Mineral geological exploration measuring robot

Abstract

The invention relates to the technical field of geological exploration equipment, and discloses a mineral geological exploration measuring robot which comprises a vehicle body, the top of the vehicle body is movably connected with a collecting mechanism, and the left side and the right side of the front end of the collecting mechanism are provided with a drilling assembly and a clamping assembly correspondingly. A wiring panel used for connecting a plurality of functional parts is arranged on the rear side of the vehicle body, and photovoltaic panels used for absorbing sunlight are arranged on the left side and the right side of the top of the vehicle body; the supporting chassis is fixedly connected to the side, away from the collecting mechanism, of the vehicle body, and a plurality of walking wheels are installed on the side, away from the vehicle body, of the supporting chassis; and the collecting mechanism is movably connected to the rear side of the vehicle body. Through mutual cooperation of the collecting mechanism, the drilling assembly and the clamping assembly, an ore bed is drilled, broken stones falling from the ore bed are clamped, and ore samples are efficiently collected.

Description

Technical Field

[0001] The present invention relates to the technical field of geological exploration equipment, in particular to a mineral geological exploration and measurement robot. Background Art

[0002] Mineral geological survey and measurement is the process of systematically detecting and evaluating underground mineral resources through geology, geophysics, geochemistry and measurement technology. Its purpose is to determine the location, scale, quality and development feasibility of minerals. It mainly includes regional survey, census, detailed investigation and exploration stages, and comprehensively uses remote sensing, drilling, sampling and data analysis to provide a scientific basis for mine planning and mining, and ensure efficient resource utilization and sustainable development.

[0003] In the existing technology, there are the following types of robots related to mineral geological exploration and measurement: UAV remote sensing mapping robots, which quickly obtain surface geological information through hyperspectral imaging and lidar; autonomous navigation ground robots, equipped with geological radar and sensors, which can detect the distribution of ore bodies in complex terrain. These technologies have improved exploration efficiency, safety and accuracy, and promoted the development of mineral exploration towards intelligent and unmanned directions.

[0004] However, in actual mineral geological surveys, the distribution of different mineral layers and geological conditions vary greatly. Some robots in existing technologies have limited range of activity and limited functions. They can only survey within the mineral veins, but cannot collect ore samples within the mineral veins, resulting in a lack of certain basis for mineral vein evaluation. In addition, when encountering steep slopes or bumpy roads, existing robots are prone to slipping and getting stuck, which affects the survey results.

[0005] To this end, the present invention proposes a mineral geological survey and measurement robot to solve the deficiencies in the prior art. Summary of the Invention

[0006] The purpose of the present invention is to provide a mineral geological survey and measurement robot to solve the problem that some robots in the existing technology can only survey the mineral veins but cannot collect ore samples in the mineral veins, and the existing robots are prone to slipping and getting stuck when encountering steep slopes or bumpy roads.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] A mineral geological survey and measurement robot, comprising:

[0009] A vehicle body, wherein the top of the vehicle body is movably connected to a collection mechanism, a drilling assembly and a gripping assembly are respectively provided on the left and right sides of the front end of the collection mechanism, a wiring panel for connecting multiple functional components is provided on the rear side of the vehicle body, and photovoltaic panels for absorbing sunlight are provided on the left and right sides of the top of the vehicle body;

[0010] A supporting chassis, the supporting chassis being fixedly connected to a side of the vehicle body away from the collecting mechanism, and a plurality of running wheels being installed on the side of the supporting chassis away from the vehicle body;

[0011] a collecting mechanism, the collecting mechanism being movably connected to the rear side of the vehicle body and being used for collecting ore;

[0012] The collecting mechanism includes a mobile mechanical arm, which is movably connected to a side of the vehicle body away from the supporting chassis, and the end of the mobile mechanical arm away from the vehicle body is rotatably connected to a rotating block, the end of the rotating block away from the mobile mechanical arm is fixedly connected to a rotating shaft, and the end of the rotating shaft away from the rotating block is rotatably connected to a connecting rod;

[0013] An auxiliary mechanism is provided inside the side of the supporting chassis away from the vehicle body, and a panoramic camera is slidably connected to the bottom of the rear side of the supporting chassis.

[0014] Preferably, the auxiliary mechanism includes two bidirectional threaded rods, both of which are rotatably connected to the inside of the supporting chassis on a side away from the vehicle body, and the front and rear sides of the bidirectional threaded rods are both threadedly connected to movable plates;

[0015] A plurality of horizontally evenly distributed limiting telescopic rods are fixed to the left and right ends of the inner side of the support chassis away from the vehicle body, and the ends of the plurality of limiting telescopic rods away from the vehicle body are fixedly connected to a connecting plate, and a fixing block is fixed on the opposite side of two adjacent connecting plates, and the side of the fixing block away from the vehicle body is fixedly connected to the auxiliary walking wheel;

[0016] The fixed block is connected to the movable plate via a connecting plate, and a driving assembly is provided on the rear side of the bidirectional threaded rod.

[0017] Preferably, the collection mechanism includes a collection box, which is slidably connected to the rear side of the support chassis of the vehicle body, and the left and right ends of the inner top side of the collection box are fixedly connected to rotating rods, and the outer peripheries of the two rotating rods are rotatably connected to cover plates, and the bottom of the collection box is slidably connected to a support plate, and the left and right ends of the support plate are electrically connected to moving rods, and the outer periphery of the end of the moving rod away from the support plate is fixed with a splint, and the side of the support plate away from the collection box is fixedly connected to two electric slide rods, and the electric slide rods are slidably connected to the inside of the support chassis.

[0018] Preferably, an image acquisition sensor and an infrared sensor are fixedly connected to one side of the support chassis away from the collecting mechanism, and lighting tubes for providing lighting are fixedly connected to the left and right sides of the support chassis.

[0019] Preferably, the drilling assembly includes a drive motor, which is rotatably connected to one end of the connecting rod. The output end of the drive motor is fixedly connected to a fixing clamp, and the inside of the fixing clamp away from the drive motor is fixedly connected to the drill rod.

[0020] Preferably, the clamping assembly includes a connecting block, which is rotatably connected to the inside of the end of the connecting rod away from the drive motor. The end of the connecting block away from the connecting rod is fixedly connected to a clamping plate, and the inside of the clamping plate is rotatably connected to two clamping claws.

[0021] Preferably, the driving assembly includes two gears, and the two gears are fixedly connected to the rear ends of the two bidirectional threaded rods respectively;

[0022] An electric push rod is fixedly connected to the top of the inner rear side of the support chassis, the bottom end of the electric push rod is fixedly connected to a horizontal plate, and racks are fixedly connected to the left and right sides of the bottom of the horizontal plate, and the two racks are respectively engaged with the two gears;

[0023] Transmission components are provided on both the front and rear sides of the transverse plate.

[0024] Preferably, the transmission assembly includes a connecting shaft, the connecting shaft is rotatably connected to one side of the transverse plate, the outer periphery of the connecting shaft is fixedly connected to a sliding block, and the outer periphery of the sliding block is slidably connected to a rotating rod;

[0025] One end of the rotating rod away from the transverse plate is rotatably connected to a fixing plate, and the fixing plate is fixedly connected to a side of the panoramic camera close to the vehicle body.

[0026] Preferably, the wiring panel is connected to the mobile robotic arm, the lighting lamp tube, and the electric push rod through a transmission line.

[0027] Preferably, one end of the connecting plate is rotatably connected to one end of the fixed block, and one end of the connecting plate away from the fixed block is rotatably connected to one end of the movable plate.

[0028] Beneficial effects of the present invention:

[0029] 1. Through the mutual cooperation of the collection mechanism, the drilling assembly and the clamping assembly, the present invention can flexibly drill the ore layer and clamp the gravel dropped from the ore layer when the robot moves to the area with ore resources, so as to efficiently collect ore samples and solve the problem of inconvenient sample collection in the prior art.

[0030] 2. Through the mutual cooperation between the auxiliary mechanism, the drive assembly and the transmission assembly, the present invention can extend the auxiliary walking wheels to contact the road surface when encountering a large slope or a bumpy road section, so that the robot can smoothly pass through the uneven road section, and at the same time retract the panoramic camera to prevent the panoramic camera from being bumped. The present invention can adapt to complex terrain and protect the camera, effectively reducing the problem of the measurement robot slipping or getting stuck in complex terrain.

[0031] 3. The present invention uses a collection mechanism composed of a collection box, a rotating rod, a cover plate, a support plate, a moving rod, a clamping plate, and an electric slide rod to conveniently place and fix the collection box, cooperate with the mobile mechanical arm to store the ore, and realize convenient ore collection.

[0032] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 This is a three-dimensional schematic diagram of a mineral geological survey and measurement robot according to the present invention;

[0035] Figure 2 This is a structural schematic diagram of a mineral geological survey and measurement robot body according to the present invention;

[0036] Figure 3 This is a structural schematic diagram of a wiring panel of a mineral geological survey and measurement robot according to the present invention;

[0037] Figure 4 This is a structural schematic diagram of a mobile mechanical arm of a mineral geological survey and measurement robot according to the present invention;

[0038] Figure 5 This is a structural schematic diagram of a drill rod of a mineral geological survey and measurement robot according to the present invention;

[0039] Figure 6 This is a schematic structural diagram of an auxiliary walking wheel of a mineral geological survey and measurement robot according to the present invention;

[0040] Figure 7 This is a structural schematic diagram of a bidirectional threaded rod of a mineral geological survey and measurement robot according to the present invention;

[0041] Figure 8 This is a structural schematic diagram of a mobile plate of a mineral geological survey and measurement robot according to the present invention;

[0042] Figure 9 This is a structural schematic diagram of a supporting chassis of a mineral geological survey and measurement robot according to the present invention;

[0043] Figure 10 This is an enlarged schematic diagram of position A of a mineral geological survey and measurement robot according to the present invention;

[0044] Figure 11 This is an enlarged schematic diagram of position B of a mineral geological survey and measurement robot according to the present invention;

[0045] Figure 12 This is a structural schematic diagram of a collection box for a mineral geological survey and measurement robot according to the present invention.

[0046] Among them, 1. Car body; 2. Collection mechanism; 201. Mobile manipulator; 202. Rotating block; 203. Rotating shaft; 204. Connecting rod; 3. Drilling assembly; 301. Drive motor; 302. Fixing clamp; 303. Drill rod; 4. Clamping assembly; 401. Connecting block; 402. Clamping plate; 403. Clamping claw; 5. Auxiliary mechanism; 501. Bidirectional threaded rod; 502. Mobile plate; 503. Connecting plate; 504. Fixing block; 505. Auxiliary walking wheel; 506. Connecting plate; 507. Limiting telescopic rod; 6. Drive assembly; 6 01. Electric push rod; 602. Horizontal plate; 603. Rack; 604. Gear; 7. Transmission assembly; 701. Connecting shaft; 702. Sliding block; 703. Rotating rod; 704. Fixed plate; 8. Collection mechanism; 801. Collection box; 802. Cover plate; 803. Rotating rod; 804. Support plate; 805. Electric slide rod; 806. Moving rod; 807. Clamp; 9. Panoramic camera; 10. Support chassis; 11. Lighting lamp tube; 12. Image acquisition sensor; 13. Infrared sensor; 14. Photovoltaic panel; 15. Wiring panel. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0048] See also Figure 1 - Figure 4 As shown, the present invention is a mineral geological survey and measurement robot, comprising:

[0049] The vehicle body 1 has a collecting mechanism 2 movably connected to the top thereof. A drilling assembly 3 and a gripping assembly 4 are respectively provided on the left and right sides of the front end of the collecting mechanism 2. A wiring panel 15 for connecting multiple functional components is provided on the rear side of the vehicle body 1. The wiring panel 15 is connected to the mobile robotic arm 201, the lighting tube 11, and the electric push rod 601 through a transmission line.

[0050] Photovoltaic panels 14 for absorbing sunlight are provided on both the left and right sides of the top of the vehicle body 1;

[0051] Specifically, the vehicle body 1 is made of aluminum alloy as a whole, has good corrosion resistance, and is light in weight while still maintaining good strength. Multiple electronic components are arranged inside the vehicle body 1, and the wiring panel 15 is used to connect the transmission lines of multiple components. The wiring panel 15 is provided with multiple wiring ports, including but not limited to USB interfaces, TPY-C data line interfaces, plug-in interfaces, etc. The photovoltaic panel 14 mainly cooperates with the inverter, DC-DC converter and battery to convert solar energy into AC power and store it to provide endurance for the measuring robot.

[0052] A supporting chassis 10 is fixedly connected to a side of the vehicle body 1 away from the collecting mechanism 2, and a plurality of running wheels are installed on the side of the supporting chassis 10 away from the vehicle body 1;

[0053] Specifically, the supporting chassis 10 is made of aluminum alloy, the same as the vehicle body 1 . An electric motor is provided inside the supporting chassis 10 to drive the running wheels to rotate, thereby moving the measuring robot.

[0054] A collecting mechanism 8 is movably connected to the rear side of the vehicle body 1 and is used to collect ore;

[0055] The collection mechanism 2 includes a mobile mechanical arm 201, which is movably connected to the side of the vehicle body 1 away from the supporting chassis 10. The end of the mobile mechanical arm 201 away from the vehicle body 1 is rotatably connected to a rotating block 202, and the end of the rotating block 202 away from the mobile mechanical arm 201 is fixedly connected to a rotating shaft 203, and the end of the rotating shaft 203 away from the rotating block 202 is rotatably connected to a connecting rod 204;

[0056] Specifically, the mobile robotic arm 201 is made of titanium alloy as a whole and is movably connected to the top of the vehicle body 1. It forms a moving pair with the top of the vehicle body 1 and can move along the top of the vehicle body 1. The rotating block 202 on the front side of the mobile robotic arm 201 forms a rotating pair with the mobile robotic arm 201 and can rotate with the mobile robotic arm 201. The front end of the rotating block 202 is connected to the connecting rod 204 through the rotating shaft 203. The connecting rod 204 and the rotating block 202 also form a rotating pair, so that the end of the mobile robotic arm 201 has flexible degrees of freedom. The rotating block 202 and the connecting rod 204 are both controlled by the PLC logic controller in cooperation with the robot control system. The PLC logic controller and the robot control system are both mature existing technologies and will not be elaborated here.

[0057] An auxiliary mechanism 5 is provided inside the supporting chassis 10 on a side away from the vehicle body 1 , and a panoramic camera 9 is slidably connected to the rear bottom of the supporting chassis 10 .

[0058] Specifically, the panoramic camera 9 is used to observe the path of the measuring robot when the measuring robot moves, and to record potholes in the moving process.

[0059] See also Figure 6 - Figure 8 As shown, the auxiliary mechanism 5 includes two bidirectional threaded rods 501, both of which are rotatably connected to the inner side of the supporting chassis 10 away from the vehicle body 1, and the front and rear sides of the bidirectional threaded rods 501 are both threadedly connected to the movable plates 502;

[0060] Specifically, the bidirectional threaded rod 501 is threadedly connected to the movable plate 502, and the front and rear ends of the bidirectional threaded rod 501 form a rotating pair with the front and rear sides of the interior of the supporting chassis 10 through rotating bearings. When the bidirectional threaded rod 501 rotates, the movable plate 502 can move laterally along the bidirectional threaded rod 501 by virtue of the threaded connection relationship with the bidirectional threaded rod 501.

[0061] A plurality of horizontally evenly distributed limit telescopic rods 507 are fixed to the left and right ends of the inner side of the support chassis 10 away from the vehicle body 1. The ends of the limit telescopic rods 507 away from the vehicle body 1 are fixedly connected to a connecting plate 506. A fixing block 504 is fixed to the opposite side of two adjacent connecting plates 506. The side of the fixing block 504 away from the vehicle body 1 is fixedly connected to an auxiliary running wheel 505.

[0062] The limiting telescopic rod 507 is connected to the connecting plate 506, and the connecting plate 506 is connected to the fixed block 504 on the top of the auxiliary walking wheel 505, so that the limiting telescopic rod 507 is mainly used to limit the auxiliary walking wheel 505 from moving left and right, and can only move vertically.

[0063] The fixed block 504 is connected to the movable plate 502 through the connecting plate 503. One end of the connecting plate 503 is rotatably connected to one end of the fixed block 504. The end of the connecting plate 503 away from the fixed block 504 is rotatably connected to one end of the movable plate 502. A driving assembly 6 is provided on the rear side of the bidirectional threaded rod 501.

[0064] Specifically, the fixed block 504 on the top of the auxiliary walking wheel 505 is connected to the movable plate 502 which is threadedly connected to the outer periphery of the bidirectional threaded rod 501 through the connecting plate 503. When the movable plate 502 moves along the bidirectional threaded rod 501, the connecting plate 503 will rotate around the connection with the movable plate 502, so that the other end of the connecting plate 503 will drive the fixed block 504 to move vertically, thereby controlling the auxiliary walking wheel 505 to move vertically.

[0065] See also Figure 3 and Figure 12 As shown, the collection mechanism 8 includes a collection box 801, which is slidably connected to the rear side of the support chassis 10 of the vehicle body 1, and the left and right ends of the inner top side of the collection box 801 are fixedly connected with rotating rods 803, and the outer peripheries of the two rotating rods 803 are rotatably connected with cover plates 802, and the bottom of the collection box 801 is slidably connected to a support plate 804, and the left and right ends of the support plate 804 are electrically connected to moving rods 806, and the outer periphery of the moving rod 806 away from the support plate 804 is fixed with a splint 807, and the side of the support plate 804 away from the collection box 801 is fixed with two electric slide rods 805, and the electric slide rod 805 is slidably connected to the inside of the support chassis 10.

[0066] Specifically, the collection box 801 is made of aluminum alloy and is used to collect ores or other materials collected by the measuring robot. The rotating rod 803 is fixed to the top of the collection box 801 and connected to the cover 802, so that the cover 802 can rotate around the rotating rod 803. The support plate 804 is fixed to the electric slide rod 805 and is used to carry the collection box 801. The electric slide rod 805 can generate longitudinal vertical movement along the support chassis 10, thereby driving the collection box 801 to move vertically and cooperate with the mobile robotic arm 201 to store ores. The moving rod 806 is slidably connected to the inside of the support plate 804. A PLC logic controller is provided inside the support plate 804 for controlling the sliding in and out of the moving rod 806. The moving rod 806 is fixed to the splint 807, and a force is applied to the collection box 801 from the left and right directions through multiple splints 807, so that the collection box 801 can be fixed on the top of the support plate 804.

[0067] See also Figure 1 As shown, an image acquisition sensor 12 and an infrared sensor 13 are fixedly connected to one side of the support chassis 10 away from the collecting mechanism 8 , and lighting tubes 11 for providing lighting are fixedly connected to the left and right sides of the support chassis 10 .

[0068] Specifically, the image acquisition sensor 12 and the infrared sensor 13 mainly provide measurement work for the measuring robot. The image acquisition sensor 12 is mainly responsible for capturing high-resolution visible light images to determine the size of the ore, while the infrared sensor 13 can measure the internal temperature of the ore mined in the mine.

[0069] See also Figure 5 As shown, the drilling assembly 3 includes a drive motor 301, which is rotatably connected to one end of the connecting rod 204. The output end of the drive motor 301 is fixedly connected to a fixing clamp 302, and the inside of the fixing clamp 302 away from the drive motor 301 is fixedly connected to a drill rod 303.

[0070] The drive motor 301 mainly adopts the Maxon EC-i40 model brushless motor. The fixing clamp 302 is connected to the output end of the drive motor 301, and the other end is internally connected to the drill rod 303. After the drive motor 301 is started, the drill rod 303 can be controlled to rotate, thereby drilling rocks and collecting crushed ore. The drive motor 301 is also connected to the wiring panel 15 on the rear side of the vehicle body 1 through a connecting line so that it can work.

[0071] See also Figure 5 As shown, the clamping assembly 4 includes a connecting block 401, which is rotatably connected to the inside of the end of the connecting rod 204 away from the drive motor 301. The end of the connecting block 401 away from the connecting rod 204 is fixedly connected to a clamping plate 402, and the inside of the clamping plate 402 is rotatably connected to two clamping claws 403.

[0072] Specifically, the connecting block 401 and one end of the connecting rod 204 form a rotating pair, which can rotate around one end of the connecting rod 204, and the clamping plate 402 is provided with two cylindrical gears that rotate relative to each other. It is also equipped with a Maxon EC-i40 model brushless motor. Through the relative rotation of the two cylindrical gears, the clamping plate 402 is used to clamp the crushed ore drilled by the drill rod 303.

[0073] See also Figure 8 and Figure 10 As shown, the driving assembly 6 includes two gears 604, and the two gears 604 are fixedly connected to the rear ends of the two bidirectional threaded rods 501;

[0074] Specifically, the two gears 604 are cylindrical gears made of cast iron and are fixedly connected to the two bidirectional threaded rods 501. When the gears 604 rotate, the bidirectional threaded rods 501 can be controlled to rotate synchronously.

[0075] An electric push rod 601 is fixedly connected to the top of the inner rear side of the support chassis 10, and the bottom end of the electric push rod 601 is fixedly connected to a horizontal plate 602. The bottom left and right sides of the horizontal plate 602 are fixedly connected to racks 603, and the two racks 603 are respectively engaged with two gears 604;

[0076] Specifically, the electric push rod 601 is a short-stroke electric push rod, model LinakLA20. One end of the electric push rod 601 is fixed inside the supporting chassis 10, and the other end is connected to the cross plate 602. After the electric push rod 601 is started, the cross plate 602 can be controlled to move vertically, and the two racks 603 fixed at the bottom of the cross plate 602 will move accordingly with the vertical movement of the cross plate 602. The rack 603 is engaged with the gear 604. When the rack 603 moves, the gear 604 will be controlled to rotate accordingly, so that the rotation of the gear 604 will drive the bidirectional threaded rod 501 to rotate.

[0077] Transmission components 7 are provided on both the front and rear sides of the transverse plate 602 .

[0078] See also Figure 9 and Figure 11 As shown, the transmission assembly 7 includes a connecting shaft 701, which is rotatably connected to one side of the horizontal plate 602. The outer periphery of the connecting shaft 701 is fixedly connected to a sliding block 702, and the outer periphery of the sliding block 702 is slidably connected to a rotating rod 703;

[0079] Specifically, the connecting shaft 701 is rotatably connected to the horizontal plate 602. When the horizontal plate 602 moves vertically, the connecting shaft 701 will be driven to move together, and the sliding block 702 fixed on the periphery of the connecting shaft 701 will move accordingly. The interior of the rotating rod 703 is provided with a sliding groove with the same moving trajectory and the same size as the sliding block 702, which is used to guide the movement of the sliding block 702.

[0080] One end of the rotating rod 703 away from the horizontal plate 602 is rotatably connected to a fixed plate 704 , and the fixed plate 704 is fixedly connected to a side of the panoramic camera 9 close to the vehicle body 1 .

[0081] Specifically, the other end of the rotating rod 703 is also connected to the fixed plate 704 through the connecting shaft 701 and the sliding block 702, and the fixed plate 704 is fixed to the panoramic camera 9. Therefore, when the electric push rod 601 controls the horizontal plate 602 to move vertically downward, the rotation of the rotating rod 703 is used to move the panoramic camera 9 upward.

[0082] Working principle: When in use, first check whether all parts of the measuring robot are working properly, then place the collection box 801 on top of the support plate 804, control the movement of the moving rod 806 to make the clamping plate 807 contact the collection box 801, then move the measuring robot to the designated location and record the starting point. Then, you can control the robot to move in the mineral zone and simultaneously activate the panoramic camera 9, lighting tube 11, image acquisition sensor 12, and infrared sensor 13 to observe the mineral zone;

[0083] When the robot encounters a large slope or a bumpy road during its movement, the electric push rod 601 is activated to control the vertical movement of the horizontal plate 602. During the movement of the horizontal plate 602, the two racks 603 at the bottom of the horizontal plate 602 control the two gears 604 to rotate synchronously in the same direction. At this time, the rotation of the gears 604 controls the rotation of the bidirectional threaded rod 501, and the rotation of the bidirectional threaded rod 501 drives the moving plates 502 at the front and rear ends of the bidirectional threaded rod 501 to move in opposite directions along the bidirectional threaded rod 501.

[0084] During the movement of the movable plate 502, the connecting plate 503 between the movable plate 502 and the fixed block 504 rotates around the connection with the movable plate 502. At this time, when the connecting plate 503 rotates in a circular motion, the other end of the connecting plate 503 controls the fixed block 504 to move vertically downward until the auxiliary walking wheel 505 contacts the road surface, thereby stopping the electric push rod 601.

[0085] At the same time, when the horizontal plate 602 moves toward each other, the connecting shaft 701 and the sliding block 702 fixed to the horizontal plate 602 will slide in the sliding groove opened inside the rotating rod 703. At this time, the sliding of the collection mechanism 2 will control the rotating rod 703 to rotate inside the supporting chassis 10, so that the fixed plate 704 connected to the other end of the rotating rod 703 will move vertically inside the supporting chassis 10, thereby driving the panoramic camera 9 to move upward, so that the panoramic camera 9 slides into the supporting chassis 10 within a certain range, avoiding damage to the panoramic camera 9 caused by potholes on the road. At this time, it is necessary to record the uneven road surface according to the distance the robot moves, and when the robot moves to a mine pile or a rock pile, the auxiliary walking wheel 505 also needs to be lowered.

[0086] When the robot is required to collect rock samples in the mineral zone, the mobile mechanical arm 201 needs to be started to move horizontally along the top of the vehicle body 1, and then the rotating block 202 and the connecting rod 204 are controlled to rotate so that the connecting rod 204 and the mobile mechanical arm 201 are perpendicular to each other. After that, the driving motor 301 can be started to drill the outer surface of the mineral layer through the drill rod 303, thereby causing broken ore blocks to fall;

[0087] Then, the connecting rod 204 is controlled to rotate, and the two clamping claws 403 are used to clamp the fallen broken ore and stone. The clamped broken ore and stone are then placed into the collection box 801, thereby completing the sampling collection. The drilling position is recorded to obtain the distance data between the robot's starting point and the collection point.

[0088] After the robot finishes its work, it returns, and then the collected ore, collected image data and ore data are recorded, and the robot is maintained to ensure that the next work can be completed.

[0089] The above content is merely an example and explanation of the concept of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the claims, they should all fall within the scope of protection of the present invention.

Claims

1. A mineral geological survey and measurement robot, characterized in that: include: A vehicle body (1), wherein a collecting mechanism (2) is movably connected to the top of the vehicle body (1), a drilling assembly (3) and a clamping assembly (4) are respectively provided on the left and right sides of the front end of the collecting mechanism (2), a wiring panel (15) for connecting multiple functional components is provided on the rear side of the vehicle body (1), and photovoltaic panels (14) for absorbing sunlight are provided on the left and right sides of the top of the vehicle body (1); A supporting chassis (10), the supporting chassis (10) being fixedly connected to a side of the vehicle body (1) away from the collecting mechanism (2), and a plurality of running wheels being installed on the side of the supporting chassis (10) away from the vehicle body (1); A collecting mechanism (8), the collecting mechanism (8) being movably connected to the rear side of the vehicle body (1) and being used for collecting ore; The collecting mechanism (2) comprises a mobile mechanical arm (201), the mobile mechanical arm (201) being movably connected to a side of the vehicle body (1) away from the supporting chassis (10), the end of the mobile mechanical arm (201) away from the vehicle body (1) being rotatably connected to a rotating block (202), the end of the rotating block (202) away from the mobile mechanical arm (201) being fixedly connected to a rotating shaft (203), and the end of the rotating shaft (203) away from the rotating block (202) being rotatably connected to a connecting rod (204); An auxiliary mechanism (5) is provided inside the side of the supporting chassis (10) away from the vehicle body (1), and a panoramic camera (9) is slidably connected to the rear bottom of the supporting chassis (10).

2. A mining geological survey and measurement robot according to claim 1, characterized in that: The auxiliary mechanism (5) comprises two bidirectional threaded rods (501), both of which are rotatably connected to the inside of a side of the supporting chassis (10) away from the vehicle body (1), and the front and rear sides of the bidirectional threaded rods (501) are both threadedly connected to movable plates (502); A plurality of horizontally evenly distributed limiting telescopic rods (507) are fixed to both left and right ends of the inner portion of the supporting chassis (10) away from the vehicle body (1); the ends of the plurality of limiting telescopic rods (507) away from the vehicle body (1) are fixedly connected to a connecting plate (506); two adjacent connecting plates (506) are fixed with a fixing block (504) on the opposite side; and the fixing block (504) is fixedly connected to an auxiliary running wheel (505) on the side away from the vehicle body (1); The fixed block (504) is connected to the movable plate (502) via a connecting plate (503), and a driving assembly (6) is provided on the rear side of the bidirectional threaded rod (501).

3. The mining geological survey and measurement robot according to claim 1, characterized in that: The collecting mechanism (8) comprises a collecting box (801), the collecting box (801) is slidably connected to the rear side of the supporting chassis (10) of the vehicle body (1), the left and right ends of the inner top side of the collecting box (801) are fixedly connected with rotating rods (803), the outer peripheries of the two rotating rods (803) are rotatably connected with cover plates (802), the bottom of the collecting box (801) is slidably connected with a supporting plate (804), the left and right ends of the supporting plate (804) are electrically connected with moving rods (806), the outer periphery of one end of the moving rod (806) away from the supporting plate (804) is fixed with a clamping plate (807), the side of the supporting plate (804) away from the collecting box (801) is fixedly connected with two electric slide rods (805), and the electric slide rods (805) are slidably connected to the inside of the supporting chassis (10).

4. The mining geological survey and measurement robot according to claim 2, characterized in that: An image acquisition sensor (12) and an infrared sensor (13) are fixedly connected to one side of the support chassis (10) away from the collecting mechanism (8), and a lighting lamp tube (11) for providing lighting is fixedly connected to both the left and right sides of the support chassis (10).

5. The mining geological survey and measurement robot according to claim 1, characterized in that: The drilling assembly (3) comprises a drive motor (301), the drive motor (301) being rotatably connected to one end of the connecting rod (204), a fixing clamp (302) being fixedly connected to the output end of the drive motor (301), and a drill rod (303) being fixedly connected to the inside of the fixing clamp (302) on a side away from the drive motor (301).

6. The mining geological survey and measurement robot according to claim 5, characterized in that: The clamping assembly (4) includes a connecting block (401), which is rotatably connected to the inside of an end of the connecting rod (204) away from the driving motor (301), and the end of the connecting block (401) away from the connecting rod (204) is fixedly connected to a clamping plate (402), and the inside of the clamping plate (402) is rotatably connected to two clamping claws (403).

7. The mining geological survey and measurement robot according to claim 4, characterized in that: The driving assembly (6) comprises two gears (604), and the two gears (604) are respectively fixedly connected to the rear ends of the two bidirectional threaded rods (501); An electric push rod (601) is fixedly connected to the top of the inner rear side of the supporting chassis (10), a horizontal plate (602) is fixedly connected to the bottom end of the electric push rod (601), racks (603) are fixedly connected to the left and right sides of the bottom of the horizontal plate (602), and the two racks (603) are respectively engaged with the two gears (604); Transmission components (7) are provided on both the front and rear sides of the transverse plate (602).

8. The mining geological survey and measurement robot according to claim 7, characterized in that: The transmission assembly (7) comprises a connecting shaft (701), the connecting shaft (701) being rotatably connected to one side of the transverse plate (602), a sliding block (702) being fixedly connected to the outer periphery of the connecting shaft (701), and a rotating rod (703) being slidably connected to the outer periphery of the sliding block (702); One end of the rotating rod (703) away from the transverse plate (602) is rotatably connected to a fixed plate (704), and the fixed plate (704) is fixedly connected to a side of the panoramic camera (9) close to the vehicle body (1).

9. The mining geological survey and measurement robot according to claim 7, characterized in that: The wiring panel (15) is connected to the mobile mechanical arm (201), the lighting lamp tube (11), and the electric push rod (601) via a transmission line.

10. The mining geological survey and measurement robot according to claim 2, characterized in that: One end of the connecting plate (503) is rotatably connected to one end of the fixed block (504), and one end of the connecting plate (503) away from the fixed block (504) is rotatably connected to one end of the movable plate (502).

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