Bionic elephant robot for mining

Abstract

The invention relates to the technical field of robots, in particular to a mining bionic elephant robot. The robot comprises a shell, a screening bucket device, a smashing bucket, a drilling device, a clamping jaw device and a walking device. The screening bucket device is installed on the top of the front side of the shell and comprises a base, a double-bucket movable arm, a second bucket and a plurality of hydraulic telescopic rods. The crushing bucket is mounted at the bottom of the front side of the shell and comprises a fixed seat, a first bucket and a hydraulic driving structure; the drilling device comprises a drill bit, a spiral material conveyor and a drill bit motor and is arranged on the front side of the shell; the clamping jaw device comprises a base, a supporting arm, a small arm and a clamping jaw assembly and is installed on the shell. The walking device is arranged at the bottom of the shell. The robot is integrated with multiple operation devices, surface ore shoveling, crushing and screening, deep ore drilling and conveying and special ore grabbing and transferring can be synchronously completed, cooperation of multiple devices is not needed, transferring connection time consumption is reduced, the robot is suitable for veins of different depths, and mining efficiency and scene adaptability are improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a biomimetic elephant robot for mining. Background Technology

[0002] With the rapid development of the mining industry, the demand for ore extraction is constantly increasing, and traditional mining methods can no longer meet the requirements of large-scale, high-efficiency production. Whether it is the large-scale excavation and transportation equipment required for open-pit mining or the tunneling and mining equipment adapted to different roadway conditions in underground mining, there is an urgent need for more advanced and efficient machinery to improve mining and transportation efficiency. Traditional manual maintenance methods are inefficient and ill-suited to the maintenance needs of modern mining machinery. As mining machinery becomes increasingly complex and automated, manual maintenance is costly and time-consuming, impacting production continuity and stability. Current mining machinery suffers from several shortcomings: high energy consumption and costs, such as the persistently high operating costs of mobile crushing plants and rotary drilling rigs; limited adaptability to complex geological conditions, with coal mining machines and loaders performing poorly in specific environments; complex maintenance, requiring frequent maintenance of hydraulic systems and precision components, affecting operational continuity; and slow technological iteration, with some traditional models exhibiting low levels of intelligence.

[0003] However, most existing equipment is designed for single-scenario adaptation. Open-pit mines rely on large excavating buckets, which can only process surface ore, while underground mines rely on specialized drilling equipment, which can only process deep ore. If it is necessary to mine both surface and deep veins at the same time, multiple pieces of equipment need to work together. This not only results in high equipment purchase and transportation costs, but also makes it difficult to synchronize the operation rhythm of different pieces of equipment, leading to low overall efficiency. Summary of the Invention

[0004] In view of this, the present invention provides a simulacrum-shaped mining robot. Therefore, the present invention provides the following technical solution: A simulated mining robot includes a shell, a screening bucket assembly, a crushing bucket, a drilling device, a gripper device, and a walking device. The screening bucket assembly is mounted on the top front side of the shell, the crushing bucket is mounted on the bottom front side of the shell, the gripper device and the drilling device are mounted on the front side of the shell, and the walking device is mounted on the bottom of the shell. The screening bucket assembly includes a base, a first bucket boom, a second bucket boom, and a second bucket. The base is mounted on the top front side of the shell, the first bucket boom is rotatably mounted on the base via a pivot, and a first hydraulic telescopic rod is rotatably mounted on the base via a pivot. The end of the rod furthest from the base is rotatably connected to the side wall of the first bucket boom via a pivot. The end of the first bucket boom furthest from the base is rotatably connected to the second bucket boom via a pivot. The end of the second bucket boom furthest from the first bucket boom is rotatably connected to the second bucket. One end of the second hydraulic telescopic rod is rotatably connected to the first bucket boom via a pivot. The other end of the second hydraulic telescopic rod is rotatably connected to the second bucket boom via a pivot. One end of the third hydraulic telescopic rod is rotatably connected to the second bucket via a pivot. The other end of the third hydraulic telescopic rod is rotatably connected to the second bucket via a pivot. The bottom of the second bucket is provided with screening holes. The crushing bucket includes a fixed base and a first bucket. The fixed base is installed at the bottom of the housing. A first hydraulic rod, a second hydraulic rod, and a crushing bucket boom are rotatably mounted on the fixed base via a rotating shaft. The end of the crushing bucket boom away from the fixed base is rotatably connected to the first bucket via a rotating shaft. The end of the second hydraulic rod away from the fixed base is rotatably connected to the bottom of the crushing bucket boom via a rotating shaft. A pull arm is rotatably mounted on the crushing bucket boom via a rotating shaft. The pull arm is rotatably connected to the end of the first hydraulic rod away from the fixed base via a rotating shaft. The end of the pull arm away from the crushing bucket boom is rotatably connected to one end of a pull rod via a rotating shaft. The other end of the pull rod is rotatably connected to the first bucket via a rotating shaft. A spiral cutter is rotatably mounted inside the first bucket via a spiral cutter rotating shaft. A cutting motor is installed on the side wall of the first bucket. The output end of the cutting motor is connected to the spiral cutter rotating shaft. The drilling device includes a drill bit and a spiral material conveyor. The spiral material conveyor is installed on the front side of the housing. The drill bit motor is installed at the end of the spiral material conveyor housing away from the housing. The output end of the drill bit motor is connected to the drill bit. The gripper device includes a base, a support arm, and a forearm. The base is mounted on the housing. The support arm is rotatably mounted on the base via an arm pivot. A servo motor is installed inside the arm pivot, and the output end of the servo motor is connected to the support arm. The end of the support arm away from the base is rotatably connected to the forearm via a rotating joint. A servo motor is installed inside the rotating joint, and the output end of the servo motor is connected to the support arm. The gripper assembly is installed at the end of the forearm away from the support arm.

[0005] Furthermore, the gripper assembly includes a fixed plate, a convex plate, a three-phase asynchronous motor housing, a first rotating tooth, and a second rotating tooth. The convex plate is mounted on the fixed plate at the end of the forearm away from the support arm. The three-phase asynchronous motor housing is mounted on the fixed plate, and the output end of the three-phase asynchronous motor inside the housing is connected to a second connecting plate. The second connecting plate is rotatably connected to the first connecting plate via a rotating shaft. Both the first and second rotating teeth are rotatably mounted on the fixed plate via rotating shafts, and the teeth on the first and second rotating teeth mesh with each other. The first rotating tooth is provided with an ear plate, which is rotatably connected to the first connecting plate via a rotating shaft. The first and second rotating teeth are provided with mating jaws.

[0006] Furthermore, it also includes a vacuuming device, which includes a vacuum head, a vacuum pipe, a sealing plug, and a vacuum storage chamber. The vacuum storage chamber is installed on the forearm and a vacuum pump is installed inside the vacuum storage chamber. The vacuum storage chamber is connected to the vacuum pipe, and the vacuum head is installed at the suction end of the vacuum pipe. The vacuum storage chamber is provided with a cleaning hole, and the sealing plug is inserted into the cleaning hole.

[0007] Furthermore, a protective umbrella device is installed on the top of the shell. The protective umbrella device includes a first support rod, a top surface, an outer frame surface, and a second support rod. The first support rod is installed on the top of the shell through a flange. A top plate is installed on the top of the first support rod. The outer frame surface is arranged circumferentially along the top plate. Each outer frame surface is rotatably connected to the top plate through a rotating shaft. An electric telescopic rod is installed inside the first support rod. A guide hole is provided on the side wall of the first support rod. A sliding sleeve is slidably fitted on the first support rod. A second support rod is hinged to the outside of the sliding sleeve. The other end of the second support rod is hinged to the outer frame surface.

[0008] Furthermore, a sensor rotating gimbal is mounted on the housing, and a sensor device is mounted on the output end of the sensor rotating gimbal.

[0009] Furthermore, the walking device includes a connecting frame, a support frame, rollers, a support rod, a fixing plate, and a wheel axle; leg connecting plates are installed on both sides of the bottom of the housing, the connecting frame is installed on the leg connecting plates, and the support rod is installed inside the connecting frame; the support frame is installed at the bottom of the connecting frame, the fixing plate is installed at the bottom of the support frame, and the rollers are rotatably installed at the bottom of the fixing plate via the wheel axle.

[0010] Furthermore, it also includes a tail suction device, which includes a suction pipe, a suction box, and a baffle. The housing has a suction chamber, a suction pump is installed in the suction chamber, the output end of the suction pump is connected to the suction pipe, the suction end of the suction pipe extends out of the housing, the suction box is connected to the suction end of the suction pipe, and the baffle is installed on the suction end of the suction pipe.

[0011] Furthermore, protective plates are rotatably mounted on both sides of the housing via rotating shafts, and damping motors are connected to the rotating shafts of the protective plates. The damping motors are mounted on the housing.

[0012] Advantages and positive effects of the present invention: This invention integrates a screening bucket, a crushing bucket, a drilling device, and a gripper device into a robot. It can simultaneously complete the entire process of surface ore shoveling, crushing, and screening, deep ore drilling, conveying, and screening, and special ore grabbing and transfer. Unlike traditional mining methods, it does not require separate excavation, crushing, screening, and grabbing equipment, reducing the time spent on transfer and connection between equipment and improving work efficiency.

[0013] The crushing bucket and screening bucket work together to efficiently process surface-distributed veins. The ore is quickly crushed by a spiral cutting blade and then classified by the screening holes at the bottom of the second bucket. The drilling device is designed for deep-seated veins. The drill bit is driven by a drill motor and drills through the veins. The ore is transported to the outside of the shell by a spiral material conveyor. This breaks the limitation of traditional equipment that can only handle veins of a single depth and adapts to the mining needs of veins at different burial depths.

[0014] The spiral cutting blades inside the crushing bucket are driven by a cutting motor to rotate at high speed, which can uniformly shear and crush the ore, avoiding the problem of "large particle size deviation" in traditional crushing equipment. At the same time, the screening holes at the bottom of the second bucket can be set according to the requirements. The crushed ore is directly classified through the screening holes. The ore that meets the particle size requirements is directly collected without the need for additional screening equipment for secondary processing, reducing resource waste and equipment investment costs. Attached Figure Description

[0015] 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, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall device of a simulated mining robot in a static state, provided by the present invention.

[0017] Figure 2 This is a schematic diagram of a head-shaped crushing bucket device for a mining robot, provided by the present invention.

[0018] Figure 3 This is a schematic diagram of a dust-collecting device for the head of a simulated mining robot provided by the present invention.

[0019] Figure 4 This is a schematic diagram of a head gripper device for a simulated mining robot provided by the present invention.

[0020] Figure 5This is a schematic diagram of a drill bit for a simulated mining robot head, provided by the present invention.

[0021] Figure 6 This invention provides a schematic diagram of a spiral material conveyor built into the head drilling device of a simulated mining robot.

[0022] Figure 7 This is a schematic diagram of a screening bucket device for the head of a simulated mining robot provided by the present invention.

[0023] Figure 8 This is a schematic diagram of a protective umbrella device for the torso of a simulated mining robot provided by the present invention.

[0024] Figure 9 This is a schematic diagram of a walking device for a simulated mining robot provided by the present invention.

[0025] Figure 10 This is a schematic diagram of a tail-mounted dust collection device for a simulated mining robot provided by the present invention.

[0026] In the diagram: 1. Head; 2. Torso; 3. Walking device; 4. Tail suction device; 11. Crushing bucket; 12. Suction device; 13. Gripping device; 14. Drilling device; 15. Screening bucket device; 21. Shell; 22. Shell fixing plate; 23. Leg connecting plate; 24. Protective plate; 25. Protective umbrella device; 26. Sensor device; 31. Connecting frame; 32. Support frame; 33. Roller; 34. Support rod; 35. Fixing plate; 36. Axle; 111 112. Fixed base; 113. First hydraulic rod; 114. Output end of first hydraulic rod; 115. Pull arm; 116. Pull rod; 117. First bucket; 118. Spiral cutter shaft; 119. Crusher bucket boom; 120. Second hydraulic rod; 121. Dust suction head; 122. Dust suction pipe; 123. Sealing plug; 124. Dust collection bin; 125. Forearm; 126. Rotating joint; 127. Support arm; 128. Arm shaft; 129. Base; 131. Pincer head; 13 2. Ear plate; 133. Second rotating tooth; 134. First connecting plate; 135. Second connecting plate; 136. Fixing plate; 137. Convex plate; 138. Three-phase asynchronous motor box; 139. First rotating tooth; 141. Drill bit; 142. Screw conveyor; 1421. Drill bit motor; 1422. Casing; 1423. Screw blades; 1424. Inlet; 1425. Outlet; 1426. Along the screw shaft; 151. Second bucket; 152. Third liquid 153. Second bucket boom; 154. Second hydraulic telescopic boom; 155. First bucket boom; 156. Base fixing plate; 157. Base; 158. First hydraulic telescopic boom; 159. Base bracket; 1510. Screening hole; 251. Flange; 252. First support rod; 253. Outer frame surface; 254. Second support rod; 255. Sliding sleeve; 257. Top plate; 258. Guide hole; 41. Dust suction pipe; 42. Dust suction box; 43. Baffle plate. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] This invention provides a simulacrum-shaped mining robot, such as Figure 1 As shown, it includes a housing 21, a screening bucket device 15, a crushing bucket 11, a drilling device 14, a gripper device 13, and a traveling device 3; the screening bucket device 15 is installed at the top of the front head area 1 of the housing 21, the crushing bucket 11 is installed at the bottom of the front side of the housing 21, the gripper device 13 and the drilling device 14 are installed in the front head area 1 of the housing 21, and the traveling device 3 is installed at the bottom of the housing 21; Figure 7 As shown, the screening bucket device 15 includes a base 157, a first bucket boom 155, a second bucket boom 153, and a second bucket 151. The base 157 is installed on the front top of the body 2 region of the housing 21. A base bracket 159 is installed on the base 157. The first bucket boom 155 is rotatably mounted on the base bracket 159 via a pivot. A base fixing plate 156 is installed on the base 157. A first hydraulic telescopic rod 158 is rotatably mounted on the base fixing plate 156 via a pivot. The end of the first hydraulic telescopic rod away from the base 157 is rotatably connected to the side wall of the first bucket boom 155 via a pivot. One end of the base 157 is rotatably connected to the second bucket boom 153 via a pivot. The end of the second bucket boom 153 away from the first bucket boom 155 is rotatably connected to the second bucket 151. One end of the second hydraulic telescopic rod 154 is rotatably connected to the first bucket boom 155 via a pivot. The other end of the second hydraulic telescopic rod 154 is rotatably connected to the second bucket boom 153 via a pivot. One end of the third hydraulic telescopic rod 152 is rotatably connected to the second bucket 153 via a pivot. The other end of the third hydraulic telescopic rod 152 is rotatably connected to the second bucket 151 via a pivot. The bottom of the second bucket 151 is provided with a screening hole 1510.

[0030] like Figure 2As shown, the crushing bucket 11 includes a fixed base 111 and a first bucket 116. The fixed base 111 is installed at the bottom of the housing 21. A first hydraulic rod 112, a second hydraulic rod 119, and a crushing bucket boom 118 are rotatably mounted on the fixed base 111 via a rotating shaft. The end of the crushing bucket boom 118 away from the fixed base 111 is rotatably connected to the first bucket 116 via a rotating shaft. The end of the second hydraulic rod 119 away from the fixed base 111 is rotatably connected to the bottom of the crushing bucket boom 118 via a rotating shaft. A crushing bucket boom 118 is rotatably mounted on the first bucket 116 via a rotating shaft. A pull arm 114 is rotatably connected to the output end 113 of the first hydraulic rod 112 away from the fixed seat 111 via a rotating shaft. One end of the pull arm 114 away from the large arm 118 of the crushing bucket is rotatably connected to one end of the pull rod 115 via a rotating shaft. The other end of the pull rod 115 is rotatably connected to the first bucket 116 via a rotating shaft. A spiral cutter is rotatably installed inside the first bucket 116 via a spiral cutter rotating shaft 117. A cutting motor is installed on the side wall of the first bucket 116, and the output end of the cutting motor is connected to the spiral cutter rotating shaft 117. like Figure 5-6 As shown, the drilling device 14 includes a drill bit 141 and a spiral material conveyor 142. The spiral material conveyor 142 is installed on the front side of the housing 21. A drill motor 1421 is installed at the end of the housing 1422 of the spiral material conveyor 142 away from the housing 21. The output end of the drill motor 1421 is connected to the drill bit 141. The drill tip 1411 is fixed to the front working end of the drill bit 141. The cutting edge 1412 is arranged circumferentially along the side wall of the drill bit 141 and is connected to the rear end of the drill tip 1411. The cylindrical shank 1413 is located at the rear connecting end of the drill bit 141. The flat tail 1414 is integrally formed on the end of the cylindrical shank 1413 away from the drill tip 1411. The fastener 1415 is sleeved on or passes through the cylindrical shank 1413 to fix the drill bit 141 to the output end of the drill motor 1421, so that the drill motor drives the drill bit to rotate. The housing 1422 serves as the external support structure for the spiral material conveying device 142. The drill motor 1421 is installed inside the housing 1422 at the end near the drill bit 141. The spiral shaft 1426 passes through the housing 1422 and is driven by the motor of the spiral material conveying device 142. The spiral blades 1423 are spirally distributed along the axial direction of the spiral shaft 1426 and are fixedly connected to the spiral shaft 1426. The feed port 1424 is opened on the side wall of the housing 1422 near the drill motor 1421, corresponding to the feed channel around the drill bit 141. The discharge port 1425 is opened on the side wall of the housing 1422 away from the head bearing 1421.

[0031] like Figure 4As shown, the gripper device 13 includes a base 129, a support arm 127, and a forearm 125. The base 129 is mounted on the housing 21. The support arm 127 is rotatably mounted on the base 129 via an arm pivot 128. A servo motor is installed inside the arm pivot 128, and the output end of the servo motor is connected to the support arm 127. The end of the support arm 127 away from the base 129 is rotatably connected to the forearm 125 via a rotating joint 126. A servo motor is installed inside the rotating joint 126, and the output end of the servo motor is connected to the support arm 127. A gripper assembly is installed at the end of the forearm 125 away from the support arm 127.

[0032] The gripper assembly includes a fixed plate 136, a convex plate 137, a three-phase asynchronous motor housing 138, a first rotating tooth 139, and a second rotating tooth 133. The convex plate 137 is mounted on the fixed plate 136 and is located at the end of the forearm 125 away from the support arm 127. The three-phase asynchronous motor housing 138 is mounted on the fixed plate 136, and the output end of the three-phase asynchronous motor inside the housing is connected to a second connecting plate 135. The second connecting plate 135 is rotatably connected to a first connecting plate 134 via a rotating shaft. The first rotating tooth 139 and the second rotating tooth 133 are both rotatably mounted on the fixed plate 136 via a rotating shaft, and the teeth on the first rotating tooth 139 and the second rotating tooth 133 mesh with each other. The first rotating tooth 139 is provided with an ear plate 132, which is rotatably connected to the first connecting plate 134 via a rotating shaft. The first rotating tooth 139 and the second rotating tooth 133 are provided with mating jaws 131.

[0033] like Figure 3 As shown, it also includes a vacuuming device 12, which includes a vacuum head 121, a vacuum pipe 122, a sealing plug 123, and a vacuum storage chamber 124. The vacuum storage chamber 124 is mounted on the forearm 125, and a vacuum pump is installed inside the vacuum storage chamber 124. The vacuum storage chamber 124 is connected to the vacuum pipe 122, and the vacuum head 121 is installed at the suction end of the vacuum pipe 122. The vacuum storage chamber 124 is provided with a cleaning hole, and the sealing plug 123 is inserted into the cleaning hole.

[0034] like Figure 8 As shown, a protective umbrella device 25 is installed on the top of the housing 21. The protective umbrella device 25 includes a first support rod 252, a top surface 257, an outer frame surface 253, and a second support rod 254. The first support rod 252 is installed on the top of the housing 21 through a flange 251. A top plate 257 is installed at the top of the first support rod 252. The outer frame surface 253 is arranged circumferentially along the top plate 257. Each outer frame surface 253 is rotatably connected to the top plate 257 through a rotating shaft. An electric telescopic rod is installed inside the first support rod 252. A guide hole 258 is provided on the side wall of the first support rod 252. A sliding sleeve 255 is slidably fitted on the first support rod 252. The second support rod 254 is hinged to the outside of the sliding sleeve 255. The other end of the second support rod 254 is hinged to the outer frame surface 253.

[0035] like Figure 1 As shown, a sensor rotating gimbal is mounted on the housing 21, and a sensor device 26 is mounted on the output end of the sensor rotating gimbal.

[0036] like Figure 9 As shown, the walking device 3 includes a connecting frame 31, a support frame 32, rollers 33, a support rod 34, a fixing plate 35, and a wheel axle 36; a housing fixing plate 22 is installed at the bottom of the housing 21, and leg connecting plates 23 are installed on both sides of the housing fixing plate 22. The connecting frame 31 is installed on the leg connecting plate 23, and the support rod 34 is installed inside the connecting frame 31; the support frame 32 is installed at the bottom of the connecting frame 31, the fixing plate 35 is installed at the bottom of the support frame 32, and the rollers 33 are rotatably installed at the bottom of the fixing plate 35 via the wheel axle 36.

[0037] like Figure 10 As shown, it also includes a tail suction device 4, which includes a suction pipe 41, a suction box 42, and a baffle 43. The housing 21 is provided with a suction chamber, and a suction pump 27 is installed in the suction chamber. The output end of the suction pump 27 is connected to the suction pipe 41. The suction end of the suction pipe 41 extends out of the housing 21. The suction box 42 is connected to the suction end of the suction pipe 41. The baffle 43 is installed at the suction end of the suction pipe 41.

[0038] Protective plates 24 are rotatably mounted on both sides of the housing 21 via rotating shafts. The rotating shafts of the protective plates 24 are connected to damping motors, which are mounted on the housing 21.

[0039] Working principle: The walking device fixes the connecting frame 31 through the leg connecting plate 23 at the bottom of the housing 21. The support rod 34 strengthens the structural stability of the connecting frame. The support frame 32 and the fixing plate 35 provide mounting support for the roller 33. The fixed plate 35 is equipped with a walking motor for driving the roller 33 to rotate, which can drive the roller 33 to rotate, thereby realizing the movement of the robot.

[0040] The sensor rotating gimbal on the housing 21 can drive the sensor device 26 to rotate 360° without dead angles, and collect environmental data such as the distribution of veins, terrain slope, and obstacle location in the mining area in real time. The drilling device is used for mining deep ore. The spiral material conveyor 142 is fixed inside the housing 21. After the drill motor 1421 at the end of the housing 1422 is started, it drives the drill bit 141 to rotate at high speed to drill and crush the deep ore vein. The crushed ore enters the feed port 1424 of the spiral material conveyor 142 through the feed channel around the drill bit 141. The spiral blades rotate to generate thrust, which transports the ore along the housing 1422 to the discharge port 1425 for discharge, thus completing the integrated operation of mining and conveying deep ore.

[0041] The crushing bucket is used to crush surface ore. The second hydraulic rod 119 on the fixed base 111 extends and retracts to drive the crushing bucket arm 118 to rotate around the pivot, adjusting the working height of the first bucket 116. The extension and retraction of the first hydraulic rod 112 pulls the first bucket 116 to open and close through the pull arm 114 and the pull rod 115, realizing the scooping of surface ore. After the cutting motor on the side wall of the first bucket 116 is started, it drives the spiral cutting blade shaft 117 to drive the spiral cutting blade to rotate at high speed, shearing and crushing the scooped large pieces of ore, processing them into small pieces of ore with uniform particle size, which is convenient for subsequent screening or conveying.

[0042] The screening bucket device is used to classify and screen ore. The first hydraulic telescopic rod 158 on the base 157 drives the first bucket boom 155 to rotate around the pivot. The second hydraulic telescopic rod 154 adjusts the tilt angle of the second bucket boom 153. The third hydraulic telescopic rod 152 controls the opening and closing angle of the second bucket 151. The second bucket 151 can receive small pieces of ore conveyed by the crushing bucket and classify the ore through its own screening holes 1510: ore that meets the particle size requirements falls directly to the designated collection area, and ore that exceeds the size requirement can be returned to the crushing bucket for secondary crushing to ensure the consistency of the particle size of the mined ore.

[0043] The gripper device is used for gripping and transferring special ores. The arm pivot 128 on the base 129 has a built-in servo motor that drives the support arm 127 to rotate around the base 129. The rotating joint 126 has a built-in servo motor that drives the forearm 125 to flexibly adjust the angle. The motor in the three-phase asynchronous motor box 138 of the gripper assembly starts and drives the second connecting plate 135 to swing. Through the first connecting plate 134, it pulls the ear plate 132 of the first rotating tooth 139, causing the first rotating tooth 139 to rotate around the pivot. Since the first rotating tooth 139 and the second rotating tooth 133 mesh with each other, when the first rotating tooth 139 rotates, it drives the second rotating tooth 133 to rotate in the opposite direction, realizing the opening and closing of the gripper head 131. It can accurately grip large whole pieces of ore or special-shaped ore to complete the transfer and placement operations.

[0044] After the dust pump in the dust collection chamber 124 on the forearm 125 of the dust collection device is started, it generates negative pressure suction, which adsorbs the dust generated during mining operations through the dust collection head 121 at the end of the dust collection pipe 122. The dust is temporarily stored in the dust collection chamber 124. After the operation is completed, the sealing plug 123 can be opened to clean the dust through the cleaning hole, so as to avoid the dust from spreading and polluting the environment or damaging the precision parts of the equipment. The dust pump inside the housing 21 of the tail dust collection device 4 is activated, and the dust in the tail area of ​​the robot is collected through the dust collection pipe 41 and the dust collection box 42. The baffle 43 can prevent large debris from entering the dust collection pipe and causing blockage, thus achieving dust coverage and treatment of the entire working area.

[0045] When encountering risks such as falling rocks or water spray, the protective umbrella device 25 on the top of the shell 21 extends the electric telescopic rod inside the first support rod 252, pushing the sliding sleeve 255 to slide upward along the support rod. The second support rod 254 then lifts the outer frame surface 253, causing the outer frame surface 253 to unfold around the top plate 257 pivot, forming a fully enclosed protective umbrella to shield against falling objects and water spray. After the operation is completed, the electric telescopic rod retracts, and the outer frame surface 253 is folded and stored without affecting the robot's movement. Protective plates 24 on both sides of the housing 21: The damping motor drives the protective plates 24 to rotate around the shaft. The opening and closing angle can be adjusted according to the operation requirements. It can block the ore fragments and dust splashed from the side, and can also be folded up when the equipment is moved to reduce the resistance of movement.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail 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. Such 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 of the present invention.

Claims

1. A figurative mining robot, characterized in that, The utility model relates to a kind of screening shovel devices, it include shell (21), screening shovel device (15), pulverizing shovel (11), drilling device (14), clamping jaw device (13) and travelling device (3);The screening shovel device (15) is installed at the top of the front side of shell (21), pulverizing shovel (11) is installed at the bottom of the front side of shell (21), clamping jaw device (13) and drilling device (14) are installed at the front side of shell (21), travelling device (3) is installed at the bottom of shell (21);The screening shovel device (15) includes base (157), first shovel moving arm (155), second shovel moving arm (153) and second shovel (151), the base (157) is installed at the top of the front side of shell (21), first shovel moving arm (155) is rotatably installed on base (157) by pivot, first hydraulic telescopic rod (158) is rotatably installed on base (157) by pivot, the end of first hydraulic telescopic rod away from base (157) is rotatably connected with the side wall of first shovel moving arm (155) by pivot, the end of first shovel moving arm (155) away from base (157) is rotatably connected with second shovel moving arm (153) by pivot, the end of second shovel moving arm (153) away from first shovel moving arm (155) is rotatably connected with second shovel (151), the end of second hydraulic telescopic rod (154) is rotatably connected with first shovel moving arm (155) by pivot on first shovel moving arm (155), the other end of second hydraulic telescopic rod (154) is rotatably connected with second shovel moving arm (153) by pivot, the end of third hydraulic telescopic rod (152) is rotatably connected with second shovel moving arm (153) by pivot on second shovel moving arm (153), the other end of third hydraulic telescopic rod (152) is rotatably connected with second shovel (151) by pivot;Second shovel (151) is equipped with screening hole (1510) at the bottom; The pulverizing bucket (11) comprises a fixed seat (111) and a first bucket (116), the fixed seat (111) is installed at the bottom of the shell (21), the first hydraulic rod (112), the second hydraulic rod (119) and the pulverizing bucket large arm (118) are rotatably installed on the fixed seat (111) through rotating shafts, one end of the pulverizing bucket large arm (118) away from the fixed seat (111) is rotatably connected with the first bucket (116) through a rotating shaft, one end of the second hydraulic rod (119) away from the fixed seat (111) is rotatably connected with the bottom of the pulverizing bucket large arm (118) through a rotating shaft, the pull arm (114) is rotatably installed on the pulverizing bucket large arm (118) through a rotating shaft, the pull arm (114) is rotatably connected with one end of the first hydraulic rod (112) away from the fixed seat (111) through a rotating shaft, one end of the pull arm (114) away from the pulverizing bucket large arm (118) is rotatably connected with one end of the pull rod (115) through a rotating shaft, the other end of the pull rod (115) is rotatably connected with the first bucket (116) through a rotating shaft, the helical cutting knife is rotatably installed in the first bucket (116) through a helical cutting knife rotating shaft (117), the cutting motor is installed on the side wall of the first bucket (116), and the output end of the cutting motor is connected with the helical cutting knife rotating shaft (117); The drilling device (14) comprises a drill bit (141) and a spiral material conveyor (142), the spiral material conveyor (142) is installed on the front side of the shell (21), the drill bit motor (1421) is installed at one end of the machine shell (1422) of the spiral material conveyor (142) away from the shell (21), and the output end of the drill bit motor (1421) is connected with the drill bit (141); The clamping jaw device (13) comprises a base (129), a support arm (127) and a small arm (125), the base (129) is installed on the machine shell (21), the support arm (127) is rotatably installed on the base (129) through an arm rotating shaft (128), a rudder motor is installed in the arm rotating shaft (128), and the output end of the rudder motor is connected with the support arm (127); one end of the support arm (127) away from the base (129) is rotatably connected with the small arm (125) through a rotating joint (126), a rudder motor is installed in the rotating joint (126), and the output end of the rudder motor is connected with the support arm (127); and the small arm (125) is installed with a clamping jaw assembly at one end away from the support arm (127).

2. A figurative mining robot according to claim 1, characterized in that The claw assembly comprises a fixed plate (136), a convex plate (137), a three-phase asynchronous motor box (138), a first gear wheel (139) and a second gear wheel (133), the convex plate (137) is installed on the fixed plate (136), and the convex plate (137) is installed at one end of the small arm (125) away from the support arm (127); the three-phase asynchronous motor box (138) is installed on the fixed plate (136), and the output end of the three-phase asynchronous motor in the three-phase asynchronous motor box (138) is connected with the second connecting plate (135), the second connecting plate (135) is rotationally connected with the first connecting plate (134) through a rotating shaft; the first gear wheel (139) and the second gear wheel (133) are both rotationally installed on the fixed plate (136) through rotating shafts, and the teeth on the first gear wheel (139) and the second gear wheel (133) are engaged; the first gear wheel (139) is provided with an ear plate (132), the ear plate (132) is rotationally connected with the first connecting plate (134) through a rotating shaft; the first gear wheel (139) and the second gear wheel (133) are provided with matched jaw heads (131).

3. A figurative mining robot according to claim 1, characterized in that Further comprising a dust suction device (12), the dust suction device (12) comprises a dust suction head (121), a dust suction pipe (122), a sealing plug (123) and a dust suction storage bin (124), the dust suction storage bin (124) is installed on the small arm (125), a dust suction pump is installed in the dust suction storage bin (124), the dust suction storage bin (124) is communicated with the dust suction pipe (122), and the dust suction head (121) is installed at the suction end of the dust suction pipe (122); the dust suction storage bin (124) is provided with a cleaning hole, and the sealing plug (123) is plugged into the cleaning hole.

4. A figurative mining robot according to claim 1, characterized in that The shell (21) is provided with a protection umbrella device (25) at the top, the protection umbrella device (25) comprises a first support rod (252), a top surface (257), a peripheral frame surface (253) and a second support rod (254), the first support rod (252) is installed on the top of the shell (21) through a flange (251), the top end of the first support rod (252) is provided with a top plate (257), the peripheral frame surfaces (253) are arranged circumferentially along the top plate (257), and each peripheral frame surface (253) is rotationally connected with the top plate (257) through a rotating shaft; an electric telescopic rod is installed in the first support rod (252), a guide hole (258) is arranged on the side wall of the first support rod (252), a sliding sleeve (255) is slidably arranged on the first support rod (252), the second support rod (254) is hinged to the outer side of the sliding sleeve (255), and the other end of the second support rod (254) is hinged to the peripheral frame surface (253).

5. A figurative mining robot according to claim 1, characterized in that, A sensor rotating holder is installed on the shell (21), and a sensor device (26) is installed at the output end of the sensor rotating holder.

6. A figurative mining robot according to claim 1, characterized in that The walking device (3) comprises a connecting frame (31), a supporting frame (32), a roller (33), a supporting rod (34), a fixing plate (35) and an axle (36); the bottom of the shell (21) is provided with leg connecting plates (23) on both sides, the connecting frame (31) is installed on the leg connecting plates (23), and the supporting rod (34) is installed in the connecting frame (31); the supporting frame (32) is installed at the bottom of the connecting frame (31), the fixing plate (35) is installed at the bottom of the supporting frame (32), and the roller (33) is rotatably installed at the bottom of the fixing plate (35) through the axle (36).

7. A figurative mining robot according to claim 1, characterized in that The tail dust collection device (4) comprises a dust collection pipe (41), a dust collection box (42) and a baffle (43); the shell (21) is provided with a dust collection cavity, a dust collection pump is installed in the dust collection cavity, the output end of the dust collection pump is communicated with the dust collection pipe (41), the suction end of the dust collection pipe (41) penetrates out of the shell (21), the dust collection box (42) is communicated with the suction end of the dust collection pipe (41), and the baffle (43) is installed on the suction end of the dust collection pipe (41).

8. A figurative mining robot according to claim 1, characterized in that The both sides of the shell (21) are rotatably provided with protection plates (24) through rotating shafts, the rotating shafts of the protection plates (24) are connected with damping motors, and the damping motors are installed on the shell (21).

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