Mining mobile robot

Abstract

The mining mobile robot comprises a mobile chassis assembly, a visual camera assembly, a control assembly and a mechanical arm assembly. The control assembly comprises a remote communication module and a control module, and the remote communication module is electrically connected with the control module; a power device and a power module are arranged on the movable chassis assembly, and the power device is used for driving the mining mobile robot to move; the power module is electrically connected with the mechanical arm assembly, the control assembly and the visual camera assembly. The control module is electrically connected with the power device; the mechanical arm assembly comprises a mechanical arm, a mechanical arm base and a drilling machine. The mechanical arm is fixedly connected to the movable chassis assembly through a mechanical arm base. The mechanical arm is electrically connected with the control module; the visual camera assembly and the control assembly are fixedly mounted on the movable chassis assembly, and the visual camera assembly is electrically connected with the control assembly; the mechanical arm is located outside the shooting area of the visual camera assembly. Mechanical punching is achieved through the mining mobile robot, and the punching efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mining, in particular to a mobile robot for mining. Background Art

[0002] When mining non-coal mines with relatively hard texture, drilling and blasting is a commonly used method, and rock drilling is the key link in the drilling and blasting method. In rock drilling operations, one type of operation task is horizontal drilling, that is, horizontal drilling operations are performed on the vertical section of the mine, and then blasting devices are placed in the horizontal holes to blast the mine, and finally mining is carried out.

[0003] In traditional rock drilling operations, drill holes are usually marked manually on the cross section, and then drilled manually using drilling tools. However, this drilling method is inefficient due to manual labor. Utility Model Content

[0004] The purpose of the present invention is to provide a mobile mining robot to improve drilling efficiency. The specific technical solution is as follows:

[0005] The embodiment of the utility model provides a mining mobile robot, comprising: a mobile chassis assembly, a visual camera assembly, a control assembly, and a mechanical arm assembly; the control assembly comprises: a remote communication module and a control module, and the remote communication module and the control module are electrically connected;

[0006] The mobile chassis assembly is provided with a power unit and a power module. The power unit is used to drive the mining mobile robot to move. The power module is electrically connected to the mechanical arm, the control assembly and the visual camera assembly to supply power to the mechanical arm, the control assembly and the visual camera assembly. The control module is electrically connected to the power unit.

[0007] The robotic arm assembly includes a robotic arm, a robotic arm base, and a drilling rig; the robotic arm is fixedly connected to the mobile chassis assembly through the robotic arm base; the robotic arm is electrically connected to the control module;

[0008] The visual camera assembly and the control assembly are fixedly mounted on the mobile chassis assembly, and the visual camera assembly is electrically connected to the control assembly; the robotic arm is located outside the shooting area of the visual camera assembly.

[0009] Optionally, along the forward direction of the mining mobile robot, the control component is located on the left side of the robotic arm component.

[0010] Optionally, the power unit includes: an engine assembly and a transmission assembly;

[0011] The engine assembly transmits power to the mobile chassis assembly through the transmission assembly to drive the mining mobile robot to move.

[0012] Optionally, the power supply assembly includes: a first battery module and a second battery module;

[0013] The first battery module is electrically connected to the robotic arm and is used to supply power to the robotic arm;

[0014] The second battery module is electrically connected to the control component and the visual camera component and is used to supply power to the control component and the visual camera component.

[0015] Optionally, the visual camera assembly includes: a first visual camera module and a second visual camera module;

[0016] Along the forward direction of the mining mobile robot, the first vision camera module is located in front of the robotic arm assembly;

[0017] Along the forward direction of the mining mobile robot, the second vision camera module is located on the right side of the robotic arm assembly.

[0018] Optionally, the visual camera assembly includes a visual camera body, a rotating assembly, and a camera bracket;

[0019] The visual camera body is movably connected to the camera bracket through a rotating component.

[0020] Optionally, the vision camera assembly also includes:

[0021] Lighting module;

[0022] The lighting module is arranged on the visual camera body of the visual camera assembly.

[0023] Optionally, the vision camera assembly also includes: a camera protective cover;

[0024] The camera protective cover includes a protective cover body and a protective cover door, and a viewport is provided on the protective cover door; the size of the viewport is adapted to the shooting area of the visual camera;

[0025] The viewport of the protective cover door is fitted with protective glass.

[0026] Optionally, the mining mobile robot further includes: a support and protection frame assembly;

[0027] Along the forward direction of the mining mobile robot, the support and protection frame assembly is located behind the mechanical arm assembly;

[0028] The support and protection frame assembly includes: a support base, a first connecting part, a second connecting part, a linkage rod, a pressure plate, a support part, an electromagnetic hydraulic valve and a hydraulic pump;

[0029] The first end of the first connecting portion is rotatably connected to the support base, the second end of the first connecting portion is rotatably connected to the first end of the second connecting portion, and the second end of the second connecting portion is rotatably connected to the pressure plate; the two ends of the linkage rod are rotatably connected to the support base and the second connecting portion respectively; the pressure plate and the support base are connected via a support portion;

[0030] The control module is electrically connected to the electromagnetic hydraulic valve and the first motor respectively; the hydraulic pump is coaxially fixedly connected to the first motor;

[0031] The pressure plate is located above the robotic arm.

[0032] Optionally, the robotic arm includes: a first articulated arm, a second articulated arm, a third articulated arm, and a fourth articulated arm; the first end of the first articulated arm is rotatably connected to the robotic arm base, the first articulated arm, the second articulated arm, the third articulated arm, and the fourth articulated arm are rotatably connected in sequence, and the fourth articulated arm is rotatably connected to the drilling rig;

[0033] The control component drives the first articulated arm, the second articulated arm, and the third articulated arm to rotate, causing the robotic arm to swing up and down;

[0034] The control component drives the third joint arm and the fourth joint arm to rotate, causing the robotic arm to swing left and right;

[0035] The robotic arm base includes a lower base and an upper base, the lower base is fixedly connected to the mobile chassis assembly, and the lower base is rotatably connected to the upper base.

[0036] The embodiment of the utility model provides a mining mobile robot, comprising: a mobile chassis assembly, a visual camera assembly, a control assembly, and a mechanical arm assembly; the control assembly comprises: a remote communication module and a control module, and the remote communication module and the control module are electrically connected;

[0037] The mobile chassis assembly is provided with a power unit and a power module. The power unit is used to drive the mobile mining robot to move. The power module is electrically connected to the mechanical arm assembly, the control assembly, and the visual camera assembly to supply power to the mechanical arm assembly, the control assembly, and the visual camera assembly. The control module is electrically connected to the power unit. The mechanical arm assembly includes a mechanical arm, a mechanical arm base, and a drilling rig. The mechanical arm is fixedly connected to the mobile chassis assembly via the mechanical arm base. The mechanical arm is electrically connected to the control module. The visual camera assembly and the control assembly are fixedly mounted on the mobile chassis assembly, and the visual camera assembly is electrically connected to the control assembly. The mechanical arm is located outside the shooting area of the visual camera assembly. In this way, the back-end control device can observe the environment of the mobile mining robot through the remote communication module and the visual camera assembly, and then control the power unit through the control module to drive the mobile mining robot to move. When the mobile mining robot moves to a position where drilling is possible, the visual camera assembly is used to observe the cross-section to be drilled, and then the control module controls the mechanical arm assembly to perform drilling. This allows the mobile mining robot to perform mechanical drilling, thereby improving drilling efficiency. Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0039] Figure 1 This is a structural diagram of a first embodiment of a mining mobile robot in an embodiment of the present utility model;

[0040] Figure 2 This is a structural diagram of a visual camera assembly in an embodiment of the present utility model;

[0041] Figure 3 This is a structural diagram of a second embodiment of a mining mobile robot in an embodiment of the present utility model;

[0042] Figure 4a This is a schematic diagram of a first structural embodiment of a camera protective cover for a mining mobile robot in an embodiment of the present utility model;

[0043] Figure 4b This is a schematic diagram of a second structure of a camera protective cover for a mining mobile robot in an embodiment of the present utility model;

[0044] Figure 5 This is a structural diagram of a third embodiment of a mining mobile robot in an embodiment of the present utility model. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of the present invention.

[0046] In order to solve the problems existing in the prior art, the present invention provides a mobile mining robot to improve the drilling efficiency. Figure 1 FIG. 1 is a schematic structural diagram of a first embodiment of a mobile mining robot according to an embodiment of the present invention. The mobile mining robot includes: a mobile chassis assembly 110, a visual camera assembly 120, a control assembly 130, and a mechanical arm assembly 140; the control assembly 130 includes: a remote communication module and a control module, and the remote communication module and the control module are electrically connected;

[0047] In some examples, the remote communication module can be a wireless signal transceiver, which can be connected to the back-end device through wireless signal communication, and then can receive control signals sent by the back-end device, and can also send image information captured by the visual camera component to the back-end device connected by communication.

[0048] In some other examples, after receiving the control signal, the wireless signal transceiver can transmit the control signal to an electrically connected control module. The control module can be a single chip microcomputer that can receive the control signal transmitted by the wireless signal transceiver.

[0049] In some examples, a power unit (not shown in the figure) and a power module (not shown in the figure) are provided on the mobile chassis assembly 110, and the power unit is used to drive the mining mobile robot to move; the power module is electrically connected to the robotic arm assembly 140, the control assembly 130 and the visual camera assembly 120, and is used to supply power to the robotic arm assembly 140, the control assembly 130 and the visual camera assembly 120; the control module is also electrically connected to the power unit; in this way, the control module can control the power unit to drive the mining mobile robot to move.

[0050] In some examples, the robotic arm assembly 140 includes a robotic arm 141, a robotic arm base 142, and a drill rig 143; the robotic arm 141 is fixedly connected to the mobile chassis assembly through the robotic arm base 142; the robotic arm 141 is electrically connected to the control module; this allows the control module to control the robotic arm 141 to move.

[0051] In some examples, the visual camera assembly 120 and the control assembly 130 are fixedly mounted on the mobile chassis assembly 110, and the visual camera assembly is electrically connected to the control assembly 130; thus, the control assembly 130 can control the visual camera assembly to capture videos or pictures of the work site.

[0052] In some examples, to prevent the robotic arm from interfering with the visual camera's image capture, the robotic arm can be installed outside the visual camera assembly's image capture area. For example, the visual camera assembly 120 can be installed in front of, to the right of, or right in front of the robotic arm assembly 140 along the forward direction of the mining mobile robot.

[0053] Through the embodiments of the present utility model, the back-end control device can observe the environment in which the mining mobile robot is located through the remote communication module and the visual camera component, and then control the power device through the control module to drive the mining mobile robot to move. When it moves to a position where drilling can be performed, the cross-section to be drilled is observed through the visual camera component, and then the mechanical arm component is controlled through the control module to perform drilling, so that the mining mobile robot can perform mechanical drilling, thereby improving the drilling efficiency.

[0054] In some examples, such as Figure 1 As shown, along the forward direction of the mining mobile robot, the control component 130 is located on the left side of the mechanical arm component 140. In this way, when the mining mobile robot rotates to the right to perform drilling operations, the control component is closest to the back-end control device, reducing the transmission delay of various signals.

[0055] In some examples, the power device can be a motor, which can be mounted on the mobile chassis assembly and fixedly connected to the drive wheel of the mobile chassis assembly, for example, fixedly connected via a coupling, and then the motor can also be connected to a power module so that the power module supplies power to the motor to drive the mining mobile robot to move.

[0056] In some other examples, the power plant may also be an engine assembly and a transmission assembly (not shown in the figures).

[0057] The engine assembly transmits power to the mobile chassis assembly through the transmission assembly to drive the mining mobile robot to move.

[0058] In some examples, two battery groups may be provided, and thus, the power supply assembly may include: a first battery module and a second battery module; wherein the first battery module is electrically connected to the robotic arm for supplying power to the robotic arm;

[0059] The second battery module is electrically connected to the control component 130 and the visual camera component 120 and is used to supply power to the control component 130 and the visual camera component 120 .

[0060] In some examples, one visual camera assembly or two visual camera assemblies may be provided on the above-mentioned mining mobile robot. When one visual camera assembly 120 is provided, as shown in FIG. Figure 2 As shown, the visual camera assembly 120 may include a visual camera body 121, a rotating assembly 122, and a camera bracket 123; the visual camera body 121 is movably connected to the camera bracket 123 via the rotating assembly 122. The camera bracket is installed on the upper plane of the chassis of the mobile chassis assembly 110. The rotating assembly 122 in the visual camera assembly 120 can rotate under the control of the control assembly 130 to drive the visual camera body 121 to rotate. In this way, when the mining mobile robot moves forward, the shooting area of the visual camera assembly 120 is the area in the forward direction of the mining mobile robot, and when the mining mobile robot is drilling, the shooting area of the visual camera assembly 120 is the drilling operation area of the mining mobile robot. The visual camera in the visual camera assembly may be a binocular visual camera.

[0061] In some other examples, when two visual camera assemblies are provided on the mining mobile robot, such as Figure 3 As shown, the visual camera assembly includes: a first visual camera module 124 and a second visual camera module 125;

[0062] Wherein, along the forward direction of the mining mobile robot, the first visual camera module 124 is located in front of the robotic arm assembly;

[0063] Along the forward direction of the mining mobile robot, the second visual camera module 125 is located on the right side of the robotic arm assembly.

[0064] In this way, when the mining mobile robot is moving forward, the first visual camera module 124 can be used to capture the environment in the direction of the mining mobile robot's movement, and when the mining mobile robot is drilling, the first visual camera module 124 can be used to capture images or videos of the drilling operation area, thereby achieving separate control of the two visual camera modules.

[0065] In some other examples, the visual camera assembly further includes: a lighting module (not shown in the figure); the lighting module is arranged on the visual camera body of the visual camera assembly. For example, it can be arranged Figure 1 The visual camera assembly 120 shown in FIG. 1 may also be provided with a visual camera body 121. Figure 3As shown, a lighting module is respectively provided on the visual camera body of the first visual camera module 124 and the visual camera body of the second visual camera module 125; the lighting module can be electrically connected to the above-mentioned power supply assembly so that the lighting module provides lighting.

[0066] In some examples, such as Figure 4a and Figure 4b As shown, in order to protect the visual camera in the visual camera assembly, a camera protective cover 126 can also be provided for the visual camera. The camera protective cover 126 is fixedly mounted on the upper surface of the mobile chassis assembly 110, and the visual camera body is located in the camera protective cover 126;

[0067] like Figure 4a As shown, the camera protective cover 126 may include a protective cover body 1261 and a protective cover door 1262, and the protective cover door 1262 is provided with a viewport 12621; the size of the viewport 12621 is adapted to the shooting area of the visual camera;

[0068] The viewport 12621 of the protective cover door 1262 is provided with protective glass.

[0069] In some examples, when the mobile chassis assembly 110 is provided with only one visual camera assembly, and the visual camera body in the visual camera assembly can be rotated, a viewport ( Figure 4b In this way, the visual camera body can observe the punching operation area when rotating to capture the image of the punching operation area.

[0070] In some examples, such as Figure 5 As shown, the mining mobile robot further includes: a supporting and protective frame assembly 150 and a three-color light 160; the three-color light 160 can be arranged at the tail of the mining mobile robot.

[0071] Wherein, along the forward direction of the mining mobile robot, the support and protection frame assembly 150 is located behind the mechanical arm assembly 140;

[0072] The support and protection frame assembly 150 includes: a support base 151, a first connecting portion 152, a second connecting portion 153, a linkage rod 154, a pressure plate 155, a support portion 156, an electromagnetic hydraulic valve (not shown in the figure) and a hydraulic pump (not shown in the figure);

[0073] The first end of the first connecting portion 152 is rotatably connected to the support base 151, the second end of the first connecting portion 152 is rotatably connected to the first end of the second connecting portion 153, and the second end of the second connecting portion 153 is rotatably connected to the pressure plate 155; the two ends of the linkage rod 154 are rotatably connected to the support base 151 and the second connecting portion 153 respectively; the pressure plate 155 and the support base 151 are connected via the support portion 156;

[0074] The control module is electrically connected to the electromagnetic hydraulic valve; the hydraulic pump is transmission-connected to the power unit;

[0075] In this way, after receiving the control signal, the control module can control the electromagnetic hydraulic valve to operate, so as to realize the opening or closing of the support and protection component when the power device provides power to the hydraulic pump.

[0076] In some other examples, when the support and protection assembly is closed, the pressure plate 155 is located above the robotic arm 141.

[0077] In some instances, the mining mobile robot can obtain status information of the mining mobile robot in real time during the process of moving from an initial position to a drilling position, during drilling, and during returning from a drilling position to an initial position; the status information includes: moving status, drilling status, and abnormal status; when the status information is a moving status, the three-color light 160 flashes yellow; when the status information is a drilling status, the three-color light 160 flashes green; when the status information is an abnormal status, the three-color light 160 flashes red, and sends a control request information to the back-end device to request the back-end device to control the mining mobile robot.

[0078] In some other examples, such as Figure 1 As shown, the robotic arm 141 includes: a first joint arm 1411, a second joint arm 1412, a third joint arm 1413 and a fourth joint arm 1414; the first end of the first joint arm 1411 is rotatably connected to the robotic arm base 142, the first joint arm 1411, the second joint arm 1412, the third joint arm 1413 and the fourth joint arm 1414 are rotatably connected in sequence, and the fourth joint arm 1414 is rotatably connected to the drilling rig 143;

[0079] The control assembly 130 drives the first articulated arm 1411 , the second articulated arm 1412 , and the third articulated arm 1413 to rotate, causing the robotic arm 141 to swing up and down;

[0080] The control component 130 drives the third joint arm 1413 and the fourth joint arm 1414 to rotate, causing the robotic arm 141 to swing left and right;

[0081] The robot arm base 142 includes a lower base and an upper base, wherein the lower base is fixedly connected to the mobile chassis assembly, and the lower base is rotatably connected to the upper base.

[0082] In this way, the drill on the robotic arm can perform drilling operations vertically on the drilling work surface.

[0083] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A mobile robot for mining, characterized in that: The mining mobile robot comprises: a mobile chassis assembly, a visual camera assembly, a control assembly, and a mechanical arm assembly; the control assembly comprises: a remote communication module and a control module, and the remote communication module and the control module are electrically connected; The mobile chassis assembly is provided with a power device and a power supply module, the power device is used to drive the mining mobile robot to move; the power supply module is electrically connected to the mechanical arm assembly, the control assembly and the visual camera assembly, and is used to supply power to the mechanical arm assembly, the control assembly and the visual camera assembly; the control module is electrically connected to the power device; The robotic arm assembly includes a robotic arm, a robotic arm base, and a drilling rig; the robotic arm is fixedly connected to the mobile chassis assembly via the robotic arm base; the robotic arm is electrically connected to the control module; The visual camera assembly and the control assembly are fixedly mounted on the mobile chassis assembly, and the visual camera assembly is electrically connected to the control assembly; the robotic arm is located outside the shooting area of the visual camera assembly; Wherein, the visual camera assembly includes: a first visual camera module and a second visual camera module; Along the forward direction of the mining mobile robot, the first visual camera module is located in front of the mechanical arm assembly; Along the forward direction of the mining mobile robot, the second visual camera module is located on the right side of the robotic arm assembly.

2. The mining mobile robot according to claim 1, characterized in that: Along the forward direction of the mining mobile robot, the control component is located on the left side of the mechanical arm component.

3. The mining mobile robot according to claim 1, characterized in that: The power unit includes: an engine assembly and a transmission assembly; The engine assembly transmits power to the mobile chassis assembly through the transmission assembly to drive the mining mobile robot to move.

4. The mining mobile robot according to claim 1, characterized in that: The power module includes: a first battery module and a second battery module; The first battery module is electrically connected to the robotic arm and is used to supply power to the robotic arm; The second battery module is electrically connected to the control component and the visual camera component, and is used to supply power to the control component and the visual camera component.

5. The mining mobile robot according to claim 1, characterized in that: The visual camera assembly includes a visual camera body, a rotating assembly and a camera bracket; The visual camera body is movably connected to the camera bracket through the rotating assembly.

6. The mining mobile robot according to claim 5, characterized in that: The visual camera assembly further includes: Lighting module; The lighting module is arranged on the visual camera body of the visual camera assembly.

7. The mining mobile robot according to claim 1, characterized in that: The visual camera assembly further includes: a camera protective cover; The camera protective cover includes a protective cover body and a protective cover door, and the protective cover door is provided with a viewport; the size of the viewport is adapted to the shooting area of the visual camera; A protective glass is installed on the viewport of the protective cover door.

8. The mining mobile robot according to claim 1, characterized in that: The mining mobile robot further comprises: a supporting and protective frame assembly; Along the forward direction of the mining mobile robot, the supporting and protecting frame assembly is located behind the mechanical arm assembly; The support and protection frame assembly includes: a support base, a first connecting part, a second connecting part, a linkage rod, a pressure plate, a support part, an electromagnetic hydraulic valve and a hydraulic pump; The first end of the first connecting portion is rotatably connected to the support base, the second end of the first connecting portion is rotatably connected to the first end of the second connecting portion, and the second end of the second connecting portion is rotatably connected to the pressure plate; the two ends of the linkage rod are rotatably connected to the support base and the second connecting portion respectively; the pressure plate and the support base are connected via the support portion; The control module is electrically connected to the electromagnetic hydraulic valve; the hydraulic pump is transmission-connected to the power unit; The pressure plate is located above the robotic arm.

9. The mining mobile robot according to claim 1, characterized in that: The robotic arm comprises: a first articulated arm, a second articulated arm, a third articulated arm, and a fourth articulated arm; a first end of the first articulated arm is rotatably connected to the robotic arm base, the first articulated arm, the second articulated arm, the third articulated arm, and the fourth articulated arm are rotatably connected in sequence, and the fourth articulated arm is rotatably connected to the drilling rig; The control component drives the first articulated arm, the second articulated arm and the third articulated arm to rotate, so that the robotic arm swings up and down; The control component drives the third joint arm and the fourth joint arm to rotate, so that the robotic arm swings left and right; The robotic arm base includes a lower base and an upper base, wherein the lower base is fixedly connected to the mobile chassis assembly, and the lower base is rotatably connected to the upper base.

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