Mining robot

Abstract

The utility model relates to a mining robot, which belongs to the field of underground mining and cleaning and comprises a crawler chassis component, a dismounting arm component is arranged at the head of the crawler chassis component, and a control signal receiver is arranged at the tail of the crawler chassis component. The disassembling arm assembly (2) comprises a base (21), a driving device I (22) is arranged on one side of the base (21) and vertically installed, the top of the driving device I (22) is connected with a transverse rotation driving gear (23), and the driving device I (22) drives a transverse rotation gear disc (24) to rotate in the horizontal direction by controlling the transverse rotation driving gear (23). The crawler chassis walking device is of a forward-tilting crawler type, the cross-country ability is improved, and the disassembling arm assembly can rotate by 360 degrees.

Description

Technical Field

[0001] The utility model relates to a mining robot and belongs to the field of underground mine mining and cleaning. Background Art

[0002] Mining demolition robots are robots specially designed to perform demolition tasks in mining environments. They are usually equipped with highly flexible robotic arms, advanced sensors and control systems, and powerful power systems to adapt to the complex and harsh working environment of mines.

[0003] According to the mine hazard removal robot disclosed in Chinese invention patent CN109572834A, the present invention discloses a mine hazard removal robot, including a body, a walking device is installed at the lower end of the body, the body can rotate 360 ​​degrees on the walking device, the walking device is a crawler type, a bracket is installed at the upper end of the body, a hazard removal device is installed on the bracket, a camera and a wireless remote control are installed on the hazard removal device, and the robot can be controlled in a safe area at a long distance. The present invention uses an automated robot to replace manual labor to perform mine dangerous rock hazard removal work, thereby reducing labor intensity, improving cleaning efficiency, reducing costs, and eliminating personal safety hazards.

[0004] The bottom walking device of the traditional mining robot is a flat crawler type. When encountering large particles and stones, the robot is likely to stop moving. The robot can only mine in a single direction and cannot perform 360-degree rotation. Utility Model Content

[0005] The technical problem to be solved by the utility model is that: a crawler chassis walking device is adopted which is a forward-tilted crawler type, so as to improve the off-road capability, and the disassembly arm assembly can perform 360-degree rotation movement.

[0006] The utility model discloses a mining robot, which comprises a crawler chassis assembly. The head of the crawler chassis assembly is provided with a disassembly arm assembly, and the tail of the crawler chassis assembly is provided with a control signal receiver.

[0007] The crawler chassis assembly provides walking parts for moving the equipment, the disassembly arm assembly is used for mining and movement, and the control signal receiver is used for receiving radio signals transmitted by external electronic equipment.

[0008] Furthermore, the crawler chassis assembly includes a fixed base plate, and both sides of the fixed base plate are connected to walking components.

[0009] The fixed base plate is used for installation support of the disassembly arm assembly, and the walking component is used for controlling the movement of the robot.

[0010] Furthermore, the walking assembly includes fixed support plates on both sides, and at least six wheel assemblies are arranged between the fixed support plates;

[0011] The wheel assembly includes a driving wheel, which is arranged on the head of the chassis and is rotatably connected by a driving device;

[0012] The wheel assembly also includes at least four supporting rollers, which are fixedly sleeved between the fixed support plates and are evenly arranged along the horizontal line;

[0013] The wheel body assembly also includes a crawler track, which is wound between the driving wheel, the frontmost supporting roller and the rearmost supporting roller.

[0014] The fixed support plate is used to install the six wheel assemblies, wherein the driving wheel provides the main power for the crawler operation and is used to pull the entire equipment to move;

[0015] The supporting rollers are mainly used to provide weight support for the whole equipment. As an optimization, the number of supporting rollers is 4, 5 or 6;

[0016] The driving wheel drives the track, thereby driving other supporting wheels to rotate for the movement of the robot.

[0017] Furthermore, the disassembly arm assembly includes a base, a driving device I is provided on one side of the base, the driving device I is vertically installed, the top of the driving device I is connected to a transverse driving gear, the driving device I drives the transverse rotating gear plate to rotate horizontally by controlling the transverse driving gear, and a disassembly plate is provided on the top of the auxiliary arm;

[0018] A support plate is connected to the top of the horizontal rotating gear plate, and the support plate is in an inverted door shape. The two sides of the support plate are connected to the driving device II and the driving device III, and the driving device II and the driving device III are arranged opposite to each other. A jib driving gear is provided at the ends of the driving device II and the driving device III. The main arm is connected between the two jib driving gears. The jib driving gear meshes with the jib rotating gear plate to rotate, thereby controlling the top of the jib to move up and down;

[0019] The disassembly plate is provided with ⅠⅤ and connection holes Ⅵ;

[0020] It also includes a jib adjustment rod, which is divided into two parts, the top of the cam is connected to the jib adjustment rod, and the other end of the adjustment rod is connected to the other end of the jib;

[0021] It also includes a main arm adjustment rod, which is divided into two parts, and connecting holes III and IV are provided at both ends of the auxiliary arm adjustment rod;

[0022] A kowtow connecting plate is provided at the connection between the main arm and the auxiliary arm, and the two sides of the kowtow connecting plate are respectively connected to the stretching rod I and the stretching rod II, one end of the stretching rod I is connected to the supporting plate, the other end of the stretching rod I is connected to the driving end of the kowtow connecting plate, and the tail of the stretching rod II is connected to the driven end of the kowtow connecting plate.

[0023] The base provides a structure for installing the drive device I and the drive device II. The drive device I drives the main arm to rotate 360 ​​degrees horizontally by connecting the transverse driving gear. The disassembly plate is used for disassembly of the mine rock formation.

[0024] The inverted door type support plate is used for carrying out, and the two sides of the support plate are used for installing the driving device II and the driving device III, and the driving device II and the driving device III respectively drive the auxiliary arm driving gear, thereby moving the auxiliary arm vertically;

[0025] The connection hole V is used for connection, and the connection hole IV is used for connecting the jib end; the connection hole VI is used for connecting the jib adjustment rod, and a specified distance is set between the connection hole V and the connection hole VI, which is used to adjust the disassembly plate around the jib end using the jib adjustment rod;

[0026] The kowtow connecting plate is used to connect the main arm adjusting rod and the auxiliary arm adjusting rod, and is used to adjust the angle between the main arm and the auxiliary arm.

[0027] Furthermore, the main arm is provided with a weight-reducing hole I, which is arranged along the longitudinal direction, and the auxiliary arm is provided with a weight-reducing hole II, which is arranged along the transverse direction.

[0028] Weight reduction hole I is used to reduce the weight of the main arm without affecting the supporting strength of the main arm, thereby realizing a lightweight design. Weight reduction hole II is used to reduce the weight of the auxiliary arm, thereby realizing the above-mentioned effect in the same way.

[0029] Furthermore, a transverse fender is provided on the top of the track.

[0030] The transverse fender is used to prevent mud on the wheel body assembly from entering the disassembly arm assembly, thereby affecting the use of the disassembly arm assembly.

[0031] Compared with the prior art, the beneficial effects of the utility model are:

[0032] The utility model discloses a mining robot, wherein the crawler chassis assembly provides walking parts for walking the equipment, the disassembly arm assembly is used for mining and movement, the control signal receiver is used for receiving radio signals transmitted from external electronic equipment, and the disassembly arm assembly can rotate 360 ​​degrees in the horizontal direction; the crawler chassis walking device is a forward-tilted crawler type, so as to improve the off-road capability, and the disassembly arm assembly can rotate 360 ​​degrees. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of an embodiment of the utility model;

[0034] Figure 2 It is a structural front view of an embodiment of the utility model;

[0035] Figure 3It is a left side view of the structure of an embodiment of the utility model;

[0036] Figure 4 It is a structural top view of an embodiment of the utility model;

[0037] Figure 5 is a perspective view of the crawler chassis assembly;

[0038] Figure 6 is a perspective view of the dismantling arm assembly;

[0039] Figure 7 is the front view of the disassembly arm assembly;

[0040] In the figure: 1. crawler chassis assembly; 2. disassembly arm assembly; 3. control signal receiver;

[0041] 11. Fixed base plate; 12. Traveling assembly;

[0042] 121, fixed support plate; 122, wheel assembly; 123, driving wheel; 124, driving device; 125, supporting wheel; 126, crawler track; 127, transverse fender;

[0043] 21. Base; 22. Driving device I; 23. Transverse driving gear; 24. Transverse rotating gear plate; 25. Disassembly plate; 26. Support plate; 27. Driving device II; 28. Driving device III; 29. ​​Jib driving gear; 210. Main arm; 212. Jib rotating gear plate; 213. Connecting hole V; 214. Connecting hole VI; 215. Jib adjusting rod; 216. Main arm adjusting rod; 217. Connecting hole III; 218. Connecting hole IV; 219. Knock connecting plate; 220. Stretching rod I; 221. Stretching rod II; 222. Jib; 223. Cam; 2101. Lightening hole I; 2221. Lightening hole II. DETAILED DESCRIPTION

[0044] Example 1

[0045] like Figure 1 to Figure 7 As shown, a mining robot described in the utility model comprises a crawler 126 chassis assembly 1, a disassembly arm assembly 2 is provided at the head of the crawler 126 chassis assembly 1, and a control signal receiver 3 is provided at the tail of the crawler 126 chassis assembly 1.

[0046] The crawler 126 chassis assembly 1 provides a walking component for the equipment to move, the disassembly arm assembly 2 is used for mining and movement, and the control signal receiver 3 is used to receive radio signals transmitted by external electronic equipment.

[0047] like Figure 5 As shown, as an optimization, the crawler track 126 chassis assembly 1 includes a fixed base plate 11, and the two sides of the fixed base plate 11 are connected to the walking parts.

[0048] The fixed base plate 11 is used for mounting and supporting the disassembly arm assembly 2, and the walking component is used for controlling the movement of the robot.

[0049] like Figure 5 As shown, as an optimization, the walking assembly 12 includes fixed support plates 121 on both sides, and at least six wheel assemblies 122 are arranged between the fixed support plates 121;

[0050] The wheel assembly 122 includes a driving wheel 123, which is disposed at the head of the chassis and is rotatably connected to the driving wheel 123 by a driving device 124;

[0051] The wheel assembly 122 further includes at least four supporting rollers 125, and the supporting rollers 125 are fixedly sleeved between the fixed support plates 26121, and the supporting rollers 125 are evenly arranged along the horizontal line;

[0052] The wheel assembly 122 further includes a track 126 , which is wound between the driving wheel 123 , the frontmost track wheel 125 , and the rearmost track wheel 125 .

[0053] The fixed support plate 26121 is used to install the six wheel assemblies 122, wherein the driving wheel 123 provides the main power for the operation of the crawler 126, and is used to pull the entire device to move;

[0054] The supporting rollers 125 are mainly used to provide weight support for the entire equipment. As an optimization, the supporting rollers 125 are 4, 5 or 6;

[0055] The driving wheel 123 drives the crawler track 126, thereby driving the other supporting wheels 125 to rotate, so as to move the robot.

[0056] like Figure 6 and Figure 7 As shown, as an optimization, the disassembly arm assembly 2 includes a base 21, a driving device I 22 is provided on one side of the base 21, the driving device I 22 is vertically installed, the top of the driving device I 22 is connected to the transverse driving gear 23, the driving device I 22 controls the transverse driving gear 23 to drive the transverse rotating gear plate 24 to rotate horizontally, and a disassembly plate 25 is provided on the top of the auxiliary arm 222;

[0057] A support plate 26 is connected to the top of the horizontal rotating gear plate 24. The support plate 26 is in an inverted door shape. The two sides of the support plate 26 are connected to a driving device II 27 and a driving device III 28. The driving device II 27 and the driving device III 28 are arranged opposite to each other. A secondary arm driving gear 29 is provided at the end of the driving device II 27 and the driving device III 28. The main arm 210 is connected between the two secondary arm driving gears 29. The secondary arm driving gear 29 engages with the rotating gear plate 212 of the secondary arm 222 to rotate, thereby controlling the top of the secondary arm 222 to move up and down.

[0058] The disassembly plate 25 is provided with a connection hole V213 and a connection hole VI214;

[0059] It also includes an auxiliary arm 222 adjusting rod 215, the auxiliary arm 222 adjusting rod 215 is divided into two, the top of the cam 223 is connected to the auxiliary arm 222 adjusting rod 215, and the other end of the adjusting rod is connected to the other end of the auxiliary arm 222;

[0060] It also includes a main arm adjustment rod 216, which is divided into two parts, and a connecting hole III 217 and a connecting hole IV 218 are provided at both ends of the auxiliary arm 222 adjustment rod 215;

[0061] A kowtow connecting plate 219 is provided at the connection between the main arm 210 and the auxiliary arm 222. The two sides of the kowtow connecting plate 219 are respectively connected to the stretching rod I 220 and the stretching rod II 221. One end of the stretching rod I 220 is connected to the support plate 26, and the other end of the stretching rod I 220 is connected to the driving end of the kowtow connecting plate 219. The tail of the stretching rod II 221 is connected to the driven end of the kowtow connecting plate 219.

[0062] The base 21 provides a structure for installing the drive device I 22 and the drive device II 27. The drive device I 22 drives the main arm 210 to rotate 360 ​​degrees horizontally by connecting the transverse driving gear 23. The disassembly plate 25 is used for disassembling the rock formation of the mine.

[0063] The inverted door-shaped support plate 26 is used for carrying out, and the two sides of the support plate 26 are used for installing the driving device II 27 and the driving device III 28, and the driving device II 27 and the driving device III 28 respectively drive the auxiliary arm driving gear 29, so as to vertically move the auxiliary arm 222;

[0064] The connection hole V213 is used for connection, and the connection hole IV218 is used for connecting the end of the auxiliary arm 222; the connection hole VI214 is used for connecting the auxiliary arm 222 adjustment rod 215, and a specified distance is set between the connection hole V213 and the connection hole VI214, which is used to use the auxiliary arm 222 adjustment rod 215 to adjust the disassembly plate 25 around the end of the auxiliary arm 222;

[0065] The kowtow connecting plate 219 is used to connect the main arm adjustment rod 216 and the auxiliary arm 222 adjustment rod 215, and is used to adjust the angle between the main arm 210 and the auxiliary arm 222.

[0066] like Figure 6 to Figure 7 As shown, as an optimization, the main arm 210 is provided with a weight-reducing hole I 2101, which is arranged along the longitudinal direction, and the auxiliary arm 222 is provided with a weight-reducing hole II 2221, which is arranged along the transverse direction.

[0067] The weight-reducing hole I 2101 is used to reduce the weight of the main arm 210 without affecting the supporting strength of the main arm 210, thereby realizing a lightweight design. The weight-reducing hole II 2221 is used to reduce the weight of the auxiliary arm 222, thereby realizing the above-mentioned effect in a similar manner.

[0068] like Figures 1 to 4 As shown, as an optimization, a transverse fender 127 is provided on the top of the crawler track 126 .

[0069] The transverse fender 127 is used to prevent mud on the wheel assembly 122 from entering the disassembly arm assembly 2 , thereby affecting the use of the disassembly arm assembly 2 .

[0070] Working process or working principle:

[0071] The driving device 124 drives the driving wheel 123 to rotate, and the driving device 124 drives the driving wheel 123 to rotate, and the driving wheel 123 drives the supporting wheel 125 to rotate through the crawler 126, thereby driving the entire equipment to move;

[0072] The driving device I22 on the base 21 cooperates with the transverse driving gear 23 and the transverse rotating gear plate 24 to make the disassembly arm assembly 2 rotate 360 ​​degrees in the horizontal direction. The driving device II27 rotates the gear plate 212 through the auxiliary arm driving gear 29 and the auxiliary arm 222, thereby stretching the auxiliary arm 222 to move up and down in the vertical direction. The top disassembly plate 25 is used to dismantle the wood and civil structures in the mine. The stretching rod I220 and the stretching rod II221 are connected by the kowtow connecting plate 219, which is used to rotate the disassembly plate 25 around the connecting hole V213.

[0073] The description of the direction and relative position relationship of the structure in the present invention, such as the description of front, back, left, right, up, and down, does not constitute a limitation of the present invention, but is only for the convenience of description.

Claims

1. A mining robot, characterized in that: The crawler chassis assembly (1) comprises a disassembly arm assembly (2) at the head of the crawler chassis assembly (1), and a control signal receiver (3) at the tail of the crawler chassis assembly (1); The disassembly arm assembly (2) comprises a base (21), a driving device I (22) is arranged on one side of the base (21), the driving device I (22) is vertically installed, the top of the driving device I (22) is connected to a transverse driving gear (23), the driving device I (22) drives a transverse rotating gear plate (24) to rotate horizontally by controlling the transverse driving gear (23), and a disassembly plate (25) is arranged on the top of the auxiliary arm (222); a support plate (26) is connected to the top of the transverse rotating gear plate (24), the support plate (26) is in an inverted door shape, and the support plate (26) The two sides are connected to a driving device II (27) and a driving device III (28), the driving device II (27) and the driving device III (28) are arranged opposite to each other, and auxiliary arm driving gears (29) are provided at the ends of the driving device II (27) and the driving device III (28), and the main arm (210) is connected between the two auxiliary arm driving gears (29), and the auxiliary arm driving gear (29) engages with the auxiliary arm rotating gear plate (212) to rotate, thereby controlling the top end of the auxiliary arm (222) to move up and down; the disassembly plate (25) is provided with a connecting hole V (213) and a connecting hole VI (214); It also includes a secondary arm adjustment rod (215), which is divided into two parts. The top of the cam (223) is connected to the secondary arm adjustment rod (215), and the other end of the adjustment rod is connected to the other end of the secondary arm (222); It also includes a main arm adjustment rod (216), which is divided into two parts, and a connecting hole III (217) and a connecting hole IV (218) are provided at both ends of the auxiliary arm adjustment rod (215); A kowtow connecting plate (219) is provided at the connection between the main arm (210) and the auxiliary arm (222), and the two sides of the kowtow connecting plate (219) are respectively connected to a stretching rod I (220) and a stretching rod II (221), one end of the stretching rod I (220) is connected to a support plate (26), the other end of the stretching rod I (220) is connected to a driving end of the kowtow connecting plate (219), and the tail of the stretching rod II (221) is connected to a driven end of the kowtow connecting plate (219).

2. The mining robot according to claim 1, characterized in that: The crawler chassis assembly (1) comprises a fixed base plate (11), and both sides of the fixed base plate (11) are connected to walking components.

3. The mining robot according to claim 2, characterized in that: The walking assembly (12) comprises fixed support plates (121) on both sides, and at least six wheel assemblies (122) are arranged between the fixed support plates (121); The wheel assembly (122) comprises a driving wheel (123), the driving wheel (123) is arranged on the head of the chassis, and the driving wheel (123) is rotationally connected by a driving device (124); The wheel assembly (122) further comprises at least four supporting rollers (125), wherein the supporting rollers (125) are fixedly sleeved between the fixed support plates (121), and the supporting rollers (125) are evenly arranged along a horizontal line; The wheel assembly (122) further comprises a track (126), wherein the track (126) is wound between the driving wheel (123), the frontmost supporting roller (125) and the rearmost supporting roller (125).

4. The mining robot according to claim 3, characterized in that: The main arm (210) is provided with a weight-reducing hole I (2101) which is arranged in the longitudinal direction, and the auxiliary arm (222) is provided with a weight-reducing hole II (2221) which is arranged in the transverse direction.

5. The mining robot according to claim 4, characterized in that: A transverse fender (127) is provided on the top of the crawler track (126).

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