Manipulator for geological ore sampling

Abstract

The utility model relates to a manipulator for geological ore sampling, which comprises a base component, a movable component and a sampling component which are arranged on a vehicle body, the base component is positioned at the front end of the vehicle body, the movable component is mounted above the base component, and the sampling component is mounted at the tail end of the movable component. The ore sampling device is scientific and reasonable in design and ingenious in structural design, changes of different angles of the components can be achieved through linkage matching of the multiple components, meanwhile, large ore can be crushed and sampled, and efficient collection of the ore is guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of geological mineral exploration, relates to an ore sampling device, and particularly relates to a manipulator for geological ore sampling. Background Art

[0002] Mineral exploration, also known as mineral deposit prospecting, refers to the geological work carried out by applying effective exploration techniques and methods to mineral deposits that have been determined to have industrial value after general surveys and detailed investigations, in order to provide reliable ore reserves and necessary geological, technical and economic data for mine design. In the process of geological exploration, it is necessary to sample the mineral soil and ore in the target area in order to facilitate the subsequent detection and analysis of the geological minerals.

[0003] Therefore, an ore picking mechanism is needed that can accurately and stably sample the ore. Utility Model Content

[0004] The utility model aims to overcome the deficiencies of the prior art and provide a manipulator for geological ore sampling.

[0005] The utility model solves the technical problem through the following technical solutions:

[0006] A manipulator for geological ore sampling, characterized in that it includes a base component, a movable component and a sampling component arranged on a vehicle body, the base component is located at the front end of the vehicle body, the movable component is installed at the upper end of the base component, and the sampling component is installed at the end of the movable component.

[0007] Moreover, the base assembly includes a first support plate and a second support plate, the first support plate and the second support plate are bolted to form an L-shaped bracket, an annular bracket is arranged directly below the second support plate, a first joint motor is fixedly connected to the annular bracket, two rectangular grooves are provided on the upper side of the annular bracket to clamp the stator end of the first joint motor, a first flange output shaft is fixed to the turntable of the first joint motor, and the shaft end of the first flange output shaft is a "D"-shaped shaft;

[0008] A first plane needle roller bearing is installed on the upper side of the second support plate, and a first angular contact ball bearing is installed on the lower side. A first component is installed above the first plane needle roller bearing. The first component is "Y"-shaped. Two ear pieces on the upper side of the first component are provided with stepped holes, and the lower side is a stepped shaft. The stepped shaft of the first component passes through the first plane needle roller bearing and cooperates with the inner ring of the first angular contact ball bearing. A rectangular groove is provided on the stepped shaft of the first component, and a first clip and a second clip are installed on the rectangular groove. Both the first clip and the second clip are "C"-shaped semicircular rings, and the first clip is connected with the second clip bolt; the first angular contact ball bearing limits the first component. In the radial position, the first plane needle bearing limits the downward displacement of the first component, and the upper surfaces of the first buckle and the second buckle abut against the inner ring of the first angular contact ball bearing to limit the upward displacement of the first component, and the first component retains the rotational freedom of the Z axis; a circular blind hole is provided at the end of the stepped shaft of the first component, and a threaded through hole is provided on the side of the circular blind hole. The circular blind hole at the end of the stepped shaft of the first component cooperates with the "D"-shaped shaft of the first flange output shaft, and the headless screw is tightened to the small plane of the "D"-shaped shaft of the first flange output shaft through the threaded hole at the end of the first component. The turntable of the first joint motor drives the first flange output shaft to rotate, and the first component rotates synchronously with the first flange output shaft.

[0009] Moreover, the second component of the movable assembly has two circular bosses on the same side at both ends of the second component, each boss has 6 circular through holes evenly distributed around its circumference, and the outer cylindrical surfaces of the two bosses of the second component are respectively fitted with two second angular contact ball bearings, the outer ring of the second angular contact ball bearing located at the head end of the second component is matched with the inner cylindrical surface of the ear piece on one side above the first component, and the circumference of the stepped hole on this side is evenly distributed with circular through holes, and the stator end of the second joint motor is fixedly mounted on the inner side of the ear piece of the first component by bolt connection, the turntable of the second joint motor is fixed to the head end of the second component by bolt connection, and the second angular connection located at the end of the second component The outer ring of the contact ball bearing cooperates with the inner cylindrical surface of the ear piece on one side above the fourth component, and circular through holes are evenly distributed around the circumference of the stepped hole on this side, and the stator end of the second joint motor is fixed to the inner side of the ear piece of the fourth component by bolt connection, and the turntable of the second joint motor is fixed to the end of the second component by bolt connection, and the outer cylindrical surfaces of the two bosses of the third component are cooperated with and installed with two second angular contact ball bearings, and the outer ring of the second angular contact ball bearing located at the head end of the third component cooperates with the inner cylindrical surface of the ear piece on the other side above the first component, and the outer ring of the second angular contact ball bearing located at the end of the third component cooperates with the inner cylindrical surface of the ear piece on the other side above the fourth component The second component and the third component are supported by the two ribs and are fixedly connected by bolts. A stepped hole is provided in the middle of the fourth component, and 6 countersunk through holes are evenly distributed on the circumference of the stepped hole and correspond one to one with the 6 threaded holes at the stator end of the third joint motor, and the third joint motor is fixed to the fourth component by bolt connection. The first deep groove ball bearing is installed in the stepped hole in the middle of the fourth component, and the inner ring of the first deep groove ball bearing cooperates with the first flange screw. The flange end face of the first flange screw is fixed to the turntable of the third joint motor by bolt connection. Two of the special-shaped guide rods are fixed on both sides of the fourth component, and the two special-shaped guide rods are installed with The fifth component is characterized in that two layers of support plates are arranged on the lower half of the fifth component, and special-shaped through holes cooperating with the special-shaped guide rods are provided on both sides of the two layers of support plates of the fifth component, and the fifth component and the two special-shaped guide rods form a sliding fit, and a circular through hole is provided in the middle of the upper support plate of the fifth component, and a stepped hole is provided in the middle of the bottom support plate, and the first nut is fixedly installed in the stepped hole by a screw, and the first nut and the first flange screw form a spiral transmission. When the third joint motor is working, the first flange screw rotates, and the first nut drives the fifth component to perform reciprocating linear motion, and the ends of the two special-shaped guide rods are respectively fixed with two of the limit plates by bolts.

[0010] Moreover, the sampling assembly includes a sixth component, which is a rectangular plate, a blind hole is provided on one side of the middle part, the second deep groove ball bearing is fitted on the inner cylindrical surface of the blind hole, a boss is provided on the other side of the sixth component, the second angular contact ball bearing is fitted on the outer cylindrical surface of the boss, the outer ring of the second angular contact ball bearing is fitted in the stepped hole at the end of the arm plate on one side of the fifth component, and the stepped hole has 6 countersunk through holes evenly distributed around the circumference, and the stator end of the third joint motor is fixed to the outer side of the arm plate on one side of the fifth component by bolts, the blind hole of the sixth component has 6 countersunk through holes evenly distributed around the circumference, and the sixth component is fixed to the turntable of the third joint motor by bolts, and a The seventh component is a rectangular plate, and a circular boss is arranged on the outer side thereof. The outer cylindrical surface of the circular boss is matched with a third angular contact ball bearing, and the outer ring of the third angular contact ball bearing is fixed in the stepped hole at the end of the arm plate on the other side of the fifth component. The middle part of the seventh component is a stepped through hole, and 6 circular through holes are evenly distributed around the circumference of the stepped through hole. The seventh component is fixed to the stator end of the fourth joint motor by bolts, and the turntable of the fourth joint motor is fixed to the flange end of the second flange output shaft. The end of the second flange output shaft is matched with the inner ring of the second deep groove ball bearing, and the intermediate shaft section of the second flange output shaft is provided with a shoulder, and a first bevel gear is fixed to the right side of the shoulder. The first bevel gear The shaft sleeve is fixed between the inner ring of the second deep groove ball bearing to limit the axial movement of the first bevel gear. The eighth component, the ninth component and the tenth component are vertically arranged between the sixth component and the seventh component. The eighth component is arranged in parallel with the tenth component, and the ninth component is arranged vertically with the eighth component and the tenth component. Five circular bosses are arranged on the upper surface of the ninth component, and four stepped through holes are respectively opened in four circular bosses on the edge. The inner diameter of the stepped through holes decreases from bottom to top. The third deep groove ball bearing is installed on the inner side, and the washer is arranged on the lower surface of the third deep groove ball bearing. The first thrust ball bearing is arranged on the lower side of the washer, and the pick is installed on the lower surface of the first thrust ball bearing. A drill bit, a dustproof baffle is arranged between the large end face of the pick drill bit and the surface of the ninth component, the dustproof baffle is fixed to the ninth component by bolts, the stepped shaft of the pick drill bit cooperates with the inner ring of the third deep groove ball bearing, the first spur gear is fixed to the end of the stepped shaft of the pick drill bit, a stepped blind hole is provided on the middle boss of the ninth component, the third deep groove ball bearing is installed in the stepped blind hole, the cylindrical surface at the bottom end of the first rotating shaft cooperates with the inner ring of the third deep groove ball bearing, a threaded hole is provided on the bottom surface of the first rotating shaft, a gasket is fixed to the bottom surface of the first rotating shaft by screws, and the inner ring of the third deep groove ball bearing is squeezed together by cooperation with the shoulder of the first rotating shaft to limit the axial displacement of the first rotating shaft,A card slot is provided in the middle step blind hole of the ninth component, and the retaining spring is installed in cooperation with it to limit the axial displacement of the third deep groove ball bearing. The first spur gear is fixed in the middle of the first rotating shaft, and the first bevel gear is fixed at the top thereof. The four first spur gears at the ends of the four pick drill bits are all meshed with the first spur gear on the first rotating shaft, and the first bevel gear at the top of the first rotating shaft is meshed with the first bevel gear on the second flange output shaft. When the fourth joint motor drives the second flange output shaft to rotate, the motion is transmitted to the four pick drill bits through the meshing of a pair of bevel gears and five spur gears to rotate, so as to crush the stones. A stepped hole is provided in the eighth component, and six countersunk through holes are evenly distributed on the circumference of the stepped hole. The stator end of the fourth joint motor is fixed to the outside of the eighth component by bolts, and the rotor end of the fourth joint motor is fixed to the flange end of the second flange screw by bolts. The end of the second flange screw is "D" type. Three blind holes are provided on the tenth component, and the third deep groove ball bearing is fixed in the upper blind hole. The inner ring of the groove ball bearing is fixed to the smooth end of the screw, and the other end of the screw is "D" type. The second flange screw and the two "D" type ends of the screw are connected through the coupling. The coupling is provided with two threaded holes, and is tightened to the two "D" type end planes by headless screws, so that the second flange screw and the screw are connected as one. The second flange screw and the screw are respectively matched with two second nuts to form a spiral transmission. The flange end faces of the two second nuts are respectively fixed to the two clips by bolts. Two through holes are provided below the clip. Two holes corresponding to the two blind holes below the eighth component are provided below the eighth component. Two first smooth rods are respectively fixed in the two pairs of relative blind holes. The two first smooth rods pass through the two through holes in the two clips respectively, and form a sliding fit to play a guiding role. The second flange screw and the screw have opposite thread rotation directions. When the fourth joint motor is working, the rotational motion of the second flange screw and the screw is converted into the linear motion of the nut to realize the opening and closing of the two clips. ,

[0011] Moreover, rectangular weight-reducing holes are arranged on the circumferential side of the annular bracket.

[0012] Moreover, a camera is installed on one side of the front end of the vehicle body.

[0013] Moreover, a storage box is installed at the center position of the inner side of the vehicle body.

[0014] The advantages and beneficial effects of the utility model are:

[0015] 1. The geological ore sampling manipulator of the utility model has an ingenious structural design. Through the linkage and cooperation of multiple components, the components can be changed at different angles, thereby realizing 360° all-round picking of the sampling components, ensuring efficient and accurate collection of ore.

[0016] 2. The utility model of the geological ore sampling manipulator has a sampling component that can switch between two working modes. One is the clamping mode, which uses a screw nut to drive the clamp to clamp small stones. The clamping force is large and the transmission is stable, which prevents the stones from falling due to loose clamping. The other is the crushing state. If large stones cannot be sampled, the sampling component can be switched to the crushing state to partially crush the large stones, and then switched to the clamping state to accurately sample the crushed stones.

[0017] 3. In the geological mineral sampling manipulator of the utility model, both sides of the two supporting plates in the fifth component are provided with special-shaped through holes, and special-shaped guide rods are inserted into the special-shaped through holes to play a guiding role. The guide rods are set to be special-shaped to enhance the torsion and bending resistance, and ensure the stability of the second component and the third component in the movement direction.

[0018] 4. The geological ore sampling manipulator of the utility model has a camera installed on one side of the front end of the vehicle body, and the operator can detect the road conditions through the camera and adjust the working route of the sampling vehicle in time.

[0019] 5. The geological ore sampling manipulator of the utility model has a storage box installed at the center of the inner side of the body, which can store the ore collected by the clips of the sampling assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a cross-sectional view of the base assembly of the utility model;

[0021] Figure 2 It is a partial view of the utility model (excluding the vehicle body);

[0022] Figure 3 It is a partial structural cross-sectional view of the utility model (excluding the vehicle body);

[0023] Figure 4 It is a schematic diagram of the sampling component of the utility model;

[0024] Figure 5 It is a stepped cross-sectional view of the sampling assembly of the utility model;

[0025] Figure 6 for Figure 5 AA section view;

[0026] Figure 7 for Figure 6 A magnified view of part B;

[0027] Figure 8It is a partial view of the internal structure of the sampling component of the utility model;

[0028] Fig. 9 This is the overall structure diagram of the utility model (excluding the vehicle body);

[0029] Fig.10 It is a schematic diagram of the working state of the utility model.

[0030] Description of Reference Numerals

[0031] 1: base assembly, 11: first support plate, 12: second support plate, 13: annular bracket, 14: first joint motor, 15: first flange output shaft, 16: first plane needle roller bearing, 17: first angular contact ball bearing, 18: first component, 19: first buckle, 110: second buckle.

[0032] 2: movable component, 21: second component, 22: third component, 23: second angular contact ball bearing, 24: second joint motor, 25: fourth component, 26: rib plate, 27: third joint motor, 28: first deep groove ball bearing, 29: first flange screw, 210: special-shaped guide rod, 211: fifth component, 212: first nut, 213: limit plate.

[0033] 3: sampling assembly, 31: sixth component, 32: second deep groove ball bearing, 33 seventh component, 34: third angular contact ball bearing, 35: fourth joint motor, 36: second flange output shaft, 37: sleeve, 38: first bevel gear, 39: eighth component, 310: ninth component, 311 tenth component, 312: third deep groove ball bearing, 313: washer, 314: thrust ball bearing, 315: pick drill bit, 316: dust baffle, 317: first rotating shaft, 318: retaining spring, 319: first straight gear, 320: second flange screw, 321: first light rod, 322: screw, 323: coupling, 324: second nut, 325: clip.

[0034] 4: vehicle body, 41: camera, 42: storage box. DETAILED DESCRIPTION

[0035] The present invention will be further described in detail below through specific embodiments. The following embodiments are merely descriptive and not restrictive, and the protection scope of the present invention cannot be limited by them.

[0036] A manipulator for geological ore sampling, the innovation of which lies in: comprising a base assembly 1, a movable assembly 2 and a sampling assembly 3 arranged on a vehicle body 4, the base assembly 1 is located at the front end of the vehicle body 4, the movable assembly 2 is installed above the base assembly 1, and the sampling assembly 3 is installed at the end of the movable assembly 2.

[0037] The base assembly 1 includes a first support plate 11, a threaded hole and a through hole are provided on the upper side of the first support plate 11, and a through hole is provided on the lower side thereof. A second support plate 12 is installed on the upper side of the first support plate 11, a threaded hole and a through hole are provided on the right side of the second support plate 12, a through hole is provided on the left side thereof, and a stepped hole is provided in the middle thereof. The first support plate 11 and the second support plate 12 are connected by bolts to form an "L"-shaped bracket, and the "L"-shaped bracket is fixed to the front end of the vehicle body 4 by bolt connection. An annular bracket 13 is arranged directly below the second support plate 12, a circular through hole is provided on the bottom surface of the annular bracket 13, and is fixed to the front end of the vehicle body 4 by bolt connection. A rectangular weight-reducing hole is provided on the circumferential side of the annular bracket 13, and circular through holes are evenly distributed on the circumference thereof, and a first joint motor 14 is fixed by bolts, and two rectangular grooves are provided on the upper side of the annular bracket 13 to divide the upper side of the annular bracket 13 into two. When the bolts are tightened, the upper side of the annular bracket 13 is deformed, and its diameter is reduced, clamping the stator end of the first joint motor 14. A first flange output shaft 15 is fixed to the turntable of the first joint motor 14 by bolt connection, and the shaft end of the first flange output shaft 15 is "D" type. A first plane needle roller bearing 16 is installed in the upper hole of the second support plate 12, and a first angular contact ball bearing 17 is installed in the lower hole thereof. A first component 18 is installed above the first plane needle roller bearing 16. The first component 18 is "Y" type, and two ear pieces on its upper side are provided with stepped holes, and its lower side is a stepped shaft. The stepped shaft of the first component 18 passes through the first plane needle roller bearing 16 and cooperates with the inner ring of the first angular contact ball bearing 17. A rectangular groove is provided on the stepped shaft of the first component 18, and a first buckle 19 and a second buckle 110 are installed on the rectangular groove. Both the first buckle 19 and the second buckle 110 are "C" type semicircular rings, and two circular through holes are respectively provided at both ends of the first buckle 19, and two threaded holes are respectively provided at both ends of the second buckle 110. The first buckle 19 and the second buckle 110 are connected by bolts, the first angular contact ball bearing 17 is used to limit the radial position of the first component 18, and the first plane needle bearing 16 is used to limit the downward displacement of the first component 18. The upper surfaces of the first buckle 19 and the second buckle 110 are against the inner ring of the first angular contact ball bearing 17 to limit the upward displacement of the first component 18. Therefore, the first component 18 only retains one Z-axis rotational freedom. A circular blind hole is provided at the end of the stepped shaft of the first component 18, and a threaded through hole is provided on the side of the blind hole. The blind hole at the shaft end of the first component 18 cooperates with the "D"-shaped shaft of the first flange output shaft 15, and the headless screw is tightened to the small plane of the "D"-shaped shaft of the first flange output shaft 15 through the threaded hole at the end of the first component 18. Therefore, when the turntable of the first joint motor 14 drives the first flange output shaft 15 to rotate, the first component 18 can rotate synchronously with the first flange output shaft 15.

[0038] The movable component 2 includes a second component 21, two circular bosses are respectively arranged on the same side at both ends of the second component 21, and each boss is evenly distributed with 6 circular through holes on its circumference. The outer cylindrical surfaces of the two bosses of the second component 21 are respectively fitted with two second angular contact ball bearings 23, and the outer ring of the second angular contact ball bearing 23 located at the head end of the second component 21 is matched with the inner cylindrical surface of the ear piece on one side above the first component 18, and the circumference of the stepped hole on this side is evenly distributed with circular through holes, and the stator end of the second joint motor 24 is fixedly installed on the inner side of the ear piece of the first component 18 by bolt connection, the turntable of the second joint motor 24 is fixed to the head end of the second component 21 by bolt connection, and the outer ring of the second angular contact ball bearing 23 located at the end of the second component 21 It cooperates with the inner cylindrical surface of the ear piece on one side above the fourth component 25, and the circumference of the stepped hole on this side is evenly distributed with circular through holes, and the stator end of the second joint motor 24 is fixed to the inner side of the ear piece of the fourth component 25 by bolt connection, and the turntable of the second joint motor 24 is fixed to the end of the second component 21 by bolt connection, and the outer cylindrical surfaces of the two bosses of the third component 22 are cooperated with and installed with two second angular contact ball bearings 23, the outer ring of the second angular contact ball bearing 23 located at the head end of the third component 22 cooperates with the inner cylindrical surface of the ear piece on the other side above the first component 18, and the outer ring of the second angular contact ball bearing 23 located at the end of the third component 22 cooperates with the inner cylindrical surface of the ear piece on the other side above the fourth component 25, and the second component 21 and the third component 22 are connected. The fourth component 25 is supported by two ribs 26 and fixedly connected by bolts. A stepped hole is arranged in the middle part of the fourth component 25. Six countersunk through holes are evenly distributed on the circumference of the stepped hole and correspond one to one with the six threaded holes at the stator end of the third joint motor 27. The third joint motor 27 is fixed to the fourth component 25 by bolt connection. A first deep groove ball bearing 28 is installed in the stepped hole in the middle part of the fourth component 25. The inner ring of the first deep groove ball bearing 28 cooperates with the first flange screw 29. The flange end face of the first flange screw 29 is fixed to the turntable of the third joint motor 27 by bolt connection. Two special-shaped guide rods 210 are fixed on both sides of the fourth component 25. A fifth component 211 is installed on the two special-shaped guide rods 210. The lower half of the fifth component 211 is provided There are two layers of support plates. Both sides of the two layers of support plates of the fifth component 211 are provided with special-shaped through holes that cooperate with the special-shaped guide rods 210. The fifth component 211 and the two special-shaped guide rods 210 form a sliding fit. A circular through hole is provided in the middle of the upper support plate in the fifth component 211, and a stepped hole is provided in the middle of the bottom support plate. A first nut 212 is fixedly installed in the stepped hole by screws. The first nut 212 and the first flange screw 29 form a spiral transmission. When the third joint motor 27 is working, the first flange screw 29 rotates, and the first nut 212 drives the fifth component 211 to make reciprocating linear motion. The ends of the two special-shaped guide rods 210 are respectively fixed with two limit plates 213 by bolts, and the limit plates 213 play a limiting protection role.

[0039] The sampling assembly 3 includes a sixth component 31, which is a rectangular plate, a blind hole is provided on one side of the middle part, and a second deep groove ball bearing 32 is installed on the inner cylindrical surface of the blind hole. A boss is provided on the other side of the sixth component 31, and a second angular contact ball bearing 23 is installed on the outer cylindrical surface of the boss. The outer ring of the second angular contact ball bearing 23 is installed in the stepped hole at the end of the arm plate on one side of the fifth component 211, and the stepped hole has 6 countersunk through holes evenly distributed around the circumference, and the stator end of the third joint motor 27 is fixed to the outer side of the arm plate on one side of the fifth component 211 by bolts. The blind hole of the sixth component 31 has 6 countersunk through holes evenly distributed around the circumference, and the sixth component 31 is fixed to the turntable of the third joint motor 27 by bolts. A A seventh component 33 is arranged, and the seventh component 33 is a rectangular plate, and a circular boss is arranged on the outer side thereof. The outer cylindrical surface of the circular boss is matched with the third angular contact ball bearing 34, and the outer ring of the third angular contact ball bearing 34 is fixed in the stepped hole at the end of the arm plate on the other side of the fifth component 211. The middle part of the seventh component 33 is a stepped through hole, and 6 circular through holes are evenly distributed on the circumference of the stepped through hole. The seventh component 33 is fixed to the stator end of the fourth joint motor 35 by bolts, and the turntable of the fourth joint motor 35 is fixed to the flange end of the second flange output shaft 36. The end of the second flange output shaft 36 cooperates with the inner ring of the second deep groove ball bearing 32, and the middle shaft section of the second flange output shaft 36 is provided with a shoulder, and the first bevel gear 38 is fixed to the right side of the shoulder. A shaft sleeve 37 is fixed between the bevel gear 38 and the inner ring of the second deep groove ball bearing 32 to limit the axial movement of the first bevel gear 38. An eighth component 39, a ninth component 310, and a tenth component 311 are vertically arranged between the sixth component 31 and the seventh component 33. The eighth component 39 is arranged in parallel with the tenth component 311. The ninth component 310 is arranged vertically with the eighth component 39 and the tenth component 311. Five circular bosses are arranged on the upper surface of the ninth component 310, and four stepped through holes are respectively opened in four circular bosses on the edge. The inner diameter of the stepped through holes decreases from bottom to top. A third deep groove ball bearing 312 is installed on the inner side. A washer 313 is arranged on the lower surface of the third deep groove ball bearing 312, and a first thrust washer 313 is arranged on the lower side of the washer 313. A ball bearing 314, a pick drill bit 315 is installed on the lower surface of the first thrust ball bearing 314, a dustproof baffle 316 is arranged between the large end surface of the pick drill bit 315 and the surface of the ninth component 310, and the dustproof baffle 316 is fixed to the ninth component 310 by bolts, the stepped shaft of the pick drill bit 315 is matched with the inner ring of the third deep groove ball bearing 312, and the first spur gear 319 is fixed to the end of the stepped shaft of the pick drill bit 315, a stepped blind hole is provided on the middle boss of the ninth component 310, and the third deep groove ball bearing 312 is installed in the stepped blind hole, the cylindrical surface at the bottom end of the first rotating shaft 317 is matched with the inner ring of the third deep groove ball bearing 312, a threaded hole is provided on the bottom surface of the first rotating shaft 317, and a gasket is fixed to the bottom surface of the first rotating shaft 317 by screws,The inner ring of the third deep groove ball bearing 312 is squeezed together by cooperating with the shoulder of the first rotating shaft 317 to limit the axial displacement of the first rotating shaft 317. A slot is provided in the middle step blind hole of the ninth component 310, and a retaining spring 318 is installed to limit the axial displacement of the third deep groove ball bearing 312. A first spur gear 319 is fixed to the middle of the first rotating shaft 317, and a first bevel gear 38 is fixed to the top of the first rotating shaft 317. The four first spur gears 319 at the ends of the four pick drill bits 315 are all meshed with the first spur gear 319 on the first rotating shaft 317. The first bevel gear 38 at the top of the first rotating shaft 317 is meshed with the second flange output shaft The first bevel gear 38 on 36 is meshed. When the fourth joint motor 35 drives the second flange output shaft 36 to rotate, the motion is transmitted to the four pick drill bits 315 to rotate through the meshing of a pair of bevel gears and five spur gears, so as to crush the stones. A stepped hole is provided in the eighth component 39. Six countersunk through holes are evenly distributed on the circumference of the stepped hole. The stator end of the fourth joint motor 35 is fixed to the outside of the eighth component 39 by bolts. The rotor end of the fourth joint motor 35 is fixed to the flange end of the second flange screw 320 by bolts. The end of the second flange screw 320 is "D" shaped. Three blind holes are provided on the tenth component 311. A third deep groove ball bearing 312 is fixed in the square blind hole, the inner ring of the third deep groove ball bearing 312 is fixed to the smooth end of the screw 322, the other end of the screw 322 is "D"-shaped, the second flange screw 320 and the two "D"-shaped ends of the screw 322 are connected through a coupling 323, the coupling 323 has two threaded holes, and is tightened to the two "D"-shaped end planes by headless screws, so that the second flange screw 320 and the screw 322 are connected as a whole, the second flange screw 320 and the screw 322 are respectively equipped with two second nuts 324 to form a spiral transmission, and the flange end faces of the two second nuts 324 are screwed through the screws The bolts are fixed to the two clips 325 respectively. Two through holes are provided below the clips 325. Two holes corresponding to the two blind holes below the eighth component 39 are provided below the eighth component 39. Two first light rods 321 are fixed to the two pairs of relative blind holes respectively. The two first light rods 321 pass through the two through holes in the two clips 325 respectively and form a sliding fit to play a guiding role. The second flange screw 320 and the screw 322 have opposite thread rotation directions. When the fourth joint motor 35 is working, the rotational motion of the second flange screw 320 and the screw 322 is converted into the linear motion of the nut, so as to realize the opening and closing of the two clips 325.

[0040] A camera 41 is installed on one side of the front end of the vehicle body 4, and the operator can detect the road conditions through the camera and adjust the working route of the sampling vehicle in time.

[0041] A storage box 42 is installed at the center of the inner side of the vehicle body 4 to store the ore collected by the clips of the sampling assembly.

[0042] The working principle of the present invention is:

[0043] When the first joint motor 14 is working, it drives the first component 18 to rotate, and the movable component 2 on the first component 18 rotates accordingly; when the second joint motor 24 fixed on the ear of the first component 18 is working, the second component 21 rotates around the second joint motor 24; when the second joint motor 24 fixed on the ear of the fourth component 25 is working, the fourth component 25 rotates around the axis of the second joint motor 24; when the third joint motor 27 fixed in the middle of the fourth component 25 is working, the fifth component 211 is driven by the spiral transmission of the first flange screw 29 and the first nut 212 to extend the third joint motor 27 The axis makes reciprocating linear motion to increase the working range of the movable component 2; when the third joint motor 27 fixed on one side of the end of the fifth component 211 is working, the sampling component 3 can rotate along the axis of the third joint motor 27, so as to realize the conversion of the two working states of the clamping mode and the crushing mode; when the fourth joint motor 35 fixed on the other side of the fifth component 211 is working, the four pick drill bits 315 are driven by gear transmission to perform crushing work; when the fourth joint motor 35 fixed on the eighth component 39 is working, the two clamps 325 are driven to open and close through spiral transmission to realize the function of clamping stones.

[0044] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will appreciate that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A manipulator for geological ore sampling, characterized in that: It comprises a base component, a movable component and a sampling component which are arranged on a vehicle body. The base component is located at the front end of the vehicle body, the movable component is installed at the upper end of the base component, and the sampling component is installed at the end of the movable component.

2. The geological ore sampling manipulator according to claim 1, characterized in that: The base assembly includes a first support plate and a second support plate, the first support plate and the second support plate are bolted to form an L-shaped bracket, an annular bracket is arranged directly below the second support plate, a first joint motor is fixedly connected to the annular bracket, two rectangular grooves are provided on the upper side of the annular bracket to clamp the stator end of the first joint motor, a first flange output shaft is fixed to the turntable of the first joint motor, and the shaft end of the first flange output shaft is a "D"-shaped shaft; A first plane needle roller bearing is installed on the upper side of the second support plate, and a first angular contact ball bearing is installed on the lower side. A first component is installed above the first plane needle roller bearing. The first component is "Y"-shaped. Two ear pieces on the upper side of the first component are provided with stepped holes, and the lower side is a stepped shaft. The stepped shaft of the first component passes through the first plane needle roller bearing and cooperates with the inner ring of the first angular contact ball bearing. A rectangular groove is provided on the stepped shaft of the first component, and a first clip and a second clip are installed on the rectangular groove. Both the first clip and the second clip are "C"-shaped semicircular rings, and the first clip is connected with the second clip bolt; the first angular contact ball bearing limits the first component. In the radial position, the first plane needle bearing limits the downward displacement of the first component, the upper surfaces of the first buckle and the second buckle abut against the inner ring of the first angular contact ball bearing to limit the upward displacement of the first component, and the first component retains the rotational freedom of the Z axis; a circular blind hole is provided at the end of the stepped shaft of the first component, and a threaded through hole is provided on the side of the circular blind hole. The circular blind hole at the end of the stepped shaft of the first component cooperates with the "D"-shaped shaft of the first flange output shaft, and the headless screw is tightened to the small plane of the "D"-shaped shaft of the first flange output shaft through the threaded hole at the end of the first component. The turntable of the first joint motor drives the first flange output shaft to rotate, and the first component rotates synchronously with the first flange output shaft.

3. The geological ore sampling manipulator according to claim 2, characterized in that: The movable assembly includes a second component, two circular bosses are respectively arranged on the same side at both ends of the second component, and each boss is evenly distributed with 6 circular through holes on its circumference. The outer cylindrical surfaces of the two bosses of the second component are respectively matched with two second angular contact ball bearings, and the outer ring of the second angular contact ball bearing located at the head end of the second component is matched with the inner cylindrical surface of the ear piece on one side above the first component, and the circumference of the stepped hole on this side is evenly distributed with circular through holes, and the stator end of the second joint motor is fixedly installed on the inner side of the ear piece of the first component by bolt connection, the turntable of the second joint motor is fixed to the head end of the second component by bolt connection, and the second The outer ring of the angular contact ball bearing cooperates with the inner cylindrical surface of the ear piece on one side above the fourth component, and the circumference of the stepped hole on this side is evenly distributed with circular through holes, and the stator end of the second joint motor is fixed to the inner side of the ear piece of the fourth component by bolt connection, the turntable of the second joint motor is fixed to the end of the second component by bolt connection, and the outer cylindrical surfaces of the two bosses of the third component are cooperated with and installed with two second angular contact ball bearings, the outer ring of the second angular contact ball bearing located at the head end of the third component cooperates with the inner cylindrical surface of the ear piece on the other side above the first component, and the outer ring of the second angular contact ball bearing located at the end of the third component cooperates with the inner cylindrical surface of the ear piece on the other side above the fourth component. The cylindrical surface is matched, the second component and the third component are supported by two ribs and are fixedly connected by bolts, a stepped hole is arranged in the middle of the fourth component, and 6 countersunk through holes are evenly distributed on the circumference of the stepped hole and correspond one to one with the 6 threaded holes at the stator end of the third joint motor, and the third joint motor is fixed to the fourth component by bolt connection, a first deep groove ball bearing is installed in the stepped hole in the middle of the fourth component, the inner ring of the first deep groove ball bearing is matched with the first flange screw, the flange end face of the first flange screw is fixed to the turntable of the third joint motor by bolt connection, two special-shaped guide rods are fixed on both sides of the fourth component, and the two special-shaped guide rods are installed with the first A fifth component, wherein the lower half of the fifth component is provided with two layers of support plates, and both sides of the two layers of support plates of the fifth component are provided with special-shaped through holes that cooperate with the special-shaped guide rods, and the fifth component and the two special-shaped guide rods form a sliding fit, and a circular through hole is provided in the middle of the upper support plate of the fifth component, and a stepped hole is provided in the middle of the bottom support plate, and a first nut is fixedly installed in the stepped hole by a screw, and the first nut and the first flange screw form a spiral transmission. When the third joint motor is working, the first flange screw rotates, and the first nut drives the fifth component to perform reciprocating linear motion, and the ends of the two special-shaped guide rods are respectively fixed with two limit plates by bolts.

4. The geological ore sampling manipulator according to claim 3 is characterized in that: The sampling assembly includes a sixth component, which is a rectangular plate, a blind hole is provided on one side of the middle part, a second deep groove ball bearing is installed in cooperation with the inner cylindrical surface of the blind hole, a boss is provided on the other side of the sixth component, a second angular contact ball bearing is installed in cooperation with the outer cylindrical surface of the boss, the outer ring of the second angular contact ball bearing is installed in cooperation with the stepped hole at the end of the arm plate on one side of the fifth component, and the stepped hole is evenly distributed with 6 countersunk through holes on the circumference, and the stator end of the third joint motor is fixed to the outer side of the arm plate on one side of the fifth component by bolts, the blind hole of the sixth component is evenly distributed with 6 countersunk through holes on the circumference, and the sixth component is fixed to the turntable of the third joint motor by bolts, and a seventh component is provided directly opposite to the sixth component. The seventh component is a rectangular plate, with an annular boss on its outer side, and a third angular contact ball bearing is installed on the outer cylindrical surface of the annular boss. The outer ring of the third angular contact ball bearing is fixed in the stepped hole at the end of the arm plate on the other side of the fifth component. The middle part of the seventh component is a stepped through hole, and 6 circular through holes are evenly distributed around the circumference of the stepped through hole. The seventh component is fixed to the stator end of the fourth joint motor by bolts, and the turntable of the fourth joint motor is fixed to the flange end of the second flange output shaft. The end of the second flange output shaft cooperates with the inner ring of the second deep groove ball bearing, and the intermediate shaft section of the second flange output shaft is provided with a shoulder. The first bevel gear is fixed to the right side of the shoulder. The first bevel gear is connected to the inner ring of the second deep groove ball bearing. A shaft sleeve is fixed between the circles to limit the axial movement of the first bevel gear. An eighth component, a ninth component and a tenth component are vertically arranged between the sixth component and the seventh component. The eighth component is arranged in parallel with the tenth component. The ninth component is arranged vertically with the eighth component and the tenth component. Five circular bosses are arranged on the upper surface of the ninth component, wherein four circular bosses on the edge are respectively provided with four stepped through holes, and the inner diameter of the stepped through holes decreases from bottom to top. A third deep groove ball bearing is installed on the inner side, a washer is arranged on the lower surface of the third deep groove ball bearing, and a first thrust ball bearing is arranged on the lower side of the washer. A pick drill bit is installed on the lower surface of the first thrust ball bearing, and the large end face of the pick drill bit is aligned with the surface of the ninth component. A dustproof baffle is arranged between the gears, and the dustproof baffle is fixed to the ninth component by bolts. The stepped shaft of the pick drill bit cooperates with the inner ring of the third deep groove ball bearing. The first spur gear is fixed to the end of the stepped shaft of the pick drill bit. A stepped blind hole is provided on the middle boss of the ninth component, and the third deep groove ball bearing is installed in the stepped blind hole. The cylindrical surface at the bottom end of the first rotating shaft cooperates with the inner ring of the third deep groove ball bearing. A threaded hole is provided on the bottom surface of the first rotating shaft. A gasket is fixed to the bottom surface of the first rotating shaft by screws, and the inner ring of the third deep groove ball bearing is squeezed together by cooperating with the shoulder of the first rotating shaft to limit the axial displacement of the first rotating shaft. A card slot is provided in the middle stepped blind hole of the ninth component, and a retaining spring is installed in cooperation with it.In order to limit the axial displacement of the third deep groove ball bearing, the first spur gear is fixed in the middle of the first rotating shaft, and the first bevel gear is fixed at the top of the first rotating shaft. The four first spur gears at the ends of the four pick drill bits are all meshed with the first spur gear on the first rotating shaft, and the first bevel gear at the top of the first rotating shaft is meshed with the first bevel gear on the second flange output shaft. When the fourth joint motor drives the second flange output shaft to rotate, the motion is transmitted to the four pick drill bits through the meshing of a pair of bevel gears and five spur gears to rotate, so as to crush the stones. A stepped hole is provided in the eighth component, and six countersunk through holes are evenly distributed on the circumference of the stepped hole. The stator end of the fourth joint motor is fixed to the outside of the eighth component by bolts, and the rotor end of the fourth joint motor is fixed to the flange end of the second flange screw by bolts. The end of the second flange screw is "D" type. Three blind holes are provided on the tenth component, and the third deep groove ball bearing is fixed in the upper blind hole. The inner ring of the third deep groove ball bearing is connected to the inner ring of the screw. The light end is fixed, and the other end of the screw is "D" shaped. The second flange screw and the two "D" shaped ends of the screw are connected by a coupling. Two threaded holes are provided on the coupling, and the headless screw is tightened to the two "D" shaped end planes to make the second flange screw and the screw connected as a whole. The second flange screw and the screw are respectively matched with two second nuts to form a spiral transmission. The flange end faces of the two second nuts are respectively fixed to the two clips by bolts. Two through holes are provided below the clip. Two holes corresponding to the two blind holes below the eighth component are provided below the eighth component. Two first light rods are respectively fixed in the two pairs of relative blind holes. The two first light rods pass through the two through holes in the two clips respectively, and form a sliding fit to play a guiding role. The second flange screw and the screw have opposite thread rotation directions. When the fourth joint motor is working, the rotational motion of the second flange screw and the screw is converted into the linear motion of the nut to realize the opening and closing of the two clips. , 5. The geological ore sampling manipulator according to claim 2, characterized in that: The circumferential side of the annular bracket is provided with rectangular weight-reducing holes.

6. The geological ore sampling manipulator according to claim 1, characterized in that: A camera is installed at one side of the front end of the vehicle body.

7. The geological ore sampling manipulator according to claim 1, characterized in that: A storage box is installed at the center position of the inner side of the vehicle body.

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