Underground coal mine multifunctional light-load transfer robot and control method thereof

Abstract

The invention discloses an underground coal mine multifunctional light load transfer robot and a control method thereof, and relates to the technical field of coal mine robot transfer. The robot comprises a robot body, the robot body comprises a rack, a transverse moving assembly and a telescopic carrying assembly are installed in the rack, the telescopic carrying assembly is located in the center of the inner wall of a rack installation groove and arranged in a machine cover, and the machine cover is composed of two half-oval-like cover plates of the same size; the two cover plates are symmetrically distributed about the central axis of the mounting groove, and a movable groove is formed between the two cover plates. The conveying pressure of one conveying rail can be greatly reduced through the control system, the carrying speed can be flexibly controlled, the conveying speed of the conveying rail at the right lower position of the sliding groove can be controlled, and therefore the requirement for accurately controlling the carrying speed is met.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine robot handling, and in particular relates to a multifunctional light-load handling robot in an underground coal mine and a control method thereof. Background Art

[0002] Mine handling refers to underground transportation work in mines. The main task is to transport useful minerals (ore, coal), waste rock or gangue mined underground from the mining face to the ground transfer station, ore washing plant, or to transport personnel, materials, equipment and other materials in and out of various transportation operations. Among them, the transportation operation between the bottom of the well and the wellhead belongs to mine hoisting. The characteristics of mine transportation are large transportation volume, many varieties, narrow tunnels, different transportation distances, complex routes, and short visible distances. Therefore, the operation is complex, maintenance and repair are difficult, and safety requirements are high. With the continuous development of science and technology, part of the light-load handling work in mines is gradually replaced by handling robots. Light-load handling robots are small in size and do not occupy mine passages during work. They can carry some small objects with a higher efficiency.

[0003] At present, when light-load handling robots in coal mines are carrying small objects such as minerals, the ability to transport and process these light-load objects is poor, as the light-load objects are small in size but large in number. This can easily cause the light-load objects to be stranded at the handling robot's position. At the same time, most handling robots can only set up one handling channel at a time, and the degree of freedom of the handling destination position is limited.

[0004] The existing multifunctional light-load handling robots in coal mines are limited in their ability to handle light-loaded items in the front, so light-loaded items are easily stranded during the handling process. In addition, general handling robots have single functions and can only perform simple handling actions. Therefore, we propose a multifunctional light-load handling robot for underground coal mines and a control method thereof. Summary of the invention

[0005] The purpose of the present invention is to provide a multifunctional light-load handling robot and a control method for it in coal mines, so as to solve the problems that the existing multifunctional light-load handling robots in coal mines are limited in their ability to handle light-loaded objects in the front, so that light-loaded objects are easily stranded during the handling process, and the general handling robots have a single function and can only perform simple handling actions.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions: The present invention is a multifunctional light-load handling robot for underground coal mines, comprising a robot body, the robot body comprising a frame, a lateral moving component and a telescopic handling component are respectively installed inside the frame, the telescopic handling component is located at the center of the inner wall of the frame mounting groove, and is arranged inside the machine cover, the machine cover is two semi-elliptical cover plates of the same size, the two cover plates are symmetrically distributed about the central axis of the mounting groove, and a movable groove is arranged between the two cover plates; The lateral movement assembly includes a sliding screw rod, the upper and lower ends of the sliding screw rod are respectively arranged on the upper and lower walls of the frame, the sliding screw rod is threadedly connected with a first movable bearing, one end of the movable bearing is fixedly connected to a side surface of the slide, a rectangular hole is opened inside the slide, a telescopic block is fixedly installed on the inner wall of one side of the rectangular hole, a first spring is sleeved on the peripheral side of the telescopic block, and one end of the telescopic block is fixedly connected to the transverse slider, a movable shaft is fixedly installed on the inner side surface of the transverse slider, and the movable shaft is slidably arranged in the slide groove formed by the installation groove and the machine cover; a plurality of receiving shafts are fixedly installed on the outer side surface of the transverse slider through a guard plate for receiving light loads; The telescopic transport assembly has two groups, including a stepper motor, the top output end of the stepper motor is fixedly connected to the bottom end of the lifting screw rod, the lifting screw rod and the movable groove are located on the same side section, the lifting screw rod is threadedly connected to a second movable bearing on the side surface around the lifting screw rod, and a lane changing assembly is fixedly connected to a side surface on the top of the second movable bearing; The lane changing assembly is located at the intersection of the movable groove and the slide groove, and the lane changing assembly includes a battery module, and the battery module is fixedly installed on a side surface of the top of the second movable bearing, and a left magnetic block and a right magnetic block are installed on the top of the battery module, and an "L"-shaped direction-changing block is movably arranged directly above the left magnetic block and the right magnetic block, and the direction-changing block passes through a direction-changing spring shaft, and the two ends of the direction-changing spring shaft are fixedly connected to the two ends of the inner wall of the battery module; The frame is provided with a plurality of conveyor rails outside, one of which is located at the lower right position of the chute, another is located at the upper right position of the chute, and one end of the remaining conveyor rail is adjacent to the movable chute; light-loaded objects are transported from the conveyor rail at the lower right position of the chute to the conveyor rail at the upper right position of the chute; the conveyor rail adjacent to the movable chute is used to divert light-loaded objects on the conveyor rail at the upper right position of the chute; the plurality of receiving shafts carrying light-loaded objects in the transverse moving assembly are interlaced with the conveyor shaft bodies in the conveyor rails; The robot body is controlled and operated by a control system, which includes a main control unit, a visual recognition unit, an analysis unit and a decision-making unit; Main control unit: used to control the operation of various components of the robot body to carry light loads according to the data information transmitted by other units of the control system; Visual recognition unit: used to identify the number of light-loaded objects on the three sets of conveyor tracks, and transmit the real-time conveying quantity data of the light-loaded objects on the three sets of conveyor tracks to the analysis unit; Analysis unit: used to determine whether the conveying track at the upper right corner of the chute exceeds the light-loaded item handling load according to the number of light-loaded items staying on a group of conveying tracks at the upper right corner of the chute per unit time; if the number of light-loaded items staying on the conveying track at the upper right corner of the chute per unit time exceeds a preset value, it is determined that the light-loaded item handling load is exceeded, and the overload information is output to the decision unit; Decision-making unit: used to receive the overload information of the conveying track at the upper right position of the chute transmitted by the analysis unit, and decide to divert a part of the light-loaded items to the conveying track near the movable slot position for diversion until the light-loaded items staying on the conveying track at the upper right position of the chute no longer exceed the processing load.

[0007] Preferably, a motor is fixedly installed on the top of the frame, and the bottom output end of the motor passes through the top of the frame and is fixedly connected to the top of the sliding screw rod directly below; a circular groove is opened on the inner wall of the bottom surface of the frame, and the bottom end of the sliding screw rod is rotatably arranged inside the circular groove; a sliding rod is fixedly installed inside the frame, and the sliding rod and the sliding screw rod are symmetrically arranged about the central axis of the frame; a kit is connected to the side surface of the sliding rod for up and down sliding movement, and one end of the kit is fixedly connected to the other side surface of the slide; the transverse slider is affected by the elasticity of the first spring. When the first spring is in a stationary and unstressed state, the transverse slider is located in the middle section of the rectangular hole and is facing the lane changing assembly.

[0008] Preferably, a visual monitoring element is fixedly installed just below the top of the frame, and the visual monitoring element is located above the three groups of conveying tracks to monitor the light-loaded items staying on the three groups of conveying tracks.

[0009] Preferably, the stepper motors of the two groups of telescopic conveying assemblies are fixedly installed at the central position inside the movable groove, and the two stepper motors are arranged opposite to each other; the first movable parts are fixedly installed on the opposite outer sides of the second movable bearing, and the first movable part is fixedly connected to one end of the upper connecting arm inside, and the other end of the upper connecting arm is movably connected to one end of the lower connecting arm through a pin shaft, and the other end of the lower connecting arm is fixedly connected to the second movable part, and the second movable part is fixedly connected to one side of the top of the stepper motor.

[0010] Preferably, a telescopic rod is fixedly mounted on both the upper connecting arm and the lower connecting arm, and a second spring is fixedly connected to a peripheral side surface of the telescopic rod.

[0011] A control method for a multifunctional light-load handling robot in a coal mine, in which, in an initial state, a first movable bearing is located at the lowest position of a sliding screw, and a receiving shaft is located below a conveying track at the lower right position of a chute, comprising the following steps: S1. Place the light-loaded items to be transported on the conveying track at the lower right position of the chute, and the conveying track will convey the light-loaded items to the lower right position of the chute; start the motor to drive the sliding screw to rotate, and at the same time drive the slide to slide upward; the receiving module composed of multiple receiving shafts rises from the bottom end of the conveying track at the lower right position of the chute, and the light-loaded items on the conveying track are placed on the surface of the receiving module; S2, the light-loaded articles received are continuously raised upward, and at the same time, the movable shaft slides upward along the inside of the chute until it slides to the intersection of the top of the chute and the movable chute. At this time, the visual recognition unit in the control system monitors the number of light-loaded articles per unit time staying on a group of conveying tracks at the upper right position of the chute through the visual monitoring element, and determines whether the conveying track at the upper right position of the chute exceeds the light-loaded article processing load; if the number of light-loaded articles per unit time staying on the conveying track at the upper right position of the chute exceeds the preset value, it is determined that the light-loaded article processing load is exceeded, and step S3 is performed; if the number of light-loaded articles per unit time staying on the conveying track at the upper right position of the chute does not exceed the preset value, it is determined that the light-loaded article processing load is exceeded, and step S4 is performed; S3, the movable shaft located on the direction-changing block, starts the stepper motor to drive the lifting screw to rotate, and during the rotation of the lifting screw, the second movable bearing is driven to move downward, and at the same time, the movable shaft moves downward inside the movable slot, and the light-loaded items on the receiving module continue to move downward until they are transported to the conveying track near the movable slot. When the conveying track transports the light-loaded items away, the stepper motor rotates in the opposite direction to drive the second movable bearing to move upward until the movable shaft returns to the inside of the slide slot; S4, the movable shaft on the redirection block starts the battery module to energize the left magnetic block and de-energize the right magnetic block. The redirection block rotates 90° to the left under the magnetic attraction of the left magnetic block, driving the movable shaft to move to the left side of the top of the chute. The movable shaft slides downward from the left side of the top of the chute until the light-loaded items on the receiving module are transported to the conveying track at the upper right position of the chute. S5. After carrying a light-loaded item, the receiving module rotates along the chute for one circle and returns to the lower right position of the chute under the conveying track to prepare for the next light-loaded item.

[0012] The present invention has the following beneficial effects: 1. The present invention arranges a slide groove inside the frame and utilizes a lateral moving component to slide inside the slide groove, so as to transport light-loaded objects from a low place to a high place. During the sliding process of the movable bearing inside the slide groove, when the movable bearing is located on the left side of the slide groove, the first spring is stretched, and when the movable bearing is located on the right side of the slide groove, the first spring is squeezed. Therefore, when the motor drives the sliding screw to rotate, the first movable bearing moves up and down on the surface of the sliding screw rod, and the movable shaft slides left and right inside the rectangular hole under the elastic expansion and contraction action of the first spring and the telescopic block, so that the movable shaft can slide freely from the left and right sides of the slide groove. This movement mode can increase the friction between the movable shaft and the slide groove, thereby making the operation more stable when transporting light-loaded objects.

[0013] 2. The present invention provides a telescopic transport assembly and two conveying tracks for outward transport. When the conveying pressure of one of the conveying tracks is relatively high, the other conveying track can be used to transport lightly loaded items, thereby reducing the conveying pressure of the conveying track.

[0014] 3. The present invention sets a control system and uses a visual recognition unit to measure the number of light-loaded articles staying on the three groups of conveyor tracks, and at the same time judges whether the conveyor track above the right side of the chute exceeds the light-loaded article processing load according to the number of light-loaded articles staying on a group of conveyor tracks at the upper right side of the chute per unit time; if the number of light-loaded articles staying on the conveyor track at the upper right side of the chute per unit time exceeds a preset value, it is judged that the light-loaded article processing load is exceeded, and a decision is made to divert a part of the light-loaded articles to the conveyor track near the movable slot position for diversion until the light-loaded articles staying on the conveyor track at the upper right side of the chute no longer exceed the processing load. This control method can greatly reduce the conveying pressure of one of the conveyor tracks, and can flexibly control the conveying speed, and can control the conveying speed of the conveyor track at the lower right side of the chute, thereby achieving the requirement of accurately controlling the conveying speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0016] Figure 1 A schematic diagram of the overall structure of the multifunctional light-load handling robot for underground coal mines provided by the present invention; Figure 2 For the present invention Figure 1 Enlarged view of point A in the middle; Figure 3 For the present invention Figure 1 Enlarged view of point B in the middle; Figure 4 A schematic diagram of the front view of the multifunctional light-load handling robot for underground coal mines provided by the present invention; Figure 5 A schematic diagram of the structure of the internal telescopic handling component of the multifunctional light-load handling robot for underground coal mines provided by the present invention; Figure 6 For the present invention Figure 5 Enlarged view of point C in the middle; Figure 7 A schematic diagram of the structure of a lane-changing assembly of a multifunctional light-load handling robot for underground coal mines provided by the present invention; Figure 8 This is an enlarged view of the structure of the lateral moving component of the multifunctional light-load handling robot for underground coal mines provided by the present invention.

[0017] In the accompanying drawings, the components represented by the reference numerals are listed as follows: 1. Frame; 2. Visual monitoring element; 3. Motor; 4. Sliding screw; 5. Sliding rod; 6. First movable bearing; 7. Slide; 8. Kit; 9. First spring; 10. Telescopic block; 11. Horizontal slider; 12. Movable shaft; 13. Guard plate; 14. Support shaft; 15. Machine cover; 16. Stepper motor; 17. Lifting screw; 18. Second movable bearing; 19. First movable part; 20. Upper connecting arm; 21. Telescopic rod; 22. Second spring; 23. Pin shaft; 24. Lower connecting arm; 25. Second movable part; 26. Battery module; 27. Left magnetic block; 28. Right magnetic block; 29. ​​Change-of-direction spring shaft; 30. Change-of-direction block; 31. Conveying track. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0019] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] See also Figure 1-8 The present invention is a multifunctional light-load handling robot for underground coal mines, comprising a robot body, the robot body comprising a frame 1, a lateral moving component and a telescopic handling component are respectively installed inside the frame 1, the telescopic handling component is located at the center of the inner wall of the mounting groove of the frame 1, and is arranged inside the machine cover 15, the machine cover 15 is two semi-elliptical cover plates of the same size, the two cover plates are symmetrically distributed about the central axis of the mounting groove, and a movable groove is arranged between the two cover plates, the frame 1 is the main part of the handling robot, and plays the role of carrying the other running parts of the robot, the machine cover 15 is used to protect the internal telescopic handling component, and is used to isolate the mounting groove from the slide groove; The lateral movement assembly includes a sliding screw rod 4, the upper and lower ends of which are respectively arranged on the upper and lower walls of the frame 1, the sliding screw rod 4 is threadedly connected with a first movable bearing 6, one end of the first movable bearing 6 is fixedly connected to a side of a slide 7, a rectangular hole is opened inside the slide 7, a telescopic block 10 is fixedly installed on the inner wall of one side of the rectangular hole, a first spring 9 is sleeved on the side surface of the telescopic block 10, and one end of the telescopic block 10 is fixedly connected to a lateral slider 11, a movable shaft 12 is fixedly installed on the inner side of the lateral slider 11, and the movable shaft 12 is slidably arranged inside the slide groove formed by the installation groove and the machine cover 15; the lateral movement assembly includes a sliding screw rod 4, a first movable bearing 6 is threadedly connected to the sliding screw rod 4, and a first movable bearing 6 is fixedly connected to a side of the slide 7, and a first movable bearing 6 is fixedly connected to the slide groove formed by the installation groove and the machine cover 15; the lateral movement assembly includes a sliding screw rod 4, a first movable bearing 6 is threadedly connected to the sliding screw rod 4 ... slide groove formed by the installation groove and the machine cover 15, and a first movable bearing 6 is fixedly connected to the slide groove formed by the installation groove and the machine cover 15; the lateral movement assembly includes a sliding screw rod 4, a first movable bearing 6 is threadedly connected to the slide groove formed by the installation groove A plurality of receiving shafts 14 are fixedly installed on the outer side of the slider 11 through the guard plate 13 for receiving light loads. The sliding screw 4 is used to drive the sliding screw 4 to rotate under the drive of the motor 3. The sliding screw 4 rotates to drive the first movable bearing 6 to slide up and down, and the slide 7 connected to one end of the first movable bearing 6 also slides up and down accordingly. The telescopic block 10 is extended and retracted under the influence of the first spring 9. When the movable shaft 12 is located on the left side of the slide slot, the telescopic block 10 and the first spring 9 are extended and stretched. When the movable shaft 12 is located on the right side of the slide slot, the telescopic block 10 and the first spring 9 are contracted, and the movable shaft 12 is used to slide inside the slide slot; There are two groups of telescopic transport components, including a stepper motor 16. The top output end of the stepper motor 16 is fixedly connected to the bottom end of the lifting screw 17. The lifting screw 17 and the movable groove are located on the same side section. The side surface of the lifting screw 17 is threadedly connected to the second movable bearing 18. The top side of the second movable bearing 18 is fixedly connected to the lane changing component. The lane changing assembly is located at the intersection of the movable groove and the slide groove, and the lane changing assembly includes a battery module 26, which is fixedly installed on a side surface of the top of the second movable bearing 18, and a left magnetic block 27 and a right magnetic block 28 are installed on the top of the battery module 26, and an "L"-shaped turning block 30 is movably arranged directly above the left magnetic block 27 and the right magnetic block 28. The turning block 30 passes through a turning spring shaft 29, and the two ends of the turning spring shaft 29 are fixedly connected to the two ends of the inner wall of the battery module 26. The turning spring shaft 29 can drive the turning block 30 to reset, so that the bottom of the turning block 30 is always in contact with the right magnetic block 28 without being affected by the magnetic force; A plurality of conveying rails 31 are arranged outside the frame 1, one of which is located at the lower right position of the chute, another is located at the upper right position of the chute, and one end of the remaining conveying rail 31 is adjacent to the movable slot; light-loaded objects are transported from the conveying rail 31 at the lower right position of the chute to the conveying rail 31 at the upper right position of the chute; the conveying rail 31 adjacent to the movable slot is used to divert light-loaded objects on the conveying rail 31 at the upper right position of the chute; the plurality of receiving shafts 14 carrying light-loaded objects in the transverse moving assembly are interlaced with the conveying shaft body in the conveying rail 31; The robot body is controlled and operated by a control system, which includes a main control unit, a visual recognition unit, an analysis unit, and a decision-making unit; Main control unit: used to control the operation of various components of the robot body to carry light loads according to the data information transmitted by other units of the control system; Visual recognition unit: used to identify the number of light-loaded objects on the three sets of conveying tracks 31, and transmit the real-time conveying quantity data of the light-loaded objects on the three sets of conveying tracks 31 to the analysis unit; Analysis unit: used to determine whether the conveying track 31 at the upper right position of the chute exceeds the light-loaded item handling load according to the number of light-loaded items staying on a group of conveying tracks 31 at the upper right position of the chute per unit time; if the number of light-loaded items staying on the conveying track 31 at the upper right position of the chute per unit time exceeds a preset value, it is determined that the light-loaded item handling load is exceeded, and the overload information is output to the decision unit; Decision-making unit: used to receive the overload information of the conveying track 31 at the upper right position of the chute transmitted by the analysis unit, and decide to divert a part of the light-loaded items to the conveying track 31 near the movable slot position for diversion until the light-loaded items staying on the conveying track 31 at the upper right position of the chute no longer exceed the processing load.

[0022] Among them, a motor 3 is fixedly installed on the top of the frame 1, and the bottom output end of the motor 3 passes through the top of the frame 1 and is fixedly connected to the top of the sliding screw 4 directly below. A circular groove is opened on the inner wall of the bottom surface of the frame 1, and the bottom end of the sliding screw 4 is rotatably set inside the circular groove; a sliding rod 5 is fixedly installed inside the frame 1, and the sliding rod 5 and the sliding screw 4 are symmetrically arranged about the central axis of the frame 1. A kit 8 is connected to the side surface of the sliding rod 5 for sliding up and down, and one end of the kit 8 is fixedly connected to the other side surface of the slide 7; the transverse slider 11 is affected by the elasticity of the first spring 9. When the first spring 9 is in a stationary and unstressed state, the transverse slider 11 is located in the middle section of the rectangular hole and is directly opposite to the lane changing component.

[0023] A visual monitoring element 2 is fixedly installed just below the top of the frame 1 . The visual monitoring element 2 is located above the three groups of conveying rails 31 to monitor light-loaded items staying on the three groups of conveying rails 31 .

[0024] Among them, the stepper motors 16 of the two sets of telescopic conveying assemblies are fixedly installed at the center position inside the movable groove, and the two stepper motors 16 are arranged opposite to each other; the first movable parts 19 are fixedly installed on the opposite outer sides of the second movable bearing 18, and the first movable part 19 is fixedly connected to one end of the upper connecting arm 20 inside, and the other end of the upper connecting arm 20 is movably connected to one end of the lower connecting arm 24 through a pin shaft 23, and the other end of the lower connecting arm 24 is fixedly connected to the second movable part 25, and the second movable part 25 is fixedly connected to one side of the top of the stepper motor 16. The first movable part 19 and the second movable part 25 are both used to drive the two connecting arms to move, and the upper connecting arm 20 and the lower connecting arm 24 are used to cooperate with the second movable bearing 18 to move, so that the second movable bearing 18 can be smoothly lifted and lowered during the rotation of the lifting screw 17.

[0025] The upper connecting arm 20 and the lower connecting arm 24 are both fixedly mounted with a telescopic rod 21 , and the side surface of the telescopic rod 21 is fixedly connected with a second spring 22 .

[0026] A control method for a multifunctional light-load handling robot in a coal mine, in which, in an initial state, the first movable bearing 6 is located at the lowest position of the sliding screw 4, and the receiving shaft 14 is located below the conveying track 31 at the lower right position of the chute, comprising the following steps: S1. Place the light-loaded items to be transported on the conveying track 31 at the lower right position of the chute, and the conveying track 31 conveys the light-loaded items to the lower right position of the chute; start the motor 3 to drive the sliding screw 4 to rotate, and at the same time drive the slide 7 to slide upward; the receiving module composed of multiple receiving shafts 14 rises from the bottom end of the conveying track 31 at the lower right position of the chute, and supports the light-loaded items on the conveying track 31 on the surface of the receiving module; S2, the light-loaded articles received are continuously raised upward, and at the same time, the movable shaft 12 slides upward along the inside of the chute until it slides to the intersection of the top of the chute and the movable chute. At this time, the visual recognition unit in the control system monitors the number of light-loaded articles per unit time staying on a group of conveying tracks 31 at the upper right position of the chute through the visual monitoring element 2, and determines whether the conveying track 31 at the upper right position of the chute exceeds the light-loaded article processing load; if the number of light-loaded articles per unit time staying on the conveying track 31 at the upper right position of the chute exceeds the preset value, it is determined that the light-loaded article processing load is exceeded, and step S3 is performed; if the number of light-loaded articles per unit time staying on the conveying track 31 at the upper right position of the chute does not exceed the preset value, it is determined that the light-loaded article processing load is not exceeded, and step S4 is performed; S3, the movable shaft 12 located on the direction-changing block 30 starts the stepper motor 16 to drive the lifting screw 17 to rotate. During the rotation of the lifting screw 17, the second movable bearing 18 is driven to move downward. At the same time, the movable shaft 12 moves downward inside the movable groove, and the light-loaded items on the receiving module continue to move downward until they are transported to the conveying track 31 near the position of the movable groove. After the conveying track 31 conveys the light-loaded items away, the stepper motor 16 rotates in the opposite direction to drive the second movable bearing 18 to move upward until the movable shaft 12 returns to the inside of the slide groove; S4, the movable shaft 12 on the redirection block 30 starts the battery module 26 to energize the left magnetic block 27 and de-energize the right magnetic block 28. The redirection block 30 rotates 90° to the left under the magnetic attraction of the left magnetic block 27, driving the movable shaft 12 to move to the left side of the top of the chute. The movable shaft 12 slides downward from the left side of the top of the chute until the light-loaded items on the receiving module are transported to the conveying track 31 at the upper right position of the chute. S5. After carrying a light-loaded item, the receiving module rotates along the chute for one circle and returns to the lower right position of the chute below the conveying track 31 to prepare for receiving the next light-loaded item.

[0027] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A multifunctional light-load handling robot for underground coal mines, comprising a robot body, wherein the robot body comprises a frame (1), characterized in that: A lateral moving component and a telescopic transport component are respectively installed inside the frame (1); the telescopic transport component is located at the center of the inner wall of the mounting groove of the frame (1) and is arranged inside the machine cover (15); the machine cover (15) is two semi-elliptical cover plates of the same size; the two cover plates are symmetrically distributed about the center axis of the mounting groove, and a movable groove is provided between the two cover plates; The transverse movement assembly comprises a sliding screw (4), the upper and lower ends of the sliding screw (4) are respectively arranged on the upper and lower walls of the frame (1), the sliding screw (4) is threadedly connected with a first movable bearing (6), one end of the first movable bearing (6) is fixedly connected to a side surface of a slide frame (7), a rectangular hole is opened inside the slide frame (7), a telescopic block (10) is fixedly installed on the inner wall of one side of the rectangular hole, a first spring (9) is sleeved on the peripheral side of the telescopic block (10), and one end of the telescopic block (10) is fixedly connected to a transverse slider (11), a movable shaft (12) is fixedly installed on the inner side surface of the transverse slider (11), and the movable shaft (12) is slidably arranged inside the slide groove formed by the installation groove and the machine cover (15); a plurality of receiving shafts (14) are fixedly installed on the outer side surface of the transverse slider (11) through a guard plate (13) for receiving light loads; The telescopic transport assembly has two groups, including a stepper motor (16), the top output end of the stepper motor (16) is fixedly connected to the bottom end of the lifting screw (17), the lifting screw (17) and the movable groove are located on the same side section, the lifting screw (17) is threadedly connected to a second movable bearing (18) on the side surface around the lifting screw (17), and the top side surface of the second movable bearing (18) is fixedly connected to a lane changing assembly; The lane changing assembly is located at the intersection of the movable groove and the slide groove, and the lane changing assembly includes a battery module (26). The battery module (26) is fixedly mounted on a side surface of the top of the second movable bearing (18). A left magnetic block (27) and a right magnetic block (28) are mounted on the top of the battery module (26), and an "L"-shaped direction changing block (30) is movably arranged directly above the left magnetic block (27) and the right magnetic block (28). The direction changing block (30) passes through a direction changing spring shaft (29), and two ends of the direction changing spring shaft (29) are fixedly connected to two ends of the inner wall of the battery module (26); The frame (1) is provided with a plurality of conveying rails (31) outside, one of which is located at the lower right position of the chute, another is located at the upper right position of the chute, and one end of the remaining conveying rail (31) is adjacent to the movable slot; light-loaded objects are transported from the conveying rail (31) at the lower right position of the chute to the conveying rail (31) at the upper right position of the chute; the conveying rail (31) adjacent to the movable slot is used to divert light-loaded objects on the conveying rail (31) at the upper right position of the chute; the plurality of receiving shafts (14) carrying light-loaded objects in the transverse moving assembly are interlaced with the conveying shaft body in the conveying rail (31); The robot body is controlled and operated by a control system, which includes a main control unit, a visual recognition unit, an analysis unit and a decision-making unit; Main control unit: used to control the operation of various components of the robot body to carry light loads according to the data information transmitted by other units of the control system; A visual recognition unit: used for identifying the number of light-loaded objects resting on the three sets of conveying tracks (31), and transmitting real-time conveying quantity data of the light-loaded objects on the three sets of conveying tracks (31) to the analysis unit; An analysis unit: used for judging whether the conveying track (31) above the right side of the chute exceeds the light-loaded item handling load according to the number of light-loaded items staying on a group of conveying tracks (31) at the upper right side of the chute per unit time; if the number of light-loaded items staying on the conveying track (31) at the upper right side of the chute per unit time exceeds a preset value, it is judged that the light-loaded item handling load is exceeded, and the overload information is output to the decision unit; A decision-making unit is used to receive the overload information of the conveying track (31) at the upper right position of the chute transmitted by the analysis unit, and decide to divert a part of the light-loaded items to the conveying track (31) near the movable slot position for diversion until the light-loaded items staying on the conveying track (31) at the upper right position of the chute no longer exceed the processing load.

2. The multifunctional light-load handling robot for underground coal mines according to claim 1, characterized in that: A motor (3) is fixedly mounted on the top of the frame (1); the bottom output end of the motor (3) passes through the top of the frame (1) and is fixedly connected to the top of a sliding screw (4) directly below; a circular groove is provided on the inner wall of the bottom surface of the frame (1); the bottom end of the sliding screw (4) is rotatably arranged inside the circular groove; a sliding rod (5) is fixedly mounted inside the frame (1); the sliding rod (5) and the sliding screw (4) are symmetrically arranged about the central axis of the frame (1); a kit (8) is slidably connected to the side surface of the sliding rod (5) up and down; one end of the kit (8) is fixedly connected to the other side surface of the sliding frame (7); the transverse slider (11) is affected by the elasticity of the first spring (9); when the first spring (9) is in a stationary and unstressed state, the transverse slider (11) is located in the middle of the rectangular hole and is directly opposite to the lane change assembly.

3. The multifunctional light-load handling robot for underground coal mines according to claim 1, characterized in that: A visual monitoring element (2) is fixedly installed just below the top of the frame (1); the visual monitoring element (2) is located above the three groups of conveying tracks (31) and is used to monitor light-loaded items resting on the three groups of conveying tracks (31).

4. The multifunctional light-load handling robot for underground coal mines according to claim 1, characterized in that: The stepper motors (16) of the two sets of telescopic transport assemblies are both fixedly mounted at the center position inside the movable groove, and the two stepper motors (16) are arranged opposite to each other; first movable parts (19) are respectively fixedly mounted on the opposite outer sides of the second movable bearing (18); the first movable part (19) is fixedly connected to one end of an upper connecting arm (20) inside; the other end of the upper connecting arm (20) is movably connected to one end of a lower connecting arm (24) via a pin shaft (23); the other end of the lower connecting arm (24) is fixedly connected to a second movable part (25); and the second movable part (25) is fixedly connected to one side of the top end of the stepper motor (16).

5. The multifunctional light-load handling robot for underground coal mines according to claim 1, characterized in that: A telescopic rod (21) is fixedly mounted on both the upper connecting arm (20) and the lower connecting arm (24), and a second spring (22) is fixedly connected to a side surface of the telescopic rod (21).

6. A control method for a multifunctional light-load handling robot in a coal mine, applied to the multifunctional light-load handling robot in a coal mine as claimed in claim 5, characterized in that: In the initial state, the first movable bearing (6) is located at the lowest position of the sliding screw (4), and the receiving shaft (14) is located below the conveying track (31) at the lower right position of the slide slot, comprising the following steps: S1. Place the light-loaded items to be transported on the conveying track (31) at the lower right position of the chute, and the conveying track (31) conveys the light-loaded items to the lower right position of the chute; start the motor (3) to drive the sliding screw (4) to rotate, and at the same time drive the slide (7) to slide upward; a receiving module composed of a plurality of receiving shafts (14) rises from the bottom end of the conveying track (31) at the lower right position of the chute, and supports the light-loaded items on the conveying track (31) on the surface of the receiving module; S2, the light-loaded items being received are continuously raised upward, and at the same time, the movable shaft (12) slides upward along the inside of the chute until it slides to the intersection of the top of the chute and the movable groove. At this time, the visual recognition unit in the control system monitors the number of light-loaded items per unit time staying on a group of conveying tracks (31) at the upper right position of the chute through the visual monitoring element (2), and determines whether the conveying track (31) at the upper right position of the chute exceeds the light-loaded items processing load; if the number of light-loaded items per unit time staying on the conveying track (31) at the upper right position of the chute exceeds the preset value, it is determined that the light-loaded items processing load is exceeded, and step S3 is performed; if the number of light-loaded items per unit time staying on the conveying track (31) at the upper right position of the chute does not exceed the preset value, it is determined that the light-loaded items processing load is not exceeded, and step S4 is performed; S3, the movable shaft (12) located on the direction-changing block (30) is started, the stepper motor (16) is started to drive the lifting screw (17) to rotate, and the lifting screw (17) drives the second movable bearing (18) to move downward during the rotation process, and at the same time, the movable shaft (12) moves downward inside the movable groove, and the light-loaded items on the receiving module are continuously moved downward until they are transported to the conveying track (31) near the position of the movable groove. After the conveying track (31) conveys the light-loaded items away, the stepper motor (16) rotates in the opposite direction to drive the second movable bearing (18) to move upward until the movable shaft (12) returns to the inside of the slide groove; S4, the movable shaft (12) located on the redirecting block (30) starts the battery module (26) to energize the left magnetic block (27) and simultaneously de-energize the right magnetic block (28). The redirecting block (30) rotates 90° to the left under the magnetic attraction of the left magnetic block (27) to drive the movable shaft (12) to move to the left side of the top of the chute. The movable shaft (12) slides downward from the left side of the top of the chute until the light-loaded items on the receiving module are transported to the conveying track (31) at the upper right position of the chute. S5. After carrying a light-loaded object, the receiving module rotates along the chute for one circle and returns to the lower right position of the chute under the conveying track (31) to prepare for receiving the next light-loaded object.

Images