Sandstone mine sampling crawler
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANGHAI ZHUICE INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2026-05-26
- Publication Date
- 2026-07-21
Smart Images
Figure CN122426322A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of mine sampling, and more particularly to a tracked vehicle for sampling sand and gravel mines. Background Technology
[0002] Mine geological sampling refers to the collection of specific samples from ore bodies, surrounding rocks, and mine products according to certain specifications. This process, followed by analysis, testing, or identification, encompasses the entire process. Its purpose is to study mineral quality, the physical and chemical properties of ore and surrounding rocks, the technical performance of the ore, and mining conditions, providing data for deposit evaluation, reserve calculation, and related geological, mining, beneficiation, and comprehensive mineral utilization practices.
[0003] Sampling methods vary depending on the geological conditions of the mine. For sand and gravel mines, the geology is relatively loose and there is a lot of water vapor and dust. Based on this, a tracked sampling vehicle for sand and gravel mines was designed, which uses a multi-joint robotic arm to control the sampling drill bit for sampling.
[0004] However, due to the excessive moisture, dust, and fog in sand and gravel mines, the joints of robotic arms or external vibration motors are prone to water and fog ingress, which affects motor performance and lifespan. Similarly, if the drive unit of a tracked vehicle is exposed to air, the drive motor and bearings are prone to water and fog ingress, which also affects their performance and lifespan. Moreover, because the geology of sand and gravel mines is relatively loose, fine sand can easily enter the tracks during movement and then into the track drive mechanism, causing accelerated wear of the track drive mechanism and affecting the performance and lifespan of the tracked vehicle. In addition, how to achieve sampling and setting out at specific depths more conveniently is also an urgent problem to be solved. Summary of the Invention
[0005] In view of the above problems, the present invention is proposed to provide solutions that overcome or at least partially solve the above problems.
[0006] According to one aspect of the present invention, a tracked vehicle for sampling in a sand and gravel mine is provided, including tracks disposed on both sides of the vehicle frame, a drive device disposed within the vehicle frame for driving the tracks, a robotic arm disposed on the top of the vehicle frame, and a sampling drill bit disposed at the end of the robotic arm away from the vehicle frame. The sampling drill bit is used for sampling and setting out at a specific depth; The robotic arm is used to control the position of the sampling drill bit; The drive unit drives the tracks to enable the tracked vehicle to move on the sand and gravel mine.
[0007] Preferably, the sampling drill bit includes a drill rod, the drill rod includes a drill rod sleeve, a sampling rod is provided inside the drill rod sleeve, the sampling rod is rotatably connected to the drill rod sleeve through a sampling bearing, the upper end of the sampling rod is drivenly connected to the output shaft of the sampling motor, the bottom of the sampling rod is provided with a spiral feeding blade for sampling and conveying sand and gravel, and a sand discharge port is opened in the middle of the drill rod sleeve, the sand discharge port is located above the spiral feeding blade; The bottom of the drill pipe sleeve has a needle-like structure, which makes it easy to insert into sand and gravel mines; The top of the drill pipe sleeve is provided with a connecting sleeve, and the sampling motor is located inside the connecting sleeve; The outer side of the connecting sleeve is also equipped with a vibrator to assist the drill pipe sleeve in being inserted into the sand and gravel mine.
[0008] Preferably, the top of the drill rod is provided with a drill rod quick-release seat, the upper end of the drill rod quick-release seat is connected to the multi-joint robotic arm of the tracked vehicle, and the lower end of the drill rod quick-release seat is connected to the connecting sleeve; The drill pipe quick-release base includes a fixing plate, which is fixedly connected to the free section of the multi-joint robotic arm of the tracked vehicle. A sliding connecting block is provided below the fixing plate, and the fixing plate and the sliding connecting block are connected on both sides by side plates. The connecting sleeve slides through the sliding connecting block. Several indexing adjustment holes are linearly arrayed on both sides of the upper end of the connecting sleeve. The sliding connecting block has adjustment fixing holes and fixing screw holes sequentially opened from top to bottom on both sides. The position of the drill rod is constrained by the indexing pin passing through the adjustment fixing holes and the indexing adjustment holes with the appropriate height in sequence. A tensioning bolt is screwed into the fixing screw hole, and the inner end of the tensioning bolt presses against the fixed connecting sleeve.
[0009] Preferably, the sampling drill bit further includes a sampling box, which is located on the top of the tracked vehicle and includes a sample chamber. The top of the sample chamber is provided with a sampling container with a top opening. The sampling chamber has an opening on the side near the multi-joint robotic arm. The drill rod can be controlled by the multi-joint robotic arm to extend into the sampling chamber. At this time, the sand discharge port is located above the top opening of the sampling container. The sampling motor controls the sample to enter the sampling container through the sand discharge port.
[0010] Preferably, the waterproof structure of the robotic arm includes a joint waterproof ring disposed at the joint of the robotic arm, the joint waterproof ring including an inner waterproof ring and an outer waterproof ring, the inner waterproof ring and the outer waterproof ring being rotatably connected in a sealed manner; The inner waterproof ring is fitted on the outside of the robotic arm motor, and the outer waterproof ring is fitted on the outside of the corresponding joint of the robotic arm. The inner waterproof ring is provided with a No. 1 fastener at one end near the outer waterproof ring, and the outer waterproof ring is provided with a No. 2 fastener at one end near the inner waterproof ring. Both the No. 1 and No. 2 fasteners adopt a U-shaped structure, and the opening directions of the No. 1 and No. 2 fasteners are opposite. The outer side wall of the No. 1 fastener is engaged in the U-shaped groove of the No. 2 fastener. The outer wall of the first fastener is connected to the U-shaped groove of the second fastener by a gap, and the U-shaped groove of the second fastener is filled with sealing grease or water-absorbing material.
[0011] Preferably, the waterproof structure of the robotic arm also includes a waterproof vibration motor mounted on the sampling drill bit, which includes a waterproof sealed housing, the waterproof sealed housing having a vibration motor body, and the outer side of the waterproof sealed housing having a vibration motor mounting bracket; The vibration motor mounting bracket adopts a U-shaped structure, which is clamped on the outside of the drill rod and fixed by bolts.
[0012] Preferably, the driving device includes a drive shaft, a drive shaft mounting plate and a sealing housing are sleeved on the drive shaft, the drive shaft mounting plate is fixedly connected to the sealing housing, the sealing housing is provided with a main bearing and a secondary bearing, the main bearing and the secondary bearing are both sleeved on the drive shaft, and the main bearing and the secondary bearing are respectively connected to the two side plates of the sealing housing; The sealed enclosure includes a bottom plate and an outer body, with the bottom plate fixedly connected to the drive shaft mounting plate. The main bearing seal is attached to the center of the bottom plate of the sealing box, and the auxiliary bearing seal is located at the center of the top plate of the main body of the sealing box. The drive unit has two waterproof structures, which are respectively located on both sides of one end of the tracked vehicle frame. The drive shaft mounting plate is sealed to the outer wall of the tracked vehicle frame, and the drive shaft passes through the outer wall of the tracked vehicle frame.
[0013] Preferably, two tracked vehicle drive motors are symmetrically arranged inside the tracked vehicle frame, and the output shaft of the tracked vehicle drive motor is connected to the transmission shaft on its corresponding side. The sealed housing is located on the side of the drive shaft mounting plate away from the tracked vehicle frame, and the end of the drive shaft away from the tracked vehicle frame is connected to the track drive wheel.
[0014] Preferably, the track includes a support beam, a plurality of auxiliary wheels are provided at the upper end of the support beam, a support wheel is provided at the rear end of the support beam, a drive wheel is provided at the front side of the support beam, the drive wheel is poweredly connected to the drive shaft of the tracked vehicle, and a track is fitted on the outside of the drive wheel, the support wheel, and the plurality of auxiliary wheels, and sandproof plates are provided on both sides of the track; The sandproof plate has a sand discharge port on the upper side of the end near the drive wheel, and a sand discharge shovel is provided on the sand discharge port to shovel out the mineral sand adhering to the track from the sand discharge port when the tracked vehicle moves forward or backward. Both sides of the sand-draining shovel have a structure in which the width gradually decreases from the inside to the outside. The outer side of the track is provided with two rows of symmetrical protrusions. The protrusions are equidistantly arranged along the outer surface of the track. The protrusions adopt an inclined structure with an inclination angle of 30° to 60°. The tracks are made of rubber.
[0015] Preferably, the auxiliary wheels are symmetrically arranged in two rows, and both rows of auxiliary wheels are rotatably connected to the upper end of the support beam; the support wheels are symmetrically arranged in two rows, and both support wheels are rotatably connected to the rear end of the support beam. The support beam is fixedly connected to the tracked vehicle frame by several crossbeams.
[0016] In this invention, a drill rod sleeve is provided, and a vibrator is installed on the outside of the drill rod. The vibrator and the needle tip structure of the drill rod sleeve assist the extension of the drill rod. At the same time, the internal motor drives the spiral feeding blades to drill deeper. The waste sample is discharged from the sand discharge port, and the sample at the target depth is left in the front end of the drill rod sleeve, which can achieve sampling at a specific depth. Then, the drill rod is controlled to penetrate deeper into the sampling container and continue to rotate to complete the sample placement. In addition, a quick-installation structure for the drill rod is provided to realize the quick disassembly and assembly of the drill rod, which is convenient for replacement and maintenance, and is more flexible and convenient to use. In this invention, the outer wall of fastener No. 1 is fitted into the U-shaped groove of fastener No. 2. The outer wall of fastener No. 1 and the U-shaped groove of fastener No. 2 are connected by a gap. The U-shaped groove of fastener No. 2 is filled with sealing grease or water-absorbing material to achieve a sealed rotational connection between the inner waterproof ring and the outer waterproof ring. At the same time, the vibration motor is sealed by the sealing shell to prevent water vapor and dust from entering, thereby improving the performance stability and service life of the motor. In this invention, a sealed housing is provided on the drive shaft, and the bearing is placed inside the sealed housing. At the same time, the sealed housing can seal the connection between the tracked vehicle frame and the drive shaft, thereby achieving the sealing of the tracked vehicle frame, preventing water vapor and dust from entering, and preventing the bearing from contacting external water vapor and dust, thus improving the performance stability and service life of the motor and bearing. In this invention, sand-proof plates are provided on both sides of the track. A sand discharge port is provided on the upper side of the sand-proof plate near the drive wheel. A sand discharge shovel is provided on the sand discharge port. Both sides of the sand discharge shovel adopt a structure in which the width gradually decreases from the inside to the outside. By using this structure to clamp the two sides of the track, very little ore sand can enter the track structure. At the same time, the sand-proof shovel of this structure can scoop out the ore sand that has entered the track from the sand discharge port when the tracked vehicle moves forward or backward, ensuring the normal operation of the tracked vehicle in the mine and improving the performance stability and service life of the track. In addition, two rows of symmetrical protrusions are provided on the outer side of the track. The protrusions adopt an inclined structure, thereby increasing the stability of the tracked vehicle's movement.
[0017] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description
[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 This is a schematic diagram of the overall structure provided for an embodiment of the present invention; Figure 2 This is a schematic diagram of the drill pipe structure provided in an embodiment of the present invention; Figure 3 A cross-sectional view of a drill pipe provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the drill pipe quick-release seat structure provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the use of the lofting box provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the lofting box provided in an embodiment of the present invention; Figure 7 This is a schematic diagram showing the location of the waterproof structure of the robotic arm provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the joint waterproof ring structure provided in an embodiment of the present invention; Figure 9 A cross-sectional view of the joint waterproof ring provided in an embodiment of the present invention; Figure 10 A schematic diagram of a waterproof vibration motor structure provided in an embodiment of the present invention; Figure 11 A cross-sectional view of a waterproof vibration motor provided in an embodiment of the present invention; Figure 12 This is a schematic diagram of the overall structure of the waterproof drive shaft provided in an embodiment of the present invention; Figure 13 This is a schematic diagram of the internal structure of the waterproof drive shaft provided in an embodiment of the present invention; Figure 14 A cross-sectional view of a waterproof drive shaft provided in an embodiment of the present invention; Figure 15 This is a schematic diagram of the waterproof drive shaft mounting structure provided in an embodiment of the present invention; Figure 16This is a schematic diagram of the internal structure of the track provided in an embodiment of the present invention; Figure 17 This is a schematic diagram of the external structure of the track provided in an embodiment of the present invention; Figure 18 This is a schematic diagram of a track drive mechanism provided in an embodiment of the present invention; Figure 19 This is a schematic diagram of the sand-proof board structure provided in an embodiment of the present invention; Figure 20 This is a schematic diagram of track installation provided in an embodiment of the present invention; In the picture: 1. Sampling drill bit; 11. Drill rod; 111. Drill rod sleeve; 112. Sampling rod; 113. Sand discharge port; 114. Sampling bearing; 115. Sampling motor; 116. Connecting sleeve; 117. Indexing adjustment hole; 12. Drill rod quick-release seat; 121. Fixing plate; 122. Sliding connecting block; 123. Side plate; 124. Adjustment fixing hole; 125. Fixing screw hole; 126. Indexing pin; 127. Tensioning bolt; 13. Vibrator; 14. Sampling box; 141. Sample chamber; 142. Sampling chamber; 143. Sampling container; 2. Robotic arm; 21. Joint waterproof ring; 211. Inner waterproof ring; 212. Outer waterproof ring; 213. Fastener No. 1; 214. Fastener No. 2; 22. Waterproof vibration motor; 221. Waterproof sealing shell; 222. Vibration motor body; 223. Vibration motor mounting bracket; 3. Drive unit; 31. Drive shaft; 32. Drive shaft mounting plate; 33. Sealed housing; 331. Sealed housing bottom plate; 332. Sealed housing body; 34. Main bearing; 35. Secondary bearing; 36. Tracked vehicle frame; 37. Tracked vehicle drive motor; 4. Tracks; 41. Support beam; 42. Auxiliary wheel; 43. Support wheel; 44. Drive wheel; 45. Tracks; 451. Protrusion; 46. Sandproof plate; 461. Sand discharge port; 462. Sand discharge shovel. Detailed Implementation
[0020] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
[0021] The terms "comprising" and "having," and any variations thereof, in the specification, embodiments, claims, and drawings of this invention are intended to cover non-exclusive inclusion, such as including a series of steps or units.
[0022] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.
[0023] A tracked vehicle for sampling in sand and gravel mines, such as Figure 1 As shown, it includes tracks 4 on both sides of the frame, a drive unit 3 inside the frame for driving the tracks 4, a robotic arm 2 on the top of the frame, and a sampling drill bit 1 on the end of the robotic arm 2 away from the frame. Sampling drill bit 1 is used for sampling and setting out at a specific depth; Robotic arm 2 is used to control the position of sampling drill bit 1; The drive unit 3 drives the tracks 4 to enable the tracked vehicle to move on the sand and gravel mine.
[0024] In one possible implementation, such as Figures 2-3 As shown, the sampling drill bit 11 includes a drill rod 11, the drill rod 11 includes a drill rod sleeve 111, a sampling rod 112 is provided inside the drill rod sleeve 111, the sampling rod 112 is rotatably connected to the drill rod sleeve 111 through a sampling bearing 114, the upper end of the sampling rod 112 is drivenly connected to the output shaft of the sampling motor 115, the bottom of the sampling rod 112 is provided with a spiral feeding blade for sampling and conveying sand and gravel, and a sand discharge port 113 is opened in the middle of the drill rod sleeve 111, the sand discharge port 113 is located above the spiral feeding blade; The bottom of drill pipe sleeve 111 adopts a needle-like structure, which makes it easy to insert into sand and gravel mines; The top of the drill pipe sleeve 111 is provided with a connecting sleeve 116, and the sampling motor 115 is located inside the connecting sleeve 116; In one possible implementation, a vibrator 13 is also provided on the outside of the connecting sleeve 116 to assist the drill pipe sleeve 111 in being inserted into the sand and gravel mine. The vibrator 3 is a waterproof vibration motor.
[0025] In one possible implementation, the drill rod 11 is pushed into the ore pile manually or by a robotic arm, and the sampling motor 115 is turned on to drill. After being inserted to a specified angle and depth, a specific depth and a specific number of ore samples are extracted.
[0026] In one possible implementation, the sampling rod 112 is driven by the sampling motor 115 and rotates in the drill rod sleeve 111. It is driven into the ore sand by manual or mechanical means. The ore sand is driven by the spiral feeding blades towards the manual or mechanical means and is discharged through the sand discharge port 113 of the drill rod sleeve 111. When the drill rod 11 reaches a specific depth, the sampling rod 112 stops rotating. The ore sand left by the spiral feeding blades at this moment is the sample. It is pulled out of the mine by manual or mechanical means. The sand discharge port 113 of the drill rod sleeve 111 discharges the sample left at a non-specific depth. Finally, the manual or mechanical means enter the sampling container 143 of the sampling box 4 and continue to rotate to perform sampling, thus realizing the sampling work.
[0027] In one possible implementation, such as Figure 4 As shown, the drill rod 11 is provided with a drill rod quick-release seat 12 at the top. The upper end of the drill rod quick-release seat 12 is connected to the multi-joint robotic arm of the tracked vehicle, and the lower end of the drill rod quick-release seat 12 is connected to the connecting sleeve 116. The drill pipe quick-assembly base 12 includes a fixing plate 121, which is fixedly connected to the free section of the multi-joint robotic arm of the tracked vehicle. A sliding connecting block 122 is provided below the fixing plate 121, and both sides of the fixing plate 121 and the sliding connecting block 122 are connected by side plates 123. The connecting sleeve 116 slides through the sliding connecting block 122. Several indexing adjustment holes 117 are linearly arrayed on both sides of the upper end of the connecting sleeve 116. The sliding connecting block 122 has an adjustment fixing hole 124 and a fixing screw hole 125 sequentially opened from top to bottom on both sides. The position of the drill rod 11 is constrained by the indexing pin 126 passing through the adjustment fixing hole 124 and the indexing adjustment hole 117 with the appropriate height. A tensioning bolt 127 is screwed into the fixing screw hole 125. The inner end of the tensioning bolt 127 presses and fixes the connecting sleeve 116.
[0028] Furthermore, the sliding connecting block 122 constrains the connecting sleeve 116 to move back and forth and left and right, the indexing pin 126 constrains its up and down movement and rotation, and the tensioning bolt 127 locks the drill rod 11, which ensures both the gripping force and stability, and also makes the structure lightweight and allows for quick installation and disassembly.
[0029] In one possible implementation, such as Figure 5 and Figure 6 As shown, the sampling drill bit 1 also includes a sample placement box 14, which is located on the top of the tracked vehicle. It includes a sample chamber 141, a sample placement box 142 on the top of the sample chamber 141, and a sampling container 143 with a top opening inside the sample chamber 141. The sample placement box 142 has an opening on the side near the multi-joint robotic arm. The drill rod 11 can be controlled by the multi-joint robotic arm to extend into the sample placement box 142. At this time, the sand discharge port 113 is located above the top opening of the sampling container 143. The sampling motor 115 controls the sample to enter the sampling container 143 through the sand discharge port 113.
[0030] Furthermore, the sampling container 143 is connected to the sample chamber 141 via a pull-out structure, which facilitates the opening and closing of the sampling container 143.
[0031] In one possible implementation, the sampling box 14 ensures relative isolation from the overall outdoor environment, is waterproof, sandproof, and prevents tipping over. At the same time, it can bind the samples taken by the sampling box RFID reader to the project, time, location, and implementer, so as to preserve the samples and retain the true state of the site.
[0032] In one possible implementation, such as Figures 7-9As shown, the waterproof structure of the robotic arm 2 includes a joint waterproof ring 21 located at the joint of the robotic arm. The joint waterproof ring 21 includes an inner waterproof ring 211 and an outer waterproof ring 212, which are sealed and rotatably connected. The inner waterproof ring 211 is fitted on the outside of the robot arm motor, and the outer waterproof ring 212 is fitted on the outside of the corresponding joint of the robot arm; The inner waterproof ring 211 is provided with a first fastener 213 at one end near the outer waterproof ring 212, and the outer waterproof ring 212 is provided with a second fastener 214 at one end near the inner waterproof ring 211. Both the first fastener 213 and the second fastener 214 adopt a U-shaped structure, and the opening directions of the first fastener 213 and the second fastener 214 are opposite. The outer side wall of the first fastener 213 is fitted into the U-shaped groove of the second fastener 214. The outer wall of fastener 213 is connected to the U-shaped groove of fastener 214 by a gap. The U-shaped groove of fastener 214 is filled with sealing grease or water-absorbing material.
[0033] Furthermore, both the inner waterproof ring 211 and the outer waterproof ring 212 are made of salt spray resistant silicone material, which are respectively fitted onto both sides of the rotating joint of the robotic arm. The inner ring U-shaped groove is coated with sealing grease or water-absorbing material to ensure that the double ring structure rotates smoothly and is sealed and waterproof, thus increasing the waterproof and salt spray resistant performance of the robotic arm.
[0034] In one possible implementation, such as Figures 10-11 As shown, the waterproof structure of the robotic arm 2 also includes a waterproof vibration motor 22 mounted on the sampling drill bit, which includes a waterproof sealing housing 221, a vibration motor body 222 mounted on the waterproof sealing housing 221, and a vibration motor mounting bracket 223 mounted on the outside of the waterproof sealing housing 221. The vibration motor mounting bracket 223 adopts a U-shaped structure, which is clamped on the outside of the drill rod and fixed by bolts.
[0035] Furthermore, the waterproof vibration motor 22 is fixed on the sampling drill rod. When the drill rod is drilling downwards to take samples, the waterproof vibration motor 22 is turned on to make the drill rod vibrate. This structure has complete protection against rain, high salt spray and high dust environments in mining environments. It can transmit vibration and completely protect the motor from environmental interference that could cause it to fail.
[0036] In one possible implementation, such as Figures 12-15 As shown, the drive device 3 includes a drive shaft 31, a drive shaft mounting plate 32 and a sealing housing 33 are sleeved on the drive shaft 31, the drive shaft mounting plate 32 is fixedly connected to the sealing housing 33, and a main bearing 34 and a secondary bearing 35 are provided inside the sealing housing 33. The main bearing 34 and the secondary bearing 35 are both sleeved on the drive shaft 31, and the main bearing 34 and the secondary bearing 35 are respectively connected to the two side plates of the sealing housing 33. The sealed box 33 includes a sealed box bottom plate 331 and a sealed box body 332 on its outer side. The sealed box bottom plate 331 is fixedly connected to the drive shaft mounting plate 32. The main bearing 34 is sealed and fastened at the center of the bottom plate 331 of the sealing box, and the auxiliary bearing 35 is sealed and fastened at the center of the top plate of the main body 332 of the sealing box. The drive unit has two waterproof structures, which are respectively located on both sides of one end of the tracked vehicle frame 36. The drive shaft mounting plate 32 is sealed to the outer wall of the tracked vehicle frame 36, and the drive shaft 31 passes through the outer wall of the tracked vehicle frame 36.
[0037] In one possible implementation, two tracked vehicle drive motors 37 are symmetrically arranged inside the tracked vehicle frame 36, and the output shaft of the tracked vehicle drive motor 37 is connected to the drive shaft 31 on its corresponding side. The sealed housing 33 is located on the side of the drive shaft mounting plate 32 away from the tracked vehicle frame 36, and the end of the drive shaft 31 away from the tracked vehicle frame 36 is connected to the track drive wheel.
[0038] Furthermore, the tracked vehicle frame 36 adopts a box structure, and the connection between the box structure and other components adopts a sealed structure.
[0039] In one possible implementation, such as Figures 16-20 As shown, the track 4 includes a support beam 41, a number of auxiliary wheels 42 are provided at the upper end of the support beam 41, a support wheel 43 is provided at the rear end of the support beam 41, a drive wheel 44 is provided at the front side of the support beam 41, the drive wheel 44 is poweredly connected to the drive shaft of the tracked vehicle, and a track 45 is fitted on the outside of the drive wheel 44, the support wheel 43, and the number of auxiliary wheels 42. Sandproof plates 46 are provided on both sides of the track 45. The sand-proof plate 46 has a sand discharge port 461 on the upper side of one end near the drive wheel 44. The sand discharge port 461 is equipped with a sand discharge shovel 462, which is used to shovel out the mineral sand adhering to the track from the sand discharge port when the tracked vehicle moves forward or backward. The sand-draining shovel 462 has a structure on both sides that gradually decreases in width from the inside to the outside. Furthermore, when a tracked vehicle travels through ore, the ore will enter the track drive mechanism. By using this structure to clamp the track on both sides, very little ore can enter the track structure. At the same time, the anti-sand shovel of this structure can scoop out the ore that has entered the track from the sand discharge port when the tracked vehicle moves forward or backward, ensuring the normal operation of the tracked vehicle in the mine.
[0040] To further clarify, this track is only intended to reduce the amount of fine sand entering the track drive system and to scrape out as much fine sand as possible from inside the track; it cannot provide complete sand protection.
[0041] The outer side of the track 45 is provided with two rows of symmetrical protrusions 451. The protrusions 451 are equidistantly arranged along the outer surface of the track 45. The protrusions 451 adopt an inclined structure with an inclination angle of 30° to 60°. Track 45 is made of rubber.
[0042] In one possible implementation, two rows of auxiliary wheels 42 are symmetrically arranged, and both rows of auxiliary wheels 42 are rotatably connected to the upper end of the support beam 41. Two support wheels 43 are symmetrically arranged, and both support wheels 43 are rotatably connected to the rear end of the support beam 41. The support beam 41 is fixedly connected to the tracked vehicle frame through several crossbeams.
[0043] Furthermore, the connection between the crossbeam and the tracked vehicle frame adopts a sealed structure, and the connection between the crossbeam and the sandproof plate 6 adopts a sealed structure.
[0044] It is worth noting that other components not specifically mentioned are all direct applications of existing technology and can be purchased on the market, and are not specifically described in this application.
[0045] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
Claims
1. A tracked vehicle for sampling in sand and gravel mines, characterized in that: Includes tracks (4) on both sides of the frame, a drive unit (3) inside the frame for driving the tracks (4), a robotic arm (2) on the top of the frame, and a sampling drill bit (1) on the end of the robotic arm (2) away from the frame. The sampling drill bit (1) is used for sampling and setting out at a specific depth; The robotic arm (2) is used to control the position of the sampling drill bit (1); The drive unit (3) drives the tracks (4) to enable the tracked vehicle to move on the sand and gravel mine.
2. The tracked sampling vehicle for sand and gravel mines as described in claim 1, characterized in that: The sampling drill bit (11) includes a drill rod (11), the drill rod (11) includes a drill rod sleeve (111), a sampling rod (112) is provided inside the drill rod sleeve (111), the sampling rod (112) is rotatably connected to the drill rod sleeve (111) through a sampling bearing (114), the upper end of the sampling rod (112) is connected to the output shaft of the sampling motor (115) for transmission, the bottom of the sampling rod (112) is provided with a spiral feeding blade for sampling and conveying sand and gravel, and a sand discharge port (113) is opened in the middle of the drill rod sleeve (111), the sand discharge port (113) is located above the spiral feeding blade; The bottom of the drill pipe sleeve (111) adopts a needle-like structure, which makes it easy to insert into the sand and gravel mine; The drill pipe sleeve (111) is provided with a connecting sleeve (116) at the top, and the sampling motor (115) is located inside the connecting sleeve (116); A vibrator (13) is also provided on the outside of the connecting sleeve (116) to assist the drill pipe sleeve (111) in being inserted into the sand and gravel mine.
3. The tracked sampling vehicle for sand and gravel mines as described in claim 2, characterized in that: The drill rod (11) is provided with a drill rod quick-release seat (12) at the top. The upper end of the drill rod quick-release seat (12) is connected to the multi-joint robotic arm of the tracked vehicle, and the lower end of the drill rod quick-release seat (12) is connected to the connecting sleeve (116). The drill pipe quick-mount base (12) includes a fixing plate (121), which is fixedly connected to the free section of the multi-joint robotic arm of the tracked vehicle. A sliding connecting block (122) is provided below the fixing plate (121), and both sides of the fixing plate (121) and the sliding connecting block (122) are connected by side plates (123). The connecting sleeve (116) slides through the sliding connecting block (122). The upper end of the connecting sleeve (116) has several indexing adjustment holes (117) arranged in a straight line on both sides. The sliding connecting block (122) has an adjustment fixing hole (124) and a fixing screw hole (125) arranged from top to bottom on both sides. The indexing pin (126) passes through the adjustment fixing hole (124) and the indexing adjustment hole (117) with the appropriate height to constrain the position of the drill rod (11). A tensioning bolt (127) is screwed into the fixing screw hole (125). The inner end of the tensioning bolt (127) presses and fixes the connecting sleeve (116).
4. The tracked sampling vehicle for sand and gravel mines as described in claim 2, characterized in that: The sampling drill bit (1) also includes a sampling box (14), which is located on the top of the tracked vehicle and includes a sample chamber (141). The top of the sample chamber (141) is provided with a sampling chamber (142). The sample chamber (141) is provided with a sampling container (143) with a top opening. The sampling chamber (142) has an opening on the side near the multi-joint robotic arm. The drill rod (11) can be controlled by the multi-joint robotic arm to extend into the sampling chamber (142). At this time, the sand discharge port (113) is located above the top opening of the sampling container (143). The sample is controlled by the operation of the sampling motor (115) to enter the sampling container (143) through the sand discharge port (113).
5. The tracked sampling vehicle for sand and gravel mines as described in claim 1, characterized in that: The waterproof structure of the robotic arm (2) includes a joint waterproof ring (21) located at the joint of the robotic arm. The joint waterproof ring (21) includes an inner waterproof ring (211) and an outer waterproof ring (212). The inner waterproof ring (211) and the outer waterproof ring (212) are sealed and rotatably connected. The inner waterproof ring (211) is fitted on the outside of the robot arm motor, and the outer waterproof ring (212) is fitted on the outside of the corresponding joint of the robot arm. The inner waterproof ring (211) is provided with a first fastener (213) at one end near the outer waterproof ring (212), and the outer waterproof ring (212) is provided with a second fastener (214) at one end near the inner waterproof ring (211). Both the first fastener (213) and the second fastener (214) adopt a U-shaped structure, and the opening directions of the first fastener (213) and the second fastener (214) are opposite. The outer side wall of the first fastener (213) is fitted into the U-shaped groove of the second fastener (214). The outer wall of the first fastener (213) is connected to the U-shaped groove of the second fastener (214) by a gap, and the U-shaped groove of the second fastener (214) is filled with sealing grease or water-absorbing material.
6. The tracked sampling vehicle for sand and gravel mines as described in claim 5, characterized in that: The waterproof structure of the robotic arm (2) also includes a waterproof vibration motor (22) installed on the sampling drill bit, which includes a waterproof sealing housing (221), the waterproof sealing housing (221) is provided with a vibration motor body (222), and the outside of the waterproof sealing housing (221) is provided with a vibration motor mounting bracket (223). The vibration motor mounting bracket (223) adopts a U-shaped structure, which is clamped on the outside of the drill rod and fixed by bolts.
7. The tracked sampling vehicle for sand and gravel mines as described in claim 1, characterized in that: The drive device (3) includes a drive shaft (31), on which a drive shaft mounting plate (32) and a sealing housing (33) are fitted. The drive shaft mounting plate (32) is fixedly connected to the sealing housing (33). The sealing housing (33) contains a main bearing (34) and a secondary bearing (35). The main bearing (34) and the secondary bearing (35) are both fitted on the drive shaft (31). The main bearing (34) and the secondary bearing (35) are respectively connected to the two side plates of the sealing housing (33). The sealed box (33) includes a sealed box bottom plate (331) and a sealed box body (332) on its outer side. The sealed box bottom plate (331) is fixedly connected to the drive shaft mounting plate (32). The main bearing (34) is sealed and fastened at the center of the bottom plate (331) of the sealing box, and the auxiliary bearing (35) is sealed and fastened at the center of the top plate of the main body (332) of the sealing box. The drive unit has two waterproof structures, which are respectively located on one side of the tracked vehicle frame (36). The drive shaft mounting plate (32) is sealed to the outer wall of the tracked vehicle frame (36), and the drive shaft (31) passes through the outer wall of the tracked vehicle frame (36).
8. A tracked sampling vehicle for sand and gravel mines as described in claim 7, characterized in that: Two tracked vehicle drive motors (37) are symmetrically arranged inside the tracked vehicle frame (36), and the output shaft of the tracked vehicle drive motor (37) is connected to the transmission shaft (31) on its corresponding side. The sealed housing (33) is located on the side of the drive shaft mounting plate (32) away from the tracked vehicle frame (36), and the end of the drive shaft (31) away from the tracked vehicle frame (36) is connected to the track drive wheel.
9. A tracked sampling vehicle for sand and gravel mines as described in claim 1, characterized in that: The track (4) includes a support beam (41), the upper end of the support beam (41) is provided with a plurality of auxiliary wheels (42), the rear end of the support beam (41) is provided with a support wheel (43), the front side of the support beam (41) is provided with a drive wheel (44), the drive wheel (44) is poweredly connected to the drive shaft of the tracked vehicle, the drive wheel (44), the support wheel (43) and the plurality of auxiliary wheels (42) are fitted with a track (45), and both sides of the track (45) are provided with sandproof plates (46). The sand-proof plate (46) has a sand discharge port (461) on the upper side of one end near the drive wheel (44), and a sand discharge shovel (462) is provided on the sand discharge port (461) to shovel out the mineral sand adhering to the track from the sand discharge port when the tracked vehicle moves forward or backward. The sand-draining shovel (462) has a structure on both sides that gradually decreases in width from the inside to the outside; The track (45) has two rows of symmetrical protrusions (451) on its outer side. The protrusions (451) are equidistantly arranged along the outer surface of the track (45). The protrusions (451) adopt an inclined structure with an inclination angle of 30° to 60°. The track (45) is made of rubber.
10. A tracked sampling vehicle for sand and gravel mines as described in claim 9, characterized in that: The auxiliary wheels (42) are symmetrically arranged in two rows, and both rows of auxiliary wheels (42) are rotatably connected to the upper end of the support beam (41). The support wheels (43) are symmetrically arranged in two rows, and both support wheels (43) are rotatably connected to the rear end of the support beam (41). The support beam (41) is fixedly connected to the tracked vehicle frame by several crossbeams.