Metal and non-metal mine unmanned prying trolley system based on laser scanning

Abstract

The invention discloses a metal and non-metal mine unmanned prying trolley system based on laser scanning, the metal and non-metal mine unmanned prying trolley system comprises a base and a crusher, the bottom of the movable end of the crusher is fixedly connected with a laser scanner, and the movable end of the crusher is fixedly connected with a crushing hammer. A laser scanner can scan the surrounding environment and automatically control a third motor, a fifth motor, a fourth motor, a third rotating rod, a second motor, a second hydraulic rod, a first hydraulic rod, a first motor, a third hydraulic rod and a crusher to work, and the third motor can drive a third gear to rotate when rotating; a fourth gear can be driven to rotate under the cooperation of a reinforcing rod and a ball, a crushing hammer head can be driven to horizontally rotate, a fourth motor can drive the crushing hammer head to deflect during rotation, a third hydraulic rod can adjust the distance between the crushing hammer head and a first support, and a fifth motor can drive the crushing hammer head to horizontally rotate; and the crusher can drive the crushing hammer head to clean the surrounding rock wall.

Description

Technical Field

[0001] The invention relates to the technical field of prying trolleys, and in particular to an unmanned prying trolley system for metal and non-metal mines based on laser scanning. Background Art

[0002] The prying trolley is used in the underground mining operation cycle. After blasting, the roof and two sides of the operation site must be cleared of broken and unstable pumice to ensure the safety of on-site workers and equipment. Foreign mines have developed prying trolleys based on the use of handheld prying machines to achieve mechanization of prying work. However, the existing prying trolleys require manual operation, and the mining environment is very dangerous, which threatens people's lives and property. For this reason, we propose an unmanned prying trolley system for metal and non-metal mines based on laser scanning. Summary of the invention

[0003] The purpose of the present invention is to provide an unmanned scraping trolley system for metal and non-metal mines based on laser scanning to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an unmanned roughing trolley system for metal and non-metal mines based on laser scanning, comprising a base and a crusher, the bottom of the movable end of the crusher is fixedly connected to a laser scanner, and the movable end of the crusher is fixedly connected to a crushing hammer head, the back of the movable end of the crusher is fixedly connected to a transmission plate, and the rear end of the transmission plate is meshedly connected to a transmission tooth, the rear end of the transmission tooth is meshedly connected to a transmission rod, and the middle end of the outer surface of the transmission rod is fixedly connected to a roller, the end of the transmission rod is fixedly connected to a rotor, and a stator is arranged on the outside of the rotor.

[0005] Preferably, the front and rear sides of the left end of the bottom of the base are fixedly connected with legs, the lower end of the inner side of the leg is movably connected with a first rotating rod, the end of the first rotating rod is fixedly connected with a first walking wheel, the left end of the bottom of the base is fixedly connected with a first motor, and the output shaft of the first motor is transmission-connected to the first rotating rod via a single-sided toothed synchronous belt.

[0006] Preferably, the right end of the bottom of the base is movably connected to a second rotating rod, the bottom of the second rotating rod is fixedly connected to a frame, the inner side of the frame is movably connected to a second walking wheel, the bottom of the base and the left side of the second rotating rod is fixedly connected to a second motor, and the output shaft of the second motor is transmission-connected to the second rotating rod via a single-sided toothed synchronous belt.

[0007] Preferably, a third rotating rod is movably connected to the middle end of the top of the base. A first bracket is fixedly connected to the top of the third rotating rod. The upper end of the front surface of the first bracket is fixedly connected to a fourth motor. The output shaft of the fourth motor is fixedly connected to a third hydraulic rod. The telescopic end of the third hydraulic rod is fixedly connected to a second bracket. The top of the second bracket is fixedly connected to a fifth motor, and the output shaft of the fifth motor is fixedly connected to a crusher.

[0008] Preferably, a fourth gear is fixedly connected to the lower end of the outer surface of the third rotating rod. A plurality of equally spaced reinforcing rods are fixedly connected to the outer side of the bottom of the fourth gear. A ball is embedded at the bottom of the reinforcing rod, and the bottom of the ball contacts the top of the base. A third motor is fixedly connected to the outer side of the top of the base. The output shaft of the third motor is fixedly connected to a third gear, and the third gear is meshed with the fourth gear.

[0009] Preferably, the output shaft of the fifth motor is fixedly connected to a second gear. The second gear is meshed with a second clamping plate on the outside. The second clamping plate is fixedly connected to a second hydraulic rod on the outside, and the fixed end of the second hydraulic rod is fixedly connected to the bottom of the telescopic end of the third hydraulic rod.

[0010] Preferably, the output shaft of the fourth motor is fixedly connected to a first gear. The first gear is meshed with a first clamping plate on the outside. The first clamping plate is fixedly connected to a first hydraulic rod on the outside, and the fixed end of the first hydraulic rod is fixedly connected to the back surface of the first bracket.

[0011] Preferably, a battery box is fixedly connected to the front surface of the crusher. A charging jack is opened at the top of the battery box. A storage battery is fixedly connected to the bottom of the inner cavity of the battery box. A sleeve is fixedly connected to the outside of the stator, and the sleeve is fixedly connected to the back surface of the crusher. A third bracket is movably connected to the outer surface of the transmission gear, and the end of the third bracket is fixedly connected to the upper and lower sides of the crusher. A chute is opened on the outer surface of the roller, and a limiting rod is slidably connected to the inner surface of the chute, and the limiting rod is fixedly connected to the back surface of the crusher.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The laser scanner of the present invention can scan the surrounding environment and automatically control the operation of the third motor, fifth motor, fourth motor, third rotating rod, second motor, second hydraulic rod, first hydraulic rod, first motor, third hydraulic rod and breaker. When the third motor rotates, it drives the third gear to rotate, and with the cooperation of the strengthening rod and the ball, it can drive the fourth gear to rotate, driving the crushing hammer to rotate horizontally. When the fourth motor rotates, it drives the crushing hammer to deflect. The third hydraulic rod can adjust the distance between the crushing hammer and the first bracket. The fifth motor can drive the crushing hammer to rotate horizontally, enabling the breaker to drive the crushing hammer to clean the surrounding rock walls. Moreover, when the second hydraulic rod extends, the second clamping plate can be engaged with the second gear, and when the first hydraulic rod extends, the first clamping plate can be engaged with the first gear, thus ensuring the stability of the crushing hammer during operation.

[0013] 2. When the first motor of the present invention rotates, it can drive the first rotating rod to rotate through a single-sided tooth synchronous belt, and with the cooperation of the first walking wheel, it can achieve the purpose of facilitating walking. When the second motor rotates, it can drive the second rotating rod to rotate through a single-sided tooth synchronous belt, and with the cooperation of the second walking wheel, it can achieve the purpose of automatic steering, thereby realizing the automatic walking of the device.

[0014] 3. When the breaker of the present invention operates, it drives the transmission plate to reciprocate, and with the cooperation of the third bracket, it can drive the transmission teeth to reciprocate. With the cooperation of the limiting rod, chute and roller, the transmission rod can continuously rotate in one direction, driving the rotor to rotate. With the cooperation of the stator, electric energy can be generated and stored in the storage battery, thereby achieving the purpose of self-power generation, effectively reducing the consumption of commercial power, and meeting the national energy conservation and emission reduction requirements. Description of the Drawings

[0015] Figure 1 It is a three-dimensional structural schematic diagram of the present invention in the first perspective state; Figure 2 It is a three-dimensional structural schematic diagram of the present invention in the second perspective state; Figure 3 It is a three-dimensional structural schematic diagram of the present invention in the third perspective state; Figure 4 It is a structural schematic diagram of the rotor of the present invention.

[0016] In the figure: base 1, frame 2, fourth gear 3, first bracket 4, first gear 5, fifth motor 6, sleeve 7, battery box 8, fourth motor 9, third rotating rod 10, third gear 11, third motor 12, first traveling wheel 13, second traveling wheel 14, second rotating rod 15, second motor 16, first clamping plate 17, second hydraulic rod 18, second gear 19, third bracket 20, first hydraulic rod 21, first motor 22, leg 23, first rotating rod 24, third hydraulic rod 25, reinforcing rod 26, ball 27, crushing hammer head 28, laser scanner 29, roller 30, second bracket 31, second clamping plate 32, transmission plate 33, transmission rod 34, limiting rod 35, storage battery 36, crusher 37, stator 38, rotor 39, chute 40, transmission tooth 41, charging jack 42. Detailed implementation manner

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention. Embodiment 1:

[0018] Please refer to Figures 1-4, the following technical solutions are provided, specifically disclosed as follows: including a base 1 and a crusher 37. A laser scanner 29 is fixedly connected to the bottom of the movable end of the crusher 37, and a crushing hammer 28 is fixedly connected to the movable end of the crusher 37. A transmission plate 33 is fixedly connected to the back of the movable end of the crusher 37, and a transmission gear 41 is meshed with the rear end of the transmission plate 33. A transmission rod 34 is meshed with the rear end of the transmission gear 41. A roller 30 is fixedly connected to the middle of the outer surface of the transmission rod 34. A rotor 39 is fixedly connected to the end of the transmission rod 34, and a stator 38 is arranged outside the rotor 39. A third rotating rod 10 is movably connected to the middle of the top of the base 1. A first bracket 4 is fixedly connected to the top of the third rotating rod 10. A fourth motor 9 is fixedly connected to the upper end of the front of the first bracket 4. An output shaft of the fourth motor 9 is fixedly connected to a third hydraulic rod 25. A telescopic end of the third hydraulic rod 25 is fixedly connected to a second bracket 31. A fifth motor 6 is fixedly connected to the top of the second bracket 31, and an output shaft of the fifth motor 6 is fixedly connected to the crusher 37. A fourth gear 3 is fixedly connected to the lower end of the outer surface of the third rotating rod 10. A plurality of equally spaced reinforcing rods 26 are fixedly connected to the outside of the bottom of the fourth gear 3. A ball 27 is embedded in the bottom of the reinforcing rod 26, and the bottom of the ball 27 is in contact with the top of the base 1. A third motor 12 is fixedly connected to the outside of the top of the base 1. An output shaft of the third motor 12 is fixedly connected to a third gear 11, and the third gear 11 is meshed with the fourth gear 3. An output shaft of the fifth motor 6 is fixedly connected to a second gear 19. A second clamping plate 32 is meshed with the outside of the second gear 19. The second hydraulic rod 18 is fixedly connected to the outside of the second clamping plate 32, and a fixed end of the second hydraulic rod 18 is fixedly connected to the bottom of the telescopic end of the third hydraulic rod 25. An output shaft of the fourth motor 9 is fixedly connected to a first gear 5. A first clamping plate 17 is meshed with the outside of the first gear 5. The first hydraulic rod 21 is fixedly connected to the outside of the first clamping plate 17, and a fixed end of the first hydraulic rod 21 is fixedly connected to the back of the first bracket 4. The laser scanner 29 can scan the surrounding environment and automatically control the operation of the third motor 12, the fifth motor 6, the fourth motor 9, the third rotating rod 10, the second motor 16, the second hydraulic rod 18, the first hydraulic rod 21, the first motor 22, the third hydraulic rod 25 and the crusher 37. When the third motor 12 rotates, it will drive the third gear 11 to rotate, and with the cooperation of the reinforcing rod 26 and the ball 27, it can drive the fourth gear 3 to rotate, and drive the crushing hammer 28 to rotate horizontally. When the fourth motor 9 rotates, it will drive the crushing hammer 28 to deflect. The third hydraulic rod 25 can adjust the distance between the crushing hammer 28 and the first bracket 4. The fifth motor 6 can drive the crushing hammer 28 to rotate horizontally, that is, the crusher 37 can drive the crushing hammer 28 to clean the surrounding rock walls. And when the second hydraulic rod 18 extends, the second clamping plate 32 can be meshed with the second gear 19. When the first hydraulic rod 21 extends, the first clamping plate 17 can be meshed with the first gear 5.Thus, the stability of the crushing hammer head 28 during operation can be ensured. Embodiment 2:

[0019] Please refer to Figure 1 and Figure 2 , and the following technical solution is provided, specifically disclosed: On the front and back sides of the left end of the bottom of the base 1, there are fixedly connected leg supports 23. At the lower end inside the leg supports 23, there is a movable connection with a first rotating rod 24. At the end of the first rotating rod 24, there is a fixedly connected first traveling wheel 13. On the left end of the bottom of the base 1, there is a fixedly connected first motor 22, and the output shaft of the first motor 22 is in transmission connection with the first rotating rod 24 through a single-sided tooth synchronous belt. On the right end of the bottom of the base 1, there is a movable connection with a second rotating rod 15. At the bottom of the second rotating rod 15, there is a fixedly connected frame 2. Inside the frame 2, there is a movable connection with a second traveling wheel 14. At the bottom of the base 1 and on the left side of the second rotating rod 15, there is a fixedly connected second motor 16, and the output shaft of the second motor 16 is in transmission connection with the second rotating rod 15 through a single-sided tooth synchronous belt. When the first motor 22 rotates, it can drive the first rotating rod 24 to rotate through the single-sided tooth synchronous belt, and with the cooperation of the first traveling wheel 13, the purpose of facilitating movement can be achieved. When the second motor 16 rotates, it can drive the second rotating rod 15 to rotate through the single-sided tooth synchronous belt, and with the cooperation of the second traveling wheel 14, the purpose of automatic steering can be achieved. Thus, the purpose of the automatic movement of this device can be realized. Embodiment 3:

[0020] Please refer to Figure 1 , Figure 3 and Figure 4 , and the following technical solution is provided, specifically disclosed: On the front of the crusher 37, there is a fixedly connected battery box 8. On the top of the battery box 8, there is a charging jack 42. At the bottom inside the battery box 8, there is a fixedly connected storage battery 36. On the outside of the stator 38, there is a fixedly connected sleeve 7. The sleeve 7 is fixedly connected to the back of the crusher 37. On the outer surface of the transmission gear 41, there is a movable connection with a third support 20. The end of the third support 20 is fixedly connected to the upper and lower sides of the crusher 37. On the outer surface of the roller 30, there is a chute 40. Inside the chute 40, there is a sliding connection with a limiting rod 35, and the limiting rod 35 is fixedly connected to the back of the crusher 37. When the crusher 37 operates, it will drive the transmission plate 33 to reciprocate, and with the cooperation of the third support 20, it can drive the transmission gear 41 to reciprocate. With the cooperation of the limiting rod 35, the chute 40, and the roller 30, the transmission rod 34 can continuously rotate in one direction, and can drive the rotor 39 to rotate. With the cooperation of the stator 38, electric energy can be generated and stored in the storage battery 36. Thus, the purpose of self-power generation can be achieved, effectively reducing the consumption of mains electricity and meeting the national energy conservation and emission reduction requirements.

[0021] The working principle of this application is as follows: The laser scanner 29 can scan the surrounding environment and automatically control the operation of the third motor 12, the fifth motor 6, the fourth motor 9, the third rotating rod 10, the second motor 16, the second hydraulic rod 18, the first hydraulic rod 21, the first motor 22, the third hydraulic rod 25 and the crusher 37. When the third motor 12 rotates, it drives the third gear 11 to rotate, and with the cooperation of the reinforcing rod 26 and the ball 27, it can drive the fourth gear 3 to rotate, which can drive the crushing hammer head 28 to rotate horizontally. When the fourth motor 9 rotates, it drives the crushing hammer head 28 to deflect. The third hydraulic rod 25 can adjust the distance between the crushing hammer head 28 and the first bracket 4. The fifth motor 6 can drive the crushing hammer head 28 to rotate horizontally, so that the crusher 37 can drive the crushing hammer head 28 to clean the surrounding rock walls. And when the second hydraulic rod 18 extends, the second clamping plate 32 can be engaged with the second gear 19. When the first hydraulic rod 21 extends, the first clamping plate 17 can be engaged with the first gear 5, thus ensuring the stability of the crushing hammer head 28 during operation. When the first motor 22 rotates, it can drive the first rotating rod 24 to rotate through the single-sided tooth synchronous belt, and with the cooperation of the first walking wheel 13, it can achieve the purpose of facilitating walking. When the second motor 16 rotates, it can drive the second rotating rod 15 to rotate through the single-sided tooth synchronous belt, and with the cooperation of the second walking wheel 14, it can achieve the purpose of automatic steering, thereby realizing the purpose of the automatic walking of this device. When the crusher 37 works, it drives the transmission plate 33 to reciprocate, and with the cooperation of the third bracket 20, it can drive the transmission gear 41 to reciprocate. And with the cooperation of the limiting rod 35, the chute 40 and the roller 30, the transmission rod 34 can rotate continuously in one direction, which can drive the rotor 39 to rotate. And with the cooperation of the stator 38, electrical energy can be generated and stored in the storage battery 36, thus achieving the purpose of self-power generation, effectively reducing the consumption of commercial power and meeting the national energy conservation and emission reduction requirements.

[0022] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned rock scaling jumbo system for metal and non-metal mines based on laser scanning, comprising a base (1) and a breaker (37), characterized in that: A laser scanner (29) is fixedly connected to the bottom of the movable end of the crusher (37), and a crushing hammer head (28) is fixedly connected to the movable end of the crusher (37). A transmission plate (33) is fixedly connected to the back of the movable end of the crusher (37), and a transmission tooth (41) is meshed and connected to the rear end of the transmission plate (33). A transmission rod (34) is meshed and connected to the rear end of the transmission tooth (41). A roller (30) is fixedly connected to the middle of the outer surface of the transmission rod (34). A rotor (39) is fixedly connected to the end of the transmission rod (34), and a stator (38) is arranged outside the rotor (39).

2. The unmanned rock scaling jumbo system for metal and non-metal mines based on laser scanning according to claim 1, wherein: Support legs (23) are fixedly connected to both the front and rear sides of the left end of the bottom of the base (1). A first rotating rod (24) is movably connected to the lower end inside the support legs (23). A first walking wheel (13) is fixedly connected to the end of the first rotating rod (24). A first motor (22) is fixedly connected to the left end of the bottom of the base (1), and the output shaft of the first motor (22) is drivingly connected to the first rotating rod (24) through a single-sided tooth synchronous belt.

3. The unmanned scaling jumbo system for metal and non-metal mines based on laser scanning according to claim 1, characterized in that: A second rotating rod (15) is movably connected to the right end of the bottom of the base (1). A frame (2) is fixedly connected to the bottom of the second rotating rod (15). A second walking wheel (14) is movably connected to the inside of the frame (2). A second motor (16) is fixedly connected to the bottom of the base (1) and on the left side of the second rotating rod (15), and the output shaft of the second motor (16) is drivingly connected to the second rotating rod (15) through a single-sided tooth synchronous belt.

4. The unmanned scaling jumbo system for metal and non-metal mines based on laser scanning according to claim 1, wherein: A third rotating rod (10) is movably connected to the middle of the top of the base (1). A first support (4) is fixedly connected to the top of the third rotating rod (10). A fourth motor (9) is fixedly connected to the upper end of the front surface of the first support (4). The output shaft of the fourth motor (9) is fixedly connected to a third hydraulic rod (25). The telescopic end of the third hydraulic rod (25) is fixedly connected to a second support (31). A fifth motor (6) is fixedly connected to the top of the second support (31), and the output shaft of the fifth motor (6) is fixedly connected to a crusher (37).

5. The unmanned rock scaling jumbo system for metal and non-metal mines based on laser scanning according to claim 4, wherein: A fourth gear (3) is fixedly connected to the lower end of the outer surface of the third rotating rod (10). A plurality of equally spaced reinforcing rods (26) are fixedly connected to the outside of the bottom of the fourth gear (3). A ball (27) is embedded at the bottom of the reinforcing rod (26), and the bottom of the ball (27) is in contact with the top of the base (1). A third motor (12) is fixedly connected to the outside of the top of the base (1), and the output shaft of the third motor (12) is fixedly connected to a third gear (11), and the third gear (11) is meshed with the fourth gear (3).

6. The unmanned rock scaling jumbo system for metal and non-metal mines based on laser scanning according to claim 4, wherein: The output shaft of the fifth motor (6) is fixedly connected to a second gear (19). A second clamping plate (32) is meshed with the outside of the second gear (19). A second hydraulic rod (18) is fixedly connected to the outside of the second clamping plate (32), and the fixed end of the second hydraulic rod (18) is fixedly connected to the bottom of the telescopic end of the third hydraulic rod (25).

7. A non-manned rock scaling jumbo system for metal and non-metal mines based on laser scanning according to claim 4, characterized in that: The output shaft of the fourth motor (9) is fixedly connected with a first gear (5). The outer side of the first gear (5) is meshed and connected with a first clamping plate (17). The outer side of the first clamping plate (17) is fixedly connected with a first hydraulic rod (21), and the fixed end of the first hydraulic rod (21) is fixedly connected to the back surface of the first bracket (4).

8. The unmanned rock scaling jumbo system for metal and non-metal mines based on laser scanning according to claim 1, characterized in that: The front surface of the crusher (37) is fixedly connected with a battery box (8). A charging jack (42) is provided at the top of the battery box (8). The bottom of the inner cavity of the battery box (8) is fixedly connected with a storage battery (36). The outer side of the stator (38) is fixedly connected with a sleeve (7). The sleeve (7) is fixedly connected to the back surface of the crusher (37). The outer surface of the transmission gear (41) is movably connected with a third bracket (20). The end of the third bracket (20) is fixedly connected to the upper and lower sides of the crusher (37). A chute (40) is provided on the outer surface of the roller (30). A limiting rod (35) is slidably connected to the inner surface of the chute (40), and the limiting rod (35) is fixedly connected to the back surface of the crusher (37).

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