Novel mine multipurpose mechanical vehicle and working method thereof

Abstract

The invention discloses a novel mine multipurpose mechanical vehicle and a working method thereof. The novel mine multipurpose mechanical vehicle comprises a mechanical box, a novel drill bit mechanical arm, a camera device, a lighting device, a walking device, a soil shoveling device, a supporting device, a control system, a signal transmission system and a power system. The number of the novel drill bit mechanical arms is two, and the two novel drill bit mechanical arms are assembled at the two corners above the front portion of the mechanical box correspondingly. The camera device is assembled on a boss above the mechanical box; the lighting device comprises an industrial lighting lamp; the walking device comprises a crawler belt and a power system; the soil shoveling device is assembled at the lower part of the front part of the mechanical box and the middle position of the mechanical box; the supporting device is located on the periphery of the mechanical box. According to the invention, efficient tunneling can be carried out by using the drill bit mechanical arm, obstacles which are not favorable for tunneling in front are removed, and the device has important significance on mine collapse rescue, mine hole exploration and mineral resource collection.

Description

Technical Field

[0001] The invention relates to the technical field of mine accident rescue, and in particular to a novel multi-purpose mine mechanical vehicle and a working method thereof. Background Art

[0002] During mining, the mine cave may collapse due to negligence or sudden changes in the natural environment. At this time, the workers in the mine cave will be injured. In addition, there is a lack of oxygen and sufficient food in the collapsed mine cave. How to take reasonable measures to effectively rescue the trapped people has become a key issue. At present, most rescue methods are to use mining robots to enter the collapsed mine cave to detect the internal situation and cooperate with external rescuers to dig and rescue. However, when the situation is urgent, this rescue method takes a long time and the trapped people are in danger of life.

[0003] Therefore, in view of the above situation, the present invention proposes a new multi-purpose mining mechanical vehicle that can realize the integration of mine cave detection and rescue operations. The new multi-purpose mining mechanical vehicle includes a camera and lighting device, which can clearly detect the internal situation of the mine cave. In conjunction with the two new drill mechanical arms in front of the mechanical box, it can efficiently drill the soil and rocks in front, and the mechanical claws on the mechanical arms can also grab large pieces of soil and rocks or other obstacles that are difficult to drill away from the forward route. The earth-shoveling device located in the lower front part of the mechanical box can efficiently transport the soil and rocks in front and drilled by the mechanical arm to the rear of the mechanical vehicle through the transmission system. The new mechanical vehicle not only allows rescue personnel to clearly understand the internal situation of the collapsed mine cave, but also can cooperate with the mechanical arm to implement drilling rescue, which improves the rescue efficiency to a certain extent. Summary of the invention

[0004] The technical solution adopted by the present invention is: a new type of multi-purpose mining mechanical vehicle, including a mechanical box, a new type of drill mechanical arm, a camera device, a lighting device, a walking device, a shoveling device, a supporting device, a control system, a signal transmission system, and a power system; the new type of drill mechanical arms are two in total, which are respectively installed at the two corners above the front of the mechanical box; the camera device is installed on the boss above the mechanical box; the lighting device includes an industrial lighting lamp; the walking device includes a crawler and a power system; the shoveling device is installed at the front lower part of the mechanical box and in the middle of the mechanical box; the supporting device is located around the mechanical box.

[0005] In the above-mentioned new multi-purpose mining mechanical vehicle, the mechanical box is a rectangular parallelepiped, which is the main part of the new multi-purpose mining mechanical vehicle. The upper rear end thereof is a boss, and the front and rear end surfaces are connected to the transmission pipeline and open, and the rear opening is equipped with a soil drop plate; the new drill mechanical arm is installed at the two corners of the upper front end of the mechanical box; the camera device includes a monitoring camera, which is installed at the boss position above the mechanical box; the lighting device includes eight LED industrial lighting lamps, which are respectively installed at the boss above the mechanical box, the front end surface, left end surface, right end surface, and rear end surface of the mechanical box, one is installed at the boss above the mechanical box and the front end surface, and two are installed at the remaining positions; the walking device includes a pair of crawlers, which are installed on the left and right sides below the mechanical box; the earth-shoveling device includes a bucket, a soil-sweeping device, a conveyor belt, and a soil-dropping plate transportation system, which are installed at the lower position of the front end surface of the mechanical box; the soil-sweeping device is installed on the bucket, and there are two of them in a spiral shape; The conveyor belt is located between the two spiral sweeping devices, which are installed in the pipeline, with the front end of the pipeline connected to the bucket at the front end of the mechanical box, and the rear end connected to the soil-dropping plate; the soil-dropping plate is located at the rear section of the mechanical box; the supporting device includes four hydraulic support rods, which are respectively installed at the front and rear of the left and right end faces of the mechanical box; the power system includes a battery pack, a CNC pump, an oil tank and a stepper motor; the oil tank and the CNC pump are installed on the left and right sides of the transmission pipeline inside the mechanical box, located near the front end face; the battery pack is loaded on the boss position above the mechanical box; the control system includes electronic devices such as an integrated circuit board, an MCU control chip and a drive module; the integrated circuit board is protected by a small mechanical box and installed at the boss position above the mechanical box; the signal transmission system includes circuit modules such as an integrated circuit board, a signal transmission module and a signal processing module, and the integrated circuit board is protected by a small mechanical box and installed at the boss position above the mechanical box.

[0006] In the above-mentioned new multi-purpose mining mechanical vehicle, the new drill bit mechanical arm includes a movable arm, an extension support arm, a mechanical claw and a drill bit; the new drill bit mechanical arm is powered by a power system; the mechanical claw and the drill bit are interlocked; the mechanical claw is retracted in the mechanical arm in normal state, and the drill bit performs excavation work; when the mechanical claw is working, the drill bit stops working and the mechanical claw extends from the mechanical arm.

[0007] In the above-mentioned new multi-purpose mining mechanical vehicle, the camera device includes a monitoring camera, which also has a night vision function and is responsible for monitoring the working environment and working status; the monitoring camera is located on the boss position above the mechanical box and is powered by a battery pack.

[0008] In the above-mentioned new multi-purpose mining mechanical vehicle, the lighting device includes eight LED industrial lighting lamps, all of which are powered by a battery pack and are responsible for maintaining the brightness of the working environment.

[0009] In the above-mentioned new multi-purpose mining mechanical vehicle, the traveling device includes two crawlers, the material of which is hard steel; the crawlers adopt three-ribbed track plates, which can adapt to various complex terrains and maintain high mechanical properties.

[0010] In the above-mentioned new multi-purpose mining mechanical vehicle, the earth-shoveling device includes a bucket, a sweeping device, a conveyor belt and a soil-dropping plate; the bucket and the front end face of the mechanical box have an inclined angle of 60 degrees; the front end of the bucket is connected to the ground, which is convenient for collecting soil and rocks on the ground during the forward movement, and the rear end is connected to the transmission pipeline; the spiral sweeping device transports the soil and rocks to the conveyor belt through the bucket, and works in conjunction with the conveyor belt to transport the soil and rocks drilled by the new drill bit mechanical arm to the rear of the mechanical vehicle.

[0011] In the above-mentioned new multi-purpose mining mechanical vehicle, the supporting device includes four retractable hydraulic supporting rods. When the new drill bit mechanical arm is working, the supporting rods are lowered in a balanced posture, so that the new drill bit mechanical arm is in a stable working state; the supporting device assists the transmission system to perform smooth transportation operations.

[0012] A working method of the novel multi-purpose mining mechanical vehicle is specifically operated as follows:

[0013] First, detection is carried out outside the mine. When a suitable position is detected, the new multi-purpose mining mechanical vehicle starts to work; the four hydraulic support rods located around the mechanical vehicle are lowered, and the new drill mechanical arm starts to work; at this time, the mechanical claw is in a non-working state, and the drill is responsible for the main drilling work of soil and rock, drilling down the soil and rock in front; when encountering an obstacle that is more difficult to drill during operation, the drill stops working, and two mechanical claws extend from the mechanical arm, and through the cooperation of the mechanical arm, the obstacle is moved to the rear of the mechanical vehicle. After the movement is completed, the mechanical arm returns to the reset state, and the mechanical claw retracts and resets to the standby state, and then the drill Continue the above work; after the earth and rocks are drilled down, the earth-shoveling device collects the earth and rocks and transports them to the rear of the mechanical vehicle through the transmission system, and the rear staff collects the earth and rocks and transports them to the non-working environment through the transport vehicle; while the new drill bit mechanical arm in front is working, the lighting device is turned on and keeps working, responsible for maintaining a strong brightness in the working environment; while the new drill bit mechanical arm is working, the camera device is turned on and maintains the working loading, monitors the working environment and the working status of the mechanical vehicle in real time, and feeds back the picture to the staff in real time through the signal transmission system for the next step of the mechanical vehicle.

[0014] Compared with the prior art, the invention has the following beneficial effects.

[0015] 1) The present invention is a new type of multi-purpose mining mechanical vehicle, the crawler tracks of which enable it to adapt to many complex terrains and advance at a relatively fast speed.

[0016] 2) The two new drill manipulators assembled in the present invention work in coordination with each other and can perform various tasks that ordinary machines cannot complete, such as quickly removing obstacles on the excavation path during excavation; efficiently transporting materials in the underground environment to places that are inconvenient for ordinary mechanical equipment to transport; and being able to quickly transfer materials that are inconvenient to transport manually in the underground environment, etc.

[0017] 3) The device of the present invention has a small size, a flexible working mode, a wide working range and high working efficiency.

[0018] 4) The present invention can illuminate and monitor the working environment and working status in real time during the working process, and can provide real-time feedback to the staff so as to control the mechanical vehicle to perform the next step of work. Even in a dark environment, it can greatly reduce errors in the working process and improve work efficiency.

[0019] 5) The present invention is equipped with hydraulic support rods at the four corners of the bottom of the mechanical box. When the drill encounters a relatively hard soil and rock obstacle during operation, the four support rods are lowered to support the bottom surface, so that the body of the mechanical vehicle remains stable during drilling, allowing the drill installed on the novel drill mechanical arm to operate stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 , 2 It is the main structural diagram of the novel multi-purpose mining mechanical vehicle of the present invention.

[0022] Figure 3 It is a schematic diagram of the interior of the box of the novel multi-purpose mining mechanical vehicle of the present invention.

[0023] Figure 4 This is a structural diagram of the new drill bit mechanical arm of the new multi-purpose mining mechanical vehicle of the present invention.

[0024] Figure 5 The figure is a schematic diagram of the internal structure of the mechanical box of the novel multi-purpose mining mechanical vehicle of the present invention.

[0025] 1—sweeping device; 2—bucket; 3—hydraulic support rod; 4—crawler; 5—mechanical box; 6—LED industrial lighting; 7—mechanical claw; 8—extendable support arm; 9—boom; 10—surveillance camera; 11—conveyor belt; 12—soil drop plate; 13—battery pack; 14—control system; 15—signal transmission system; 16—drill bit; 17—CNC pump; 18—fuel tank; 19—motor. DETAILED DESCRIPTION

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] Figure 1-5Shown are the overall structural diagram and the internal structural diagram of the present invention; the new multi-purpose mining mechanical vehicle comprises a mechanical box, a new drill mechanical arm, a camera device, a lighting device, a walking device, a shoveling device, a supporting device, a control system, a signal transmission system, and a power system; there are two new drill mechanical arms, which are respectively mounted at the two corners above the front of the mechanical box; the camera device is mounted on the boss above the mechanical box; the lighting device comprises an industrial lighting lamp; the walking device comprises a crawler and a power system; the shoveling device is mounted at the front lower part of the mechanical box and in the middle of the mechanical box; the supporting device is located around the mechanical box.

[0028] The new drill mechanical arm includes a drill bit 16 and two mechanical arms; the drill bit 16 is located at the end of the mechanical arm; the new drill mechanical arm consists of a mechanical claw 7, an extension support arm 8, a movable arm 9, and a drill bit 16; the extension support arm 8 and the movable arm 9 are connected by a power system; the movable arm 9 and the mechanical box are connected by a power system; when excavating, the two new drill mechanical arms cooperate with the drill bit 16; the power system includes a CNC pump 17, an oil tank 18 and a stepper motor 19; the earth-shoveling device includes a bucket 2 in front of the mechanical vehicle, a soil-sweeping device 1, a conveyor belt 11, and a soil-dropping plate 12; the conveyor belt 11 is connected to the stepper motor 19 inside the mechanical box 5; the bucket 2 is located in front of the mechanical box 5; the conveyor belt 11 is located at the lower position inside the mechanical vehicle body, and cooperates with the soil-dropping plate 12 at the rear to transport soil and rocks.

[0029] The walking device includes a crawler 4 and a power system located at the bottom of the mechanical box 5, and the crawler 4 is mechanically matched with the mechanical box 5; the lighting device includes eight LED industrial lighting lamps 6 around the mechanical box 5, and the lighting device is connected to the battery pack 13 inside the mechanical box 5. The camera device includes a monitoring camera 10 on the top of the mechanical box 5; the monitoring camera 10 can rotate 360 ​​degrees to observe the excavation situation in the mine cave in all directions. The supporting device includes a hydraulic support rod 3 located around the mechanical box 5, which is connected to the power system; the control system 14 and the signal transmission system are both loaded inside the boss above the mechanical box 5 and wrapped by a small mechanical protection device.

[0030] The working method of the novel multi-purpose mining mechanical vehicle of the present invention is specifically operated as follows: First, the mechanical vehicle is started by the staff and enters the work area to operate.

[0031] When the mechanical vehicle is performing detection work: When controlling the mechanical vehicle to move forward, the staff turns on the LED industrial lighting lamps 6 around the mechanical box 5 and the monitoring camera 10 above the mechanical box 5, and observes the surrounding environment inside the mine in real time through the monitoring camera 10.

[0032] When the mechanical vehicle is drilling: The two new drill mechanical arms in front of the mechanical vehicle extend forward, and the mechanical claws 7 at the end of the boom 9 are retracted backward along the axis of the boom 9. At this time, the drill bit 16 is completely exposed and starts drilling. When the drill bit 16 encounters relatively hard soil and stone obstacles during work, the hydraulic support rods 3 at the four corners of the bottom of the mechanical box extend to support the entire mechanical vehicle body instead of the crawler 4, so that when the drill bit 16 increases the power to drill the hard soil and stone, the mechanical vehicle as a whole has sufficient stability.

[0033] When the robot encounters other obstacles or needs to grab a workpiece: The mechanical claw 7 at the end of the boom 9 extends forward, and other obstacles can be grabbed and removed through the mechanical claw 7, or the workpieces required by the staff can be grabbed and transported to the designated location; the two mechanical arms can achieve 360-degree rotation in the horizontal direction through the rotating base, and the joints of the boom 9 and the extension support arm 8 allow the mechanical claw 7 and the drill bit 16 to rotate within a certain range in the vertical direction, so that the mechanical arm has a greater degree of freedom when working, thereby improving its drilling ability; the soil and rocks in the forward direction of the mechanical vehicle and most of the soil and rocks drilled by the drill bit 16 will fall onto the earth-shoveling device in front of the mechanical vehicle, and the spiral sweeping device 1 is controlled by the staff and rotates continuously, which can efficiently sweep the soil and rocks on the bucket 2 into the conveyor belt 11 at the lower center of the inside of the mechanical box 5, and then the conveyor belt 11 transports the soil and rocks to the rear drop plate 12, thereby completing the process of clearing soil and rocks in front of the mechanical vehicle.

Claims

1. A new type of multi-purpose mining mechanical vehicle, characterized by: It includes a mechanical box, a new drill mechanical arm, a camera device, a lighting device, a walking device, a shoveling device, a supporting device, a control system, a signal transmission system, and a power system; there are two new drill mechanical arms, which are respectively installed at the two corners above the front of the mechanical box; the camera device is installed on the boss above the mechanical box; the lighting device includes an industrial lighting lamp; the walking device includes a crawler and a power system; the shoveling device is installed at the front lower part of the mechanical box and in the middle of the mechanical box; the supporting device is located around the mechanical box: The mechanical box is a rectangular parallelepiped, which is the main part of the new multi-purpose mining mechanical vehicle. The upper rear end is a boss, and the front and rear rear faces are connected to the transmission pipeline and open, and the rear opening is equipped with a soil drop plate; the new drill mechanical arm is installed at the two corners of the upper front end of the mechanical box; the camera device includes a monitoring camera, which is installed at the boss position above the mechanical box; the lighting device includes eight LED industrial lighting lamps, which are respectively installed at the boss above the mechanical box, the front end face, left end face, right end face, and rear end face of the mechanical box, one is installed at the boss above the mechanical box and the front end face, and two are installed at the remaining positions; the walking device includes a pair of crawlers, which are installed on the left and right sides below the mechanical box; the earth-shoveling device includes a bucket, a soil-sweeping device, a conveyor belt, and a soil-dropping plate transportation system, which are installed at the lower position of the front end face of the mechanical box; the soil-sweeping device is installed on the bucket, and a total of two are installed, and their shape is spiral; the conveyor belt position It is installed in the pipeline between the two spiral sweeping devices, with the front end of the pipeline connected to the bucket at the front end of the mechanical box, and the rear end connected to the soil-dropping plate; the soil-dropping plate is located at the rear section of the mechanical box; the supporting device includes four hydraulic support rods, which are respectively installed at the front and rear of the left and right end faces of the mechanical box; the power system includes a battery pack, a CNC pump, an oil tank and a stepper motor; the oil tank and the CNC pump are installed on the left and right sides of the transmission pipeline inside the mechanical box, located near the front end face; the battery pack is loaded on the boss position above the mechanical box; the control system includes electronic devices such as an integrated circuit board, an MCU control chip and a drive module; the integrated circuit board is protected by a small mechanical box and installed at the boss position above the mechanical box; the signal transmission system includes circuit modules such as an integrated circuit board, a signal transmission module and a signal processing module, and the integrated circuit board is protected by a small mechanical box and installed at the boss position above the mechanical box.

2. The novel multi-purpose mining mechanical vehicle according to claim 1 is characterized in that: The novel drill bit mechanical arm comprises a movable arm, an extension support arm, a mechanical claw and a drill bit; the novel drill bit mechanical arm is powered by a power system; the mechanical claw and the drill bit work in an interlocking manner; The mechanical claw is retracted in the mechanical arm in normal state, and the drill bit performs excavation work; when the mechanical claw is working, the drill bit stops working, and the mechanical claw extends from the mechanical arm.

3. The novel multi-purpose mining mechanical vehicle according to claim 1 is characterized in that: The camera device includes a monitoring camera, which also has a night vision function and is responsible for monitoring the working environment and working status; the monitoring camera is located at the boss position above the mechanical box and is powered by a battery pack.

4. The novel multi-purpose mining mechanical vehicle according to claim 1 is characterized in that: The lighting device includes eight LED industrial lighting lamps, all of which are powered by a battery pack and are responsible for maintaining the brightness of the working environment.

5. The novel multi-purpose mining mechanical vehicle according to claim 1 is characterized in that: The walking device comprises two crawlers, the material of which is hard steel; the crawlers adopt three-ribbed crawler plates, which can adapt to various complex terrains and maintain high mechanical properties.

6. The novel multi-purpose mining mechanical vehicle according to claim 1 is characterized in that: The earth-shoveling device includes a bucket, a soil-sweeping device, a conveyor belt and a soil-dropping plate; the bucket and the front end surface of the mechanical box have an inclined angle of 60 degrees; the front end of the bucket is connected to the ground, which is convenient for collecting soil and rocks on the ground during the forward movement, and the rear end is connected to the transmission pipeline; the spiral soil-sweeping device transports the soil and rocks to the conveyor belt through the bucket, and works in conjunction with the conveyor belt to transport the soil and rocks drilled by the new drill bit mechanical arm to the rear of the mechanical vehicle.

7. The novel multi-purpose mining mechanical vehicle according to claim 1 is characterized in that: The support device includes four retractable hydraulic support rods. When the new drill bit mechanical arm is working, the support rods are lowered in a balanced posture, so that the new drill bit mechanical arm is in a stable working state; the support device assists the transmission system to perform smooth transportation operations.

8. A working method of the novel multi-purpose mining mechanical vehicle according to any one of claims 1 to 7, wherein the specific operations are as follows: First, detection is carried out outside the mine. When a suitable position is detected, the new multi-purpose mining mechanical vehicle starts to work; the four hydraulic support rods located around the mechanical vehicle are lowered, and the new drill mechanical arm starts to work; at this time, the mechanical claw is in a non-working state, and the drill is responsible for the main drilling work of soil and rock, drilling down the soil and rock in front; when encountering an obstacle that is more difficult to drill during operation, the drill stops working, and two mechanical claws extend from the mechanical arm, and through the cooperation of the mechanical arm, the obstacle is moved to the rear of the mechanical vehicle. After the movement is completed, the mechanical arm returns to the reset state, and the mechanical claw retracts and resets to the standby state, and then the drill Continue the above work; after the earth and rocks are drilled down, the earth-shoveling device collects the earth and rocks and transports them to the rear of the mechanical vehicle through the transmission system, and the rear staff collects the earth and rocks and transports them to the non-working environment through the transport vehicle; while the new drill bit mechanical arm in front is working, the lighting device is turned on and keeps working, responsible for maintaining a strong brightness in the working environment; while the new drill bit mechanical arm is working, the camera device is turned on and maintains the working loading, monitors the working environment and the working status of the mechanical vehicle in real time, and feeds back the picture to the staff in real time through the signal transmission system for the next step of the mechanical vehicle.

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