High-position hopper blocking disposal device in natural caving mining method

Abstract

The invention discloses a middle-high position hopper clamping disposal device for a natural caving mining method, aims to solve the technical problems of poor safety, low efficiency and incapability of realizing remote unmanned operation in middle-high position hopper clamping disposal, and belongs to the technical field of mining. The robot comprises a vehicle body module, a lifting frame module, a vehicle frame module, a lifting platform module and a control system. The lifting frame module is fixed to the vehicle body module and provided with a releasing device, the front end of the lifting frame module is connected with the vehicle frame module through the releasing device, a universal adjusting device is arranged at the front end of the vehicle frame module, a lifting platform module is installed on the universal adjusting device, and the control system is arranged on the vehicle body module. A counterweight hopper is arranged behind the vehicle body module; the lifting platform module comprises an explosive platform and a multi-stage telescopic sleeve rod, and the explosive platform is connected to the topmost end of the multi-stage telescopic sleeve rod.

Description

Technical Field

[0001] This invention belongs to the field of mining technology, and specifically relates to a high-level caving bucket disposal device in natural caving mining. Background Technology

[0002] The core challenge in the application of natural caving mining is the "stuck bucket" (or "suspended roof") phenomenon, where large chunks of ore become stuck in the ore accumulation bin, blocking the ore's flow path. Based on the height of the stuck point, ore is categorized as low, medium, or high-level stuck buckets. Existing handling methods have significant limitations: International solutions: high equipment costs and excessively large sizes that cannot adapt to the available roadway space. Domestic practices: dangerous and inefficient handling processes: For medium-to-high-level stuck buckets, current methods suffer from both process hazards and operational inefficiencies: First, a 1-2 week observation period is required; then, vertically upward metal rails are installed at the bottom of the ore accumulation bin; bamboo poles loaded with explosives are extended through the rails to reach the ore below the stuck bucket; blasting is carried out after manual evacuation. This process results in a single stuck bucket handling cycle of 1-2 weeks. Taking a typical mine face as an example, some ore accumulation bins are in a medium-to-high-level stuck bucket state for extended periods. The continuous blockage of numerous ore accumulation bins severely impedes ore flow, systematically restricting the mine's ore extraction efficiency.

[0003] Current methods for handling ore blockages in mid-to-high-level mines suffer from three major technical flaws: severely limited efficiency—single-point processing cycles can last 1-2 weeks, directly leading to continuous blockages in ore flow channels; uncontrollable safety risks—the blockage structure may collapse at any time during operations, with falling giant ore blocks posing an instantaneous fatal threat to personnel below, resulting in frequent historical accidents and injuries; and excessive reliance on manual labor—conducting high-intensity, high-risk operations in harsh tunnel environments further amplifies safety risks and operational uncertainties. These three factors combined create a vicious cycle of "inefficiency-high risk-high reliance on manual labor," severely restricting mine capacity release and the improvement of inherent safety levels. Summary of the Invention

[0004] The purpose of this invention is to provide a high-level caving bucket disposal device in natural caving mining, which solves the technical problems of poor safety, low efficiency and inability to achieve remote unmanned operation in the disposal of high-level caving buckets.

[0005] This invention is achieved using the following technical solution: A high-level bucket disposal device for natural caving mining includes a vehicle body module, a lifting frame module, a frame module, a lifting platform module, and a control system; The lifting frame module is fixed to the vehicle body module and is equipped with a release device. The front end of the lifting frame module is connected to the vehicle frame module through the release device. The front end of the vehicle frame module is equipped with a universal adjustment device. The universal adjustment device is equipped with a lifting platform module. The control system is set on the vehicle body module. A counterweight bucket is set at the rear of the vehicle body module. The lifting platform module includes an explosive platform and a multi-stage telescopic boom, with the explosive platform connected to the top of the multi-stage telescopic boom.

[0006] In practice, the vehicle body module serves as the mobile base for the disposal device, and the release device enables rapid connection and release from the frame module. The control system controls the movement of the vehicle body module, the raising and lowering of the lifting frame module, the release of the frame module, and the movement of the lifting platform module. A counterweight bucket balances the torque generated by the frame module and the lifting platform module.

[0007] The lifting platform module can precisely lift the explosive platform to the hopper position. The lifting platform module is used to precisely lift the explosive to the hopper position.

[0008] The vehicle body module and the lifting frame module constitute a reusable core unit, while the frame module and the lifting platform module constitute a disposable recyclable unit. The connection and separation from the vehicle body module are achieved through a release device, forming a modular architecture.

[0009] More preferably, the release device includes a drive motor and a long shaft. The drive motor drives the long shaft to rotate. At least one gear is fixedly mounted on the long shaft, and each gear meshes with a locking bolt. The frame module is provided with a locking hole corresponding to the locking bolt. The extension direction of the locking bolt forms an acute angle with the horizontal plane. The drive motor receives instructions from the control system to rotate forward or backward, thereby driving the locking bolt to insert forward or withdraw backward from the corresponding locking hole on the frame module, so as to realize the locking or releasing of the frame module.

[0010] More preferably, the acute angle range is 5°~30°. When the bolt is inserted into the lock hole and bears the force from the frame module, the bolt is pressed against the inner wall of the lock hole by lever principle to achieve self-locking.

[0011] Further preferably, the lifting platform module also includes a worm gear transmission mechanism, which realizes the extension and retraction of the multi-stage telescopic sleeve. The multi-stage telescopic sleeve includes at least two stages of sleeves nested in sequence. The worm gear transmission mechanism includes a worm, a lifting motor, and worm wheels corresponding to each stage of sleeve. The lifting motor is used to drive the worm to rotate. Each stage of sleeve is provided with external threads, and each stage of worm wheel is provided with a threaded hole in the center. Each stage of worm wheel is assembled with the external thread of the corresponding sleeve through the central threaded hole. The worm is driven by the lifting motor, and the control system controls the operation of the lifting motor. The worm drives each stage of worm wheel to rotate in sequence, thereby lifting the multi-stage telescopic sleeve stage by stage until the explosive platform at the top of the innermost sleeve contacts the ore in the bucket.

[0012] Further preferably, the worm gear transmission mechanism also includes a torque sensor and a stage-changing device. The torque sensor is used to monitor changes in the torque of the lifting motor. The stage-changing device includes a stage-changing motor, a limiting groove, a first clamping plate, a second clamping plate, two limiting plates, and a limiting slider. The stage-changing motor is coaxially connected to a threaded rod, which is parallel to the multi-stage telescopic sleeve rod. The stage-changing motor is equipped with a limiting rod that is inserted into the limiting groove. The groove direction is perpendicular to the axial direction of the multi-stage telescopic sleeve rod. One side of the first clamping plate is provided with... A threaded hole is provided, into which the threaded rod can be screwed. A long rod is provided on one side of the clamping plate. A long rod is provided on the side of the clamping plate away from the clamping plate. The lower surface of the clamping plate is fixedly connected to the lifting motor. The clamping plates are positioned perpendicular to the multi-stage telescopic sleeve. The clamping plates are moved apart and joined together by a limiting slider. A clearance space for the multi-stage telescopic sleeve is provided on the other side of the clamping plates. The multi-stage telescopic sleeve is positioned in the middle after the clamping plates are joined together. The minimum diameter of the two clearance spaces after assembly is smaller than the outer diameter of the worm gear. The axis of the long rod is parallel to the axis of the limiting rod. The limiting plates are symmetrically arranged on both sides of the multi-stage telescopic sleeve rod and perpendicular to the first and second clamping plates. The stage-changing motor is arranged between the two limiting plates. The limiting plates are provided with entry slots corresponding to the long rod. The long rod is arranged between the two limiting plates and inserted into the corresponding entry slot. The entry slot is a broken line. Each break point is numbered from 1 from top to bottom. Odd-numbered points are on the same vertical line, and even-numbered points are on the same vertical line. The horizontal distance between the points is less than or equal to the length of the limiting groove. The distance between adjacent odd-numbered points is the distance between the corresponding adjacent worm gears. The thread length of the threaded rod is greater than or equal to the distance between the first and last worm gears. In practice, the limiting groove is fixed on a fixed platform. When the upper-level sleeve rod rises to the end of its stroke, the torque sensor detects that the torque of the lifting motor has increased. The control system controls the lifting motor to stop rotating. The worm is disengaged from the current-level worm gear and engaged in the slot of the next-level worm gear through the stage-changing device. Then the lifting motor restarts to lift the next-level sleeve rod.

[0013] In a further preferred embodiment, the outer wall of the sleeve rods other than the last stage sleeve rod is provided with a protruding strip to prevent the sleeve rods from spinning freely, and the inner wall of the sleeve rods other than the first stage sleeve rod is provided with a recessed strip to prevent the sleeve rods from spinning freely, wherein the protruding strip can be inserted into the recessed strip.

[0014] More preferably, the universal adjustment device includes a thrust bearing, a lateral gear and a lateral limiter, and a vertical gear and a vertical limiter. The lateral gear is fixed to the upper side of the thrust bearing, and the lower side of the thrust bearing is fixed to the front end of the frame module. The lateral limiter is engaged between adjacent teeth of the lateral gear. The vertical gear is fixed to the bottom of the multi-stage telescopic sleeve, and the vertical limiter is engaged between adjacent teeth of the vertical gear. The bottom of the multi-stage telescopic sleeve has a rod that extends into the lateral gear. The thrust bearing enables the lateral gear to rotate in the horizontal plane, and the lateral gear and the lateral limiter are used to limit the horizontal rotation angle of the lifting platform module. The vertical gear and vertical limiter are used to limit the forward and backward tilt angle of the lifting platform module. The lifting platform module installed on it can be adjusted in angle within the hemispherical space above the horizontal plane by manually driving the universal adjustment device. In specific implementation, the vertical gear is half a gear and is fixed in the middle position of the bottom of the multi-stage telescopic sleeve rod, while the horizontal gear is a complete gear. The rod at the bottom of the multi-stage telescopic sleeve rod that extends into the horizontal gear can keep the vertical gear at the center of the horizontal gear during rotation. The universal adjustment device allows the lifting platform module to tilt from the vertical direction to any direction, with a maximum tilt angle of at least 5°.

[0015] More preferably, the control system includes an onboard integrated computer, a detachable remote control device, and a pressure sensor. The detachable remote control device is connected to the onboard integrated computer via wireless communication. The pressure sensor is installed on the explosive placement platform, with a wireless communication distance of not less than 10 meters. The pressure sensor is used to detect whether it is in contact with the ore in the hopper and to feed the signal back to the control system.

[0016] More preferably, the vehicle body module adopts a tracked walking mechanism, and a rock-breaking bow is installed at the front of the vehicle body module. The rock-breaking bow is used to push aside obstacles in front, that is, to clear the path.

[0017] In a further preferred embodiment, the lifting frame module is equipped with a lighting lamp, and a lifting plate is provided at the front end of the lifting frame module. The lifting plate can be raised and lowered within two meters through guide rails and pulleys. Three triangular supports are connected below the lifting plate, and a release device is installed on the top of the three triangular supports.

[0018] This device enables safe and efficient remote-controlled blasting before the ore outlet, significantly improving mine production efficiency. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a side view of the structure of the present invention.

[0022] Figure 2 This is a top view of the structure of the present invention.

[0023] Figure 3 This is a side view of the release device of the present invention.

[0024] Figure 4 This is a perspective view of the release device of the present invention.

[0025] Figure 5 This is a top view of the release device of the present invention.

[0026] Figure 6 This is a half-sectional view of the universal adjustment device of the present invention.

[0027] Figure 7 This is a perspective view of the universal adjustment device of the present invention.

[0028] Figure 8 This is a side view of the universal adjustment device of the present invention.

[0029] Figure 9 This is a side view of the five-stage worm gear of the present invention.

[0030] Figure 10 This is a perspective view of the stage-changing device of the present invention.

[0031] Figure 11 This is a cross-sectional view of the stage-changing device of the present invention.

[0032] In the diagram: 1-Five-stage threaded sleeve, 2-Lifting motor, 3-Explosive platform, 4-Aluminum alloy frame, 5-Rock-breaking bow, 6-Crawler, 7-Protective plate, 8-Onboard integrated computer, 9-Lifting plate, 10-Lighting light, 11-Release device, 12-Counterweight bucket, 13-Triangular support, 14-Universal adjustment device, 15-Stage-changing motor, 16-Limiting slot, 17-Limiting rod, 18-Entry slot, 181-Initial position, 182-Transition position, 183-Completion position, 19-Clamping plate one, 20-Clamping plate two, 21-Limiting plate, 22-Worm gear, 23-Limiting slider, 24-Worm wheel. Detailed Implementation

[0033] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0034] In this description, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. It should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joint" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0035] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0036] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Example

[0037] A high-level bucket disposal device for natural caving mining includes a vehicle body module, a lifting frame module, a frame module, a lifting platform module, and a control system; The lifting frame module is fixed to the vehicle body module and is equipped with a release device 11. The front end of the lifting frame module is connected to the vehicle frame module through the release device. The front end of the vehicle frame module is equipped with a universal adjustment device 14. A lifting platform module is installed on the universal adjustment device 14. The control system is set on the vehicle body module. A counterweight bucket 12 is set at the rear of the vehicle body module. The lifting platform module includes an explosive platform 3 and a multi-stage telescopic sleeve, with the explosive platform 3 connected to the top of the multi-stage telescopic sleeve.

[0038] In this embodiment, the vehicle body module is 2.0 meters long, 1.2 meters wide, and 1.5 meters high, and is made of corrosion-resistant steel. The lifting frame module is rigidly connected to the vehicle body module, and its dimensions are 0.1m*1.1m*2.0m. The main body of the frame module is a 3.0m*1.0m*0.1m aluminum alloy frame 4, the end of which is connected to the release device 11.

[0039] The release device 11 includes a drive motor and a long shaft. The drive motor drives the long shaft to rotate. At least one gear is fixedly mounted on the long shaft, and each gear meshes with a locking bolt. The frame module is provided with locking holes corresponding to the locking bolts. The extension direction of the locking bolts forms an acute angle with the horizontal plane. In this embodiment, the release device 11 includes two drive motors, a long shaft, and six gears fixed on the long shaft. The six gears are arranged in pairs. Each gear is meshed with a 0.02-meter-long, 0.2-meter-long reinforcing steel locking bolt. The two drive motors are symmetrically arranged on the left and right sides of the frame module, and the long shaft is fixed between the two drive motors, spanning one side of the frame module.

[0040] The acute angle range is 5° to 30°. In this embodiment, the acute angle is specifically 5.71°. When the drive motor rotates forward, the locking bolt extends forward and inserts into the corresponding locking hole of the frame module, achieving self-locking under the action of leverage. When the drive motor rotates in reverse, the locking bolt retracts, and the frame module is released.

[0041] The lifting platform module also includes a worm gear transmission mechanism, which enables the extension and retraction of a multi-stage telescopic sleeve. The multi-stage telescopic sleeve comprises at least two nested sleeves. The worm gear transmission mechanism includes a worm 22, a lifting motor 2, and worm wheels 24 corresponding to each sleeve stage. The lifting motor 2 drives the worm 22 to rotate. Each sleeve stage has external threads, and each worm wheel 24 has a threaded hole at its center. Each worm wheel 24 is assembled with the corresponding sleeve's external thread through its central threaded hole. In this embodiment, the multi-stage telescopic sleeve is composed of five nested high-strength aluminum alloy sleeves. The innermost layer is the first-stage sleeve, which is a solid column, and the outermost layer is a hollow annular column. Each of the five high-strength aluminum alloy sleeves is 2 meters long, effectively lifting a height of 1.5 meters.

[0042] The worm gear transmission mechanism also includes a torque sensor and a stage-changing device. The torque sensor is used to monitor the torque change of the lifting motor 2. The stage-changing device includes a stage-changing motor 15, a limiting groove 16, a first clamping plate 19, a second clamping plate 20, two limiting plates 21, and a limiting slider 23. The stage-changing motor 15 is coaxially connected to a threaded rod, which is parallel to the multi-stage telescopic sleeve rod. The stage-changing motor 15 is provided with a limiting rod 17, which is inserted into the limiting groove 16. The limiting groove 16 is positioned in a specific direction. Perpendicular to the axis of the multi-stage telescopic sleeve, one side of the first clamping plate 19 is provided with a threaded hole, into which the threaded rod can be screwed. A long rod is provided on one side of the first clamping plate 19, and a long rod is provided on the side of the second clamping plate 20 away from the first clamping plate 19. The lower surface of the first clamping plate 19 is fixedly connected to the lifting motor 2. The positions of the first clamping plate 19 and the second clamping plate 20 are perpendicular to the multi-stage telescopic sleeve. The first clamping plate 19 and the second clamping plate 20 are separated and joined by a limiting slider 23. On the other side of 9 and the second clamping plate 20, there is a clearance space for a multi-stage telescopic sleeve rod. The multi-stage telescopic sleeve rod is located in the middle after the first clamping plate 19 and the second clamping plate 20 are assembled. The minimum diameter of the clearance space after the first clamping plate 19 and the second clamping plate 20 are assembled is smaller than the outer diameter of the worm gear 24. The axis of the long rod is parallel to the axis of the limiting rod 17. The limiting plate 21 is symmetrically arranged on both sides of the multi-stage telescopic sleeve rod and is perpendicular to the first clamping plate 19 and the second clamping plate 20. The stage-changing motor 15 is located between the two limiting plates 21. The limiting plate 21 is provided with A corresponding feed groove 18 is provided for the long rod. The long rod is set between two limiting plates 21 and inserted into the corresponding feed groove 18. The feed groove 18 is a broken line. Each break point is numbered from 1 from top to bottom. Odd-numbered points are on the same vertical line, and even-numbered points are on the same vertical line. The horizontal distance between odd-numbered points and even-numbered points is less than or equal to the length of the limiting groove 16. The distance between adjacent odd-numbered points is the distance between the corresponding adjacent worm gears 24. The thread length of the threaded rod is greater than or equal to the distance between the first-stage worm gear 24 and the last-stage worm gear 24.

[0043] Specifically, the worm gear transmission mechanism includes a battery, a lifting motor 2, a torque sensor, a worm 22, and a stage-changing device. The lifting motor 2 is connected to the worm 22 to control its rotation. The torque sensor is mounted on the worm 22 motor to detect its output torque. Initially, the worm 22 meshes with the first-stage worm gear 24, and the lifting motor 2 outputs a fixed torque, lifting the first-stage sleeve 1.5 meters through the worm gear 24 and worm 22 transmission. Subsequently, the first-stage sleeve is jammed by the second-stage sleeve, preventing the worm gear 24 and worm 22 from transmitting power normally. This causes the torque output by the lifting motor 2 to increase rapidly. After the torque sensor detects that the torque of the lifting motor 2 is much greater than the normal threshold, the control system first stops the lifting motor 2 and then activates the stage-changing device.

[0044] The stage-changing motor 15 of the stage-changing device controls the rotation of the threaded rod via the motor shaft. The motor shaft and the threaded rod are oriented vertically downwards. Limiting rods 17 are connected to the horizontal direction of the stage-changing motor 15. Each limiting rod 17 is inserted into its respective limiting groove 16, which restricts the limiting rod 17 to slide only within its groove along the groove's direction. In this embodiment, the first clamping plate 19 and the second clamping plate 20 each include a horizontal portion and a vertical portion. The horizontal portions of the two clamping plates are connected by two limiting sliders 23, which allow the two clamping plates to move freely in the direction of the limiting sliders 23. A threaded hole 1 is vertically through the middle of the vertical portion of the first clamping plate 19. In the initial state of the stage-changing device, the threaded rod is fully screwed into the threaded hole 1. The vertical portions of the two clamping plates each extend... A long rod extends towards the two limiting plates 21. The two ends of the long rod are inserted into the corresponding entry slots 18 of the limiting plates 21, and the initial position is defined as the initial position 181 of the entry slot 18. The entry slot 18 is subdivided into the initial position 181, the transition position 182, and the completion position 183. It should be noted that after completing one stage change operation, the previous completion position 183 becomes the initial position 181 of the next stage change operation. A pressure sensor is set on each initial position 181. Each time the pressure signal of the long rod is detected, it confirms that one stage change action is completed and feeds the signal back to the control system. The control system controls the stage change motor 15 to temporarily stop running. After the stage change motor 15 stops running, the positions of the two clamping plates are locked. At this time, the worm 22 is stably engaged with the corresponding worm wheel 24 slot.

[0045] When the torque sensor detects abnormal torque in the lifting motor 2, the control system immediately triggers the stage-switching device, starts the stage-switching motor 15 to drive the threaded rod to rotate, and pushes the long rod of the clamping plate 19 connected to the threaded rod to move from the initial position 181 through the transition position 182 to the completion position 183 in the entry slot 18. At the same time, during the movement of the long rod, the clamping plate 19 and the clamping plate 20 are driven to switch between moving away and joining states. When the clamping plate 19 and the clamping plate 20 move away, they will move the stage-switching motor 15, which will then pull the limiting rod 17 to slide in the limiting slot 16. The clamping plate 19 drives the worm 22 to disengage from the original level worm wheel 24 slot and accurately embed into the next level worm wheel 24 slot. Simultaneously, as the long rod moves from the initial position 181 to the transition position 182, the two clamping plates will move away from each other in the direction of the limiting slider 23, exposing the space through which the original-level worm gear 24 passes. The clearance space formed by the two clamping plates is opened, exposing the original-level worm gear 24. During the movement from the transition position 182 to the completion position 183, the two clamping plates will move closer to each other in the direction of the limiting slider 23, eventually blocking the top of the next-level worm gear 24, restricting its vertical movement space, i.e., stage change. As motor 15 pushes the first chuck 19 and the second chuck 20 downwards, the exposed original-stage worm gear 24 moves above the first chuck 19 and the second chuck 20 after they are joined together. Simultaneously, the clearance space again obstructs the next-stage worm gear 24. During this process, the pressure sensor at position 183 of the feed slot 18 in this stage-changing operation senses the pressure on the long rod and sends a feedback signal. After confirming the stage-changing is complete, the control system cuts off the power to the stage-changing motor 15 and restarts the lifting motor 2 to continue the lifting action. This cycle continues until the fourth-stage boom is lifted, bringing the explosive into contact with the ore in the bucket. After the pressure sensor on the explosive platform 3 detects the pressure, the control system stops lifting and awaits the instruction to detonate.

[0046] Preferably, there are two limit rods 17, which are symmetrically arranged on both sides of the stage-changing motor 15, so that the stage-changing motor 15 moves more smoothly.

[0047] Except for the last stage of the sleeve rod, the outer walls of the remaining sleeve rods are provided with protruding strips to prevent the sleeve rods from spinning freely. Except for the first stage of the sleeve rod, the inner walls of the remaining sleeve rods are provided with recessed strips to prevent the sleeve rods from spinning freely. The protruding strips can be inserted into the recessed strips. The inner and outer walls of the sleeve rods achieve transmission and anti-spinning through threads and protruding / recessed strips. Except for the last stage of the sleeve rod, each stage of the sleeve rod is fitted with a worm gear 24 at its external thread. Specifically, the upper 1.5-meter section of the outer wall of the first to fourth stage sleeve rods is threaded, responsible for meshing with the worm gear 24. The lower 0.5-meter section of the outer wall consists of four vertically protruding strips evenly surrounding the outer wall. The inner walls of the second to fifth stage sleeve rods are provided with four vertically recessed strips evenly surrounding the inner wall, responsible for inserting into the protruding strips on the outer wall of the previous stage sleeve rod, thus preventing the sleeve rod from spinning freely during the transmission of the worm gear 24. That is, except for the last stage of the sleeve rod, each stage of the sleeve rod has a worm gear 24 with an inner thread fitted at its external thread.

[0048] The universal adjustment device 14 includes a thrust bearing, a lateral gear and a lateral limiter, and a vertical gear and a vertical limiter. The lateral gear is fixed to the upper side of the thrust bearing, and the lower side of the thrust bearing is fixed to the front end of the frame module. The lateral limiter is engaged between adjacent teeth of the lateral gear. The vertical gear is fixed to the bottom of the multi-stage telescopic sleeve rod, and the vertical limiter is engaged between adjacent teeth of the vertical gear. The bottom of the multi-stage telescopic sleeve rod has a rod portion that extends into the lateral gear. The universal adjustment device 14 is used to adapt to different ore pool inlet conditions.

[0049] The control system includes an integrated vehicle-mounted computer 8, a detachable remote control device, and a pressure sensor. The detachable remote control device is connected to the integrated vehicle-mounted computer 8 via wireless communication, and the pressure sensor is mounted on the explosive placement platform. In this embodiment, the detachable remote control device is installed at the rear of the vehicle body module and is connected to the integrated vehicle-mounted computer 8 via Bluetooth 5.2, with an effective remote control distance greater than 20 meters.

[0050] The vehicle body module employs a tracked 6-type walking mechanism, with a rock-breaking bow 5 mounted at the front. The vehicle body module's transmission is achieved by a motor driving the tracks 6 on both sides of the vehicle body module; furthermore, protective plates 7 are mounted on the outer sides of the tracks 6. During operation, a counterweight bucket 12 is used to hold counterweights to balance the torque generated during the operation of the lifting frame module, vehicle frame module, and lifting platform module.

[0051] The lifting frame module is equipped with a lighting lamp 10. The front end of the lifting frame module is provided with a lifting plate 9. The lifting plate 9 can be raised and lowered within two meters through guide rails and pulleys. Three triangular supports 13 are connected below the lifting plate 9. A release device 11 is installed on the top of the three triangular supports 13.

[0052] The specific details are as follows: After the middle and high position of the bucket is detected, the tilt angle of the lifting platform module can be manually adjusted in advance using the universal adjustment device 14 as needed.

[0053] The operator remotely controls the blasting vehicle to drive into the target ore-gathering tank from a safe distance.

[0054] After the vehicle is in place, the motor of the lifting platform module is started by remote control command, and the five-stage threaded sleeve 1 unfolds in sequence, sending the explosive placement platform to the bottom of the ore bucket.

[0055] Upon receiving a feedback signal from the pressure sensor and confirmation from the operator, the detonation procedure is initiated. During the countdown, the control system automatically triggers release device 11, releasing the chassis module and lifting platform module, while the vehicle body module rapidly retreats to a safe area.

[0056] After the blasting is completed, an electric loader will transport the disposable recyclable unit (the remains of the chassis module and the lifting platform module) along with the collapsed ore out for recycling and smelting for future remanufacturing.

[0057] This invention enables fully unmanned operation of the disposal of mid-to-high-level trucks through remote control, significantly ensuring personnel safety and improving mine production efficiency.

[0058] This device facilitates movement and positioning in narrow tunnels. By incorporating a release device 11, a chassis module, a universal adjustment device 14, and a lifting platform module, it precisely and stably delivers the explosive platform 3 to and secures it against an invisible, mid-to-high-level chuck. The release device 11, utilizing an angled bolt and lever principle, ensures the chassis module is securely locked and rapidly released after blasting within milliseconds, guaranteeing the safety of the core chassis. The universal adjustment device 14 allows the lifting platform to flexibly adjust its angle to adapt to complex underground working conditions. A multi-stage telescopic sleeve and worm gear transmission mechanism enable precise lifting with a large stroke and high reliability within a limited space. Finally, through an integrated remote control system, operators can complete the entire operation from a safe distance. This invention achieves unmanned operation throughout the entire process, fundamentally eliminating personal safety accidents and reducing the processing time from several weeks in traditional methods to tens of minutes. Simultaneously, the modular design effectively controls operating costs.

[0059] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the present invention. Although detailed descriptions have been provided with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments, and they should all be covered within the protection scope of the claims.

Claims

1. A high-level caving bucket disposal device in natural caving mining, characterized in that: It includes a vehicle body module, a lifting frame module, a frame module, a lifting platform module, and a control system; The lifting frame module is fixed on the vehicle body module and is provided with a release device (11). The front end of the lifting frame module is connected to the vehicle frame module through the release device. The front end of the vehicle frame module is provided with a universal adjustment device (14). The universal adjustment device (14) is equipped with a lifting platform module. The control system is set on the vehicle body module. The rear of the vehicle body module is provided with a counterweight bucket (12). The lifting platform module includes an explosive platform (3) and a multi-stage telescopic sleeve, with the explosive platform (3) connected to the top of the multi-stage telescopic sleeve.

2. A high-level caving bucket disposal device in natural caving mining according to claim 1, characterized in that: The release device (11) includes a drive motor and a long shaft. The drive motor drives the long shaft to rotate. At least one gear is fixedly mounted on the long shaft. Each gear meshes with a locking bolt. The frame module is provided with a locking hole corresponding to the locking bolt. The extension direction of the locking bolt forms an acute angle with the horizontal plane.

3. A high-level caving bucket disposal device in natural caving mining according to claim 2, characterized in that: The acute angle range is 5° to 30°.

4. A high-level caving bucket disposal device in natural caving mining according to claim 1, characterized in that: The lifting platform module also includes a worm gear transmission mechanism, which realizes the extension and retraction of multi-stage telescopic sleeves. The multi-stage telescopic sleeves include at least two stages of sleeves nested in sequence. The worm gear transmission mechanism includes a worm (22), a lifting motor (2), and worm wheels (24) corresponding to each stage of sleeves. The lifting motor (2) is used to drive the worm (22) to rotate. Each stage of sleeves is provided with external threads. Each stage of worm wheel (24) is provided with a threaded hole in the center. Each stage of worm wheel (24) is assembled with the external thread of the corresponding sleeve through the threaded hole in the center.

5. A high-level caving bucket disposal device in natural caving mining according to claim 4, characterized in that: The worm gear transmission mechanism also includes a torque sensor and a stage-changing device. The torque sensor is used to monitor the torque change of the lifting motor (2). The stage-changing device includes a stage-changing motor (15), a limiting groove (16), a first clamping plate (19), a second clamping plate (20), two limiting plates (21), and a limiting slider (23). The stage-changing motor (15) is coaxially connected to a threaded rod, which is parallel to the multi-stage telescopic sleeve rod. The stage-changing motor (15) is provided with a limiting rod (17), which is inserted into the limiting groove (16). The slot direction is perpendicular to the axis direction of the multi-stage telescopic sleeve rod. One side of the first clamping plate (19) is provided with a threaded hole, and the threaded rod can be screwed into the threaded hole. One side of the first clamping plate (19) is provided with a long rod. The side of the second clamping plate (20) away from the first clamping plate (19) is provided with a long rod. The lower plate surface of the first clamping plate (19) is fixedly connected to the lifting motor (2). The positions of the first clamping plate (19) and the second clamping plate (20) are perpendicular to the multi-stage telescopic sleeve rod. The first clamping plate (19) and the second clamping plate (20) are separated and joined by the limiting slider (23). On the other side of the first (19) and the second (20) of the card plate, there is a clearance space for a multi-stage telescopic sleeve rod. The multi-stage telescopic sleeve rod is located in the middle after the first (19) and the second (20) of the card plate are assembled. The minimum diameter of the clearance space after the first (19) and the second (20) of the card plate is smaller than the outer diameter of the worm gear (24). The axis of the long rod is parallel to the axis of the limiting rod (17). The limiting plate (21) is symmetrically arranged on both sides of the multi-stage telescopic sleeve rod and is perpendicular to the first (19) and the second (20) of the card plate. The stage-changing motor (15) is located between the two limiting plates (21). The position plate (21) is provided with a corresponding entry groove (18) for the long rod. The long rod is set between two limit plates (21) and inserted into the corresponding entry groove (18). The entry groove (18) is a broken line. Each break point is numbered from 1 from top to bottom. Odd points are on the same vertical line, and even points are on the same vertical line. The horizontal distance between odd and even points is less than or equal to the length of the limit groove (16). The distance between adjacent odd points is the distance between the corresponding adjacent level worm gears (24). The thread length of the thread rod is greater than or equal to the distance between the first level worm gear (24) and the last level worm gear (24).

6. A high-level caving bucket disposal device in natural caving mining according to claim 5, characterized in that: Except for the last-level sleeve rod, the outer wall of the other sleeve rods is provided with a raised strip to prevent the sleeve rod from spinning freely, and the inner wall of the other sleeve rods except for the first-level sleeve rod is provided with a recessed strip to prevent the sleeve rod from spinning freely. The raised strip can be inserted into the recessed strip.

7. A high-level caving bucket disposal device in natural caving mining according to any one of claims 1-7, characterized in that: The universal adjustment device (14) includes a thrust bearing, a transverse gear and a transverse limiter, a vertical gear and a vertical limiter. The transverse gear is fixed on the upper side of the thrust bearing, and the lower side of the thrust bearing is fixed on the front end of the frame module. The transverse limiter is locked between adjacent teeth of the transverse gear. The vertical gear is fixed at the bottom of the multi-stage telescopic sleeve rod, and the vertical limiter is locked between adjacent teeth of the vertical gear. The bottom of the multi-stage telescopic sleeve rod is provided with a rod that extends into the transverse gear.

8. A high-level caving bucket disposal device in natural caving mining according to any one of claims 1-7, characterized in that: The control system includes an onboard integrated computer (8), a detachable remote control device, and a pressure sensor. The detachable remote control device is connected to the onboard integrated computer (8) via wireless communication, and the pressure sensor is installed on the explosive placement platform.

9. A high-level caving bucket disposal device in natural caving mining according to any one of claims 1-7, characterized in that: The vehicle body module adopts a tracked (6) type walking mechanism, and a rock-breaking bow (5) is installed in front of the vehicle body module.

10. A high-level caving bucket disposal device in natural caving mining according to any one of claims 1-7, characterized in that: The lifting frame module is equipped with a lighting lamp (10), and the front end of the lifting frame module is provided with a lifting plate (9). The lifting plate (9) is lifted and lowered by guide rails and pulleys. Three triangular supports (13) are connected below the lifting plate (9), and a release device (11) is installed on the top of the three triangular supports (13).

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