Mining robot with pecking function

Abstract

The application discloses a mining mechanical arm with pecking function, comprising a base, a plurality of grab levers, a movable connecting plate, a plurality of hinge blocks and a pecking driving link. The base is provided with parallel connecting end faces and working end faces, and the connecting end faces are used for being installed on a mechanical arm. Each grab lever is movably installed on the working end faces and is distributed in a circumferential direction around a base axis, and is used for jointly enclosing a clamping space for containing ore rocks. The movable connecting plate is movably arranged in the clamping space, one end of each hinge block is hingedly connected with the movable connecting plate, and the other end of each hinge block is hingedly connected with the middle part of the corresponding grab lever. The pecking driving link is movably arranged in the base and the movable connecting plate and is used for driving the movable connecting plate, so that the movable connecting plate is driven to move away from the base and drive each grab lever to open outward through the hinge blocks to complete a pecking action, or the movable connecting plate is driven to move close to the base and drive each grab lever to close inward through the hinge blocks to complete a grabbing action. The application can realize integrated and continuous operation of ore rock pecking and breaking and ore rock grabbing, and improves the mining operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of mineral extraction equipment technology, and in particular to a mining robot with a pecking function. Background Technology

[0002] In the sampling and mining operations of key metal minerals such as rare earths, traditional mining robots only have a single grasping function. When facing rocks with high hardness, they need to be replaced with pecking equipment for crushing, and frequent changes in equipment lead to low mining efficiency. Summary of the Invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a mining robot with a pecking function, which can realize the integrated continuous operation of ore pecking and crushing and ore grabbing, thereby improving the efficiency of mining operations.

[0004] Technical solution

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A mining robot with pecking function includes: a base, multiple gripping rods, a movable connecting plate, multiple hinge blocks, and a pecking drive linkage;

[0007] The base has a connecting end face and a working end face, the connecting end face and the working end face are arranged parallel to each other, and the connecting end face is used to be adapted to be installed on the robotic arm;

[0008] Each of the grab bars is movably installed on the working end face of the base, and each of the grab bars is circumferentially distributed around the axis of the base so that the grab bars can jointly enclose and form a clamping space, which is used to accommodate ore and rock;

[0009] The movable connecting plate is movably disposed within the clamping space;

[0010] One end of each hinge block is hinged to the movable connecting plate, and the other end is respectively hinged to the middle of one of the grab bars;

[0011] The pecking drive linkage is movably inserted through the base and through the movable connecting plate, and drives the movable connecting plate to move away from the base and drive the gripping rods together to complete the pecking action through the hinge blocks, or move closer to the base and drive the gripping rods together to complete the gripping action through the hinge blocks.

[0012] Furthermore, the mining robot with pecking function also includes multiple fixing plates, and each of the gripping rods is connected to the working end face of the base through one of the fixing plates.

[0013] Furthermore, the connecting end face of the base is connected to an internal gear, which is used to drive a rotary motor on the robotic arm so that the base can rotate relative to the output shaft of the rotary motor.

[0014] Furthermore, the base, the gripper rod, the movable connecting plate, the hinge block, the pecking drive linkage, the fixing plate, and the internal gear are all made of DC53 cold work die steel.

[0015] Furthermore, the fixing plate is detachably connected to the working end face of the base.

[0016] Furthermore, the connection end face between the internal gear and the base is detachably connected.

[0017] Furthermore, the pecking drive linkage has a linkage end and a pecking end; the linkage end is located on the end of the pecking drive linkage away from the movable connecting plate, and the linkage end is used to drive the linear telescopic drive source on the robotic arm so as to drive the pecking drive linkage to move relative to the base, thereby driving the movable connecting plate to move closer to or away from the base; the pecking end is located on the side of the movable connecting plate away from the base, and the pecking end is used to peck and break the ore.

[0018] Furthermore, the pecking drive linkage has a threaded section, which is movably inserted through the movable connecting plate. The mining robot with pecking function also includes at least two limiting nuts, which are threadedly connected to the threaded section and located on opposite sides of the movable connecting plate.

[0019] Furthermore, each of the gripping rods is provided with an avoidance arc surface, and the avoidance arc surfaces are close to each other to form an avoidance through hole, so that the pecking end of the pecking drive linkage can be movably inserted between the clamping space and the external environment.

[0020] Furthermore, the pecking end is detachably connected to a conical pecking rod.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] 1. The pecking drive linkage is movably mounted on the base and passes through the movable connecting plate, driving and connecting the movable connecting plate to move it away from the base to complete the pecking action. Through the independently driven, retractable pecking drive linkage, the equipment can directly perform high-speed reciprocating pecking crushing operations on hard, large blocks of ore at the working surface. This replaces the traditional mining robot, which only has a gripping function and cannot break rocks in situ, requiring additional crushing equipment and processes. It can directly crush unbroken, whole blocks of ore, saving time on equipment changeovers and workstation switching, and simplifying the mining operation process.

[0023] 2. Based on the hinge block having one end hinged to the movable connecting plate and the other end hinged to the middle of one of the grab bars, the pecking action and grabbing action can be switched in a coordinated manner. Through the hinged linkage structure of the movable connecting plate, hinge block and grab bar, the equipment can quickly switch to grabbing mode after pecking and crushing. Relying on mechanical linkage, seamless and continuous operation of crushing, collecting and grabbing is achieved, avoiding the problems of intermittent operation, equipment waiting and operation gaps in traditional split operation, improving the continuity and automation of mining operations, and further improving the overall mining operation efficiency.

[0024] 3. Based on the circumferential distribution of the grab bars around the axis of the base to form a clamping space, the reciprocating motion of the movable connecting plate enables the grab bars to open and close, collecting and clamping the crushed ore. Through the adaptive opening and closing structure of multiple circumferentially distributed grab bars, the crushed ore can be automatically collected, received, and stably clamped and fixed, eliminating the need for manual material collection or straightening. This is suitable for complex and harsh working conditions such as underground and open-pit mines, achieving integrated operation while reducing the cost of manual intervention, preventing safety hazards caused by manual operation, and further optimizing the overall economy and safety of mining operations. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of a mining robot with pecking function according to the present invention;

[0026] Figure 2 This is a cross-sectional schematic diagram of the present invention;

[0027] Figure 3 for Figure 1 A schematic diagram of the pecking drive linkage, in which the pecking drive linkage and the conical pecking rod are connected.

[0028] In the diagram: 1. Base; 11. Connecting end face; 12. Working end face; 2. Grab rod; 21. Avoidance arc surface; 3. Movable connecting plate; 4. Hinge block; 5. Pecking drive linkage; 51. Linkage end; 52. Pecking end; 53. Threaded section; 6. Fixing plate; 7. Internal gear; 8. Limit nut; 9. Conical pecking rod. Detailed Implementation

[0029] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0030] It should be noted that when an element is described as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is described as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0032] See Figures 1-3 A preferred embodiment of the present invention provides a mining robot with a pecking function, comprising: a base 1, multiple gripping rods 2, a movable connecting plate 3, multiple hinge blocks 4, and a pecking drive link 5.

[0033] The base 1 has a connecting end face 11 and a working end face 12, the connecting end face 11 and the working end face 12 being arranged parallel to each other, and the connecting end face 11 being adapted to be installed on a robotic arm; each of the gripping rods 2 is movably installed on the working end face 12 of the base 1, and each of the gripping rods 2 is circumferentially distributed around the axis of the base 1 so that the gripping rods 2 can collectively enclose a clamping space for accommodating ore; the movable connecting plate 3 is movably disposed within the clamping space; each of the hinges One end of block 4 is hinged to the movable connecting plate 3, and the other end is hinged to the middle of one of the gripping rods 2. The pecking drive linkage 5 is movably inserted through the base 1 and the movable connecting plate 3, and drives the movable connecting plate 3 so that the movable connecting plate 3 can be driven away from the base 1 and drive the gripping rods 2 together to complete the pecking action through each of the hinge blocks 4, or move closer to the base 1 and drive the gripping rods 2 together to complete the gripping action through each of the hinge blocks 4.

[0034] Specifically, the base 1 serves as the supporting structure and installation base for the entire mining robot. Its parallel connecting end face 11 and working end face 12 ensure the regularity of the overall structure and the stability of operation. The base 1 is precisely fitted and installed on the external mining robot arm through the connecting end face 11. It can follow the external robot arm to complete multi-angle and multi-directional position adjustments and attitude switching, providing stable support for the overall operation of the equipment, effectively ensuring the operating accuracy of subsequent moving parts, avoiding structural displacement and shaking during operation, and adapting to the operational needs of various underground and open-pit mining scenarios.

[0035] The working end face 12 of the base 1 serves as the assembly reference for the core operating components. Multiple gripping rods 2 are evenly distributed circumferentially around the central axis of the base 1, and each gripping rod 2 forms a movable connection structure with the working end face 12 of the base 1, enabling adaptive opening and closing swinging. The clamping space formed by the cooperation of multiple gripping rods 2 can adaptively adjust the opening and closing amplitude according to the size of the ore, adapting to the collection and clamping needs of crushed ore of different specifications and sizes, and providing a basic operating space for integrated operations.

[0036] The movable connecting plate 3, located inside the clamping space, is the core transmission and connection component. It can reciprocate linearly along the central axis of the base 1 with precise and stable motion. Multiple hinge blocks 4 are matched one-to-one with the gripping rods 2. Each hinge block 4 is hinged at both ends to the movable connecting plate 3 and the corresponding gripping rod 2, forming a linkage transmission structure. This hinge structure can efficiently transmit power, achieving precise linkage between the linear movement of the movable connecting plate 3 and the opening and closing swing of the gripping rod 2. There is no transmission jamming, low power loss, and the timeliness and accuracy of action switching are guaranteed.

[0037] The pecking drive linkage 5 is the core power actuator of the equipment. It is assembled through the base 1 and the movable connecting plate 3 in a movable manner, forming a stable drive connection with the movable connecting plate 3. It can perform high-speed reciprocating extension and retraction relative to the base 1, thereby realizing the switching between pecking and gripping operation modes. In the initial operation state, multiple gripping rods 2 are in a closed state close to each other, and the clamping space is closed. At this time, the equipment enters the ore pecking and crushing mode. The drive mechanism drives the pecking drive linkage 5 to extend outward at high speed relative to the base 1, and simultaneously pushes the movable connecting plate 3 to move away from the base 1, so that the end of the pecking drive linkage 5 extends out of the clamping space. During this process, each gripping rod 2 remains in a stable closed state. The high-speed reciprocating extension and retraction of the end of the pecking drive linkage 5 is used to perform high-frequency pecking impact on the hard and large pieces of ore at the mining face. For large, hard, and difficult-to-grab solid rock in mining operations, continuous pecking and impact can break down and fragment the rock, breaking large, hard rocks into smaller pieces of suitable size. This solves the problem that traditional mining robots can only grab rocks but cannot break them in situ, requiring auxiliary crushing equipment.

[0038] After the rock crushing operation is completed, the equipment can quickly switch to the gripping operation process. The pecking drive linkage 5 is controlled to retract in the reverse direction, causing the movable connecting plate 3 to gradually approach the base 1 from the far end. The pecking drive linkage 5 then retracts into the clamping space, terminating the crushing action. During the retraction and reset of the movable connecting plate 3, the multiple gripping rods 2, which were originally closed, gradually swing outwards and open through the synchronous traction transmission of each hinge block 4. This fully opens the clamping space, allowing the crushed small pieces of rock to fall naturally into the opened clamping space, completing automated collection and receiving without manual assistance, ensuring extremely high operational continuity.

[0039] After the ore and rock are collected, the pecking drive linkage 5 continuously drives the movable connecting plate 3 to move towards the base 1. Furthermore, the hinge block 4 continuously pulls each grab bar 2 inward, causing the multiple grab bars 2 to close together again, gradually tightening the clamping space. This forms a uniform and stable clamping force on the collected broken ore and rock, firmly fixing the ore and rock and preventing it from falling off or spilling during the transfer process, thus reliably completing the ore and rock grabbing operation.

[0040] The working principle of this invention is as follows: When the equipment is in operation, the connecting end face 11 of the base 1 is adapted to be installed on the external robotic arm, providing a stable mounting base and working support for the entire mining robot, ensuring the stability and working accuracy of each moving structure; the working end face 12 of the base 1 is equipped with multiple gripping rods 2 distributed circumferentially around its own axis. The multiple gripping rods 2 can cooperate to form a clamping space for accommodating ore and rock. Relying on the linkage of the movable connecting plate 3, the hinge block 4 and the pecking drive linkage 5, the continuous operation of ore crushing and gripping is realized. In the initial operating state of the equipment, multiple grab bars 2 approach each other and close, so that the clamping space is in a closed state. First, the rock pecking and crushing operation is carried out. The pecking drive linkage 5 is activated. The pecking drive linkage 5 extends outward relative to the base 1, passes through the base 1 and drives the movable connecting plate 3 to move away from the base 1. The entire pecking drive linkage 5 extends from inside the clamping space to outside the clamping space. At this time, each grab bar 2 remains closed. The end of the extended pecking drive linkage 5 is used to perform high-speed reciprocating pecking and impact on the hard rock to be mined, thereby realizing the cracking and crushing operation of large rock blocks. After the ore is crushed by pecking, the equipment switches to the grabbing operation. The pecking drive linkage 5 retracts in the opposite direction, causing the movable connecting plate 3 to gradually move closer to the base 1 from a position away from it. The pecking drive linkage 5 then retracts into the clamping space, stopping the crushing action. As the movable connecting plate 3 moves back towards the base 1, the hinge blocks 4 simultaneously drive multiple grabbing rods 2, causing the previously close and closed grabbing rods 2 to gradually move away from each other, opening the clamping space. The crushed ore falls into the opened clamping space, completing the collection and receiving of the ore. Subsequently, the movable connecting plate 3 continues to move closer to the base 1, further pulling the multiple grabbing rods 2 through the hinge blocks 4, causing the opened grabbing rods 2 to close again, tightening the clamping space, and stably clamping and fixing the crushed ore inside, completing the ore grabbing operation.

[0041] Obviously, based on the pecking drive linkage 5 being movably mounted on the base 1 and the movable connecting plate 3, and driving the movable connecting plate 3, the pecking action can be completed by driving the movable connecting plate 3 away from the base 1. Through the independently driven configuration of the retractable pecking drive linkage 5, the equipment can directly perform high-speed reciprocating pecking crushing operations on hard, large blocks of ore at the working surface. This replaces the traditional mining robot arm, which only has a grasping function and cannot break rocks in situ, requiring additional crushing equipment and processes. It can directly crush unbroken, whole blocks of ore, saving time on equipment changeovers and workstation switching, and simplifying the mining operation process.

[0042] Based on the hinge block 4, one end is hinged to the movable connecting plate 3, and the other end is hinged to the middle of one of the grab bars 2, realizing the linkage switching between pecking and grabbing actions. Through the hinged linkage structure of the movable connecting plate 3, hinge block 4 and grab bar 2, the equipment can quickly switch to grabbing mode after pecking and crushing. Relying on mechanical linkage, it realizes seamless and continuous operation of crushing, collecting and grabbing, avoiding the problems of intermittent operation, equipment waiting and operation gaps in traditional split operation, improving the continuity and automation of mining operations, and further improving the overall mining operation efficiency.

[0043] The gripping rods 2 are circumferentially distributed around the axis of the base 1 to form a clamping space. The reciprocating motion of the movable connecting plate 3 enables the gripping rods 2 to open and close, collecting and clamping the crushed ore. Through the adaptive opening and closing structure of multiple circumferentially distributed gripping rods 2, the crushed ore can be automatically collected, received, and stably clamped, eliminating the need for manual material collection or straightening. This adapts to complex and harsh working conditions such as underground and open-pit mines, achieving integrated operation while reducing manual intervention costs, preventing safety hazards caused by manual operation, and further optimizing the overall economy and safety of mining operations.

[0044] Preferably, the mining robot with pecking function further includes multiple fixing plates 6, and each of the gripping rods 2 is connected to the working end face 12 of the base 1 through one of the fixing plates 6. Specifically, this mining robot adds multiple fixing plates 6, and each gripping rod 2 is assembled onto the working end face 12 of the base 1 through a corresponding fixing plate 6, replacing the traditional structure in which the gripping rod 2 is directly hinged or movable to the base 1. As an independent transitional installation structure, the fixing plate 6 can provide a regular and stable installation reference for the gripping rod 2, effectively increasing the assembly contact area between the gripping rod 2 and the working end face 12 of the base 1, making the movable assembly structure of a single gripping rod 2 more robust and regular. During the dynamic operation of high-frequency pecking and repeated opening and closing gripping, the fixing plate 6 can effectively disperse the impact load and clamping stress borne by the gripping rod 2, avoiding stress concentration at a single connection point of the base 1, and preventing wear, deformation, loosening, and other problems caused by long-term impact at the connection point of the base 1. Meanwhile, the independent fixed plate 6 structure can limit and guide the movement stroke and swing angle of the grab bar 2, ensuring the synchronization and consistency of the circumferential opening and closing actions of multiple grab bars 2, preventing the deviation or jamming of a single grab bar 2, improving the overall structural stability and operational accuracy, effectively extending the overall service life of the equipment, and reducing the probability of failure and maintenance costs under complex mining conditions.

[0045] Preferably, the connecting end face 11 of the base 1 is connected to an internal gear 7, which is used to drive the rotary motor on the robotic arm, enabling the base 1 to rotate relative to the output shaft of the rotary motor. Specifically, the connecting end face 11 of the base 1 is equipped with an internal gear 7 structure, which forms a drive connection with the rotary motor of the external robotic arm. The internal gear 7, as a dedicated transmission connection structure, can directly mesh with the output end of the rotary motor, stably transmitting motor torque and driving the base 1 to rotate relative to the output shaft of the rotary motor. During mining operations, the base 1 can be driven to rotate in real time to adjust the overall working posture according to the angle and orientation differences of the ore face, so that the pecking orientation and grasping angle of the robotic arm can adaptively adapt to the ore position. This meshing transmission structure provides stable power output, effectively avoiding problems such as angle adjustment jamming, offset, and transmission failure, improving the operational flexibility and adaptability of the mining robotic arm, realizing multi-angle precise pecking and crushing and grasping operations, and further improving the overall adaptability and efficiency of mining operations. The rotary motor can be a stepper motor or a servo motor.

[0046] Preferably, the base 1, the gripper 2, the movable connecting plate 3, the hinge block 4, the pecking drive linkage 5, the fixing plate 6, and the internal gear 7 are all made of DC53 cold work die steel. Specifically, all core load-bearing, transmission, and operating structural components of this equipment are uniformly made of DC53 cold work die steel in one piece. This material has ultra-high hardness, high strength and toughness, impact resistance, and excellent wear and fatigue resistance, making it suitable for the harsh working conditions of high dust, high impact, and strong wear in mines. During the continuous operation of the robot arm in high-frequency reciprocating pecking crushing, continuous clamping force, and rotary transmission, each core component is subjected to high-frequency impact loads, frictional wear, and alternating stress for a long time. Using DC53 cold work die steel can prevent problems such as plastic deformation, surface wear, cracking damage, and jamming failure of components, thereby improving the overall structural strength, rigidity, and structural stability of the machine. Meanwhile, this material possesses excellent machining accuracy retention and corrosion resistance, ensuring the long-term motion accuracy of various hinges, transmissions, and mating structures. This reduces operational errors and the probability of malfunctions caused by component corrosion and wear, extending the overall service life of the equipment, reducing the frequency of equipment maintenance and replacement, and lowering equipment maintenance costs and downtime losses in mining operations. Furthermore, DC53 cold work die steel, after undergoing 1040℃ quenching and 530℃ high-temperature tempering, further enhances surface hardness and core toughness, making it suitable for high-intensity continuous pecking operations.

[0047] Preferably, the fixing plate 6 is detachably connected to the working end face 12 of the base 1. Specifically, the fixing plate 6 is assembled to the working end face 12 of the base 1 using a detachable connection method, allowing the fixing plate 6 to be independently disassembled and replaced. In long-term, high-intensity mining operations, the fixing plate 6, as the main load-distributing and wear-resistant component, is susceptible to localized wear and deformation damage caused by rock friction and high-frequency impact. The detachable structure allows for the individual disassembly, inspection, and replacement of the worn fixing plate 6 without the need to disassemble the entire robot structure or replace the main components of the base 1 and the gripper 2. This detachable assembly method simplifies the equipment inspection and maintenance process, reduces the cost of replacing equipment parts and the difficulty of operation and maintenance, and allows for the adaptation and replacement of fixing plates 6 of different specifications and thicknesses according to different mining conditions, flexibly adjusting the assembly gap and load-bearing strength of the gripper 2, further improving the equipment's adaptability to operating conditions and its maintainability.

[0048] The fixing plate 6 can be connected by detachable methods such as pin locking, bolt locking, and buckle positioning. It is firmly assembled and easy to disassemble and assemble, which can meet the structural stability and rapid maintenance requirements under high-frequency operation.

[0049] Preferably, the connection end face 11 between the internal gear 7 and the base 1 is detachable. Specifically, the connection end face 11 between the internal gear 7 and the base 1 adopts a detachable connection structure. During mining operations, the internal gear 7 is in high-frequency meshing with the output end of the rotating motor for a long time, continuously bearing alternating torque, frictional wear, and impact loads. This can easily lead to problems such as tooth surface wear, tooth deformation, and increased meshing clearance. The detachable connection structure allows for the individual disassembly and replacement of damaged or worn internal gears 7 without disassembling the entire robot arm structure or replacing the entire base 1 component. This structure simplifies the maintenance process of transmission components, reduces equipment repair costs and downtime, and allows for the replacement of internal gears 7 with corresponding modules and numbers of teeth according to different power models and load requirements. This flexibly matches the drive requirements of rotating motors with different speeds and torques, improving the transmission adaptability and overall maintainability of the equipment. The internal gear 7 can be connected by screw locking, bolt fastening, flange docking, or positioning pin limiting methods.

[0050] Preferably, the pecking drive linkage 5 has a linkage end 51 and a pecking end 52. The linkage end 51 is located at the end of the pecking drive linkage 5 away from the movable connecting plate 3, and is used to drive the linear telescopic drive source on the robotic arm to drive the pecking drive linkage 5 to move relative to the base 1, thereby causing the movable connecting plate 3 to move closer to or away from the base 1. The pecking end 52 is located on the side of the movable connecting plate 3 away from the base 1, and is used to peck and break the ore. Specifically, the pecking drive linkage 5 adopts a split structure design with functional divisions at both ends, with the linkage end 51 and the pecking end 52 respectively set, so that the linkage drive transmission function and the ore breaking function are independent of each other and each performs its own function. The linkage end 51 at the end forms a dedicated drive connection with the linear telescopic drive source on the external robotic arm. This allows for precise reception of the telescopic power from the linear drive source, stably driving the pecking drive linkage 5 to reciprocate linearly relative to the base 1. This provides precise and reliable power input for the approaching and moving away movements of the movable connecting plate 3, ensuring the synchronization of the overall linkage mechanism. Simultaneously, the independently set pecking end 52, as the direct contact point for crushing the ore, concentrates the impact force to perform targeted high-frequency pecking crushing of hard ore, converting the driving power into crushing kinetic energy, thus improving the crushing efficiency and effect. The linear telescopic drive source can be an electric telescopic rod, a hydraulic telescopic rod, or a pneumatic telescopic rod.

[0051] Preferably, the pecking drive link 5 has a threaded section 53, which is movably inserted into the movable connecting plate 3. The mining robot with pecking function also includes at least two limiting nuts 8, which are threadedly connected to the threaded section 53 and located on opposite sides of the movable connecting plate 3. Specifically, the pecking drive link 5 has a threaded section 53 and is equipped with a pair of limiting nuts 8 arranged on both sides. The movable connecting plate 3 is clamped and limited onto the threaded section 53 by the limiting nuts 8 on both sides. By rotating and adjusting the locking position of the limiting nuts 8 on the threaded section 53, the relative assembly position of the movable connecting plate 3 and the pecking drive link 5 can be precisely changed, thereby adjusting the effective length of the pecking end 52 of the pecking drive link 5 extending outside the clamping space, achieving adjustable pecking stroke. In actual mining operations, the pecking extension stroke can be flexibly adjusted according to the hardness, thickness, and crushing difficulty of the ore: for hard, large-volume ore, the extension length of the pecking end 52 can be increased to enhance the pecking stroke and ensure sufficient impact cracking effect; for soft, small-sized ore, the extension stroke can be shortened to increase the frequency and efficiency of operations. The limiting nut 8 can be a high-strength anti-loosening nut, which can be used with anti-loosening washers to effectively resist high-frequency impact vibration, prevent the nut from loosening, and ensure the structural reliability for long-term operation.

[0052] Preferably, each of the gripping rods 2 is provided with a clearance arc surface 21. These clearance arc surfaces 21 are close to each other and can collectively form a clearance through-hole, allowing the pecking end 52 of the pecking drive linkage 5 to movably pass between the clamping space and the external environment. Specifically, clearance arc surfaces 21 are provided at corresponding positions on the inner side of each gripping rod 2. When multiple gripping rods 2 are closed, the clearance arc surfaces 21 together form a central clearance through-hole, providing a dedicated clearance channel for the reciprocating extension and retraction of the pecking drive linkage 5. During the pecking operation, the gripping rods 2 remain in a closed clamping state, and the pecking end 52 can smoothly extend through the clearance through-hole to the outside of the clamping space to complete the pecking and crushing operation of the ore and rock. When retracting, it can smoothly return to the inside of the clamping space, preventing the gripping rod 2 from interfering with, scraping, or obstructing the pecking drive linkage 5. The clearance arc surface 21 adopts a rounded transition structure, which maximizes the passage range of the clearance through-hole while eliminating stress concentration and improving the structural strength of the gripping rod 2.

[0053] Preferably, the pecking end 52 is detachably connected to a conical pecking rod 9. Specifically, the pecking end 52 is detachably connected to the conical pecking rod 9, allowing for an independent and modular pecking crushing mechanism. The top of the conical pecking rod 9 has a pointed cone structure, which concentrates the pecking impact force in a localized small area, increasing local impact pressure. This enables rapid chiseling and cracking of high-hardness, dense ores, effectively reducing the difficulty of crushing hard ores and improving crushing efficiency and effect. The detachable assembly also allows the conical pecking rod 9, which has been subjected to high-frequency impact, wear, and chipping damage over time, to be individually disassembled and replaced without replacing the entire pecking drive linkage 5 structure. This reduces wear on core transmission components and equipment maintenance costs. Different taper and size pecking rods can be used depending on the ores and working conditions, flexibly adapting to various operating scenarios such as large-scale hard rock cracking and fine crushing of small ores, further improving the equipment's adaptability and practicality.

[0054] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0056] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A mining robot with a pecking function, characterized in that, include: The base (1) has a connecting end face (11) and a working end face (12). The connecting end face (11) and the working end face (12) are arranged parallel to each other. The connecting end face (11) is used to be adapted to be installed on the robotic arm. Multiple gripping rods (2) are movably installed on the working end face (12) of the base (1), and the gripping rods (2) are circumferentially distributed around the axis of the base (1) so that the gripping rods (2) can jointly enclose and form a clamping space, which is used to accommodate ore and rock; Movable connecting plate (3), which is movably disposed within the clamping space; Multiple hinge blocks (4), one end of each hinge block (4) is hinged to the movable connecting plate (3), and the other end is respectively hinged to the middle of one of the grab bars (2); A pecking drive link (5) is movably inserted through the base (1) and through the movable connecting plate (3), and drives the movable connecting plate (3) to move away from the base (1) and drive each of the gripping rods (2) through each of the hinge blocks (4) to complete the pecking action together, or move closer to the base (1) and drive each of the gripping rods (2) through each of the hinge blocks (4) to complete the gripping action together.

2. A mining robot with pecking function according to claim 1, characterized in that, The mining robot with pecking function also includes multiple fixing plates (6), and each of the grippers (2) is connected to the working end face (12) of the base (1) through one of the fixing plates (6).

3. A mining robot with pecking function according to claim 2, characterized in that, The connecting end face (11) of the base (1) is connected to an internal gear (7), which is used to drive the rotating motor on the robotic arm so that the base (1) can rotate relative to the output shaft of the rotating motor.

4. A mining robot with pecking function according to claim 3, characterized in that, The base (1), the gripper (2), the movable connecting plate (3), the hinge block (4), the pecking drive link (5), the fixing plate (6), and the internal gear (7) are all made of DC53 cold work die steel.

5. A mining robot with pecking function according to claim 2, characterized in that, The fixing plate (6) is detachably connected to the working end face (12) of the base (1).

6. A mining robot with pecking function according to claim 3, characterized in that, The internal gear (7) and the base (1) are connected by a detachable end face (11).

7. A mining robot with pecking function according to claim 1, characterized in that, The pecking drive link (5) has a linkage end (51) and a pecking end (52); the linkage end (51) is located on the pecking drive link (5) at one end away from the movable connecting plate (3), and the linkage end (51) is used to drive the linear telescopic drive source on the robotic arm so as to drive the pecking drive link (5) to move relative to the base (1), thereby driving the movable connecting plate (3) to move closer to or away from the base (1); the pecking end (52) is located on the movable connecting plate (3) on the side away from the base (1), and the pecking end (52) is used to peck and break the ore.

8. A mining robot with pecking function according to claim 7, characterized in that, The pecking drive link (5) has a threaded section (53), which is movably inserted into the movable connecting plate (3). The mining robot with pecking function also includes at least two limiting nuts (8), which are threadedly connected to the threaded section (53) and located on opposite sides of the movable connecting plate (3).

9. A mining robot with pecking function according to claim 7, characterized in that, Each of the gripping rods (2) is provided with a clearance arc surface (21). The clearance arc surfaces (21) are close to each other and can jointly form a clearance through hole so that the pecking end (52) of the pecking drive link (5) can be movably inserted between the clamping space and the external environment.

10. A mining robot with pecking function according to claim 9, characterized in that, The pecking end (52) is detachably connected to a conical pecking rod (9).

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