Multifunctional robot for geological exploration and control method thereof

Abstract

The invention relates to the technical field of geological exploration, and discloses a multifunctional robot for geological exploration and a control method thereof.The multifunctional robot comprises a vehicle body, the top of the vehicle body is rotationally connected with a rotating carrying disc, and the top of the rotating carrying disc is fixedly connected with a bearing column; the periphery of the bearing column is slidably connected with a cutting assembly used for cutting ore and a collecting mechanism used for clamping the ore, the front side of the vehicle body is fixedly connected with an image collecting sensor and an infrared sensor, and the top of the rotating carrying disc is fixedly connected with a controller and two solar panels. The two solar panels are connected to the front side of the interior of the vehicle body in a sliding mode, and the two solar panels are oppositely provided with connecting assemblies. Through mutual cooperation of the cutting assembly, the collecting mechanism and the cooling mechanism, the efficiency and accuracy of ore sample collection in the geological exploration process are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of geological exploration, in particular to a multifunctional robot for geological exploration and a control method thereof. Background Art

[0002] Geological exploration is an important work to investigate and study the geological structure and mineral resources of the earth's surface and interior. It covers many aspects such as topography and landform mapping, rock and mineral analysis, geological structure detection and mineral resource assessment. Through geological exploration, it can provide key basic data and scientific basis for resource development, engineering construction, disaster prevention, etc.

[0003] With the development of science and technology, geological exploration robots have come into being, aiming to assist or replace manual labor in completing complex and dangerous exploration tasks. Most of the existing geological exploration robots have image acquisition functions, which can capture images in specific areas and provide visual data for geological analysis; some robots are designed specifically for terrain detection, and use sensors to collect data such as terrain undulations and slopes to help technicians understand the terrain conditions of the exploration area.

[0004] However, in the process of collecting ore samples, some robots in the existing technology only have a single clamping sampling and collection function and lack certain comprehensive working capabilities. In the process of collecting geological samples, some robots in the existing technology can only collect samples of smaller sizes. When the surveyed area lacks small-sized samples, this method will show certain condition limitations and low efficiency. Manual collection is dangerous and consumes human resources.

[0005] To this end, the present invention proposes a multifunctional robot for geological exploration and a control method thereof to address the deficiencies in the prior art. Summary of the Invention

[0006] The purpose of the present invention is to provide a multifunctional robot for geological exploration and a control method thereof, which solves the problem that some robots in the prior art can only collect samples of smaller size and have certain condition limitations.

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

[0008] A multifunctional robot for geological exploration, comprising:

[0009] A vehicle body, wherein the top of the vehicle body is rotatably connected to a rotating carrier, the top of the rotating carrier is fixedly connected to a supporting column, the outer periphery of the supporting column is slidably connected to a cutting assembly for cutting ore and a collecting mechanism for clamping ore, the front side of the vehicle body is fixedly connected to an image acquisition sensor and an infrared sensor, and the top of the rotating carrier is fixedly connected to a controller;

[0010] Two solar panels, each of the two solar panels being slidably connected to the inner front side of the vehicle body, the two solar panels being provided with a connecting assembly facing each other, and a transmission assembly being provided at the bottom of the connecting assembly;

[0011] A plurality of bionic mechanical legs, each of which is rotatably connected to the front and rear sides of the vehicle body to provide support;

[0012] The collecting mechanism includes an electric slider 2, which is slidably connected to the outer periphery of the supporting column, a front side of the electric slider 2 is fixedly connected to an electric hydraulic rod 2, a concave block 2 is fixed to the side of the electric hydraulic rod 2 away from the electric slider 2, a rotating block 2 is rotatably connected inside the concave block 2 away from the electric hydraulic rod 2, an end of the rotating block 2 away from the concave block 2 is fixedly connected to an integrated frame, and a clamping component is provided inside the integrated frame on a side close to the rotating block 2;

[0013] A clamping assembly for providing a cooling function is provided on a side of the top of the vehicle body away from the rotating carrier, and a driving mechanism is provided inside the vehicle body.

[0014] Preferably, the driving mechanism includes a second driving motor, the second driving motor is fixedly connected to the inner rear side of the vehicle body, the output end of the second driving motor is fixedly connected to a bidirectional threaded rod, and the front and rear ends of the bidirectional threaded rod are both threadedly connected to a movable frame;

[0015] The left and right sides of the movable frame are fixedly connected to a matching block 1, the interior of the matching block 1 is rotatably connected to a rotating rod, the end of the rotating rod away from the matching block 1 is rotatably connected to the matching block 2, the side of the matching block 2 away from the rotating rod is fixedly connected to a support plate, and the top of the support plate abuts against a collection box;

[0016] Fixed components are provided on both the left and right sides of the top of the movable frame.

[0017] Preferably, the connection assembly includes two connection plates, the two connection plates are fixedly connected to opposite sides of the two solar panels, and the bottoms of the two connection plates are rotatably connected to the second rotating column;

[0018] The two rotating columns 2 are fixedly connected to the opposite sides thereof with a connecting rod, the two connecting rods are fixedly connected to the opposite sides thereof with a rotating column 1, and the tops of the two rotating columns 1 are rotatably connected to a rotating disk.

[0019] Preferably, the cutting assembly includes an electric slider 1, the electric slider 1 is slidably connected to the outer periphery of the supporting column, the front side of the electric slider 1 is fixedly connected to an electric hydraulic rod 1, the end of the electric hydraulic rod 1 away from the electric slider 1 is fixedly connected to a concave block 1, the side of the concave block 1 away from the electric hydraulic rod 1 is rotatably connected to a rotating block 1 inside, and the side of the rotating block 1 away from the concave block 1 is fixedly connected to a fixing frame;

[0020] One end of the fixed frame away from the rotating block 1 is rotatably connected to a cutting grinding wheel, and one side of the fixed frame is provided with a driving motor 1 for driving the cutting grinding wheel to rotate.

[0021] Preferably, the cooling mechanism includes a water tank, which is fixedly connected to the top of the vehicle body on a side away from the rotating carrier, and a water pump is installed on the top of the water tank, one end of the water pump is connected to the water tank through a pipe, and the other end is fixedly connected to a delivery pipe;

[0022] The delivery pipe is fixedly connected to a nozzle at one end away from the water pump, a fixing ring is fixedly connected to the outer periphery of the nozzle, a connecting shaft is fixedly connected to the side of the fixing ring close to the vehicle body, a fixing block is fixedly connected to the side of the connecting shaft close to the vehicle body, and the fixing block is fixedly connected to one side of the fixing frame.

[0023] Preferably, the clamping assembly includes an electric push rod, which is fixedly connected to a side of the integrated frame close to the second rotating block, and an end of the electric push rod away from the second rotating block is fixedly connected to a sliding block, and the left and right ends of the sliding block are rotatably connected to two connecting rods, and two adjacent connecting rods are fixedly connected to a transverse moving rod on the side facing each other, and the end of the transverse moving rod away from the connecting rod is fixedly connected to a driving arm;

[0024] An integrated control box is installed on the top of the driving arm, and the end of the driving arm away from the lateral moving rod is fixedly connected to the middle plate, and the upper and lower ends of the middle plate are rotatably connected to auxiliary plates, and one side of the middle plate and the auxiliary plate are fixedly connected to a friction-increasing cone, and the opposite sides of the two adjacent connecting rods are rotatably connected to convex blocks.

[0025] Preferably, the fixing assembly includes a connecting plate, the connecting plate is fixedly connected to one side of the mobile frame, and a side of the connecting plate away from the mobile frame is fixedly connected to a fitting rod;

[0026] Handles are fixedly connected to the front and rear sides of the top of the collection box. Two slots are provided on the front and rear sides of the collection box, and the engaging rod is engaged in one of the slots.

[0027] Preferably, the transmission assembly includes bevel gear 1 and bevel gear 2, bevel gear 1 is fixedly connected to the outer periphery of one end of the bidirectional threaded rod away from the driving motor 2, bevel gear 2 is rotatably connected to the inner front side of the vehicle body, bevel gear 2 is meshed with bevel gear 1, and the top of bevel gear 2 is fixedly connected to a transmission rod, and the transmission rod is fixedly connected to the bottom of the rotating disk.

[0028] The present invention also provides a multifunctional robot control method for geological exploration, comprising the following steps:

[0029] S1. Check the robot, insert the collection box into the groove of the vehicle body, start the second drive motor, drive the bidirectional threaded rod to rotate, and move the mobile frame towards each other to complete the collection box fixation. At the same time, the solar panel slides into the vehicle body to stop charging;

[0030] S2. After adjusting the parameters, the robot starts to conduct geological surveys, collects data through image acquisition sensors and infrared sensors, and lowers its bionic mechanical legs to assist in walking when encountering complex terrain;

[0031] S3. When ore needs to be collected, target ore is selected, and the controller controls the cutting assembly, the collecting mechanism, and the cooling mechanism to cut the ore into small sizes;

[0032] S4. The small-sized ores after cutting are placed into a collection box through a collection mechanism to complete the collection;

[0033] S5. After the survey is completed and the robot returns, the collection box is taken out and the solar panel slides out to start absorbing solar energy and storing it. Finally, the robot is maintained.

[0034] Beneficial effects of the present invention:

[0035] 1. The present invention uses the mutual cooperation between the cutting component, the collecting mechanism, and the cooling mechanism, uses the collecting mechanism to fix the ore to be collected, and cooperates with the cutting component and the cooling mechanism to cut the ore, and then collects it, so that the robot can automatically complete the cutting, clamping and collection of the ore, effectively improving the efficiency and accuracy of ore sample collection during geological exploration. In addition, the collecting mechanism can fix the cutting component when the robot is not in working state, effectively reducing the placement space of the robot.

[0036] 2. The present invention cooperates with the driving mechanism and the fixed component, and provides a collection box to store the collected rock and mineral samples during the exploration and sampling process. The collection box is fixed by the fixed component, which effectively solves the problem that the robot is prone to shaking or even falling during movement, causing damage or loss of ore samples, and ensures that the ore can be collected and transported safely and stably during the geological exploration process.

[0037] 3. The present invention connects the connecting assembly with the transmission assembly through the mutual cooperation of the connecting assembly and the solar panel. When the collection box is installed, the solar panel automatically slides into the vehicle body to suspend charging. After the survey is completed, it can slide out to charge, thereby improving the safety and practicality of the solar panel.

[0038] 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

[0039] 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.

[0040] Figure 1 A schematic perspective view of a multifunctional robot for geological exploration and a control method thereof according to the present invention;

[0041] Figure 2 This is a structural schematic diagram of a water tank of a multifunctional robot for geological exploration and a control method thereof according to the present invention;

[0042] Figure 3 This is a schematic structural diagram of a controller for a multifunctional robot for geological exploration and a control method thereof according to the present invention;

[0043] Figure 4 This is a schematic structural diagram of a solar panel of a multifunctional robot for geological exploration and a control method thereof according to the present invention;

[0044] Figure 5 This is a structural schematic diagram of an electric slider of a multifunctional robot for geological exploration and a control method thereof according to the present invention;

[0045] Figure 6 This is a structural schematic diagram of the electric slider 2 of a multifunctional robot for geological exploration and its control method according to the present invention;

[0046] Figure 7 This is a schematic structural diagram of a multifunctional robot for geological exploration and a control method thereof, including a friction cone;

[0047] Figure 8 This is a schematic structural diagram of a driving arm of a multifunctional robot for geological exploration and a control method thereof according to the present invention;

[0048] Figure 9 This is a structural schematic diagram of a support plate of a multifunctional robot for geological exploration and a control method thereof according to the present invention;

[0049] Figure 10 This is a structural schematic diagram of a collection box of a multifunctional robot for geological exploration and its control method according to the present invention;

[0050] Figure 11 This is a structural schematic diagram of a rotating disk of a multifunctional robot for geological exploration and a control method thereof according to the present invention;

[0051] Figure 12 for Figure 2 Enlarged schematic diagram of point A in the middle.

[0052] Among them, 1. Car body; 2. Rotating carrier; 3. Carrying column; 4. Cutting assembly; 401. Electric slider 1; 402. Electric hydraulic rod 1; 403. Concave block 1; 404. Rotating block 1; 405. Fixed frame; 406. Driving motor 1; 407. Cutting wheel; 5. Collecting mechanism; 501. Electric slider 2; 502. Electric hydraulic rod 2; 503. Concave block 2; 504. Rotating block 2; 505. Integrated frame; 6. Clamping assembly; 601. Electric push rod; 602. Sliding block; 603. Connecting rod; 604. Transverse moving rod; 605. Driving arm; 606. Integrated control box; 607. Middle plate; 608. Auxiliary plate; 609. Friction-increasing cone; 610. Convex block; 7. Driving mechanism; 701. Driving motor 2; 702. Bidirectional threaded rod; 703. Moving frame; 70 4. Matching block 1; 705. Rotating rod; 706. Matching block 2; 707. Support plate; 708. Collection box; 709. Handle; 710. Slot; 8. Fixing assembly; 801. Connecting plate; 802. Engaging rod; 9. Transmission assembly; 901. Bevel gear 1; 902. Bevel gear 2; 903. Transmission rod; 10. Connecting assembly; 1001. Rotating disk; 1002. Rotating column 1; 1003. Connecting rod; 1004. Rotating column 2; 1005. Connecting plate; 11. Cooling mechanism; 1101. Fixing block; 1102. Connecting shaft; 1103. Fixing ring; 1104. Nozzle; 1105. Delivery pipe; 1106. Water pump; 1107. Water tank; 12. Controller; 13. Solar panel; 14. Image acquisition sensor; 15. Infrared sensor; 16. Bionic mechanical leg. DETAILED DESCRIPTION

[0053] 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.

[0054] See also Figure 1-Figure 4As shown, the present invention is a multifunctional robot for geological exploration, comprising:

[0055] The vehicle body 1 has a rotating carrier plate 2 rotatably connected to the top of the vehicle body 1, a supporting column 3 fixedly connected to the top of the rotating carrier plate 2, and a cutting assembly 4 for cutting ore and a collecting mechanism 5 for clamping ore are slidably connected to the outer periphery of the supporting column 3. An image acquisition sensor 14 and an infrared sensor 15 are fixedly connected to the front side of the vehicle body 1, and a controller 12 is fixedly connected to the top of the rotating carrier plate 2;

[0056] Specifically, the vehicle body 1 is the main load-bearing part of the survey robot, which is made of aluminum alloy. It is equipped with walking wheels around the bottom and is equipped with inverters, converters, batteries, electric motors and other components inside, so that the survey robot can perform survey work. The top is rotatably connected to a rotating carrier 2, which can rotate 360 degrees around the connection with the vehicle body 1. A load-bearing column 3 is fixed to the top of the rotating carrier 2. The load-bearing column 3 cooperates with the cutting component 4 and the collecting mechanism 5, so that the survey robot has diversified functions and can collect geological information and mineral information during the survey. The image acquisition sensor 14 and the infrared sensor 15 are both used to provide survey functions and transmit images in a timely manner. The controller 12 is mainly used to control the cutting component 4 and the collecting mechanism 5 to work.

[0057] Two solar panels 13, the two solar panels 13 are respectively slidably connected to the inner front side of the vehicle body 1, and the two solar panels 13 are provided with a connecting assembly 10 facing each other, and the bottom of the connecting assembly 10 is provided with a transmission assembly 9;

[0058] A plurality of bionic mechanical legs 16, which are rotatably connected to the front and rear sides of the vehicle body 1 to provide support;

[0059] Specifically, the solar panel 13 is used to collect solar energy when the survey robot is not working, and cooperates with inverters, converters, batteries and other equipment to store battery life power for the survey robot, which is more environmentally friendly. The bionic mechanical legs 16 are used to provide support for the survey robot, and cooperate with the walking wheels when the survey robot encounters bumpy roads or steep slopes to prevent rollover.

[0060] See also Figure 6-Figure 8 As shown, the collecting mechanism 5 includes an electric slider 501, which is slidably connected to the outer periphery of the supporting column 3. The front side of the electric slider 501 is fixedly connected to the electric hydraulic rod 502. The side of the electric hydraulic rod 502 away from the electric slider 501 is fixed with a concave block 503. The side of the concave block 503 away from the electric hydraulic rod 502 is rotatably connected to the rotating block 504. The end of the rotating block 504 away from the concave block 503 is fixedly connected to the integrated frame 505. A clamping assembly 6 is provided on the side of the integrated frame 505 near the rotating block 504.

[0061] Specifically, the electric slider 2 501 forms a moving pair with the supporting column 3, which can move in the vertical direction of the supporting column 3, and the sliding of the electric slider 2 501 is mainly used to adjust the position of the clamping component 6 to facilitate better collection of geological ores. The electric hydraulic rod 2 502 is fixed between the electric slider 2 501 and the concave block 2 503, and is mainly used to adjust the elongation length of the clamping component 6 during collection work, so as to better clamp the ore. The concave block 2 503 and the rotating block 2 504 form a rotating pair, which is used to adjust the angle of the clamping component 6. The integrated frame 505 is used to integrate the clamping component 6, so as to clamp the ore or fix larger ores.

[0062] A clamping assembly 6 for providing a cooling function is provided on the top side of the vehicle body 1 away from the rotating carrier 2 , and a driving mechanism 7 is provided inside the vehicle body 1 .

[0063] See also Figure 9-10 As shown, the driving mechanism 7 includes a second driving motor 701, which is fixedly connected to the inner rear side of the vehicle body 1. The output end of the second driving motor 701 is fixedly connected to a bidirectional threaded rod 702, and the front and rear ends of the bidirectional threaded rod 702 are both threadedly connected to a movable frame 703;

[0064] The left and right sides of the mobile frame 703 are fixedly connected to the matching block 1 704. The matching block 1 704 is rotatably connected to the rotating rod 705. The end of the rotating rod 705 away from the matching block 1 704 is rotatably connected to the matching block 2 706. The side of the matching block 2 706 away from the rotating rod 705 is fixedly connected to the support plate 707. The top of the support plate 707 is abutted against the collection box 708.

[0065] Fixed components 8 are provided on both the left and right sides of the top of the movable frame 703 .

[0066] Specifically, the second drive motor 701 is fixed inside the vehicle body 1 and connected to the bidirectional threaded rod 702. After the second drive motor 701 is started, it controls the bidirectional threaded rod 702 to rotate, and the end of the bidirectional threaded rod 702 away from the second drive motor 701 is rotated and connected to the inside of the vehicle body 1. The positions with thread grooves at the front and rear ends of the bidirectional threaded rod 702 are both threadedly connected to the movable brackets 703. The two movable brackets 703 are threadedly connected to the bidirectional threaded rod 702. When the bidirectional threaded rod 702 rotates, the two movable brackets 703 will move toward each other along the bidirectional threaded rod 702.

[0067] The mating block 1 704 and the mating block 2 706 are connected by the rotating rod 705, and the mating block 1 704 is fixed to the mobile frame 703. When the mobile frame 703 moves along the bidirectional threaded rod 702, it will drive the mating block 1 704 to move together, and the rotating rod 705 between the mating block 1 704 and the mating block 2 706 will rotate at this time, and the rotation of the rotating rod 705 will control the horizontal lateral movement of the support plate 707. The support plate 707 is mainly used to provide more stable support for the collection box 708, and the collection box 708 is used to collect ore during the operation of the exploration robot.

[0068] See also Figure 4 and Figure 11 As shown, the connection assembly 10 includes two connection plates 1005, which are fixedly connected to the opposite sides of the two solar panels 13, and the bottoms of the two connection plates 1005 are rotatably connected to the second rotating column 1004;

[0069] The two rotating columns 1004 are fixedly connected to the connecting rod 1003 on the opposite sides, and the two connecting rods 1003 are fixedly connected to the rotating column 1002 on the opposite sides. The tops of the two rotating columns 1002 are rotatably connected to the rotating disk 1001.

[0070] Specifically, the connecting plate 1005 is connected to the solar panel 13. When the connecting plate 1005 moves, the solar panel 13 will be driven to move together. The second rotating column 1004 and the first rotating column 1002 are connected by the connecting rod 1003. The second rotating column 1004 is rotatably connected to the bottom of the connecting plate 1005, and the top of the first rotating column 1002 is rotatably connected to the rotating disk 1001. The rotating disk 1001 is arranged on the inner front side of the vehicle body 1 and forms a rotating pair with the vehicle body 1. When the rotating disk 1001 rotates, because the rotating column 1002 is installed on one side of the rotating disk 1001, when the rotating disk 1001 rotates, the rotating column 1002 will generate a corresponding arc trajectory motion with the rotation of the rotating disk 1001, and the rotating column 1002 will drive the connecting rod 1003 to move together when it moves;

[0071] However, since the connecting plate 1005 is connected to the solar panel 13, and the solar panel 13 and the connecting plate 1005 can only produce horizontal lateral movement, the connecting rod 1003 will control the rotating column 2 1004 to rotate after the movement, and the rotating column 1 1002 will also produce corresponding rotation with the rotating disk 1001.

[0072] See also Figure 5As shown, the cutting assembly 4 includes an electric slider 401, which is slidably connected to the outer periphery of the supporting column 3. The front side of the electric slider 401 is fixedly connected to an electric hydraulic rod 402, and the end of the electric hydraulic rod 402 away from the electric slider 401 is fixedly connected to a concave block 403. The side of the concave block 403 away from the electric hydraulic rod 402 is rotatably connected to a rotating block 404 inside, and the side of the rotating block 404 away from the concave block 403 is fixedly connected to a fixing frame 405.

[0073] One end of the fixed frame 405 away from the rotating block 404 is rotatably connected to the cutting grinding wheel 407, and a driving motor 406 for driving the cutting grinding wheel 407 to rotate is provided on one side of the fixed frame 405.

[0074] Specifically, the electric slider 1 401 and the electric slider 2 501 have the same function. Both the electric slider 1 401 and the electric slider 2 501 adopt the EAS55 slider of the HIWINEAS series, which has a good load capacity. The electric hydraulic rod 1 402 is connected to the electric slider 1 401. Both the electric hydraulic rod 1 402 and the electric hydraulic rod 2 502 adopt the ElectrakHD-16 electric hydraulic rod of the Thomson ElectrakHD series, which has a high load capacity and a compact size. The end of the electric hydraulic rod 1 402 away from the electric slider 1 401 is also provided with a rotating pair. The rotating block 404 and the concave block 403 are used to control the angle of the cutting wheel 407. The fixed frame 405 is used to install and fix the cutting wheel 407. The cutting wheel 407 adopts a Klingspor300 series diamond resin grinding wheel with a size of Φ350×4×22.23mm. The drive motor 406 used to drive the cutting wheel 407 to rotate adopts a Siemens 7.5kW three-phase asynchronous motor. By using the drive motor 406 and the cutting wheel 407 in combination, thicker rocks and ores can be cut, thereby mining rocks and ores and further analyzing the geological conditions.

[0075] See also Figure 1 、 Figure 2 、 Figure 12 As shown, the cooling mechanism 11 includes a water tank 1107, which is fixedly connected to the top of the vehicle body 1 on a side away from the rotating carrier 2. A water pump 1106 is installed on the top of the water tank 1107. One end of the water pump 1106 is connected to the water tank 1107 through a pipe, and the other end is fixedly connected to the delivery pipe 1105.

[0076] The end of the delivery pipe 1105 away from the water pump 1106 is fixedly connected to the nozzle 1104, the outer periphery of the nozzle 1104 is fixedly connected to the fixing ring 1103, the side of the fixing ring 1103 close to the vehicle body 1 is fixedly connected to the connecting shaft 1102, the side of the connecting shaft 1102 close to the vehicle body 1 is fixedly connected to the fixing block 1101, and the fixing block 1101 is fixedly connected to one side of the fixing frame 405.

[0077] Specifically, water tank 1107 stores water-based coolant containing 5% emulsion, which is used to cooperate with cutting wheel 407 for wet cutting. Water pump 1106 is connected to the inside of water tank 1107 through a pipe, and is used to extract water-based coolant when cutting ore. The delivery pipe 1105 is used to transport the water-based coolant extracted by water pump 1106 to nozzle 1104, and the water-based coolant is sprayed onto cutting wheel 407 through nozzle 1104. The fixing ring 1103, connecting shaft 1102, and fixing block 1101 are all used to fix the position of nozzle 1104, which can ensure that nozzle 1104 can accurately spray coolant onto cutting wheel 407.

[0078] See also Figure 7-Figure 8 As shown, the gripping assembly 6 includes an electric push rod 601, which is fixedly connected to one side of the integrated frame 505 near the second rotating block 504. The end of the electric push rod 601 away from the second rotating block 504 is fixedly connected to a sliding block 602. The left and right ends of the sliding block 602 are rotatably connected to two connecting rods 603. The two adjacent connecting rods 603 are fixedly connected to a lateral movement rod 604 on the opposite side. The end of the lateral movement rod 604 away from the connecting rod 603 is fixedly connected to a driving arm 605.

[0079] An integrated control box 606 is installed on the top of the driving arm 605. The end of the driving arm 605 away from the horizontal moving rod 604 is fixedly connected to the intermediate plate 607. The upper and lower ends of the intermediate plate 607 are rotatably connected to the auxiliary plate 608. One side of the intermediate plate 607 and the auxiliary plate 608 is fixedly connected to the friction-increasing cone 609, and the opposite sides of the two adjacent connecting rods 603 are rotatably connected to the convex block 610.

[0080] Specifically, the electric push rod 601 is fixed in the integrated frame 505 and is used to control the movement of the sliding block 602. The electric push rod 601 is a short-stroke electric push rod with a model of La12. The upper and lower sides of the left and right ends of the sliding block 602 are rotatably connected to the connecting rod 603. The opposite sides of the two adjacent upper and lower connecting rods 603 are fixed with convex blocks 610, and the end of the convex block 610 away from the connecting rod 603 slides inside the integrated frame 505. Therefore, when the electric push rod 601 controls the movement of the sliding block 602, the connecting rods 603 on the left and right sides of the sliding block 602 will produce horizontal lateral movement.

[0081] The connecting rod 603 is connected to the transverse moving rod 604. When the connecting rod 603 moves horizontally, the transverse moving rod 604 moves together. The transverse moving rod 604 is connected to the middle plate 607 via the driving arm 605. Therefore, the horizontal movement of the transverse moving rod 604 drives the middle plate 607 to move horizontally. The main purpose is to adapt to different sizes of ores.

[0082] The auxiliary plates 608 rotatably connected to the upper and lower sides of the intermediate plate 607 are used to cooperate with the intermediate plate 607 to fit the ore from multiple directions, and the function of the friction-increasing cone 609 is to better adapt to the surface of the ore and better clamp the ore. The integrated control box 606 is equipped with electronic components and electronic circuits, which are connected to the intermediate plate 607 through a transmission cable, thereby controlling the movement between the auxiliary plates 608 and the intermediate plate 607.

[0083] See also Figure 9-10 As shown, the fixing assembly 8 includes a connecting plate 801, which is fixedly connected to one side of the mobile frame 703, and a chiseled rod 802 is fixedly connected to the side of the connecting plate 801 away from the mobile frame 703;

[0084] Handles 709 are fixedly connected to the front and rear sides of the top of the collection box 708 . Two slots 710 are provided on the front and rear sides of the collection box 708 , and the engaging rod 802 is engaged in one of the slots 710 .

[0085] Specifically, the connecting plate 801 is connected to the movable frame 703. When the movable frame 703 moves, the connecting plate 801 will also move with the movable frame 703. The engaging rod 802 fixed at one end of the connecting plate 801 is used to cooperate with the slot 710 opened on one side of the collection box 708. By sliding the engaging rod 802 into the slot 710, the collection box 708 can be limited, so that the collection box 708 can be installed on one side of the vehicle body 1.

[0086] See also Figure 10-11 As shown, the transmission assembly 9 includes a bevel gear 1 901 and a bevel gear 2 902. The bevel gear 1 901 is fixedly connected to the outer periphery of one end of the bidirectional threaded rod 702 away from the driving motor 2 701. The bevel gear 2 902 is rotatably connected to the inner front side of the vehicle body 1. The bevel gear 2 902 is meshed with the bevel gear 1 901. The top of the bevel gear 2 902 is fixedly connected to a transmission rod 903, and the transmission rod 903 is fixedly connected to the bottom of the rotating disk 1001.

[0087] Specifically, bevel gear 1 901 and bevel gear 2 902 are meshed with each other, and bevel gear 1 901 is fixed to one end of the bidirectional threaded rod 702. When the bidirectional threaded rod 702 rotates, it drives bevel gear 1 901 to rotate together, so that bevel gear 1 901 controls the rotation of bevel gear 2 902. When bevel gear 2 902 rotates, the transmission rod 903 at the top of bevel gear 2 902 controls the rotation of the rotating disk 1001, thereby allowing the solar panel 13 to be stored and extended.

[0088] Working principle: Before using the survey robot for surveying, first check whether all parts of the survey robot can operate normally, then install the collection box 708 on the left and right sides of the vehicle body 1, first embed the collection box 708 into the groove on one side of the vehicle body 1, and then start the drive motor 2 701. At this time, the drive motor 2 701 controls the two-way threaded rod 702 to rotate. When the two-way threaded rod 702 rotates, the moving frames 703 at the front and rear ends of the two-way threaded rod 702 will move towards each other. At this time, the moving frame 703 at the front and rear ends of the two-way threaded rod 702 will move towards each other. The first mating block 704 at the bottom of the frame 703 and the connecting plate 801 at the top will move together with the movable frame 703. When the first mating block 704 moves with the movable frame 703, the rotating rod 705 between the first mating block 704 and the second mating block 706 will control the second mating block 706 to move horizontally. When the second mating block 706 is subjected to the force generated by the rotating rotating rod 705, it will drive the support plate 707 to slide out of the interior of the vehicle body 1 and abut against the bottom of the collection box 708.

[0089] At the same time, the connecting plate 801 that moves with the moving frame 703 will cause the engaging rod 802 at the other end to slide into the slot 710 provided in the collection box 708, thereby completing the fixation of the collection box 708.

[0090] While installing the collection box 708, the two-way threaded rod 702 rotates, so that the bevel gear 1 901 fixed at the other end of the two-way threaded rod 702 will rotate accordingly, and then the bevel gear 2 902 engaged with the top of the bevel gear 1 901 will rotate together with the bevel gear 1 901. At this time, the transmission rod 903 on the top of the bevel gear 2 902 will transmit the rotational motion generated by the bevel gear 2 902 to the rotating disk 1001. After the rotating disk 1001 is driven to rotate by the transmission rod 903 and generates a corresponding rotation, the rotating column 1002 will cause the connecting plate 1005 to drive the solar panel 13 to slide through the connecting rod 1003. At this time, the solar panel 13 will slide into the front side of the interior of the vehicle body 1, and the charging and sunlight absorption mode will be suspended.

[0091] Then, the various parameters of the survey robot are adjusted, the robot is started, and it sets out for the survey area. As the survey robot moves, the images and infrared scanning data transmitted by the image acquisition sensor 14 and the infrared sensor 15 are used to obtain the topographical features of the survey area. When encountering potholes or steep roads, the bionic mechanical legs are lowered, and the bionic mechanical legs cooperate with the walking wheels to prevent the robot from rolling over or getting stuck.

[0092] When it is necessary to collect ore and rock samples in the exploration area, the ore to be collected is selected first, and the angles between the electric hydraulic rod 1 402, the concave block 1 403 and the concave block 2 503, and the rotating block 2 504 are adjusted. Then, the electric slider 1 401, the electric hydraulic rod 1 402, the electric slider 2 501, and the electric hydraulic rod 2 502 are respectively started. After the middle plate 607 can contact the ore, the electric push rod 601 is started. The sliding block 602 is first controlled to move backward by the electric push rod 601. When the sliding block 602 moves, the two connecting rods 603 will produce opposite rotations. At this time, the transverse moving rod 604 will drive the driving arm 605 to move horizontally, so that the middle plate 607 is located on the side of the ore. Then, the electric push rod 601 controls the sliding block 602 to move forward. At this time, the connecting rods 603 on the left and right ends of the sliding block 602 will rotate relative to each other. At this time, the two middle plates 607 gradually come into contact with the edge of the ore. After both middle plates 607 are in contact with the ore, the auxiliary plate 608 can be controlled to rotate to form a certain angle with the middle plate 607, so that the friction-increasing cones 609 inside the middle plate 607 and the auxiliary plate 608 are in contact with the ore.

[0093] Then, by starting the water pump 1106, the water pump 1106 extracts the water-based coolant in the water tank 1107 and delivers the water-based coolant to the nozzle 1104 through the delivery pipe 1105. Then, the cutting wheel 407 is started by the driving motor 406 to cut the ore;

[0094] After cutting is completed, the smaller ore is picked up by the middle plate 607 and the auxiliary plate 608 and placed in the collection box 708;

[0095] After the survey robot returns home, the drive motor 2 701 is started again, so that the bidirectional threaded rod 702 controls the two movable frames 703 to move in opposite directions, and the engaging rod 802 slides out of the slot 710 opened on the side of the collection box 708, so that the collection box 708 can be removed, and the solar panel 13 slides out from the inside of the vehicle body 1. Finally, various parts of the robot are maintained to ensure that the next survey work can be carried out normally.

[0096] 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 multifunctional robot for geological exploration, characterized in that: include: A vehicle body (1), wherein the top of the vehicle body (1) is rotatably connected to a rotating carrier (2), the top of the rotating carrier (2) is fixedly connected to a supporting column (3), the outer periphery of the supporting column (3) is slidably connected to a cutting assembly (4) for cutting ore and a collecting mechanism (5) for clamping ore, the front side of the vehicle body (1) is fixedly connected to an image acquisition sensor (14) and an infrared sensor (15), and the top of the rotating carrier (2) is fixedly connected to a controller (12); Two solar panels (13), the two solar panels (13) are respectively slidably connected to the inner front side of the vehicle body (1), the two solar panels (13) are provided with a connecting assembly (10) facing each other, and a transmission assembly (9) is provided at the bottom of the connecting assembly (10); a plurality of bionic mechanical legs (16), wherein the plurality of bionic mechanical legs (16) are rotatably connected to the front and rear sides of the vehicle body (1) to provide support; The collecting mechanism (5) includes an electric slider (501) slidably connected to the outer periphery of the supporting column (3), the front side of the electric slider (501) is fixedly connected to an electric hydraulic rod (502), the side of the electric hydraulic rod (502) away from the electric slider (501) is fixed with a concave block (503), the side of the concave block (503) away from the electric hydraulic rod (502) is internally rotatably connected to a rotating block (504), the end of the rotating block (504) away from the concave block (503) is fixedly connected to an integrated frame (505), and a clamping component (6) is provided inside the integrated frame (505) on a side close to the rotating block (504); A clamping assembly (6) for providing a cooling function is provided on a side of the top of the vehicle body (1) away from the rotating carrier (2), and a driving mechanism (7) is provided inside the vehicle body (1).

2. A multifunctional robot for geological exploration according to claim 1, characterized in that: The driving mechanism (7) includes a second driving motor (701), the second driving motor (701) is fixedly connected to the inner rear side of the vehicle body (1), the output end of the second driving motor (701) is fixedly connected to a bidirectional threaded rod (702), and the front and rear ends of the bidirectional threaded rod (702) are both threadedly connected to a movable frame (703); The left and right sides of the movable frame (703) are both fixedly connected to a matching block 1 (704); the inside of the matching block 1 (704) is rotatably connected to a rotating rod (705); the end of the rotating rod (705) away from the matching block 1 (704) is rotatably connected to a matching block 2 (706); the side of the matching block 2 (706) away from the rotating rod (705) is fixedly connected to a support plate (707); the top of the support plate (707) is in contact with a collection box (708); Fixed components (8) are provided on both the left and right sides of the top of the movable frame (703).

3. The multifunctional robot for geological exploration according to claim 1, characterized in that: The connection assembly (10) comprises two connection plates (1005), the two connection plates (1005) being fixedly connected to opposite sides of the two solar panels (13), and the bottoms of the two connection plates (1005) are both rotatably connected to a second rotating column (1004); The two rotating columns (1004) are fixedly connected to the connecting rod (1003) on the opposite side, and the two connecting rods (1003) are fixedly connected to the rotating column (1002) on the opposite side. The tops of the two rotating columns (1002) are rotatably connected to the rotating disk (1001).

4. The multifunctional robot for geological exploration according to claim 1, characterized in that: The cutting assembly (4) includes an electric slider (401), the electric slider (401) is slidably connected to the outer periphery of the supporting column (3), the front side of the electric slider (401) is fixedly connected to an electric hydraulic rod (402), the end of the electric hydraulic rod (402) away from the electric slider (401) is fixedly connected to a concave block (403), the side of the concave block (403) away from the electric hydraulic rod (402) is internally rotatably connected to a rotating block (404), and the side of the rotating block (404) away from the concave block (403) is fixedly connected to a fixing frame (405); One end of the fixed frame (405) away from the rotating block (404) is rotatably connected to a cutting grinding wheel (407), and one side of the fixed frame (405) is provided with a driving motor (406) for driving the cutting grinding wheel (407) to rotate.

5. The multifunctional robot for geological exploration according to claim 1, characterized in that: The cooling mechanism (11) comprises a water tank (1107), the water tank (1107) being fixedly connected to a side of the top of the vehicle body (1) away from the rotating carrier (2), a water pump (1106) being installed on the top of the water tank (1107), one end of the water pump (1106) being connected to the water tank (1107) via a pipe, and the other end being fixedly connected to a delivery pipe (1105); The end of the delivery pipe (1105) away from the water pump (1106) is fixedly connected to a nozzle (1104), the outer periphery of the nozzle (1104) is fixedly connected to a fixing ring (1103), the side of the fixing ring (1103) close to the vehicle body (1) is fixedly connected to a connecting shaft (1102), the side of the connecting shaft (1102) close to the vehicle body (1) is fixedly connected to a fixing block (1101), and the fixing block (1101) is fixedly connected to one side of the fixing frame (405).

6. The multifunctional robot for geological exploration according to claim 1, characterized in that: The clamping assembly (6) includes an electric push rod (601), which is fixedly connected to a side of the integrated frame 5 (05) near the second rotating block (504), and the end of the electric push rod (601) away from the second rotating block (504) is fixedly connected to a sliding block (602), and the left and right ends of the sliding block (602) are both rotatably connected to two connecting rods (603), and the two adjacent connecting rods (603) are fixedly connected to a transverse moving rod (604) on the opposite side, and the end of the transverse moving rod (604) away from the connecting rod (603) is fixedly connected to a driving arm (605); An integrated control box (606) is installed on the top of the driving arm (605), and an intermediate plate (607) is fixedly connected to one end of the driving arm (605) away from the transverse moving rod (604). The upper and lower ends of the intermediate plate (607) are both rotatably connected to auxiliary plates (608). One side of the intermediate plate (607) and the auxiliary plate (608) is fixedly connected to a friction-increasing cone (609), and the opposite sides of two adjacent connecting rods (603) are both rotatably connected to convex blocks (610).

7. The multifunctional robot for geological exploration according to claim 1, characterized in that: The fixing assembly (8) includes a connecting plate (801), the connecting plate (801) is fixedly connected to one side of the mobile frame (703), and a chiseled rod (802) is fixedly connected to the side of the connecting plate (801) away from the mobile frame (703); The front and rear sides of the top of the collection box (708) are fixedly connected with handles (709), and the front and rear sides of the collection box (708) are each provided with two slots (710), and the engaging rod (802) is engaged in one of the slots (710).

8. The multifunctional robot for geological exploration according to claim 1, characterized in that: The transmission assembly (9) includes a bevel gear 1 (901) and a bevel gear 2 (902), wherein the bevel gear 1 (901) is fixedly connected to the outer periphery of one end of the bidirectional threaded rod (702) away from the drive motor 2 (701), and the bevel gear 2 (902) is rotatably connected to the inner front side of the vehicle body (1), and the bevel gear 2 (902) is meshed with the bevel gear 1 (901), and the top of the bevel gear 2 (902) is fixedly connected to a transmission rod (903), and the transmission rod (903) is fixedly connected to the bottom of the rotating disk (1001).

9. A control method for a multifunctional robot for geological exploration, applied to a multifunctional robot for geological exploration according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Check the robot, insert the collection box (708) into the groove of the vehicle body (1), start the second drive motor (701), drive the bidirectional threaded rod (702) to rotate, and move the movable frame (703) toward each other, completing the fixing of the collection box (708). At the same time, the solar panel (13) slides into the vehicle body (1) to stop charging; S2, after adjusting the parameters, the robot is started to conduct geological surveys, and data is collected through the image acquisition sensor (14) and the infrared sensor (15), and when encountering complex terrain, the robot lowers the bionic mechanical legs (16) to assist in walking; S3, when it is necessary to collect ore, select the target ore, and control the cutting assembly (4), the collecting mechanism (5), and the cooling mechanism through the controller (12) to cut the ore into small sizes; S4. The small-sized ores after cutting are placed into a collection box (708) through a collection mechanism (5) to complete the collection; S5. After the survey is completed and the robot returns, the collection box (708) is taken out, and the solar panel (13) slides out to start absorbing solar energy and storing it. Finally, the robot is maintained.

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