when the rotating shaft is driven to rotate by the locking drive component, the operator first starts the power motor, then the power motor drives the worm to rotate, the worm drives the worm wheel to rotate, and the worm wheel can drive the rotating shaft fixedly connected to it to rotate; wherein the worm wheel and worm have self-locking properties, which can lock the rotating shaft at a certain rotation angle for a long time, thereby improving the stability of the push-pull component and the telescopic load-bearing chamber.

[0021] Optionally, the telescopic load-bearing compartment includes four load-bearing side plates fixed on both sides of the edge of the extension support plate, four load-bearing support plates fixed on the top of the four load-bearing side plates, and multiple telescopic load-bearing enclosures stacked sequentially above the load-bearing support plates along the height direction for placing items. Multiple retractable load-bearing barriers are detachably connected to each other, as well as to the bottom retractable load-bearing barrier and the load-bearing support plate.

[0022] By adopting the above technical solution, when the horizontal and vertical telescopic adjustment mechanism synchronously drives the four extended support plates to move laterally and longitudinally away from the center of the main support plate, the four extended support plates will drive the four load-bearing side plates to move respectively. Then, the four load-bearing side plates will drive the four load-bearing support plates to move synchronously. The load-bearing support plates will drive the telescopic load-bearing enclosure to extend synchronously laterally and longitudinally to a proportion that matches the width of the mining roadway and the curvature of the bends in the roadway. Subsequently, the multiple telescopic load-bearing enclosures can be detachably connected. Workers can also flexibly add or reduce the number of telescopic load-bearing enclosures according to the height of the mining roadway, thereby quickly adjusting the height of the telescopic load-bearing chamber, so that the handling robot can carry more items and more easily overcome obstacles in the mining roadway.

[0023] Optionally, each of the telescopic load-bearing enclosures includes four load-bearing plates and a baffle fixed to one side of the load-bearing plate; the upper and lower adjacent load-bearing plates and the bottom load-bearing plate are detachably connected to the load-bearing support plate, and the baffles on one side of the two adjacent load-bearing plates overlap each other.

[0024] By adopting the above technical solution, the overlapping load-bearing plates strengthen the connection between the four load-bearing plates on the one hand, and seal the gap between adjacent load-bearing plates after the telescopic load-bearing compartment is extended and widened on the other hand, making it more convenient for the telescopic load-bearing compartment to carry items and less prone to leakage.

[0025] In summary, this application includes at least one of the following beneficial technical effects: When encountering obstacles or uneven surfaces during operation, the transport robot can adjust the height of individual wheels via a lateral and longitudinal telescopic adjustment mechanism to maintain stability. Each wheel system can be raised or lowered. When navigating narrow tunnels, the wheelbase can be narrowed to adapt to confined spaces. When traversing sloping or side-tipping terrain, the wheelbase can be widened to increase the overall width of the robot, lowering the center of gravity and reducing the risk of tipping over. When traversing rough terrain, the robot can be widened overall and then raised to improve maneuverability. Furthermore, mining tunnels exhibit various variations in width and height, as well as turning radius at bends. In contrast, mining tunnels are usually rugged, with complex road conditions and many obstacles. The horizontal and vertical telescopic adjustment mechanism can quickly change the height, width, and length of the handling robot, thereby adapting to tunnels of various sizes and improving the practicality and applicability of the handling robot. It can also adjust the robot's loading and unloading space to the maximum efficiency, thereby improving handling efficiency. Furthermore, the horizontal and vertical telescopic adjustment mechanism, together with the telescopic load-bearing compartment, can also enable the handling robot to travel in mining tunnels of different widths, heights, and different turning radii at tunnel bends, thereby efficiently avoiding some obstacles and improving the robot's handling performance. The synchronous reverse rotation component in the horizontal and vertical telescopic adjustment mechanism can simultaneously adjust the positions of the four moving blocks and the four support blocks. This allows workers to quickly adjust the telescopic load-bearing chamber's telescopic ratio in the horizontal and vertical directions according to the width of the mining roadway and the curvature of the curves in the roadway. This ensures that the four extended support plates move smoothly and synchronously in the horizontal and vertical directions according to the required ratio. At the same time, the push-pull component and the synchronous reverse rotation component work together to make it more efficient and faster for workers to adjust the size of the telescopic load-bearing chamber in the horizontal and vertical directions. Furthermore, the moving rotation component can also adjust the distance between the wheels and the bottom support base, thereby facilitating the adjustment of the width between the bottom wheels of the transport robot and changing the width of the bottom of the transport robot. The wheels can also move up and down to adjust the distance between the telescopic load-bearing chamber and the top of the mining roadway, making it easier for the transport robot to overcome obstacles and pass through the mining roadway. When the support block is rotated circumferentially along the rotation axis by the synchronous reverse rotation component, the support position of the support block is adjusted, thereby indirectly adjusting the movement ratio of the extension support plate in the horizontal and vertical directions. When two adjacent moving blocks move synchronously in opposite directions, it makes it more efficient and convenient for the staff to adjust the position of the moving blocks. The shorter length of the limiting sleeve in the push-pull assembly not only reduces the connection area between the drive sleeve and the drive screw, thereby reducing the friction between them and making it less likely for the drive screw and drive sleeve to jam, thus improving the stability of the push-pull assembly; but also, when used in conjunction with the limiting block, the limiting sleeve prevents the drive screw from separating from the drive sleeve, further improving the operational stability of the push-pull assembly. By using the coordinated operation of the first, second, third, fourth, and fifth electric telescopic cylinders, the bottom of the handling robot can be widened, lowering its center of gravity and reducing the risk of tipping over when traversing sloping roads. If the road surface is rugged, the robot can be widened and then raised to improve its maneuverability. The bottom of the handling robot can also be narrowed, allowing for smaller wheelbases to accommodate tight spaces when traversing narrow passages. Individual wheel systems can be raised or lowered to maintain stability when traversing obstacles or uneven surfaces. The handling robot can also achieve zero-radius rotation in place, making it more flexible and convenient to turn around in confined spaces. It can also make small-radius turns, allowing for easier and more efficient obstacle avoidance in mining tunnels, thus improving its handling performance. The worm gear and worm in the locking drive assembly have self-locking properties, which can lock the rotating shaft at a certain rotation angle for a long time, thereby improving the stability of the push-pull assembly and the telescopic load-bearing chamber. The telescopic carrying chamber has multiple telescopic carrying barriers that can be detachably connected. Workers can also flexibly add or reduce the number of telescopic carrying barriers according to the height of the mining tunnel, thereby quickly adjusting the height of the telescopic carrying chamber, so that the handling robot can carry more items and more easily overcome obstacles in the mining tunnel. Attached Figure Description

[0026] Figure 1 This is a structural schematic diagram of the deformable transport robot in this application; Figure 2 This is a schematic diagram showing a partially exploded structure of a deformable transport robot; Figure 3 It means Figure 2 A partially enlarged structural diagram of part A in the middle; Figure 4 This is a partial structural diagram of the horizontal and vertical telescopic adjustment mechanism; Figure 5 This is a partial sectional view showing the horizontal and vertical telescopic adjustment mechanism; Figure 6 This is a schematic diagram showing a partial structure of the push-pull assembly; Figure 7 This is a schematic diagram showing the structure of the moving steering component; Figure 8 This is a schematic diagram showing the structure of the handling robot after the lower half is narrowed; Figure 9 This is a schematic diagram showing the structure of the handling robot after the lower part becomes narrower and taller; Figure 10 This is a schematic diagram showing the structure of a handling robot lifting an obstacle using a single wheel; Figure 11This is a schematic diagram showing the structure of a handling robot lifting itself up to overcome obstacles using its two wheels; Figure 12 This is a schematic diagram showing the structure of the handling robot when it rotates to a 0-radius position; Figure 13 This is a schematic diagram showing the structure of a handling robot when making a small-radius turn; Figure 14 This is a schematic diagram showing the structure of the telescopic load-bearing compartment after it has been extended.

[0027] Explanation of reference numerals in the attached drawings: 1. Bottom support base; 2. Wheel; 3. Main support plate; 31. Sliding support groove; 4. Extension support plate; 41. Sliding connecting plate; 42. Arc-shaped groove; 5. Lateral and longitudinal telescopic adjustment mechanism; 51. Rotating shaft; 52. Moving block; 53. Support block; 54. Push-pull assembly; 541. Drive sleeve; 542. Drive screw; 543. Drive bevel gear; 544. Driven bevel gear; 545. Limiting sleeve; 546. Limiting block; 55. Synchronous reverse rotation assembly; 551. First internal gear ring; 552. Driven gear; 553. Driven gear; 554. 555. Drive motor; 556. Second internal gear ring; 557. Connecting rod; 56. Moving steering assembly; 568. Hub motor; 569. Fixed seat; 560. First electric telescopic cylinder; 561. Second electric telescopic cylinder; 562. Third electric telescopic cylinder; 563. Fourth electric telescopic cylinder; 564. Fifth electric telescopic cylinder; 565. Connecting seat; 566. Locking drive assembly; 571. Worm gear; 572. Worm; 573. Power motor; 6. Telescopic load-bearing compartment; 61. Load-bearing side plate; 62. Load-bearing support plate; 63. Telescopic load-bearing enclosure; 631. Load-bearing plate; 632. Baffle. Detailed Implementation

[0028] The following is in conjunction with the appendix Figures 1-14 This application will be described in further detail.

[0029] This application discloses a parallel multi-link deformable handling robot for mining applications. (Refer to...) Figures 1-3The transforming transport robot includes a bottom support base 1, with four wheels 2 around its perimeter. A main support plate 3 is positioned above the bottom support base 1. An extension support plate 4 is slidably connected above the main support plate 3. Four sliding support grooves 31 are formed around the main support plate 3. A sliding connecting plate 41 is fixed below the extension support plate 4. The four sliding connecting plates 41 are adapted to and correspond one-to-one with the four sliding support grooves 31, and can move within the sliding support grooves 31. A horizontal and vertical telescopic adjustment mechanism 5 is provided between the bottom support base 1 and the main support plate 3. The horizontal and vertical telescopic adjustment mechanism 5 is used to synchronously drive the four extension support plates 4 to move laterally and longitudinally away from or closer to the center of the main support plate 3, and to drive the four wheels 2 to change various shapes to avoid obstacles during movement. A telescopic carrying compartment 6 is provided above the extension support plate 4. The telescopic carrying compartment 6 is used to carry items and can adapt to and extend laterally and longitudinally as the extension support plate 4 moves, and can also be adjusted in height.

[0030] When using a transport robot for transporting materials in a mining area, the operator first uses the horizontal and vertical telescopic adjustment mechanism 5 to simultaneously move four extension support plates 4 laterally and longitudinally towards or away from the center of the main support plate 3. The four extension support plates 4 then extend the telescopic carrying chamber 6 laterally and longitudinally. This allows the operator to adjust the length and width of the telescopic carrying chamber 6 according to the width of the mining roadway and the curvature of curves within the roadway. Finally, the height of the telescopic carrying chamber 6 is adjusted according to the height of the mining roadway. This quickly adapts the transport robot to the dimensions of the mining roadway, maximizing its carrying capacity and operational stability. When encountering obstacles or low-lying surfaces during operation, the horizontal and vertical telescopic adjustment mechanism 5 can adjust the height of individual wheels 2 to maintain the robot's stability. Each wheel system of the transport robot can be raised or lowered. When traversing narrow roadways, the wheelbase can be narrowed to adapt to small spaces. When traversing sloping roads, the wheelbase can be widened to increase the overall width of the transport robot, lowering the center of gravity and reducing the risk of tipping over. When traversing rough terrain, the overall width can be increased while raising the robot to improve its maneuverability.

[0031] Reference Figure 4 and Figure 5The horizontal and vertical telescopic adjustment mechanism 5 includes a rotating shaft 51 rotatably connected to the main support plate 3 in the vertical direction. Four extended support plates 4 are slidably connected to movable blocks 52 along the same circumferential direction. Each extended support plate 4 has an arc-shaped groove 42, the center of which coincides with the center of the rotating shaft 51, and the movable blocks 52 slide within the arc-shaped groove 42. A support block 53 is provided between the movable blocks 52 and the rotating shaft 51. A push-pull assembly 54 is provided between the rotating shaft 51 and the movable blocks 52, driving the movable blocks 52 to move radially towards or away from the rotating shaft 51. A synchronous reverse rotation assembly 55 is provided between the main support plate 3 and the movable blocks 52, driving adjacent support blocks 53 to rotate synchronously in opposite directions, thus synchronously adjusting the positions of the four movable blocks 52 and the four support blocks 53. A movable steering assembly 56 is provided between the bottom support base 1 and the wheel 2. The movable steering assembly 56 is used to drive the wheel 2 to move closer to or further away from the bottom support base 1 in the horizontal or vertical direction and to turn, thereby adjusting the distance between the wheel 2 and the bottom support base 1, changing the width of the bottom of the handling robot. The wheel 2 can also move up and down to adjust the distance between the telescopic carrying chamber 6 and the top of the mining roadway. A locking drive assembly 57 is provided between the rotating shaft 51 and the bottom support base 1. The locking drive assembly 57 is used to drive the rotating shaft 51 to rotate and lock.

[0032] The four extension support plates 4 are moved laterally and longitudinally away from or closer to the center of the main support plate 3 by the horizontal and vertical telescopic adjustment mechanism 5. When the telescopic load-bearing chamber 6 extends laterally and longitudinally to match the width of the mining roadway and the curvature of the bends in the roadway, the operator first drives the support block 53 and the moving block 52 to rotate along the center of the rotating shaft 51 by the synchronous reverse rotation component 55 to adjust the proportion of the moving distance of the extension support plate 4 in the horizontal and vertical directions to the required proportion. Then, the operator activates the locking drive component 57, which drives the rotating shaft 51 to rotate. The rotating shaft 51 drives the moving block 52 to move radially along the rotating shaft 51 through the push-pull component 54. Subsequently, the moving block 52 can drive the extension support plate 4 to move laterally and longitudinally away from or closer to the radial direction of the rotating shaft 51. The extension support plate 4 can then drive the telescopic load-bearing chamber 6 to extend and retract laterally and longitudinally, so that the telescopic load-bearing chamber 6 matches the width of the mining roadway and the curvature of the bends in the roadway.

[0033] Reference Figure 5 and Figure 6The synchronous reverse rotation assembly 55 includes a first internal gear ring 551, a driving gear 552, and a driven gear 553 rotatably connected to the main support plate 3. The driving gear 552 meshes with the inner side of the first internal gear ring 551, and the driving gear 552 and the driven gear 553 are partially meshed vertically. A drive motor 554 is provided on one side of the rotating shaft of the driving gear 552. The drive motor 554 is a brake motor, which has self-locking properties after power failure. A second internal gear ring 555 is rotatably sleeved on the outer side of the rotating shaft 51, and the driven gear 553 meshes with the inner side of the second internal gear ring 555. Connecting rods 556 are fixedly mounted on the four support blocks 53 respectively. Two connecting rods 556 are fixedly connected to the outer side of the first internal gear ring 551, and the other two connecting rods 556 are fixedly connected to the outer side of the second internal gear ring 555. The two connecting rods 556 on the first internal gear ring 551 are located on the same straight line and pass through the center of the rotating shaft 51. The two connecting rods 556 on the second internal gear ring 555 are also located on the same straight line and pass through the center of the rotating shaft 51.

[0034] When the support block 53 is rotated circumferentially along the rotation axis 51 by the synchronous reverse rotation component 55, so as to adjust the support position of the support block 53 and thus indirectly adjust the movement ratio of the extension support plate 4 in the horizontal and vertical directions, the operator first starts the drive motor 554. Then the drive motor 554 drives the drive gear 552 to rotate. The drive gear 552 drives the first internal gear ring 551 to rotate on the one hand, and drives the driven gear 553 to rotate in the opposite direction on the other hand. The driven gear 553 can then drive the second internal gear ring 555 meshing with it to rotate. Then the first internal gear ring 551 and the second internal gear ring 555 respectively drive their two connecting rods 556 to rotate. The connecting rods 556 drive the support block 53 fixedly connected to them to rotate. The support block 53 drives the moving block 52 to rotate, thereby adjusting the position of the moving block 52.

[0035] Reference Figure 5 and Figure 6 The push-pull assembly 54 includes a drive sleeve 541 rotatably connected to the support block 53. A drive screw 542 is provided between the drive sleeve 541 and the moving block 52. One end of the drive screw 542 is threadedly connected to the drive sleeve 541, and the other end is fixedly connected to the moving block 52. A drive bevel gear 543 is fixedly sleeved on the outside of the rotating shaft 51, and a driven bevel gear 544 is fixedly sleeved on one end of the drive sleeve 541 near the rotating shaft 51. The drive bevel gear 543 and the driven bevel gear 544 mesh with each other.

[0036] Reference Figure 5 and Figure 6A limiting sleeve 545 is fixedly installed inside the end of the drive sleeve 541 near the moving block 52, and the limiting sleeve 545 is threadedly connected to the drive screw 542. A limiting block 546 is fixedly installed at the end of the drive screw 542 located inside the drive sleeve 541. The limiting block 546 slides within the limiting sleeve 545 but cannot pass through it. The limiting sleeve 545 is relatively short, which not only reduces the connection area between the drive sleeve 541 and the drive screw 542, reducing the friction between them and making it less likely for the drive screw 542 and the drive sleeve 541 to jam, but also prevents the drive screw 542 from separating from the drive sleeve 541 when used in conjunction with the limiting block 546, thus improving the stability of the push-pull assembly 54 during operation.

[0037] When the moving block 52 is moved by the push-pull assembly 54, the operator first activates the locking drive assembly 57. Then, the locking drive assembly 57 drives the rotating shaft 51 to rotate, and the rotating shaft 51 drives the drive bevel gear 543 to rotate. The drive bevel gear 543 can then drive the four driven bevel gears 544 to rotate simultaneously. Subsequently, the driven bevel gears 544 drive the drive sleeve 541, which is fixedly connected to them, to rotate. The drive sleeve 541 can then drive the moving block 52 to move radially along the rotating shaft 51 through the drive screw 542. Thus, the moving block 52 can drive the extension support plate 4 to move.

[0038] Reference Figure 5 The locking drive assembly 57 includes a worm gear 571 fixedly sleeved on the rotating shaft 51, and a worm 572 rotatably connected to the main support plate 3. The worm gear 571 and the worm 572 mesh with each other, and a power motor 573 is also provided at one end of the worm 572. The worm gear 571 and the worm 572 have self-locking properties, which can lock the rotating shaft 51 at a certain rotation angle for a long time.

[0039] When the rotating shaft 51 is driven to rotate by the locking drive assembly 57, the operator first starts the power motor 573, then the power motor 573 drives the worm 572 to rotate, the worm 572 drives the worm wheel 571 to rotate, and the worm wheel 571 can drive the rotating shaft 51 fixedly connected to it to rotate.

[0040] Reference Figure 5 and Figure 7The mobile steering assembly 56 includes a hub motor 561 housed inside the wheel 2. A fixed base 562 is located on one side of the hub motor 561. A first electric telescopic cylinder 563, a second electric telescopic cylinder 564, a third electric telescopic cylinder 565, and a fourth electric telescopic cylinder 566 are sequentially hinged between the fixed base 562 and the side of the bottom support base 1. A fifth electric telescopic cylinder 567 is hinged between the fixed base 562 and the bottom of the bottom support base 1. Connecting seats 568 are hinged to the first electric telescopic cylinder 563, the second electric telescopic cylinder 564, the third electric telescopic cylinder 565, the fourth electric telescopic cylinder 566, and the fifth electric telescopic cylinder 567 and the bottom support base 1, respectively. The connecting seats 568 are detachably connected to the bottom support base 1 via bolts. Given the harsh mining environment and the fact that the wheel 2 is a wear part, the detachable connection allows workers to quickly replace the spare wheel 2, thus enabling rapid response to unexpected incidents during transport and improving the transport efficiency of the robot.

[0041] Reference Figure 7 and Figure 8 The first electric telescopic cylinder 563, the second electric telescopic cylinder 564, the third electric telescopic cylinder 565, and the fourth electric telescopic cylinder 566 form a four-bar linkage structure with the wheel 2 fixed seat 562 and the bottom support seat 1; the first electric telescopic cylinder 563, the second electric telescopic cylinder 564, the third electric telescopic cylinder 565, the fourth electric telescopic cylinder 566, and the fifth electric telescopic cylinder 567 all retract to form a narrowed state for the transport robot.

[0042] Reference Figure 9 The first electric telescopic cylinder 563, the second electric telescopic cylinder 564, the third electric telescopic cylinder 565, and the fourth electric telescopic cylinder 566 all extend, while the fifth electric telescopic cylinder 567 retracts, causing the handling robot to become narrower and taller.

[0043] Reference Figures 9-11 The lengths of the first electric telescopic cylinder 563, the second electric telescopic cylinder 564, the third electric telescopic cylinder 565, and the fourth electric telescopic cylinder 566 remain unchanged, while the fifth electric telescopic cylinder 567 extends, raising wheel 2 to overcome obstacles.

[0044] Reference Figure 9 and Figure 12 The fifth electric telescopic cylinder 567 maintains a constant length. Among the two front wheels 2, the first electric telescopic cylinder 563 and the third electric telescopic cylinder 565 extend, while the second electric telescopic cylinder 564 and the fourth electric telescopic cylinder 566 retract. Among the two rear wheels 2, the first electric telescopic cylinder 563 and the third electric telescopic cylinder retract, while the second electric telescopic cylinder 564 and the fourth electric telescopic cylinder 566 extend. When the four wheels 2 are perpendicular to the center connection line of the bottom support 1, the handling robot can achieve a 0-radius rotation and turning.

[0045] Reference Figure 9 and Figure 13 In the two front wheels 2, the fifth electric telescopic cylinder 567 remains unchanged in length. In one of the wheels 2, the second electric telescopic cylinder 564 and the fourth electric telescopic cylinder 566 retract, while the first electric telescopic cylinder 563 and the third electric telescopic cylinder 565 extend. In the other wheel 2, the second electric telescopic cylinder 564 and the fourth electric telescopic cylinder 566 extend, while the first electric telescopic cylinder 563 and the third electric telescopic cylinder 565 retract. The two rear wheels 2 follow suit, forming a small-radius turning shape.

[0046] In summary, the coordinated use of the first electric telescopic cylinder 563, the second electric telescopic cylinder 564, the third electric telescopic cylinder 565, the fourth electric telescopic cylinder 566, and the fifth electric telescopic cylinder 567 can widen the overall bottom of the handling robot, lowering its center of gravity and reducing the risk of tipping over when traversing sloping roads. If the road surface is rugged, the robot can be widened and then raised to improve its maneuverability. The robot's bottom can also be narrowed, allowing for smaller wheelbases to accommodate tight spaces when traversing narrow passages. Individual wheel systems can be raised or lowered to maintain stability when traversing obstacles or uneven surfaces. The robot can also achieve zero-radius rotation in place, making U-turns in confined spaces more flexible and convenient. It can also make small-radius turns, allowing for easier and more efficient obstacle avoidance in mining tunnels, thus improving its handling performance.

[0047] Reference Figure 14 The telescopic load-bearing compartment 6 includes four load-bearing side plates 61, each fixed to one side of the edge of the extension support plate 4. Each load-bearing side plate 61 is L-shaped. Load-bearing support plates 62 are fixed to the top of each of the four side plates 61, and these support plates 62 can cover the top of the side plates 61 before and after the telescopic load-bearing compartment 6 extends or retracts. A telescopic load-bearing enclosure 63 for placing items is installed above the support plates 62. Multiple telescopic load-bearing enclosures 63 are stacked sequentially along their height, and the multiple telescopic load-bearing enclosures 63 are detachably connected to each other and to the support plates 62 via bolts.

[0048] Reference Figure 14Each telescopic load-bearing enclosure 63 includes four load-bearing plates 631. The upper and lower adjacent load-bearing plates 631 and the bottom load-bearing plate 631 are detachably connected to the load-bearing support plate 62 by bolts. A baffle 632 is fixed on one side of the load-bearing plate 631. The baffles 632 on the side of two adjacent load-bearing plates 631 overlap each other. The overlapping load-bearing plates 631 serve to strengthen the connection between the four load-bearing plates 631 and also to seal the gaps between adjacent load-bearing plates 631 after the telescopic load-bearing compartment 6 is extended and widened, thereby making it more convenient for the telescopic load-bearing compartment 6 to carry goods and preventing material leakage.

[0049] When the horizontal and vertical telescopic adjustment mechanism 5 synchronously drives the four extension support plates 4 to move laterally and longitudinally away from the center of the main support plate 3, the four extension support plates 4 will drive the four load-bearing side plates 61 to move respectively. Then, the four load-bearing side plates 61 will drive the four load-bearing support plates 62 to move synchronously. The load-bearing support plates 62 will drive the load-bearing plates 631 to move, so that the telescopic load-bearing enclosure 63 will extend synchronously in the horizontal and vertical directions to a proportion that matches the width of the mining roadway and the curvature of the bends in the roadway. Then, the staff can flexibly add or reduce the number of telescopic load-bearing enclosures 63 according to the height of the mining roadway, so as to quickly adjust the height of the telescopic load-bearing chamber 6, so that the handling robot can carry more items and more easily overcome obstacles in the mining roadway.

[0050] The implementation principle of a parallel multi-link deformable transport robot for mining, as described in this application, is as follows: When the transport robot is used for transporting materials in the mining area, the operator first drives the support block 53 and the moving block 52 to rotate along the center of the rotation axis 51 by using the synchronous reverse rotation component 55. This adjusts the ratio of the moving distance of the extension support plate 4 in the horizontal and vertical directions to the required ratio. Then, the operator activates the locking drive component 57, which drives the rotation axis 51 to rotate. The rotation axis 51 drives the moving block 52 to move radially along the rotation axis 51 through the push-pull component 54. Subsequently, the moving block 52 drives the extension support plate 4 to move in the horizontal and vertical directions away from or closer to the center of the main support plate 3. The four extension support plates 4 can then drive the telescopic load-bearing chamber 6 to extend in the horizontal and vertical directions. Thus, the length and width of the telescopic load-bearing chamber 6 can be adjusted according to the width of the mining roadway and the curvature of the bends in the roadway. Finally, the height of the telescopic load-bearing chamber 6 can be adjusted according to the height of the mining roadway. This allows the transport robot to be quickly adapted to the size of the mining roadway, thereby maximizing the load-bearing volume and operational stability of the transport robot.

[0051] Then, when the transport robot encounters obstacles or uneven surfaces during its movement, the height of individual wheels 2 can be adjusted by moving the steering component 56 to maintain the stability of the vehicle. Each wheel system of the transport robot can be raised or lowered. When navigating narrow tunnels, the wheelbase can be narrowed to adapt to transport and movement in confined spaces. When navigating sloping roads, the wheelbase can be widened to increase the overall width of the transport robot, lower the center of gravity, and reduce the risk of tipping over. When navigating rough terrain, the overall width can be increased while the vehicle height is raised to improve maneuverability. The width and height of mining tunnels, as well as the turning radius at tunnel bends, vary in various ways. Furthermore, mining tunnels are typically rugged, with complex road conditions and numerous obstacles. The horizontal and vertical telescopic adjustment mechanism 5 allows for rapid changes in the height, width, and length of the handling robot, thus adapting it to tunnels of various sizes and specifications. This enhances the robot's practicality and applicability, maximizes the efficiency of loading and unloading space, and improves handling efficiency. In addition, the horizontal and vertical telescopic adjustment mechanism 5, in conjunction with the telescopic carrying chamber 6, enables the handling robot to adapt to mining tunnels of different widths, heights, and turning radii at bends, thereby efficiently avoiding obstacles and improving the robot's handling performance.

[0052] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A mining parallel multi-link deformable handling robot, characterized in that: Includes a bottom support base (1), four wheels (2) respectively set around the bottom support base (1), a main support plate (3) set above the bottom support base (1), four extension support plates (4) slidably connected to the main support plate (3), a horizontal and vertical telescopic adjustment mechanism (5) set between the bottom support base (1) and the main support plate (3) for synchronously driving the four extension support plates (4) to move laterally and longitudinally away from or closer to the center of the main support plate (3) and driving the four wheels (2) to change various forms to avoid obstacles during driving, and a telescopic carrying compartment (6) set above the extension support plate (4) for carrying items and can adapt to the horizontal and longitudinal extension and height adjustment as the extension support plate (4) moves; The horizontal and vertical telescopic adjustment mechanism (5) includes a rotating shaft (51) rotatably connected to the main support plate (3) in the vertical direction, four movable blocks (52) slidably connected to four extension support plates (4) in the same circumferential direction, a support block (53) disposed between the movable block (52) and the rotating shaft (51), and a push-pull assembly (54) disposed between the rotating shaft (51) and the movable block (52) for driving the movable block (52) to move radially toward or away from the rotating shaft (51). A synchronous reverse rotation assembly (55) is set between the main support plate (3) and the moving block (52) to drive two adjacent support blocks (53) to rotate synchronously in opposite directions; a moving steering assembly (56) is set between the bottom support base (1) and the wheel (2) to drive the wheel (2) to move in the horizontal or vertical direction toward or away from the bottom support base (1) and to turn; a locking drive assembly (57) is set between the rotating shaft (51) and the bottom support base (1) to drive the rotating shaft (51) to rotate and lock. The extended support plate (4) has an arc-shaped groove (42) with the center of the arc of the groove (42) coinciding with the center of the rotating shaft (51), and the moving block (52) slides within the arc-shaped groove (42).

2. The mining parallel multi-link deformable handling robot according to claim 1, characterized in that: The synchronous reverse rotation assembly (55) includes a first internal gear ring (551) rotatably connected to the main support plate (3), a drive gear (552) and a driven gear (553), a drive motor (554) disposed on one side of the rotation shaft of the drive gear (552), a second internal gear ring (555) rotatably sleeved on the outside of the rotation shaft (51), and four connecting rods (556) respectively fixed on four support blocks (53); Two of the connecting rods (556) are fixedly connected to the outside of the first internal gear ring (551), and the other two connecting rods (556) are fixedly connected to the outside of the second internal gear ring (555). The two connecting rods (556) on the first internal gear ring (551) are located on the same straight line and the straight line passes through the center of the rotating shaft (51). The two connecting rods (556) on the second internal gear ring (555) are also located on the same straight line and the straight line passes through the center of the rotating shaft (51). The driving gear (552) meshes with the inner side of the first internal gear ring (551), the driven gear (553) meshes with the inner side of the second internal gear ring (555), and the driving gear (552) and the driven gear (553) partially mesh vertically.

3. The mining parallel multi-link deformable handling robot according to claim 1, characterized in that: The push-pull assembly (54) includes a drive sleeve (541) rotatably connected to the support block (53), a drive screw (542) disposed between the drive sleeve (541) and the moving block (52), a drive bevel gear (543) fixedly sleeved on the outside of the rotating shaft (51), and a driven bevel gear (544) fixedly sleeved on one end of the drive sleeve (541) near the rotating shaft (51). One end of the drive sleeve (541) is fixedly connected to the driven bevel gear (544), one end of the drive screw (542) is threadedly connected to the drive sleeve (541), and the other end is fixedly connected to the moving block (52). The drive bevel gear (543) and the driven bevel gear (544) mesh with each other.

4. The mining parallel multi-link deformable handling robot according to claim 3, characterized in that: A limiting sleeve (545) is fixed inside the end of the drive sleeve (541) near the moving block (52). The limiting sleeve (545) is threadedly connected to the drive screw (542). A limiting block (546) is fixed inside the drive sleeve (541) at one end of the drive screw (542). The limiting block (546) slides inside the limiting sleeve (545) and cannot pass through the limiting sleeve (545).

5. The mining parallel multi-link deformable handling robot according to claim 1, characterized in that: The moving steering assembly (56) includes a hub motor (561) disposed inside the wheel (2), a fixed seat (562) disposed on one side of the hub motor (561), a first electric telescopic cylinder (563), a second electric telescopic cylinder (564), a third electric telescopic cylinder (565), a fourth electric telescopic cylinder (566) hinged between the fixed seat (562) and the side of the bottom support seat (1), and a fifth electric telescopic cylinder (567) hinged between the fixed seat (562) and the bottom of the bottom support seat (1).

6. The mining parallel multi-link deformable handling robot according to claim 5, characterized in that: The first electric telescopic cylinder (563), the second electric telescopic cylinder (564), the third electric telescopic cylinder (565), the fourth electric telescopic cylinder (566), and the fifth electric telescopic cylinder (567) are all hinged to the bottom support base (1) with a connecting seat (568), and the connecting seat (568) is detachably connected to the bottom support base (1).

7. The mining parallel multi-link deformable handling robot according to claim 1, characterized in that: The locking drive assembly (57) includes a worm gear (571) fixedly sleeved on the rotating shaft (51), a worm (572) rotatably connected to the main support plate (3), and a power motor (573) disposed at one end of the worm (572); the worm gear (571) and the worm (572) mesh with each other.

8. The mining parallel multi-link deformable handling robot according to any one of claims 1-7, characterized in that: The telescopic load-bearing compartment (6) includes four load-bearing side plates (61) respectively fixed on both sides of the edge of the extension support plate (4), four load-bearing support plates (62) respectively fixed on the top of the four load-bearing side plates (61), and multiple telescopic load-bearing enclosures (63) stacked in sequence along the height direction above the load-bearing support plates (62) for placing items. Multiple telescopic load-bearing barriers (63) are detachably connected to each other and to the bottom telescopic load-bearing barrier (63) and the load-bearing support plate (62).

9. The mining parallel multi-link deformable handling robot according to claim 8, characterized in that: Each of the telescopic load-bearing enclosures (63) includes four load-bearing plates (631) and a baffle (632) fixed on one side of the load-bearing plate (631); the upper and lower adjacent load-bearing plates (631) and the bottom load-bearing plate (631) are detachably connected to the load-bearing support plate (62), and the baffles (632) on one side of the adjacent load-bearing plates (631) overlap each other.

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