Cantilever type muck scraping device

Abstract

The invention discloses a cantilever type muck scraping device, relates to the technical field of mechanical arms, and solves the problems that when a multi-shaft mechanical arm is used for removing muck around a blast hole, the multi-shaft mechanical arm is relatively heavy, and the multi-shaft mechanical arm and a soil shifting operation part are far away from a bracket part of the device, so that the device is easy to collapse and low in safety during adjustment. The invention discloses a cantilever type muck scraping device which comprises a triangular frame. The universal wheels are mounted at the bottom included angles of the triangular frame through screws; the horizontal frame is mounted at the top of the triangular frame through screws; the cantilever mechanical arm mechanism is arranged in the horizontal frame and extends to the outer side of the bottom; and the adjusting scraping assembly is mounted at the bottom of the cantilever mechanical arm mechanism through a screw. According to the device, when the soil shifting operation part is driven to move horizontally to adjust the position of a blast hole, automatic weight balancing treatment can be conducted on the adjusted soil shifting operation part, the risk that the device collapses during adjustment is reduced, and safety is high.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and particularly to a cantilever type muck scraping device. Background Art

[0002] A blast hole is a hole drilled in a body to be blasted (such as a rock mass or an ore body) for loading explosives for blasting. When excavating a blast hole, the muck of the excavated part of the blast hole will accumulate around the blast hole due to the mechanical lifting. At this time, in order to ensure the subsequent blast hole excavation operation, it is necessary to scrape off the muck that has fallen around the blast hole.

[0003] However, the muck scraping device has the following defects in specific use: 1. When the existing muck scraping device clears the muck that has fallen around the blast hole, it generally uses manual or mechanical operation. Among them, the manual cleaning method has low efficiency, so the current blast hole muck scraping method uses mechanical devices to replace manual labor. When the traditional mechanical device scrapes the muck, it is necessary to accurately position the blast hole and the soil scraping operation part for scraping the muck. At this time, a multi-axis robotic arm is generally used to accurately adjust the position and height of the soil scraping operation part so that the soil scraping operation part is directly above the blast hole and on the side of the muck. However, when the multi-axis robotic arm is actually operating, its own weight is heavy, and the multi-axis robotic arm and the soil scraping operation part are far from the bracket of the device, which is easy to cause the device to collapse during adjustment and has low safety; 2. When the existing muck scraping device cleans the muck around the blast hole, due to the different soil qualities at different locations, there will be a certain difference in the height of the muck that falls around the blast hole after excavation. At this time, when the soil scraping operation part of the traditional muck scraping device rotates and pushes this part of the muck, it is easy for some muck to fall back into the blast hole because it is higher than the soil scraping operation part, affecting the efficiency of the blast hole excavation operation. Summary of the Invention

[0004] The purpose of the present invention is to provide a cantilever type muck scraping device to solve the problems raised in the above background art.

[0005] To achieve the above-mentioned invention purpose, the present invention adopts the following technical solutions: The present invention provides a cantilever type muck scraping device, including: a triangular vehicle frame; universal wheels installed at the bottom corners of the triangular vehicle frame by screws; a horizontal vehicle frame installed at the top of the triangular vehicle frame by screws; a cantilever robotic arm mechanism arranged inside the horizontal vehicle frame and extending to the outside of the bottom; an adjustable scraping assembly installed at the bottom of the cantilever robotic arm mechanism by screws. The cantilever robotic arm mechanism includes: a drive assembly installed on the outer side of the horizontal vehicle frame and extending into the horizontal vehicle frame; a main gear rotatably connected inside the horizontal vehicle frame and connected to the drive assembly; tooth guide rods meshingly connected to the upper and lower sides of the main gear and slidably connected to the horizontal vehicle frame; a counterweight body installed at the bottom of one of the tooth guide rods by screws; a horizontal sliding assembly connected to the other tooth guide rod by screws; a rotary steering assembly installed at the bottom of the horizontal sliding assembly by screws; a vertical lifting assembly installed at the bottom of the rotary steering assembly by screws; and a transmission steering assembly installed at the bottom of the vertical lifting assembly by screws, and an adjustment scraping assembly is installed at the bottom of the transmission steering assembly by screws.

[0006] As a preferred solution of the present invention, the drive assembly includes: a protective cover installed at the center of the side of the horizontal vehicle frame; a first drive source installed on the side of the protective cover; a first transmission belt connected to the output end of the first drive source and movably arranged inside the protective cover; and a movable shaft rod connected to the first transmission belt through a synchronous pulley and extending to the center inside the horizontal vehicle frame. Wherein, a main gear is installed on the outer side of the movable shaft rod.

[0007] As a preferred solution of the present invention, the other tooth guide rod is slidably connected inside an extension rod, the extension rod is installed on the top of the horizontal vehicle frame by screws, the extension rod extends to the outside of the horizontal vehicle frame, and a horizontal sliding assembly is movably connected to the inside of the extension rod.

[0008] As a preferred solution of the present invention, the horizontal sliding assembly includes: a horizontal guide rod installed on the side of the other tooth guide rod by screws; a horizontal sliding seat connected to the horizontal guide rod by screws, the horizontal sliding seat is slidably connected to the inside of the extension rod, and a rotary steering assembly is installed at the bottom of the horizontal sliding seat by screws.

[0009] As a preferred solution of the present invention, the rotary steering assembly includes: an assembly box installed at the bottom of the horizontal sliding seat by screws; a rotary drive source arranged at the center inside the assembly box; a rotary base connected to the output end of the rotary drive source and rotatably connected to the center of the bottom of the assembly box; a first steering drive source installed on one side of the rotary base; and a first steering metal block connected to the output end of the first steering drive source and rotatably connected to the inside of the rotary base. Wherein, a vision sensor is installed on one side of the bottom of the assembly box.

[0010] As a preferred embodiment of the present invention, a second steering drive source is installed on one side of the first steering metal block. The second steering drive source and the first steering drive source are arranged in the same direction. The output end of the second steering drive source is connected to an L-shaped metal bracket. The L-shaped metal bracket is rotatably connected to the other side of the first steering metal block. The bottom of the L-shaped metal bracket is installed with a vertical lifting assembly by screws.

[0011] As a preferred embodiment of the present invention, the vertical lifting assembly includes: a semi-enclosed metal plate installed at the bottom of the L-shaped metal bracket by screws; a vertical guide groove opened at the center of one side inside the semi-enclosed metal plate; a side base slidably connected to the semi-enclosed metal plate; a linear drive source installed on the side of the side base; a drive rod connected to the output end of the linear drive source and passing through the vertical guide groove; a conveying gear installed on the outer side of the drive rod and rotatably connected to both sides of the inner wall of the semi-enclosed metal plate; a conveying synchronous belt meshed with the conveying gear; a vertical conveying slide seat connected to the inner side of the conveying synchronous belt by screws.

[0012] As a preferred embodiment of the present invention, vertical guide rails are installed at the edges of the inner wall of the semi-enclosed metal plate. Vertical sliders are slidably connected to the sides of the vertical guide rails. A vertical metal plate is installed on the side of the vertical slider by screws. The vertical metal plate is movably arranged inside the semi-enclosed metal plate. The conveying gear and the conveying synchronous belt are rotatably connected to the inside of the vertical metal plate. Among them, one vertical conveying slide seat is connected to the inner wall of the semi-enclosed metal plate by screws, and a lower base is installed on the side of the other vertical conveying slide seat by screws. A transmission steering assembly extending downward is installed on the top of the lower base.

[0013] As a preferred embodiment of the present invention, the transmission steering assembly includes: a third steering drive source installed on the top of the lower base by screws; a second transmission belt connected to the output end of the third steering drive source by a synchronous pulley and movably arranged on the side of the lower base; a second steering metal block connected to the second transmission belt by a synchronous pulley and movably arranged at the bottom of the lower base; guide seats rotatably connected to the second steering metal block and installed on both sides of the bottom of the lower base by screws. An adjusting scraping assembly is installed at the bottom of the second steering metal block by screws.

[0014] As a preferred embodiment of the present invention, the adjusting and scraping assembly includes: a metal disc mounted at the bottom of the second steering metal block by screws; an adjusting driving source mounted at the center of the top of the metal disc; a movable turntable connected to the adjusting driving source and rotatably connected to the bottom of the metal disc; a lower convex block mounted at an eccentric position at the bottom of the movable turntable; a movable bracket movably arranged outside the lower convex block; a soil scraping operation part mounted at the center of one side of the movable bracket by screws; a guiding support block slidably connected to the soil scraping operation part and mounted at the bottom of the metal disc; and an arc part formed on one side of the soil scraping operation part, wherein, the arc part is arranged on the side surface of the guiding support block, and the guiding support block is arranged on the side surface of the movable turntable. Compared with the prior art, the above one or more technical solutions have the following beneficial effects: 1. In the cantilever type muck scraping device, when clearing the muck generated by excavating around the blast hole, the position of the blast hole can be automatically identified and detected through the design of the lidar, RTK positioning sensor and vision sensor. According to the detected data, the first driving source is started to operate, and the horizontal sliding seat is driven to move horizontally in a gear meshing connection manner, so as to adjust the positions of the robotic arm structure and the soil scraping operation part arranged at the bottom of the horizontal sliding seat, so that the soil scraping operation part can be on the same vertical plane as the blast hole, improving the intelligent level and efficiency of clearing the muck around the blast hole. At the same time, when driving the soil scraping operation part to move horizontally, the acting force generated by gear meshing can also drive multiple counterweights to move (in the direction opposite to the movement direction of the soil scraping operation part), automatically counterweighting the positions of the adjusted robotic arm structure and the soil scraping operation part, ensuring that the center of gravity of the device is always in the middle part of the horizontal frame when changing the positions of the robotic arm structure and the soil scraping operation part, reducing the problem that the device collapses due to the offset of the center of gravity when adjusting the position of the soil scraping operation part, and the device has high safety when clearing the muck around the blast hole; 2. In the cantilever type muck scraping device, when clearing the muck around the blast hole, the soil scraping operation part for clearing the muck in the blast hole can be equipped with multiple compensating soil scraping rods according to the actual situation, expanding the contact area and range between the soil scraping operation part and the muck according to the height of the muck around the blast hole, ensuring that when clearing the muck, the probability that the muck moves from the top of the soil scraping operation part and falls back into the blast hole again due to the low height is avoided, and ensuring the efficiency of the blast hole excavation operation. At the same time, the design of the inner arc part and the side inclined plane pushing block of the soil scraping operation part and the compensating soil scraping rods can, on the one hand, change the movement track of the soil scraping operation part to push the muck, realizing the pushing and clearing operation of more muck, and on the other hand, guiding the cleared muck, so that the muck slides laterally along the inclined plane during the pushing process, thereby realizing unilateral centralized soil discharge, which is convenient for subsequent centralized treatment of the muck; 3. In the cantilever type soil scraping device, when the soil scraping part is used to remove the soil scraps around the blasthole, it is necessary to move the soil scraping part to the top of the blasthole and the side of the soil scraps. At this time, a linear drive source can be used to drive the lower base to achieve a lifting and movement of double the rotation distance, thereby increasing the range of the lower base during lifting and movement, and ensuring the removal of soil scraps around the blasthole in different situations. At the same time, the design of the above-mentioned lifting structure ensures a larger range of lifting and adjustment operations, while at the same time, the overall footprint is smaller when it is stored, with greater flexibility and higher safety. 4. In the cantilever type soil scraper, when removing the soil residue generated by excavation around the blasthole, the position of the soil-moving operation part can be adjusted more flexibly and intelligently through the design of multiple steering structures (rotating steering components and transmission steering components), avoiding the problem of needing to readjust the position of the device (through universal wheels) due to large initial position deviation of the device. At the same time, multiple steering structures (rotating steering components and transmission steering components) operate independently of each other, and their operation will not interfere with or conflict with each other. The soil residue around the blasthole can be removed under different conditions (blastholes of different diameters, etc.), which is highly practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0016] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the connection between the cantilever mechanical arm mechanism and the regulating scraping group of the present invention; Figure 3 It is a structural schematic diagram of a cross-sectional view of the connection between the horizontal frame and the horizontal sliding assembly of the present invention; Figure 4 The present invention Figure 3 A schematic diagram of the structure of the enlarged area in the middle A; Figure 5 It is a schematic structural diagram of the connection between the rotary steering assembly and the adjustable scraping assembly of the present invention; Figure 6It is a schematic structural diagram of the rotary steering assembly of the present invention; Figure 7 It is a schematic structural diagram of the vertical lifting assembly of the present invention; Figure 8 It is the present invention Figure 7 The enlarged structural diagram of area B in; Figure 9 It is a schematic cross-sectional structural diagram of the vertical lifting assembly of the present invention; Figure 10 It is a schematic structural diagram of the connection between the transmission steering assembly and the adjustment scraping assembly of the present invention; Figure 11 It is a schematic bottom view structural diagram of the adjustment scraping assembly of the present invention; Figure 12 It is a schematic structural diagram of the connection between the soil turning operation part and the compensation soil turning rod of the present invention; Figure 13 It is an exploded view of the connection between the soil turning operation part and the compensation soil turning rod of the present invention; In the figure: 10. Triangular frame; 20. Universal wheel; 30. Horizontal frame; 301. Lidar; 302. RTK positioning sensor; 40. Cantilever robotic arm mechanism; 401. Driving assembly; 402. Main gear; 403. Tooth guide rod; 4031. Extension rod; 404. Counterweight; 405. Horizontal sliding assembly; 406. Rotary steering assembly; 407. Vertical lifting assembly; 408. Transmission steering assembly; 4011. Protective cover; 4012. First driving source; 4013. First transmission belt; 4014. Movable shaft rod; 4050. Vision sensor; 4051. Horizontal guide rod; 4052. Horizontal sliding seat; 4061. Assembly box; 4062. Rotary driving source; 4063. Rotary base; 4064. First steering driving source; 4065. First steering metal block; 40651. Second steering driving source; 40652. L-shaped metal bracket; 4071. Semi-enclosed metal plate; 40711. Vertical guide rail; 40712. Vertical slider; 40713. Vertical metal plate; 4072. Vertical guide groove; 4073. Side base; 4074. Linear driving source; 40741. Driving rod; 4075. Conveyor gear; 4076. Conveyor synchronous belt; 4077. Vertical conveyor sliding seat; 40771. Lower base; 4081. Third steering driving source; 4082. Second transmission belt; 4083. Second steering metal block; 4084. Guide seat; 50. Adjusting scraping component; 501. Metal disk; 502. Adjusting driving source; 503. Movable turntable; 504. Lower convex block; 505. Movable bracket; 506. Soil scraping operation part; 5061. Arc part; 507. Guide support block; 60. Compensating soil scraping rod; 600. Clamping block; 601. Inclined plane pushing block. Specific implementation manner

[0018] In order to enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application. Embodiment 1

[0019] Please refer to Figures 1 - 11 , the cantilever type muck scraping device includes a triangular vehicle frame 10; universal wheels 20 installed at the bottom angles of the triangular vehicle frame 10 by screws; a horizontal vehicle frame 30 installed at the top of the triangular vehicle frame 10 by screws; a cantilever robotic arm mechanism 40 arranged inside the horizontal vehicle frame 30 and extending to the outside of the bottom; an adjusting scraping component 50 installed at the bottom of the cantilever robotic arm mechanism 40 by screws. The cantilever robotic arm mechanism 40 includes: a driving component 401 installed outside the horizontal vehicle frame 30 and extending into the horizontal vehicle frame 30; a main gear 402 rotatably connected inside the horizontal vehicle frame 30 and connected to the driving component 401; tooth guide rods 403 meshingly connected to the upper and lower sides of the main gear 402 and slidably connected to the horizontal vehicle frame 30; a counterweight 404 installed at the bottom of one tooth guide rod 403 by screws; a horizontal sliding component 405 connected to the other tooth guide rod 403 by screws; a rotary steering component 406 installed at the bottom of the horizontal sliding component 405 by screws; a vertical lifting component 407 installed at the bottom of the rotary steering component 406 by screws; a transmission steering component 408 installed at the bottom of the vertical lifting component 407 by screws. The bottom of the transmission steering component 408 is installed with an adjusting scraping component 50 by screws.

[0020] In the present invention, a lidar 301 is installed on one side of the top of the horizontal vehicle frame 30, and an RTK positioning sensor 302 located on the side of the lidar 301 is arranged at the center of the top of the horizontal vehicle frame 30. The lidar 301, the RTK positioning sensor 302 and the vision sensor 4050 are all electrically connected to the control end of the muck scraping device.

[0021] The above working principle: When clearing the soil residue around the blast hole, the RTK positioning sensor 302 is used for positioning, the lidar 301 is used to sense the environment in real time and invert the surrounding terrain and obstacles, and the triangular frame 10 is moved above the blast hole by operating through the universal wheels 20. Among them, the vision sensor 4050 is used to identify the position of the blast hole, locate the position of the blast hole, start the drive assembly 401 to drive the main gear 402 to rotate, so that the tooth guide rods 403 meshed on both sides of the main gear 402 move back and forth, change the relative positions of the counterweight 404 and the rotation steering assembly 406, and perform counterweight processing on the position of the rotation steering assembly 406, reducing the problem that the soil scraping device collapses due to the change of the center of gravity during the horizontal movement of the rotation steering assembly 406, with high safety. At the same time, when adjusting the position of the adjustment scraping assembly 50 according to the position of the blast hole, the rotation steering assembly 406 and the transmission steering assembly 408 can drive the adjustment scraping assembly 50 to rotate at multiple angles and change the position of the adjustment scraping assembly 50 in real time according to the position of the blast hole. The vertical lifting assembly 407 can drive the adjustment scraping assembly 50 to move up and down, move the adjustment scraping assembly 50 directly above the blast hole, and realize the operation of clearing the soil residue in the blast hole with high accuracy.

[0022] In the present invention, the adjustment scraping assembly 50 can perform corresponding adjustment on the position of the soil residue around the blast hole to ensure the effect of clearing the soil residue by the adjustment scraping assembly 50.

[0023] Specifically refer to Figure 4 and Figure 10 , the drive assembly 401 includes: a protective cover 4011 installed at the center of the side surface of the horizontal frame 30; a first drive source 4012 installed on the side surface of the protective cover 4011; a first drive belt 4013 connected to the output end of the first drive source 4012 and movably arranged inside the protective cover 4011; a movable shaft rod 4014 connected to the first drive belt 4013 through a synchronous pulley and extending to the center of the inside of the horizontal frame 30. Among them, a main gear 402 is installed on the outer side of the movable shaft rod 4014.

[0024] In this solution, another tooth guide rod 403 is slidably connected inside the extension rod 4031. The extension rod 4031 is installed on the top of the horizontal frame 30 by screws. The extension rod 4031 extends to the outside of the horizontal frame 30. A horizontal sliding assembly 405 is movably connected to the inside of the extension rod 4031.

[0025] In the cantilever type muck scraping device of the present invention, when adjusting the position of the soil scraping operation part 506 according to the position of the blast hole, the first driving source 4012 is started to operate, driving the first transmission belt 4013 connected by a synchronous pulley outside the output end of the first driving source 4012 to operate, and causing the movable shaft rod 4014 connected by a synchronous pulley inside the first transmission belt 4013 to rotate. When the movable shaft rod 4014 rotates, it will drive the main gear 402 installed outside it to rotate.

[0026] Specifically refer to Figure 4 and Figure 10 The horizontal sliding assembly 405 includes: a horizontal guide rod 4051 installed on the side of another tooth guide rod 403 by screws; a horizontal sliding seat 4052 connected to the horizontal guide rod 4051 by screws. The horizontal sliding seat 4052 is slidably connected to the inside of the extension rod 4031, and a rotary steering assembly 406 is installed at the bottom of the horizontal sliding seat 4052 by screws.

[0027] In the cantilever type muck scraping device of the present invention, when the main gear 402 rotates, it will drive the tooth guide rods 403 engaged with its upper and lower sides to move (in opposite directions), and cause the horizontal guide rod 4051 and the horizontal sliding seat 4052 connected to the tooth guide rod 403 to slide inside the extension rod 4031, adjusting the position (in the horizontal direction) of the rotary steering assembly 406 installed at the bottom of the extension rod 4031.

[0028] Specifically refer to Figure 4 and Figure 10 The rotary steering assembly 406 includes: an assembly box body 4061 installed at the bottom of the horizontal sliding seat 4052 by screws; a rotary driving source 4062 arranged at the center inside the assembly box body 4061; a rotary base 4063 connected to the output end of the rotary driving source 4062 and rotatably connected to the center of the bottom of the assembly box body 4061; a first steering driving source 4064 installed on one side of the rotary base 4063; a first steering metal block 4065 connected to the output end of the first steering driving source 4064 and rotatably connected to the inside of the rotary base 4063. Among them, a visual sensor 4050 is installed on one side of the bottom of the assembly box body 4061.

[0029] In this solution, a second steering driving source 40651 is installed on one side of the first steering metal block 4065. The second steering driving source 40651 and the first steering driving source 4064 are arranged in the same direction. The output end of the second steering driving source 40651 is connected to an L-shaped metal bracket 40652. The L-shaped metal bracket 40652 is rotatably connected to the other side of the first steering metal block 4065. The bottom of the L-shaped metal bracket 40652 is installed with a vertical lifting assembly 407 by screws.

[0030] In the cantilever type muck scraping device of the present invention, when it is necessary to change the position of the soil scraping operation part 506, the first steering drive source 4064 and the second steering drive source 40651 can be started according to the situation, respectively driving the first steering metal block 4065 connected to the first steering drive source 4064 and the L-shaped metal bracket 40652 connected to the second steering drive source 40651 to rotate, so as to change the soil scraping operation part 506. When cleaning the soil and slag around the blast hole, the rotation drive source 4062 is started to operate, driving the soil scraping operation part 506 to rotate, so as to realize the cleaning operation of the soil and slag around the blast hole.

[0031] Specific reference Figure 4 and Figure 10 As shown in FIGS. 7 and 8, the vertical lifting assembly 407 includes: a semi-enclosed metal plate 4071 installed at the bottom of the L-shaped metal bracket 40652 by screws; a vertical guide groove 4072 opened at the center of one side inside the semi-enclosed metal plate 4071; a side base 4073 slidably connected to the semi-enclosed metal plate 4071; a linear drive source 4074 installed on the side of the side base 4073; a drive rod 40741 connected to the output end of the linear drive source 4074 and passing through the vertical guide groove 4072; a conveying gear 4075 installed on the outer side of the drive rod 40741 and rotatably connected to both sides of the inner wall of the semi-enclosed metal plate 4071; a conveying synchronous belt 4076 meshed with the conveying gear 4075; a vertical conveying slide 4077 connected to the inner side of the conveying synchronous belt 4076 by screws.

[0032] In this solution, vertical guide rails 40711 are installed at the edges of the inner wall of the semi-enclosed metal plate 4071, vertical sliders 40712 are slidably connected to the sides of the vertical guide rails 40711, a vertical metal plate 40713 is installed on the side of the vertical slider 40712 by screws, the vertical metal plate 40713 is movably arranged inside the semi-enclosed metal plate 4071, the conveying gear 4075 and the conveying synchronous belt 4076 are rotatably connected to the inner side of the vertical metal plate 40713. Among them, one vertical conveying slide 4077 is connected to the inner wall of the semi-enclosed metal plate 4071 by screws, and a lower base 40771 is installed on the side of the other vertical conveying slide 4077 by screws, and a transmission steering assembly 408 extending downward is installed on the top of the lower base 40771.

[0033] In the cantilevered muck scraping device of the present invention, when adjusting the position of the soil scraping operation part 506 according to the height of the blast hole, the linear drive source 4074 is activated to operate, driving the drive rod 40741 connected to the output end of the linear drive source 4074 to rotate, and causing the conveying gear 4075 installed outside the drive rod 40741 to rotate. When the conveying gear 4075 rotates, it drives the conveying synchronous belt 4076 engaged and connected outside the conveying gear 4075 to operate, causing the vertical conveying sliders 4077 installed on the front and rear sides inside the conveying synchronous belt 4076 to move (in opposite directions). At this time, when the vertical conveying slider 4077 at the back position moves up and down, the vertical metal plate 40713 slides up and down along the side of the vertical guide rail 40711 through the vertical slider 40712, ensuring the stability of the vertical metal plate 40713 during the up and down movement and adjusting the position of the vertical metal plate 40713. Among them, when the positions of the conveying synchronous belt 4076 and the conveying gear 4075 inside the vertical metal plate 40713 change, the linear drive source 4074 and the side base 4073 slide outside the semi-enclosed metal plate 4071, and the drive rod 40741 slides inside the vertical guide groove 4072, ensuring that the linear drive source 4074 is always connected to the vertical slider 40712 and the conveying gear 4075. The vertical conveying slider 4077 at the front position drives the lower base 40771 installed on its side by screws to move (in the opposite direction to the movement direction of the vertical conveying slider 4077 arranged at the back), realizing a larger adjustment operation in the vertical direction in terms of distance and length.

[0034] Specifically refer to Figure 4 and Figure 10 The transmission steering assembly 408 includes: a third steering drive source 4081 installed on the top of the lower base 40771 by screws; a second transmission belt 4082 connected to the output end of the third steering drive source 4081 through a synchronous pulley and movably arranged on the side of the lower base 40771; a second steering metal block 4083 connected to the second transmission belt 4082 through a synchronous pulley and movably arranged at the bottom of the lower base 40771; and a guide seat 4084 rotatably connected to the second steering metal block 4083 and installed on both sides of the bottom of the lower base 40771 by screws. The bottom of the second steering metal block 4083 is installed with an adjusting scraping assembly 50 by screws.

[0035] In the cantilevered muck scraping device of the present invention, when it is necessary to change the position of the soil scraping operation unit 506, the third steering drive source 4081 can be activated according to the actual situation, driving the second transmission belt 4082 connected by a synchronous pulley on the outer side of the output end of the third steering drive source 4081 to operate. When the second transmission belt 4082 is operating, it will drive the second steering metal block 4083 connected by a synchronous pulley on its inner side to rotate inside the guide seat 4084, changing the angle of the adjustment scraping assembly 50 installed at the bottom of the second steering metal block 4083.

[0036] Specific reference Figure 4 and Figure 10 As shown in FIGS. and, the adjustment scraping assembly 50 includes: a metal disc 501 installed at the bottom of the second steering metal block 4083 by screws; an adjustment drive source 502 installed at the center of the top of the metal disc 501; a movable turntable 503 connected to the adjustment drive source 502 and rotatably connected to the bottom of the metal disc 501; a lower convex block 504 installed at the eccentric position of the bottom of the movable turntable 503; a movable bracket 505 movably arranged outside the lower convex block 504; a soil scraping operation unit 506 installed at the center of one side of the movable bracket 505 by screws; a guide support block 507 slidably connected to the soil scraping operation unit 506 and installed at the bottom of the metal disc 501; an arc portion 5061 opened on one side of the soil scraping operation unit 506, wherein the arc portion 5061 is arranged on the side of the guide support block 507, and the guide support block 507 is arranged on the side of the movable turntable 503.

[0037] In the cantilevered muck scraping device of the present invention, when clearing the muck around the blast hole, the adjustment drive source 502 can be activated to operate, driving the movable turntable 503 connected to the output end of the adjustment drive source 502 to rotate, and causing the movable bracket 505 and the soil scraping operation unit 506 movably connected to the bottom of the movable turntable 503 through the lower convex block 504 to slide inside the guide support block 507, changing the position of the soil scraping operation unit 506. Among them, the design of the arc portion 5061 on the inner side of the soil scraping operation unit 506 can change the position of the muck in contact with the side of the soil scraping operation unit 506, and cooperate with the movement of the muck on the side of the soil scraping operation unit 506 (towards the outside) to achieve better and more efficient muck clearing operations. Embodiment 2

[0038] During the actual operation of the present invention, it is found that when the soil scraping operation unit 506 rotates to clear the muck accumulated around the blast hole (generated by excavation), the muck generally accumulates to a certain height. At this time, the side of the soil scraping operation unit 506 is difficult to cover the height of the muck, resulting in the high muck falling during the pushing and clearing of the muck, and it is easy to fall into the blast hole. At the same time, when the soil scraping operation unit 506 is pushing the muck, the moving trajectory of the pushed muck is relatively scattered, and the pushing and clearing efficiency of the muck is low.

[0039] Specific reference Figure 12 and Figure 13 As shown in FIGS. and, a plurality of compensation soil pushing rods 60 are installed on the upper and lower sides of the soil pushing operation part 506 through clamping blocks 600. An arc part 5061 is formed inside the compensation soil pushing rods 60. A slope pushing block 601 located on the side of the soil pushing operation part 506 is installed on the side surfaces of the plurality of compensation soil pushing rods 60 through screws. One side of the slope pushing block 601 close to the arc part 5061 is a slope surface.

[0040] In the cantilever type muck scraping device of the present invention, the plurality of compensation soil pushing rods 60 can be installed on the upper and lower sides of the soil pushing operation part 506 through the clamping blocks 600, so as to increase the contact area size when the soil pushing operation part 506 clears the muck around the blast hole, thereby improving the effect of the soil pushing operation part 506 when clearing the muck around the blast hole, and not easily occurring the probability that the muck falls back into the blast hole again due to height during the muck clearing operation. At the same time, the design of the slope pushing block 601 at the bottom of the soil pushing operation part 506 and the compensation soil pushing rods 60 can guide the muck pushed to the bottom of the soil pushing operation part 506, so that the muck slides laterally along the slope during the pushing process, thereby realizing single-side centralized soil discharge, facilitating the subsequent centralized treatment of the emptied muck, and improving the efficiency of muck treatment.

[0041] Limited to this, any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, making equivalent replacements or changes, shall be covered by the protection scope of the present invention.

Claims

1. Cantilever type muck scraping device, characterized in that, Comprising: A triangular frame (10); a universal wheel (20) installed at the included angle at the bottom of the triangular frame (10) by screws; a horizontal frame (30) installed at the top of the triangular frame (10) by screws; a cantilever robotic arm mechanism (40) disposed inside the horizontal frame (30) and extending to the outside of the bottom; an adjustment scraping assembly (50) installed at the bottom of the cantilever robotic arm mechanism (40) by screws. The cantilever robotic arm mechanism (40) includes: a driving assembly (401) installed outside the horizontal frame (30) and extending into the horizontal frame (30); a main gear (402) rotatably connected inside the horizontal frame (30) and connected to the driving assembly (401); tooth guide rods (403) meshingly connected to the upper and lower sides of the main gear (402) and slidably connected to the horizontal frame (30); a counterweight (404) installed at the bottom of one of the tooth guide rods (403) by screws; a horizontal sliding assembly (405) connected to the other tooth guide rod (403) by screws; a rotary steering assembly (406) installed at the bottom of the horizontal sliding assembly (405) by screws; a vertical lifting assembly (407) installed at the bottom of the rotary steering assembly (406) by screws; a transmission steering assembly (408) installed at the bottom of the vertical lifting assembly (407), and the adjustment scraping assembly (50) is installed at the bottom of the transmission steering assembly (408) by screws.

2. The cantilever type muck scraping device according to claim 1, wherein: The driving assembly (401) includes: a protective cover (4011) installed at the center of the side of the horizontal frame (30); a first driving source (4012) installed on the side of the protective cover (4011); a first transmission belt (4013) connected to the output end of the first driving source (4012) and movably disposed inside the protective cover (4011); a movable shaft rod (4014) connected to the first transmission belt (4013) through a synchronous pulley and extending to the center inside the horizontal frame (30). Wherein, a main gear (402) is installed on the outer side of the movable shaft rod (4014).

3. The cantilever type muck scraping device according to claim 2, wherein: The other tooth guide rod (403) is slidably connected inside an extension rod (4031), the extension rod (4031) is installed at the top of the horizontal frame (30) by screws, the extension rod (4031) extends to the outside of the horizontal frame (30), and the inner side of the extension rod (4031) is movably connected to the horizontal sliding assembly (405).

4. The cantilever type muck scraping device according to claim 3, wherein: The horizontal sliding assembly (405) includes: a horizontal guide rod (4051) installed on the side of the other tooth guide rod (403) by screws; a horizontal sliding seat (4052) connected to the horizontal guide rod (4051) by screws, the horizontal sliding seat (4052) is slidably connected to the inner side of the extension rod (4031), and the rotary steering assembly (406) is installed at the bottom of the horizontal sliding seat (4052) by screws.

5. The cantilever type muck scraping device according to claim 4, characterized in that: The rotation and steering assembly (406) includes: an assembly box body (4061) installed at the bottom of the horizontal slide base (4052) by screws; a rotation drive source (4062) arranged at the center inside the assembly box body (4061); a rotation base (4063) connected to the output end of the rotation drive source (4062) and rotatably connected to the center of the bottom of the assembly box body (4061); a first steering drive source (4064) installed on one side of the rotation base (4063); a first steering metal block (4065) connected to the output end of the first steering drive source (4064) and rotatably connected to the inside of the rotation base (4063). Wherein, a vision sensor (4050) is installed on one side of the bottom of the assembly box body (4061).

6. The cantilever type muck scraping device according to claim 5, characterized in that: A second steering drive source (40651) is installed on one side of the first steering metal block (4065). The second steering drive source (40651) and the first steering drive source (4064) are arranged in the same direction. The output end of the second steering drive source (40651) is connected to an L-shaped metal bracket (40652). The L-shaped metal bracket (40652) is rotatably connected to the other side of the first steering metal block (4065). The bottom of the L-shaped metal bracket (40652) is installed with a vertical lifting assembly (407) by screws.

7. The cantilever type muck scraping device according to claim 6, characterized in that: The vertical lifting assembly (407) includes: a semi-enclosed metal plate (4071) installed at the bottom of the L-shaped metal bracket (40652) by screws; a vertical guide groove (4072) opened at the center of one side inside the semi-enclosed metal plate (4071); a side base (4073) slidably connected to the semi-enclosed metal plate (4071); a linear drive source (4074) installed on the side of the side base (4073); a drive rod (40741) connected to the output end of the linear drive source (4074) and passing through the vertical guide groove (4072); a conveying gear (4075) installed on the outside of the drive rod (40741) and rotatably connected to both sides of the inner wall of the semi-enclosed metal plate (4071); a conveying synchronous belt (4076) meshed with the conveying gear (4075); a vertical conveying slide base (4077) connected to the inside of the conveying synchronous belt (4076) by screws.

8. The cantilever type muck scraping device according to claim 7, characterized in that: Vertical guide rails (40711) are installed at the edges of the inner wall of the semi-enclosed metal plate (4071). Vertical sliders (40712) are slidably connected to the sides of the vertical guide rails (40711). A vertical metal plate (40713) is installed on the side of the vertical slider (40712) by screws. The vertical metal plate (40713) is movably arranged inside the semi-enclosed metal plate (4071). The conveying gear (4075) and the conveying synchronous belt (4076) are rotatably connected to the inside of the vertical metal plate (40713). Among them, one of the vertical conveying sliders (4077) is connected to the inner wall of the semi-enclosed metal plate (4071) by screws, and a lower base (40771) is installed on the side of the other vertical conveying slider (4077) by screws. A transmission steering assembly (408) extending downward is installed on the top of the lower base (40771).

9. The cantilever type muck scraping device according to claim 8, wherein: The transmission steering assembly (408) includes: a third steering drive source (4081) installed on the top of the lower base (40771) by screws; a second transmission belt (4082) connected to the output end of the third steering drive source (4081) through a synchronous pulley and movably arranged on the side of the lower base (40771); a second steering metal block (4083) connected to the second transmission belt (4082) through a synchronous pulley and movably arranged at the bottom of the lower base (40771); a guide seat (4084) rotatably connected to the second steering metal block (4083) and installed on both sides of the bottom of the lower base (40771) by screws. An adjusting scraping assembly (50) is installed on the bottom of the second steering metal block (4083) by screws.

10. The cantilever type muck scraping device according to claim 9, characterized in that: The adjusting scraping assembly (50) includes: a metal disc (501) installed on the bottom of the second steering metal block (4083) by screws; an adjusting drive source (502) installed at the center of the top of the metal disc (501); a movable turntable (503) connected to the adjusting drive source (502) and rotatably connected to the bottom of the metal disc (501); a lower convex block (504) installed at the eccentric position of the bottom of the movable turntable (503); a movable bracket (505) movably arranged outside the lower convex block (504); a soil scraping operation part (506) installed at the center of one side of the movable bracket (505) by screws; a guide support block (507) slidably connected to the soil scraping operation part (506) and installed on the bottom of the metal disc (501); an arc part (5061) opened on one side of the soil scraping operation part (506). Among them, the arc part (5061) is arranged on the side of the guide support block (507), and the guide support block (507) is arranged on the side of the movable turntable (503).

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