Mining electric multifunctional auxiliary operation robot

Abstract

The invention discloses a mining electric multifunctional auxiliary operation robot. The mining electric multifunctional auxiliary operation robot comprises a wheel type moving platform, a multifunctional upper device and a multi-sensor detection system. The wheel type mobile platform adopts a four-wheel independent driving and steering structure, and supports manual, remote control, car following and autonomous driving modes; two six-degree-of-freedom hydraulic mechanical arms, a liftable operation platform and an anchor rod drilling machine are integrated on the multifunctional upper part; the multi-sensor system is fused with laser radar, vision, pressure, temperature and gas detection modules, and environment perception and safety early warning are achieved. According to the design, through modular integration and intelligent control, the working efficiency and safety in the narrow space of the mine are improved.

Description

Technical Field

[0002] The patent of this invention relates to the field of mining machinery, and specifically to a mining electric multifunctional auxiliary operation robot that integrates mobility, operation, and environmental perception. Background Art

[0003] Existing mining auxiliary equipment such as grabbing machinery and drilling rigs have many shortcomings: multiple devices need to work in coordination, resulting in low efficiency and large space occupation; at the same time, the equipment has poor maneuverability and insufficient steering flexibility, making it difficult to adapt to narrow tunnel operations with a width of less than 2 meters; in addition, some equipment relies on fuel-driven, with serious emission pollution and insufficient environmental protection; in terms of safety protection, there is a lack of multi-sensor fusion environmental monitoring and early warning systems, and there are safety hazards such as gas leakage and high temperature; the efficiency of human-machine collaboration is also low, and manual operation of the robotic arm or drilling rig requires frequent posture adjustments, which results in high labor intensity and insufficient operating precision.

[0004] The invention aims to solve the above problems and provides an electric multifunctional auxiliary operation robot for mining, including: a wheeled mobile platform 100, including a four-wheel drive steering mechanism 110 and a chassis 120, wherein the four-wheel drive steering mechanism 110 includes four independent wheel-side hydraulic motors, which directly drive the wheels to realize four-wheel independent drive and steering, so as to achieve forward, backward, oblique lateral movement and in-situ steering; a multifunctional upper body 200, including: two 6-DOF hydraulic mechanical arms 210, at the end of which an openable and closable grabbing device 211 is arranged; a liftable work platform 220, which is hydraulically The lifting mechanism 221 realizes height adjustment, and the platform surface is provided with anti-slip patterns and safety guardrails 222; device 232; multi-sensor detection system 300, including laser radar 310, visual camera 320, pressure sensor 330, temperature sensor 340, gas detection module 350 and alarm device 360, and the sensor data is processed by control module 400 and fed back to the operation terminal; control module 400, integrated with remote control receiver 410, automatic driving controller 420 and safety protection unit 430, supports remote control, following vehicle and autonomous driving mode switching.

[0005] Furthermore, in the four-wheel drive steering mechanism 110, each wheel is driven by an independent hydraulic motor, and the steering drive module adopts an electric servo mechanism, which can achieve wheel steering angle adjustment of 0°-90°, and the steering angle accuracy is ±1°.

[0006] Furthermore, the hydraulic drive system of the four-wheel drive steering mechanism (110) shares a set of high-pressure hydraulic pump station 240 with the mechanical arm 210, the anchor drill rig 230, and the hydraulic lifting mechanism 221. The hydraulic pump station 240 is integrated inside the chassis 120, with a maximum output pressure of 16 MPa and a flow range of 0-100 L / min.

[0007] Furthermore, the control module 400 supports multi-mode switching logic: manual mode: controlling movement and robotic arm action through the cab operating lever; remote control mode: controlling movement, robotic arm action and start and stop of the anchor drill rig through the wireless remote control 440; following mode: identifying the target path through the laser radar 310 and the visual camera 320, following the preset trajectory or the movement of the operator; autonomous driving mode: building a three-dimensional map of the mine based on the SLAM algorithm, planning the optimal path and avoiding obstacles.

[0008] Furthermore, the alarm device 360 ​​includes an audible and visual alarm and a 4G / 5G wireless communication module, which triggers an alarm when any of the following conditions is detected: ambient gas concentration (such as CH 4 , CO) exceeds the safety threshold (such as CH 4 >1%Vol, CO>24ppm); The load of the robot arm exceeds the rated value (such as the grab weight>200kg); The temperature sensor 340 detects that the hydraulic system oil temperature is>80℃.

[0009] Furthermore, the chassis 120 adopts a high-strength aluminum alloy frame and integrates a lithium-ion battery pack 121 with a battery capacity of 100 kWh, supporting continuous operation for 8 hours and a fast charging time of ≤ 2 hours.

[0010] Furthermore, the six-degree-of-freedom joints of the robotic arm 210 include: shoulder joint (rotation axis): ±180° rotation; elbow joint (telescopic axis): ±120° swing; wrist joint (rotation axis): ±270° rotation; finger joints (opening and closing axis): clamping force ≥500N, clamping range 30~300mm.

[0011] Furthermore, the hydraulic lifting mechanism 221 of the liftable work platform 220 adopts a double-acting hydraulic cylinder with a maximum lifting height of 2.5m, a lifting speed of 0.1-0.3m / s, and a platform load ≥300kg.

[0012] Furthermore, the anchor drilling machine 230 is equipped with an automatic feeding device 232, which feeds the anchor into the front end of the drill bit 231 through the mechanical arm 210, and the drilling depth is adjustable (0.5-5m), and the torque is ≥1000N·m.

[0013] Furthermore, the laser radar 310 of the multi-sensor detection system 300 adopts a 360° rotating type, with a ranging range of 0.1-100m and a resolution of ≤±1cm; the visual camera 320 is a binocular RGB-D camera that supports real-time three-dimensional modeling and obstacle recognition.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The wheels are made of explosion-proof solid rubber tires with a diameter of 500mm and a ground pressure of ≤0.3MPa, which are suitable for soft or uneven lanes. Crab-shaped lateral movement can be provided; the four-wheel steering angle is synchronized to 45° to achieve lateral movement, and the minimum turning radius is ≤1.5m; in-situ steering: the four-wheel steering angle is reversely symmetrical (such as the left front wheel +45°, the right front wheel -45°, to achieve in-situ rotation; oblique movement: through the combination of wheel speed difference and steering angle, oblique driving is achieved to improve flexibility in the lane, and other movement methods. The main frame of the chassis structure material is made of 6061-T6 aluminum alloy with a tensile strength of ≥240MPa and a weight reduction of 30%; the explosion-proof design complies with GB3836.1-2010 standards, with a protection level of IP68 and an explosion-proof level of ExdⅠMb. The lithium-ion battery pack 121 uses lithium iron phosphate batteries (LiFePO 4 ), voltage 380V, supports thermal management (coolant circulation system); the motor controller is integrated into the chassis, supports regenerative braking energy recovery, and the efficiency is ≥92%. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of the robot; DETAILED DESCRIPTION

[0017] The following is further described in detail through specific implementation methods. The examples given are only used to explain the patent of the present invention, and are not used to limit the protection scope of the patent of the present invention.

[0018] See also Figure 1 The present embodiment discloses a coal slag potential energy collection device for use in a mine, and an electric multifunctional auxiliary operation robot for use in a mine, comprising: a wheeled mobile platform 100, comprising a four-wheel drive steering mechanism 110 and a chassis 120, wherein the four-wheel drive steering mechanism 110 comprises four independent wheel-side hydraulic motors, which directly drive the wheels to realize four-wheel independent drive and steering, so as to achieve forward, backward, oblique lateral movement and in-situ steering; a multifunctional upper body 200, comprising: two 6-DOF hydraulic mechanical arms 210, at the ends of which are provided with an openable and closable grasping device 211; a liftable work platform 220, which is connected to the chassis 120; a plurality of hydraulic mechanical arms 210, each of which is provided with a plurality of hydraulic mechanical arms 211; a plurality of hydraulic mechanical arms 210, each of which is provided with a plurality of hydraulic mechanical arms 210 ... The height is adjusted by a hydraulic lifting mechanism 221, and anti-slip patterns and safety guardrails 222 are arranged on the surface of the platform; a device 232; a multi-sensor detection system 300, including a laser radar 310, a visual camera 320, a pressure sensor 330, a temperature sensor 340, a gas detection module 350 and an alarm device 360, and the sensor data is processed by a control module 400 and fed back to the operation terminal; the control module 400, which integrates a remote control receiver 410, an automatic driving controller 420 and a safety protection unit 430, supports switching between remote control, following and autonomous driving modes.

[0019] In the four-wheel drive steering mechanism 110, each wheel is driven by an independent hydraulic motor, and the steering drive module adopts an electric servo mechanism, which can adjust the wheel steering angle from 0° to 90°, and the steering angle accuracy is ±1°.

[0020] The hydraulic drive system of the four-wheel drive steering mechanism 110 shares a set of high-pressure hydraulic pump station 240 with the mechanical arm 210, the anchor drill rig 230, and the hydraulic lifting mechanism 221. The hydraulic pump station 240 is integrated inside the chassis 120, with a maximum output pressure of 16MPa and a flow range of 0-100L / min.

[0021] The control module 400 supports multi-mode switching logic: manual mode: control movement and robotic arm action through the cab operating lever; remote control mode: control movement, robotic arm action and start and stop of the anchor drill rig through the wireless remote control 440; following mode: identify the target path through the laser radar 310 and the visual camera 320, follow the preset trajectory or the movement of the operator; autonomous driving mode: build a three-dimensional map of the mine based on the SLAM algorithm, plan the optimal path and avoid obstacles.

[0022] The alarm device 360 ​​includes an audible and visual alarm and a 4G / 5G wireless communication module, which triggers an alarm when any of the following conditions is detected: ambient gas concentration (such as CH 4 , CO) exceeds the safety threshold (such as CH 4 >1%Vol, CO>24ppm); The load of the robot arm exceeds the rated value (such as the grab weight>200kg); The temperature sensor 340 detects that the hydraulic system oil temperature is>80℃.

[0023] The chassis 120 adopts a high-strength aluminum alloy frame and integrates a lithium-ion battery pack 121 with a battery capacity of 100 kWh, which supports continuous operation for 8 hours and a fast charging time of ≤ 2 hours.

[0024] The 6-DOF joints of the robot arm 210 include: shoulder joint (rotation axis): ±180° rotation; elbow joint (telescopic axis): ±120° swing; wrist joint (rotation axis): ±270° rotation; finger joint (opening and closing axis): clamping force ≥500N, clamping range 30~300mm.

[0025] The hydraulic lifting mechanism 221 of the liftable working platform 220 adopts a double-acting hydraulic cylinder, with a maximum lifting height of 2.5m, a lifting speed of 0.1-0.3m / s, and a platform load ≥300kg.

[0026] The anchor drilling machine 230 is equipped with an automatic feeding device 232, which feeds the anchor into the front end of the drill bit 231 through the mechanical arm 210. The drilling depth is adjustable (0.5-5m) and the torque is ≥1000N·m.

[0027] The laser radar 310 of the multi-sensor detection system 300 adopts a 360° rotating type, with a ranging range of 0.1-100m and a resolution of ≤±1cm; the visual camera 320 is a binocular RGB-D camera that supports real-time three-dimensional modeling and obstacle recognition.

[0028] Working principle: The robot drives to the bottom of the tunnel roof in remote control mode, the laser radar 310 scans the working area to determine the anchor drilling position, and the four-wheel steering mechanism 110 adjusts the posture so that the drilling rig 230 faces the target point. The mechanical arm 210 grabs the anchor from the silo and feeds it to the front end of the drill bit 231 through the automatic feeding device 232. The drilling rig starts, and the hydraulic motor drives the drill bit to rotate and advance to complete the drilling. The mechanical arm sends the anchor into the hole, and the drilling rig switches to the installation mode and applies torque to complete the anchoring.

[0029] In autonomous driving mode, the laser radar 310 and the visual camera 320 construct a three-dimensional map of the lane, and the control module 400 plans a "crab-shaped lateral movement" path, and moves laterally through the narrow section through the four-wheel steering mechanism 110. The mechanical arm 210 grabs the pipeline or equipment, the hydraulic system keeps the load stable, and the lifting platform 220 assists personnel to complete high-altitude unloading, without manual handling throughout the process.

[0030] Gas sensor 350 detects CH 4 When the concentration is >1% Vol, an audible and visual alarm is triggered, and the control module 400 automatically starts the fan (not shown) for ventilation and sends an alarm to the ground monitoring center. When the temperature sensor 340 detects that the hydraulic oil temperature is >80°C, the control module 400 reduces the output power of the pump station 240 and starts the coolant circulation system to cool down until the temperature returns to a safe range.

Claims

1. A mine-use electric multifunctional auxiliary operation robot, characterized in that: include: A wheeled mobile platform (100) comprises a four-wheel drive steering mechanism (110) and a chassis (120), wherein the four-wheel drive steering mechanism (110) comprises four independent wheel-side hydraulic motors, which directly drive the wheels to achieve four-wheel independent drive and steering, so as to achieve forward movement, backward movement, oblique lateral movement and in-situ steering; The multifunctional upper body (200) comprises: two 6-DOF hydraulic mechanical arms (210), with an openable and closable grasping device (211) disposed at the ends of the mechanical arms; A liftable work platform (220) is height-adjustable via a hydraulic lift mechanism (221), and a surface of the platform is provided with anti-slip patterns and safety guardrails (222); a device (232); a multi-sensor detection system (300) comprising a laser radar (310), a visual camera (320), a pressure sensor (330), a temperature sensor (340), a gas detection module (350), and an alarm device (360), wherein the sensor data is processed by a control module (400) and fed back to an operation terminal; and a control module (400) is integrated with a remote control receiver (410), an automatic driving controller (420), and a safety protection unit (430), and supports switching between remote control, vehicle following, and autonomous driving modes.

2. The electric multifunctional auxiliary working robot for mining according to claim 1, characterized in that: In the four-wheel drive steering mechanism (110), each wheel is driven by an independent hydraulic motor, and the steering drive module adopts an electric servo mechanism, which can achieve wheel steering angle adjustment of 0°-90°, and the steering angle accuracy is ±1°.

3. The electric multifunctional auxiliary working robot for mining according to claim 1, characterized in that: The hydraulic drive system of the four-wheel drive steering mechanism (110) shares a set of high-pressure hydraulic pump stations (240) with the mechanical arm (210), the anchor drill (230), and the hydraulic lifting mechanism (221); the hydraulic pump station (240) is integrated inside the chassis (120), has a maximum output pressure of 16 MPa, and a flow rate range of 0-100 L / min.

4. The electric multifunctional auxiliary working robot for mining according to claim 1, characterized in that: The control module (400) supports multi-mode switching logic: manual mode: controlling movement and mechanical arm motion through the operating lever in the cab; remote control mode: controlling movement, mechanical arm motion and start and stop of the anchor drill rig through a wireless remote controller (440); following mode: identifying the target path through the laser radar (310) and the visual camera (320), and following the preset trajectory or the movement of the operator; Autonomous driving mode: Build a three-dimensional map of the mine based on the SLAM algorithm, plan the optimal path and avoid obstacles.

5. The electric multifunctional auxiliary working robot for mining according to claim 1, characterized in that: The alarm device (360) includes an audible and visual alarm and a 4G / 5G wireless communication module, and triggers an alarm when any of the following conditions is detected: the ambient gas concentration (such as CH4, CO) exceeds a safety threshold (such as CH4>1%Vol, CO>24ppm); the load of the robotic arm exceeds the rated value (such as the grasping weight>200kg); the temperature sensor (340) detects that the hydraulic system oil temperature is>80°C.

6. The electric multifunctional auxiliary operation robot for mining according to claim 1, characterized in that: The chassis (120) adopts a high-strength aluminum alloy frame and integrates a lithium-ion battery pack (121). The battery capacity is 100 kWh, which supports continuous operation for 8 hours and a fast charging time of ≤2 hours.

7. The electric multifunctional auxiliary operation robot for mining according to claim 1, characterized in that: The 6-DOF joints of the mechanical arm (210) include: shoulder joint (rotation axis): ±180° rotation; elbow joint (telescopic axis): ±120° swing; wrist joint (rotation axis): ±270° rotation; finger joint (opening and closing axis): clamping force ≥500N, clamping range 30~300mm.

8. The electric multifunctional auxiliary working robot for mining according to claim 1, characterized in that: The hydraulic lifting mechanism (221) of the liftable working platform (220) adopts a double-acting hydraulic cylinder, with a maximum lifting height of 2.5 m, a lifting speed of 0.1-0.3 m / s, and a platform load of ≥300 kg.

9. The electric multifunctional auxiliary working robot for mining according to claim 1, characterized in that: The anchor drilling machine (230) is equipped with an automatic feeding device (232), which feeds the anchor into the front end of the drill bit (231) through the mechanical arm (210), and the drilling depth is adjustable (0.5-5m), and the torque is ≥1000N·m.

10. The electric multifunctional auxiliary operation robot for mining according to claim 1, characterized in that: The laser radar (310) of the multi-sensor detection system (300) is 360° rotatable, has a ranging range of 0.1-100 m, and a resolution of ≤±1 cm; the visual camera (320) is a binocular RGB-D camera that supports real-time three-dimensional modeling and obstacle recognition.

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