Geological exploration sampling robot

Abstract

The utility model relates to the technical field of geological exploration equipment, in particular to a geological exploration sampling robot which comprises a crawler-type chassis, a sensing system, a drilling mechanical arm, an ore suction mechanical arm and a sample collecting device. The crawler-type chassis comprises a frame, a driving wheel, an inducing wheel, a track supporting wheel, a loading wheel and a crawler wheel; the sensing system is arranged at the front end of a frame of the crawler-type chassis and is composed of a visual sensor, a terrain scanner, a photosensitive induction lamp and an ultrasonic sensor which are sequentially arranged from top to bottom. The drilling mechanical arm comprises a base, a mechanical arm body and a drilling bit. The ore suction mechanical arm comprises a base, a mechanical arm body and an ore suction head. The sample collecting device comprises a collecting bottle group conveying belt, a collecting bottle bracket, a sample collecting bottle and a turbine vacuum pumping machine. The multi-environment exploration and sampling device can adapt to various complex terrains, is short and small, has two exploration modes of drilling and ore suction sampling, and supports multi-environment exploration and sampling.

Description

Technical Field

[0001] The utility model relates to the technical field of geological exploration equipment, in particular to a geological exploration sampling robot. Background Art

[0002] Geological exploration is a long-standing activity aimed at exploring mineral resources. However, during the survey and sampling process, there is a lack of appropriate classification methods and sampling means, and important data such as mineral location, mineral reserves, mineral types, underground moisture, etc. cannot be accurately measured.

[0003] The development of modern technology has brought advanced mineral detection instruments such as Olympus handheld ore analyzers, X-ray spectrometers and Terra portable XRD analyzers. These devices are mainly used to detect and analyze samples.

[0004] The geological survey sampling robot is a device that replaces manual field survey and sampling in areas with harsh environments, complex terrain, hidden dangers, and areas that are inaccessible or out of reach for researchers.

[0005] At present, geological sampling robots on the market are mainly clamping devices and excavation devices. The grippers are divided into electric grippers, servo grippers, heavy-duty grippers and other categories. The grippers are mainly composed of three parts: the hand, the motion mechanism and the control system. The grippers have high requirements for the size, weight and operation requirements of the objects to be gripped. For example, the many robot end electric grippers designed by Shanghai Aotai Meixu Company have a motion mechanism composed of multiple transmission arms and rotating joints, which can enable the hand to complete various rotations, swings, and compound movements to perform the prescribed actions. However, its gripper hand is composed of only a pair of mechanical claws, which cannot clamp fine granular minerals and has high requirements for the appearance of the minerals.

[0006] At present, most geological exploration sampling robots have tire chassis, which are low-cost, flexible in steering, and can travel long distances. However, they are prone to slipping on high slopes, making it difficult to control the direction and even roll over. In addition, their internal structure is complex and their size is relatively large, making them difficult to handle complex and changeable terrains.

[0007] Therefore, the current geological survey robots generally have the following shortcomings:

[0008] (1) Most robot samplers use clamping devices or digging devices, which cannot sample fine granular minerals, or the devices are too large to sample small deep pits.

[0009] (2) Some geological survey sampling robots are too large and are not suitable for narrow ice caves and karst caves.

[0010] (3) Most existing survey robots use tire chassis, which are prone to slipping on high-slope terrain, making it difficult to control the direction and even causing rollover, and are greatly affected by the terrain. Summary of the invention

[0011] In view of the problems that the existing surveying and sampling robots are too large in size and cannot enter narrow mine caves, cannot sample fragile powdery granular minerals, and cannot sample small deep pits, the utility model designs a geological surveying and sampling robot with a shorter stature.

[0012] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is as follows.

[0013] A geological exploration sampling robot, including a crawler chassis, a sensor system, a drilling robot arm, a mineral suction robot arm, and a sample collection device;

[0014] The crawler chassis comprises a frame, a driving wheel, an induction wheel, a track roller, a road wheel, and a track wheel. The four gear combinations of the driving wheel, the induction wheel, the track roller, and the road wheel are arranged on the frame of the crawler chassis. The track wheel is composed of a plurality of track monoliths. The track wheel surrounds the gear combination and meshes with each gear. The driving wheel on each side is connected to a crawler chassis engine to provide driving force, and the crawler chassis engine and the driving wheel are located at the rear end of the track wheel.

[0015] The sensing system is arranged at the front end of the crawler chassis frame, and is composed of a visual sensor, a terrain scanner, a photosensitive sensor, and an ultrasonic sensor arranged in order from top to bottom. The visual sensor is used to obtain the original image of the environment in front of the robot, the terrain scanner is used to scan and reconstruct the three-dimensional topography of the surrounding terrain, the photosensitive sensor is used to illuminate in the dark and closed environment, and the ultrasonic sensor is used to assist the robot to avoid obstacles during driving;

[0016] The drilling mechanical arm comprises a base, a mechanical arm, and a drilling drill bit. The mechanical arm comprises an upper arm and a lower arm that are rotatably connected. In the drilling mechanical arm, the base is fixed on the frame of the crawler chassis, and a drilling chassis rotating motor is provided on the base. A circular chassis is connected to the output shaft of the drilling chassis rotating motor. The circular chassis is rotatably connected to the bottom end of the lower arm of the mechanical arm through a rotating shaft 1. A drilling angle driving motor fixed to the circular chassis through a bracket is provided on the bottom side of the lower arm of the mechanical arm. The drilling angle driving motor is used to drive the lower arm of the mechanical arm to rotate around the rotating shaft 1; the top end of the lower arm of the mechanical arm is rotatably connected to the bottom end of the upper arm through a rotating shaft 2, and a drilling crank arm driving motor is provided at the connection between the upper arm and the lower arm. The drilling crank arm driving motor is used to drive the upper arm of the mechanical arm to rotate around the rotating shaft 2; the top end of the upper arm of the mechanical arm is movably connected to the drilling drill bit;

[0017] The drilling bit of the drilling mechanical arm includes a metal drill bit and a drill bit box. The drill bit box is rotatably connected to the top of the upper arm of the mechanical arm through the drilling drill bit outer axis. A rotary drive motor and an electric push rod are arranged inside the drill bit box. One end of the electric push rod is connected to the upper arm, and the other end is connected to the rear end of the drill bit box. The electric push rod is used to drive the drill bit box and the metal drill bit to rotate around the drilling drill bit outer axis; the rotary drive motor is fixed to the front end of the drill bit box, and the output shaft of the rotary drive machine is connected to the central axis of the rear end of the metal drill bit. The rotary drive machine is used to drive the metal drill bit to rotate around the center;

[0018] The ore suction mechanical arm comprises a base, a mechanical arm, and an ore suction head. The mechanical arm comprises an upper arm and a lower arm that are rotatably connected. In the ore suction mechanical arm, the base is fixed on the frame of the crawler chassis, a ore suction chassis rotating motor is provided on the base, a circular chassis is connected to the output shaft of the ore suction chassis rotating motor, the circular chassis and the bottom end of the lower arm of the mechanical arm are rotatably connected through a rotating shaft 1, a ore suction angle driving motor fixed to the circular chassis through a bracket is provided on the bottom side of the lower arm of the mechanical arm, the ore suction angle driving motor is used to drive the lower arm of the mechanical arm to rotate around the rotating shaft 1, the top end of the lower arm of the mechanical arm is rotatably connected to the bottom end of the upper arm through a rotating shaft 2, a ore suction curved arm driving motor is provided at the connection between the upper arm and the lower arm, and the ore suction curved arm driving motor is used to drive the upper arm of the mechanical arm to rotate around the rotating shaft 2; the top end of the upper arm of the mechanical arm is movably connected to the ore suction head, a ore suction hose is connected to the ore suction head, the ore suction hose is communicated with a sample collection device, and the ore suction hose is a retractable black hose, used to transport the samples collected by the ore suction mechanical arm to the sample collection device;

[0019] The ore suction head of the ore suction mechanical arm includes a suction pipe and an ore suction box. The suction pipe is arranged at the front end of the ore suction box. A collection outlet is arranged at the top or side of the ore suction box. One end of the ore suction hose passes through the collection outlet and is connected to the suction pipe, and the other end of the ore suction hose is connected to the sample collection device. The ore suction box is rotatably connected to the top of the upper arm of the mechanical arm through the outer axis of the ore suction head. An electric push rod is arranged inside the ore suction box. One end of the electric push rod is connected to the upper arm, and the other end is connected to the ore suction box. The electric push rod is used to drive the suction pipe, the ore suction hose and the ore suction box to rotate around the outer axis of the ore suction head.

[0020] The sample collecting device comprises a collecting bottle group conveyor belt, a collecting bottle bracket, a sample collecting bottle, and a turbine vacuum pump. The collecting bottle group conveyor belt is arranged above the frame of the crawler chassis and is a ring-shaped rotating conveyor belt. Transmission gears are arranged on the inner sides of both ends of the conveyor belt, and the transmission gears are meshed with the collecting bottle group conveyor belt. The transmission gear at one end is driven to rotate by a conveyor belt driving motor and a conveyor belt driving gear arranged on the inner side of the conveyor belt, so as to drive the collecting bottle group conveyor belt and the sample collecting bottle to rotate; a plurality of placement positions are arranged on the collecting bottle group conveyor belt, and a collecting bottle bracket is fixedly arranged on each placement position, and the sample collecting bottle is nested and placed in the collecting bottle bracket; the top of the sample collecting bottle is designed to be open, so as to receive the sample transported by the ore suction hose, and an air flow guide port is arranged on the side wall of the sample collecting bottle, and a barrier film is arranged on the air flow guide port, and the air flow guide port is used to be connected with a vent arranged in front of the frame of the crawler chassis, and the vent is connected with the turbine vacuum pump.

[0021] The geological exploration sampling robot also includes a control system, which includes a main circuit board, a motion control system circuit board a, a motion control system circuit board b, a motion control system circuit board c, a battery pack module, a remote sensing controller and a data transmitter. The main circuit board is used to control the overall circuit system of the robot, and the motion control system circuit a, the motion control system circuit b, the motion control system circuit c, the remote sensing controller and the data transmitter are all electrically connected to the main circuit board; the motion control system circuit board a is used to control the drilling mechanical arm and the ore suction mechanical arm, and the drilling angle drive motor, the drilling crank arm drive motor, the drilling chassis rotation motor, the rotary drive motor and the electric push rod in the drilling drill bit, the ore suction angle drive motor, the ore suction chassis rotation motor, the ore suction crank arm drive motor, and the electric push rod in the ore suction head are all electrically connected to the motion control system circuit board a; the motion control system circuit board b is used to control the sensor system and the crawler chassis, and the visual sensor, the terrain scanner, the photosensitive lamp, the ultrasonic sensor, and the crawler chassis engine are all electrically connected to the motion control system circuit board b; the motion control system circuit board c is used to control the sample collection device, and the conveyor belt drive motor The machine, ventilation interface drive motor, ore suction hose interface drive motor, and turbine vacuum pump are all electrically connected to the motion control system circuit board c; the battery pack module provides a power source for all power-consuming systems, that is, all power-consuming devices on the crawler chassis, sensor system, drilling mechanical arm, ore suction mechanical arm, and sample collection device are electrically connected to the battery pack module, and the main circuit board, motion control system circuit board a, motion control system circuit board b, motion control system circuit board c, remote sensing controller and data transmitter are all electrically connected to the battery pack module; the remote sensing controller and the data transmitter are used to transmit the geographical environment, digital video images, terrain scanning and other data obtained by the sensor system and receive remote remote sensing data instructions transmitted by the remote data terminal to control the action of the entire robot, and the main circuit board, motion control system circuit board a, motion control system circuit board b, motion control system circuit board c, and the battery pack module are all electrically connected to the remote sensing controller and the data transmitter.

[0022] Furthermore, the track wheel plays a supporting role by arranging two track-supporting wheels at the upper part and three road wheels at the lower part, and forms a trapezoidal shape with the inducer wheel at the front end and the driving wheel at the rear end, which is narrow at the bottom and wide at the top, so as to facilitate coping with complex terrain.

[0023] Furthermore, wheel side support plates are provided on both sides of the frame of the crawler chassis, and multiple limiting holes are provided at both ends and the upper part of the wheel side support plates. The central axes of the driving wheel, the idler wheel and the track roller are all sleeved in the limiting holes, and three groups of shock absorbing systems consisting of a balancing elbow, an L-shaped support rod and a spring are installed in sequence behind the three road wheels on each side. One end of the L-shaped support rod is a circular fixing ring, which is connected to the central axis of the road wheel, and the other end of the L-shaped support rod passes through the wheel side support plate and is fixedly connected to one end of the balancing elbow, the other end of the balancing shaft is fixedly connected to the lower end of the spring, and the upper end of the spring is fixedly connected to the wheel side support plate through a sleeve fixed on the wheel side support plate.

[0024] Furthermore, the terrain scanner is fixed on the frame by a lift and can move up and down; a transverse rotation drive motor is provided at the lower part of the geological scanner, so that the geological scanner can rotate within a range of 210° in the horizontal plane; a longitudinal rotation drive motor is provided at the rear end of the geological scanner, so that the geological scanner can rotate longitudinally within a range of 45°-140°; the transverse rotation drive motor, the lift and the longitudinal rotation drive motor are all electrically connected to the motion control system circuit board b and the battery pack module.

[0025] Furthermore, the sample collection device also includes an infrared calibrator, which is fixed on the frame directly in front of the sample collection bottle and is used to calibrate and position the sample collection bottle; the infrared calibrator is electrically connected to the motion control system circuit board c and the battery pack module.

[0026] Furthermore, the collecting bottle holder is provided with at least two incompletely closed annular fixing rings for detachably fixing the sample collecting bottle; the air flow guide port on the side wall of the sample collecting bottle is located on the unclosed side of the annular fixing ring to facilitate docking with the ventilation port.

[0027] Compared with the prior art, the geological exploration sampling robot of the utility model has the following advantages:

[0028] (1) This geological exploration sampling robot is designed and developed based on the geological survey background that researchers cannot enter or reach. It has the functions of "drilling" and "sucking" to conduct geological exploration and sampling. Because the tire-type chassis is easy to slip when encountering high-slope terrain, it is difficult to control the direction and may even roll over, and it is difficult to cope with complex and changeable terrain. Therefore, this product uses a crawler chassis. Compared with the tire-type chassis, the crawler chassis has better off-road capabilities, can adapt to various complex terrains, has lower requirements for the road surface, and has stronger grip.

[0029] (2) The geological exploration sampling robot is small: on the one hand, it uses a foldable mechanical arm, which can be folded up when not working, which can reduce its height as much as possible without affecting the extension of the mechanical arm. On the other hand, it uses a crawler drive to reduce its height and width; the overall height can be as low as 0.5m, but the extension of the mechanical arm can reach nearly 2m at most.

[0030] (3) The geological exploration sampling robot has multiple functions: the robot has two exploration methods: drilling and suction sampling. Drilling is divided into surface exploration and deep exploration. The robot arm can conduct exploration and sampling at different depths underground, from the surface to the deep layer. The maximum extension of the robot arm is nearly 2 meters, which can conduct in-depth sampling of some narrower and deeper pits.

[0031] (4) The geological exploration sampling robot supports multi-environment exploration and sampling: Because the robot is equipped with a crawler chassis, it is suitable for complex terrain and environment. It is also equipped with 18 empty sample collection bottles, which can perform multiple sampling at different depths in multiple locations. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the three-dimensional structure of the geological exploration sampling robot in the embodiment of the utility model.

[0033] Figure 2 It is a schematic diagram of the top view of the geological exploration sampling robot in the embodiment of the utility model.

[0034] Figure 3 It is a rear view structural schematic diagram of the geological exploration sampling robot in the embodiment of the utility model.

[0035] Figure 4 It is a side structural schematic diagram of the crawler chassis of the geological exploration sampling robot in the embodiment of the utility model.

[0036] Figure 5 It is a schematic diagram of the top view of the crawler chassis of the geological exploration and sampling robot in the embodiment of the utility model.

[0037] Figure 6 It is a schematic diagram of the top view of the structure of the collection bottle group conveyor belt of the geological exploration sampling robot in the embodiment of the utility model.

[0038] Figure 7 for Figure 6 Schematic diagram of the enlarged structure at point A in the middle.

[0039] Figure 8 It is a schematic diagram of the main structure of the sensor system of the geological exploration sampling robot in the embodiment of the utility model.

[0040] Fig. 9It is a side structural schematic diagram of the sensor system of the geological exploration sampling robot in the embodiment of the utility model.

[0041] Fig.10 It is a schematic diagram of the structure of the drilling mechanical arm of the geological exploration sampling robot in the embodiment of the utility model.

[0042] Fig.11 It is a schematic diagram of the structure of the ore suction mechanical arm of the geological exploration sampling robot in the embodiment of the utility model.

[0043] Fig.12 It is a structural schematic diagram of the sample collection entrance of the geological exploration sampling robot in the embodiment of the utility model.

[0044] Fig.13 It is a schematic structural diagram of the sample collection bottle bracket of the geological exploration sampling robot in the embodiment of the utility model.

[0045] Fig.14 It is a partial structural exploded view of the shock absorption system of the geological exploration sampling robot in the embodiment of the utility model.

[0046] Explanation of the reference numerals: 1-drilling mechanical arm, 2-turbine vacuum pump, 3-crawler chassis, 4-ore suction angle drive motor, 5-ore suction mechanical arm, 6-ore suction crank arm drive motor, 7-sensor system, 8-drilling angle drive motor, 9-drilling crank arm drive motor, 10-ore suction hose, 11-ore suction head, 12-drilling drill bit, 13-driving wheel, 14-track roller, 15-track single piece, 16-road wheel, 17-inducing wheel, 18-ore suction hose connection port a, 19-ore suction chassis rotation motor, 20-main circuit board, 21-drilling chassis rotation motor, 22-motion control system circuit board a, 23-motion control system circuit board b, 24-motion control system circuit board c, 25-crawler chassis engine, 26-collection bottle group Conveyor belt, 27-sample collection bottle, 28-ore suction hose connection port b, 29-infrared calibrator, 30-visual sensor, 31-topographic scanner, 32-lateral rotation drive motor, 33-photosensitive sensor lamp, 34-ultrasonic sensor, 35-elevator, 36-wheel side support plate, 37-balance elbow, 38-spring, 39-collection bottle bracket, 40-ventilation interface drive motor, 41-ore suction hose interface drive motor, 42-ventilation interface, 43-ore suction sample tube, 44-barrier film, 45-longitudinal rotation drive motor, 46-conveyor belt drive motor, 47-remote sensing controller and data transmitter, 48-battery pack module, 49-drilling drill bit outer shaft, 50-ore suction head outer shaft, 51-drill bit box, 52-ore suction box, 53-L-type support rod. DETAILED DESCRIPTION

[0047] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described in detail below in conjunction with the accompanying drawings and specific embodiments. In the following description, many specific details are set forth to facilitate a full understanding of the utility model, but the utility model can also be implemented in other ways different from those described herein, and therefore, the utility model is not limited to the limitations of the specific embodiments disclosed below.

[0048] like Figure 1~Figure 3 The geological exploration sampling robot shown includes a crawler chassis 3, a sensor system 7, a drilling mechanical arm 1, a ore suction mechanical arm 5, a sample collection device and a control system, and its overall structure is divided into three layers: upper, middle and lower. The upper layer is composed of a drilling mechanical arm 1 and an ore suction mechanical arm 5; the middle layer is a control system composed of a battery module and various control circuit boards; the lower layer is a sample collection device; and the crawler chassis 3 is below the sample collection device. At the same time, a sensor system 7 is installed in front of the geological exploration sampling robot, and a turbine vacuum pump 2 is installed in the rear. The entire robot is driven by the crawler chassis 3 to move.

[0049] 1) Tracked chassis

[0050] 1.1) Rotor structure

[0051] like Figure 4 As shown, there are four kinds of gears for driving the tracks in the crawler chassis 3, namely, a driving wheel 13, an inducing wheel 17 (i.e., a guide wheel), a supporting wheel 14 (i.e., a supporting wheel, playing a supporting role), and a road wheel 16. The four kinds of gear combinations for driving the tracks are arranged on the frame of the crawler chassis 3 (the frame has the same structure as the frame used for a conventional crawler chassis, and the frame includes a wheel side support plate 36). The driving wheel 13, the inducing wheel 17, and the supporting wheel 14 are also limited by the wheel side support plate 36. The wheel side support plate 36 has limiting holes at both ends and the upper part. The central axes of the driving wheel 13, the inducing wheel 17, and the supporting wheel 14 are respectively sleeved in each limiting hole. The crawler wheels composed of a plurality of crawler single pieces 15 surround the gear combination and mesh with each gear. The track gear on each side has a driving wheel 13 powered by an independent track chassis engine 25, that is, the output shaft of the track chassis engine 25 on each side is connected to the rotating shaft of the driving wheel 13 on that side, and the track chassis engine 25 and the driving wheel 13 are located at the rear end of the track wheel, the two track rollers 14 on the upper part of the track wheel and the three road wheels 16 on the lower part play a supporting role, and form a trapezoidal shape (a trapezoid that is narrow at the bottom and wide at the top) with the inducer wheel 17 at the front end and the driving wheel 13 at the rear end, which can better cope with complex terrain.

[0052] 1.2) Shock absorption system

[0053] When the robot is traveling on a rugged road, the body will vibrate greatly. In order to keep the body relatively stable as much as possible, alleviate the vibration of the robot arm, sensor system 7, battery pack and other components, and ensure that the robot can smoothly pass through the rugged and complex terrain, this embodiment designs a shock absorption system, such as Figure 4 and Fig.14 As shown, three groups of shock absorbing systems consisting of a balancing elbow 37, an L-shaped support rod 53, and a spring 38 are installed in sequence behind the three road wheels 16 on each side (on both sides of the wheel side support plate 36). One end of the L-shaped support rod 53 is a circular fixed ring, which is connected to the central axis of the road wheel 16. The other end of the L-shaped support rod 53 passes through the hole on the wheel side support plate 36 and is fixedly connected to one end of the balancing elbow 37 (the L-shaped support rod 53 is not fixedly connected to the wheel side support plate 36, and the L-shaped support rod 53 can rotate in the hole on the wheel side support plate 36). The other end of the balancing shaft 37 is fixedly connected to the lower end of the spring 38, and the upper end of the spring 38 is fixedly connected to the wheel side support plate 36 through a sleeve structure fixed on the wheel side support plate 36.

[0054] When the robot is traveling on a relatively rugged and uneven road section, when the road wheel 16 is bumped by external force, its central axis will drive the L-shaped support rod 53 to rotate, and the L-shaped support rod 53 will drive the balancing elbow 37 to rotate together, and the balancing elbow 37 will generate tension or pressure on the spring 38. At this time, the spring 38 itself will generate a rebound force to balance the force applied by the balancing elbow 37 to it, so as to reduce the rotation amount of the balancing elbow 37 and the L-shaped support rod 53, thereby playing a role in buffering and shock absorption. The greater the terrain undulation of the driving section, the greater the force applied by the balancing elbow 37 to the spring 38, the greater the rebound force generated by the spring 38, and the greater the buffering force on the road wheel, thereby achieving the purpose of shock absorption.

[0055] 1.3) Steering structure

[0056] To cope with complex terrain, the robot's rotation and direction adjustment are crucial, and smooth steering can also increase the operator's operating experience. For this reason, we equip the driving wheels 13 of the two chassis with independent engines to form a dual-flow transmission, such as Figure 3 , Figure 6 As shown, each of the driving wheels 13 on both sides is connected to a crawler chassis engine 25, which is fixed on the frame of the crawler chassis 3, and is powered by a battery module 48. Compared with the transmission system of a single engine, this design reduces the structures such as the axle, the travel gearbox and the transmission, and can control the speed difference of the crawler chassis engines 25 on both sides, form a steering through the differential, and even make the crawler chassis engines 25 on both sides rotate in opposite directions, so that the robot can perform non-radius fixed axis steering in situ, which is convenient for the robot to turn in a narrow mine environment, so as to better adapt to the narrow space and facilitate the exploration work.

[0057] 2) Sensing system

[0058] When the robot is used in geological survey, it is required to adapt to various complex terrains. For this purpose, we designed a sensor system 7 consisting of a visual sensor 30, a terrain scanner 31, a light-sensitive sensor 33 and an ultrasonic sensor 34. Figure 8 , Fig. 9 As shown, the overall sensor system 7 is fixed to the front of the frame of the crawler chassis 3 through a bracket.

[0059] 2.1) Vision Sensor

[0060] The visual sensor 30 is composed of one or two graphic sensors, and sometimes it is equipped with a light projector and other auxiliary equipment. The main function of the visual sensor 30 is to obtain the original image. The graphic sensor can use a laser scanner, a linear array or area array CCD camera or a TV camera, or it can be the latest digital camera. In this embodiment, a digital camera is used, which is mainly installed above the terrain scanner 31 and combines with the terrain scanner 31 to perform route planning (the route planning adopts the existing planning system and planning method, and the specific route planning method is not within the scope of protection of the utility model and will not be described in detail here).

[0061] 2.2) Terrain Scanner

[0062] The topographic scanner 31 is improved on the basis of a 3D scanner, and its structure is as follows: Figure 8 , Fig. 9 In order to expand the scanning field of view of the scanner, we install the terrain scanner 31 on a lift 35, and the lift will not block or collide with other components during the lifting process. The scanner has a 12.7cm up and down floating stroke to observe and scan the terrain and landforms near and far.

[0063] We also installed a horizontal lateral rotation drive motor 32 at the bottom of the geological scanner, so that it can rotate within a range of 210 degrees in the horizontal plane, thereby expanding the observation field. In addition, the scanner is also equipped with a longitudinal rotation drive motor 45, which can rotate longitudinally within a range of 45°-140°, and the visual sensor 30 is fixed to the terrain scanner 31 through a bracket and can rotate with it, so that the sensor system can not only observe the road surface, but also observe the situation above the robot, such as the cave roof situation can be observed during the exploration of mines, caves, karst caves, etc. If there are signs that the cave is about to collapse or objects are about to fall, the robot can be moved immediately to reduce losses.

[0064] With sufficient observation angle and field of view, the terrain scanner 31 can scan and reconstruct the three-dimensional topography of the surrounding terrain, facilitating the progress of exploration and sampling work (the system and method for reconstructing the three-dimensional topography of the surrounding terrain based on the scanning results belong to the prior art, are not within the scope of protection of the present utility model, and will not be elaborated here).

[0065] 2.3) Light-sensitive lamp

[0066] The light-sensitive sensor light 33 is located below the terrain scanner 31. When the robot drives to a dark and closed environment such as a cave, a primitive cave, an ice cave, a mine cave, or works at night, the sensor automatically turns on the searchlight according to the light sensitivity. The light-sensitive sensor light 33 is mainly an induction LED light, which is energy-saving and environmentally friendly, has a long service life, and can provide sufficient light source for the robot, such as Figure 8 , Fig. 9 shown.

[0067] 2.4) Ultrasonic sensor

[0068] The ultrasonic sensor 34 is located below the photosensitive sensor 33. The ultrasonic sensor 34 is used to avoid obstacles during the robot's driving process, reduce the collision between the robot and the cave body, and reduce the maintenance cost of the robot. The ultrasonic sensor 34 is a sensor that converts ultrasonic signals into other energy signals (usually electrical signals), and mainly adopts a direct reflection detection mode. It has the characteristics of high frequency, short wavelength, small diffraction phenomenon, especially good directionality, and the ability to become rays and propagate in a directional manner. Ultrasonic waves have strong penetrating power and are extremely suitable for primitive caves, karst caves, and especially mine caves. They can even be directly used for mineral exploration and analysis of mineral deposits and their materials, such as Figure 8 , Fig. 9 shown.

[0069] 3) Drilling robot arm and ore suction robot arm

[0070] 3.1) The drilling robot arm 1 is used for drilling sampling, and includes a base, a robot arm, and a drilling drill bit 12. The structure is as follows: Fig.10As shown, the mechanical arm includes an upper arm and a lower arm that are rotatably connected. In the drilling mechanical arm 1, the base is fixed on the frame of the crawler chassis 3, and a drilling chassis rotating motor 21 is provided on the base. A circular chassis is connected to the output shaft of the drilling chassis rotating motor 21. The circular chassis is rotatably connected to the bottom end of the lower arm of the mechanical arm through a rotating shaft 1. The circular chassis is rotatably connected to the rotating shaft 1. The rotating shaft 1 is fixedly connected to the bottom end of the lower arm. A drilling angle driving motor 8 fixed to the circular chassis through a bracket is provided on the side of the bottom of the lower arm of the mechanical arm. The drilling angle driving motor 8 The output shaft of the motor 8 is connected to the first rotating shaft, and is used to drive the lower arm of the robot arm to rotate around the first rotating shaft; the top end of the lower arm of the robot arm is rotationally connected to the bottom end of the upper arm through the second rotating shaft, that is, the top end of the lower arm is rotationally connected to the second rotating shaft, and the second rotating shaft is fixedly connected to the bottom end of the upper arm. A drilling crank arm drive motor 9 is provided at the connection between the upper arm and the lower arm. The drilling crank arm drive motor 9 is fixed to the top end of the lower arm, and the output shaft of the drilling crank arm drive motor 9 is fixedly connected to the second rotating shaft, and is used to drive the upper arm of the robot arm to rotate around the second rotating shaft; the top end of the upper arm of the robot arm is movably connected to the drilling drill bit 12.

[0071] The drilling bit 12 of the drilling robot arm 1 includes a metal drill bit and a drill bit box 51. The drill bit box 51 is rotatably connected to the top of the upper arm of the robot arm through the drilling bit outer shaft 49. A rotation drive motor and an electric push rod are provided inside the drill bit box 51. One end of the electric push rod is connected to the upper arm, and the other end is connected to the rear end of the drill bit box 51. The electric push rod is used to drive the drill bit box 51 and the metal drill bit to rotate around the drilling bit outer shaft 49; the rotation drive motor is fixed at the front end of the drill bit box 51, and the output shaft of the rotation drive motor is connected to the central axis of the rear end of the metal drill bit. The rotation drive motor is used to drive the metal drill bit to rotate around the center.

[0072] 3.2) The ore suction mechanical arm 5 is used for ore suction sampling. The drilling drill bit 12 of the drilling mechanical arm 1 is replaced with the ore suction head 11 to form the ore suction mechanical arm 5. Fig.11As shown, the ore suction mechanical arm 5 includes several main structures such as a base, a mechanical arm, and an ore suction head 11. The mechanical arm includes an upper arm and a lower arm that are rotatably connected. In the ore suction mechanical arm 5, the base is fixed on the frame of the crawler chassis 3, and a ore suction chassis rotation motor 19 is provided on the base. The output shaft of the ore suction chassis rotation motor 19 is connected with a circular chassis. The circular chassis and the bottom end of the lower arm of the mechanical arm are rotatably connected through a rotating shaft. The bottom side of the lower arm of the mechanical arm is provided with an ore suction angle driving motor 4 fixed to the circular chassis through a bracket. Similarly, the output shaft of the ore suction angle driving motor 4 is fixedly connected with the rotating shaft 1, which is used to drive the mechanical The lower arm of the arm rotates around the rotating shaft 1, and the top end of the lower arm of the mechanical arm is rotatably connected to the bottom end of the upper arm through the rotating shaft 2. A ore-suction crank arm driving motor 6 is provided at the connection between the upper arm and the lower arm. The ore-suction crank arm driving motor 6 is fixed to the top end of the lower arm, and the output shaft of the ore-suction crank arm driving motor 6 is fixedly connected to the rotating shaft 2, which is used to drive the upper arm of the mechanical arm to rotate around the rotating shaft 2; the top end of the upper arm of the mechanical arm is movably connected to the ore-suction head 11, and the ore-suction head 11 is connected to a ore-suction hose 10, which is connected to the sample collection device, and the ore-suction hose 10 is a retractable black hose, which is used to transport the samples collected by the ore-suction mechanical arm to the sample collection device.

[0073] Among them, the ore suction head 11 of the ore suction robot arm 5 includes a suction pipe and a ore suction box 52, the suction pipe is arranged at the front end of the ore suction box 52, and a collection outlet is arranged on the top or side of the ore suction box 52. One end of the ore suction hose 10 passes through the collection outlet and is connected with the suction pipe, and the other end of the ore suction hose 10 is connected with a ore suction hose connection port a18. The ore suction hose connection port a18 can be connected with the ore suction hose connection port b28 arranged on the collection bottle group conveyor belt 26 in the sample collection device, and is used to transport the samples collected by the ore suction robot arm 5 to the sample collection bottle 27 of the sample collection device. In this embodiment, the ore suction hose connection port a18 and the ore suction hose connection port b28 are connected through a ore suction sample tube 43. The ore suction box 52 is rotatably connected to the top of the upper arm of the robotic arm through the ore suction head outer shaft 50. An electric push rod is provided inside the ore suction box 52. One end of the electric push rod is connected to the upper arm, and the other end is connected to the rear end of the ore suction box 52. The electric push rod is used to drive the suction pipe, the ore suction hose 10 and the ore suction box 52 to rotate around the ore suction head outer shaft 50.

[0074] 3.3) We optimized the topological structure of the robot arm. Through lightweight optimization design, we reduced its weight while ensuring the rigidity of the robot arm. Through lightweight design, the robot arm can move more flexibly and efficiently when working, and can reduce the pressure on other connecting parts, thereby extending the life and reliability of the robot.

[0075] In addition, we used the stress analysis function and structural analysis function of Inventor to conduct a detailed force analysis, and comprehensively considered the force conditions of the robot arm under various operating conditions. The force and deformation of the robot arm under different workloads were simulated to verify the stress that the robot arm can withstand, and the deformation values ​​of each part of the robot arm were obtained. The robot arm can maintain its normal operation under the load that meets the standards. The verification conditions and results are as follows:

[0076] Reaction forces and moments on constraints:

[0077]

[0078] Summary of results:

[0079]

[0080]

[0081] 4) Sample collection device

[0082] like Figure 6 , Figure 7 , Fig.12 , Fig.13As shown, the sample collection device includes a collection bottle group conveyor belt 26, a collection bottle bracket 39, a sample collection bottle 27, a ventilation interface 42, a ventilation interface drive motor 40, a turbine vacuum pump 2 and an infrared calibrator 29. The collection bottle group conveyor belt 26 is arranged above the frame of the crawler chassis 3, and is a ring-shaped rotating conveyor belt. Transmission gears are arranged on the inner sides of both ends of the conveyor belt. The transmission gears are meshed with the collection bottle group conveyor belt 26. The transmission gear at one end is meshed with the conveyor belt driving gear arranged on the inner side of the conveyor belt. The conveyor belt driving gear is connected to the output shaft of the conveyor belt driving motor 46. The transmission gear is driven to rotate by the conveyor belt driving motor 46 and the conveyor belt driving gear, thereby driving the collection bottle group conveyor belt 26 to rotate, so that the sample collection bottles 27 can be placed in sequence under the ore suction hose connection port b 28. In this embodiment, 18 placement positions are provided on the collection bottle group conveyor belt 26, which can place 18 sample collection bottles 27; a collection bottle holder 39 is fixedly provided on each placement position, and at least two incompletely closed annular fixing rings are provided on the collection bottle holder 39; the sample collection bottle 27 is nested and placed in the collection bottle holder 39. In this embodiment, a limiting groove is provided on the upper part of the sample collection bottle 27, and the annular fixing ring on the upper part of the collection bottle holder 39 is embedded in the limiting groove for easy positioning, so that the sample collection bottle 27 is not easy to move or slip; the top of the sample collection bottle 27 is designed to be open, and the opening size is the same as the connection port b of the suction hose 28, the side wall of the sample collection bottle 27 is provided with an airflow guide, and a barrier film 44 is provided on the airflow guide. An infrared calibrator 29 is installed in front of the sample collection bottle 27, and a movable and retractable sleeve is provided on the ventilation interface 42, and the sleeve is connected to the ventilation interface drive motor 40. After the infrared calibrator 29 detects that the sample collection bottle 27 is in the correct position, the ventilation interface drive motor 40 drives the sleeve on the ventilation interface 42 to connect the airflow guide of the sample collection bottle 27, so that the airflow guide is engaged with the ventilation interface 42 set in front of the frame of the crawler chassis 3. At the same time, the ventilation interface 42 is connected with the turbine vacuum pump 2, and the turbine vacuum pump 2 is used to provide power to guide the airflow flow, so as to suck the sample collected by the suction robot arm 5 into the sample collection bottle 27. The infrared calibrator 29 is fixed on the frame in front of the sample collection bottle 27, and is used to calibrate and position the sample collection bottle 27.

[0083] The sample collection bottle 27 is located at the bottom layer of the robot. After each sample is collected, the collection bottle group conveyor belt 26 will rotate to place the next empty sample collection bottle 27 directly below the collection port. The sample collection device is also provided with a mineral suction hose interface drive motor 41. The mineral suction hose interface drive motor 41 is fixed to the front side of the sample collection device, and the mineral suction hose interface drive motor 41 is connected to the mineral suction hose connection port b 28. After the infrared calibrator 29 directly in front of the sample collection bottle 27 detects that the sample collection bottle 27 is in the correct position, the mineral suction hose interface drive motor 41 drives the mineral suction hose connection port b 28 to move, so that the sample collection bottle 27 is aligned with the front vent and the upper sample suction port (i.e., the mineral suction hose connection port b 28). Then the mineral suction head 11 can generate pressure through the turbine vacuum pump 2 to absorb the mineral sample, such as Fig.12 Each sample bottle is provided with a barrier film 44 at the position where the vent is connected, so as to prevent the sample from being sucked into the turbo vacuum pump 2. Fig.13 shown.

[0084] Because the robot is equipped with 18 sample collection bottles 27, the robot can perform sampling work at multiple locations and depths for multiple times each time it works, which greatly increases the sampling efficiency.

[0085] In this embodiment, the turbine vacuum pump 2 is composed of a fan blade, a motor and a housing, which can generate pressure so that the mineral sample is sucked into the sample collection bottle 27. The robot-mounted turbine vacuum pump 2 uses the circular motion of the motor to make the diaphragm inside the pump do reciprocating motion through a mechanical device, thereby compressing and stretching the air in the pump cavity to form a negative pressure, generating a pressure difference with the external atmospheric pressure at the suction port, and under the action of the pressure difference, the gas is sucked into the pump cavity and then discharged from the exhaust port.

[0086] 5) Control system

[0087] like Figure 5As shown, the control system includes a main circuit board 20, a motion control system circuit board a 22, a motion control system circuit board b 23, a motion control system circuit board c 24, a remote sensing controller and a data transmitter 47, and a battery module 48. The main circuit board 20 is used to control the overall circuit system of the robot. The motion control system circuit a 22, the motion control system circuit board b 23, the motion control system circuit board c 24, the remote sensing controller and the data transmitter 47, and the battery module 48 are all electrically connected to the main circuit board 20; the motion control system circuit board a 22 is used to control the drilling mechanical arm 1 and the ore suction mechanical arm 5. The drilling angle drive motor 8, the drilling crank arm drive motor 9, the drilling chassis rotation motor 21, the rotary drive motor and the electric push rod in the drilling drill bit 12, the ore suction angle drive motor 4, the ore suction chassis rotation motor 19, the ore suction crank arm drive motor 6, and the electric push rod in the ore suction head 11 are all electrically connected to the motion control system circuit board a 22; the motion control system circuit board b 23 is used to control the sensor system 7 and the crawler chassis 3. The visual sensor 30, the terrain scanner 31, the ventilation interface 42, the rotation drive motor 32, the light-sensitive lamp 33, the ultrasonic sensor 34, the elevator 35, the longitudinal rotation drive motor 45, and the crawler chassis engine 25 are all electrically connected to the motion control system circuit board b 23; the motion control system circuit board c 24 is used to control the sample collection device, the conveyor belt drive motor 46 of the collection bottle group conveyor belt 26, the infrared calibrator 29, the ventilation interface drive motor 40, the ore suction hose interface drive motor 41, the turbine vacuum pump 2 and the motion control system circuit board c 24 is electrically connected; the battery pack module 48 is used to provide a power source for all power-consuming systems, that is, all power-consuming devices on the crawler chassis 3, the sensor system 7, the drilling robot arm 1, the ore suction robot arm 5, and the sample collection device are electrically connected to the battery pack module 48, wherein the crawler chassis engine 25 on the crawler chassis 3, the visual sensor 30, the terrain scanner 31, the photosensitive sensor lamp 33, the ultrasonic sensor 34, the lift 35, the lateral rotation drive motor 32, the longitudinal rotation drive motor 45 on the sensor system 7, the drilling chassis rotation motor 33 on the drilling robot arm 1, the The motor 21, the drilling arm drive motor 9, the drilling angle drive motor 8, the rotary drive motor and the electric push rod in the drilling drill bit 12, the ore suction chassis rotation motor 19 on the ore suction mechanical arm 5, the ore suction arm drive motor 6, the ore suction angle drive motor 4, the electric push rod in the ore suction head 11, and the conveyor belt drive motor 46, the turbine vacuum pump 2, the infrared calibrator 29, the ventilation interface drive motor 40, and the ore suction hose interface drive motor 41 on the sample collection device are all electrically connected to the battery pack module 48, and the main circuit board 20, the motion control system circuit board a 22, the motion control system circuit board b 23, the motion control system circuit board c 24, the remote sensing controller and the data transmitter 47 are all electrically connected to the battery pack module 48;The remote sensing controller and data transmitter 47 are used to transmit the geographical environment, digital video images, terrain scanning and other data obtained by the sensor system 7 and receive remote sensing data instructions transmitted by the remote data terminal to control the actions of the entire robot. The main circuit board 20, the motion control system circuit board a 22, the motion control system circuit board b 23, the motion control system circuit board c 24, and the battery module 48 are all electrically connected to the remote sensing controller and data transmitter 47. ;

[0088] When using the geological exploration sampling robot to collect mineral samples, the staff can receive the geographical environment, digital video images, terrain scanning and other data obtained by the sensor system 7 transmitted by the remote sensing controller and the data transmission device 47 through the remote computer data terminal to perform secondary data analysis such as environmental analysis and route planning (the data transmission method and data analysis method are existing methods, which do not belong to the scope of protection of the utility model and need not be repeated here), and then the staff will send a remote electromagnetic wave signal instruction, which will be received by the remote sensing controller and the data transmission device 47, and the robot will be remotely controlled to perform corresponding actions and work, including controlling the robot to enter a narrow mine cave, and the staff will send a signal instruction through the real-time digital video image obtained by the visual sensor 30 to control the robot to arrive at a designated location for sampling. After locking the area to be sampled, the robot starts sampling, and the staff can also send corresponding signal instructions to control the robot's actions during the sampling process. During the sampling process, the drilling mechanical arm 1 and the ore suction mechanical arm 5 cooperate with each other. When the drilling mechanical arm 1 drills the geology into particles, the ore suction mechanical arm 5 will perform the adsorption sampling task and complete the sampling function.

[0089] The purpose of designing a geological survey sampling robot is to enable the robot to conduct field surveys and sampling in terrain that is "inaccessible and out of reach" for workers. Our team investigated related robots at home and abroad, and improved and optimized them based on the work of predecessors to develop a geological survey sampling robot.

[0090] The geological exploration sampling robot uses "drilling" and "sucking" to collect samples. Its narrow and long suction port can go deep into narrow pits for sampling, and it can easily absorb and sample fragile minerals. For some hard and large minerals, the drilling bit first drills them into particles, and then the suction port completes the adsorption sampling through the turbine vacuum pumping device. The geological exploration sampling robot can be used for sampling a variety of minerals.

[0091] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A geological exploration sampling robot, characterized in that: It includes crawler chassis, sensor system, drilling robot arm, ore suction robot arm, and sample collection device; The crawler chassis comprises a frame, a driving wheel, an induction wheel, a track roller, a road wheel, and a track wheel. The four gear combinations of the driving wheel, the induction wheel, the track roller, and the road wheel are arranged on the frame of the crawler chassis. The track wheel is composed of a plurality of track monoliths. The track wheel surrounds the gear combination and meshes with each gear. The driving wheel on each side is connected to a crawler chassis engine to provide driving force, and the crawler chassis engine and the driving wheel are located at the rear end of the track wheel. The sensor system is arranged at the front end of the crawler chassis frame, and is composed of a visual sensor, a terrain scanner, a light-sensitive sensor, and an ultrasonic sensor arranged in order from top to bottom, and is used to obtain the original image of the environment in front of the robot, scan the surrounding terrain, provide lighting, and assist the robot to avoid obstacles; The drilling mechanical arm comprises a base, a mechanical arm, and a drilling drill bit. The mechanical arm comprises an upper arm and a lower arm which are rotatably connected. The base is fixed on the frame of the crawler chassis. A drilling chassis rotating motor is provided on the base. A circular chassis is connected to the output shaft of the drilling chassis rotating motor. The circular chassis is connected to the bottom end of the lower arm. A drilling angle driving motor is provided on the side of the bottom of the lower arm. The drilling angle driving motor is used to drive the lower arm to rotate at any angle in the plane where it is located. A drilling crank arm driving motor is provided at the connection between the upper arm and the lower arm. The drilling crank arm driving motor is used to drive the upper arm to rotate at any angle in the plane where it is located. The top end of the upper arm is movably connected to the drilling drill bit. The ore suction mechanical arm comprises a base, a mechanical arm, and an ore suction head. The mechanical arm comprises an upper arm and a lower arm which are rotatably connected. The base is fixed on the frame of the crawler chassis. A motor for rotating the ore suction chassis is provided on the base. A circular chassis is connected to the output shaft of the motor for rotating the ore suction chassis. The circular chassis is connected to the bottom end of the lower arm. A ore suction angle driving motor is provided on the side of the bottom of the lower arm. The ore suction angle driving motor is used to drive the rotation of the lower arm at any angle in the plane in which it is located. A ore suction curved arm driving motor is provided at the connection between the upper arm and the lower arm. The ore suction curved arm driving motor is used to drive the rotation of the ore suction head at any angle in the plane in which it is located. The top of the upper arm is movably connected to the ore suction head. A ore suction hose is connected to the ore suction head. The ore suction hose is connected to a sample collection device. The ore suction hose is a retractable black hose used to transport the samples collected by the ore suction mechanical arm to the sample collection device. The ore suction head of the ore suction mechanical arm includes a suction pipe and an ore suction box. The suction pipe is arranged at the front end of the ore suction box. A collection outlet is arranged at the top or side of the ore suction box. One end of the ore suction hose passes through the collection outlet and is connected to the suction pipe. The other end of the ore suction hose is connected to the sample collection device. The ore suction box is connected to the top of the upper arm of the mechanical arm through the outer shaft of the ore suction head. The sample collecting device comprises a collecting bottle group conveyor belt, a collecting bottle bracket, a sample collecting bottle, and a turbine vacuum pump. The collecting bottle group conveyor belt is arranged above the frame of the crawler chassis and is a ring-shaped rotating conveyor belt. Transmission gears are arranged on the inner sides of both ends of the conveyor belt. The transmission gears are meshed with the collecting bottle group conveyor belt. The transmission gears are driven to rotate by a conveyor belt driving motor arranged on the inner side of the conveyor belt, and are used to drive the collecting bottle group conveyor belt and the sample collecting bottle to rotate; a plurality of placement positions are arranged on the collecting bottle group conveyor belt, and a collecting bottle bracket is fixedly arranged on each placement position, and the sample collecting bottle is nested and placed in the collecting bottle bracket; the top of the sample collecting bottle is designed to be open, and is used to receive samples transported by a suction hose. An airflow guide port is arranged on the side wall of the sample collecting bottle, and a barrier film is arranged on the airflow guide port. The airflow guide port is used to be connected to a ventilation interface arranged in front of the frame of the crawler chassis, and the ventilation interface is connected to the turbine vacuum pump; Among them, wheel side support plates are provided on both sides of the frame of the crawler chassis, and multiple limiting holes are provided at both ends and the upper part of the wheel side support plates. The central axes of the driving wheel, the idler wheel and the track roller are respectively sleeved in the limiting holes, and three groups of shock absorbing systems consisting of a balancing elbow, an L-shaped support rod and a spring are installed in sequence behind the three road wheels on each side. One end of the L-shaped support rod is a circular fixing ring, which is connected to the central axis of the road wheel, and the other end of the L-shaped support rod passes through the wheel side support plate and is fixedly connected to one end of the balancing elbow, the other end of the balancing shaft is fixedly connected to the lower end of the spring, and the upper end of the spring is fixedly connected to the wheel side support plate through a sleeve fixed on the wheel side support plate.

2. The geological exploration sampling robot according to claim 1, characterized in that: The collecting bottle holder is provided with at least two incompletely closed annular fixing rings for detachably fixing the sample collecting bottle; the air flow guide port on the side wall of the sample collecting bottle is located on the unclosed side of the annular fixing ring, so as to facilitate docking with the vent.

Images