Mine weight cleaning robot

Abstract

The utility model provides a mine weight cleaning robot. The mine weight cleaning robot comprises a moving body, a connecting assembly, a cleaning assembly and a rotating mechanism. One end of the connecting assembly is connected with the moving body. The cleaning assembly is rotationally connected with the other end of the connecting assembly and used for cleaning mine heavy objects. The first rotating assembly is arranged on the moving body, the first rotating assembly is rotationally connected with the moving body, and the first rotating assembly is fixedly connected with one end of the connecting assembly. The second rotating assembly is arranged on the cleaning assembly, the second rotating assembly is fixedly connected with the cleaning assembly, and the second rotating assembly is rotationally connected with the other end of the connecting assembly. The stability is improved through the structure.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment, and more particularly to a heavy-duty cleaning robot for mines. Background Technology

[0002] Heavy object removal robots for mines are key equipment for solving the challenges of high-risk mining operations. Their necessity lies in the fact that mining environments often present extreme dangers such as collapses, rockfalls, and toxic gases. Traditional manual cleaning is inefficient and carries a high risk of accidents. This robot, with its multi-degree-of-freedom robotic arm, modular rotating mechanism, and intelligent control system, can replace manual labor in dangerous areas and efficiently remove heavy objects or obstacles around the clock, significantly reducing the risk of personnel injury. It can also adapt to complex terrain and reduce equipment maintenance costs, thereby ensuring safe mining production and improving operational continuity and economic efficiency.

[0003] However, heavy object cleaning in mines places significant stress on mechanical structures, and traditional integrated rotary joints are prone to failure due to stress concentration. Therefore, there is a need for mine heavy object cleaning robots with improved overall structural stability. Utility Model Content

[0004] In view of this, it is necessary to provide a mine heavy object cleaning robot to improve the overall structural stability in order to solve the above problems.

[0005] Embodiments of this application provide a mine heavy object cleaning robot, including:

[0006] Moving the main body;

[0007] A connecting component, one end of which is connected to the mobile body;

[0008] A cleaning component is rotatably connected to the other end of the connecting component and is used to clean heavy objects in the mine.

[0009] Rotating mechanism, including:

[0010] A first rotating component is disposed on the movable body and rotatably connected to the movable body, and is fixedly connected to one end of the connecting component;

[0011] The second rotating component is disposed on the cleaning component and is fixedly connected to the cleaning component, and is rotatably connected to the other end of the connecting component.

[0012] In at least one embodiment of this application, the rotating mechanism includes a first fixed component disposed on the movable body;

[0013] The first fixing component includes:

[0014] A fixed shaft is provided along the height direction of the movable body, and one end is fixedly connected to the movable body;

[0015] A fixed plate is fixedly connected to the movable body and to the other end of the fixed shaft.

[0016] In at least one embodiment of this application, the first rotating component includes:

[0017] A first rotating plate is disposed on the movable body and is rotatably connected to the fixed shaft;

[0018] The second rotating plate is perpendicularly connected to the moving body and rotatably connected to the fixed axis, and is located at one end away from the moving body.

[0019] In at least one embodiment of this application, the second rotating plate includes:

[0020] The main body is perpendicularly connected to the movable body;

[0021] A rotating groove is formed in the main body and is provided along the height of the main body;

[0022] The first rotating part is integrally formed with the main body and is rotatably connected to the fixed shaft. The first rotating part is located at one end away from the rotating groove.

[0023] The second rotating part is rotatably disposed with respect to the main body part, and is fixedly connected to one end of the connecting assembly. The second rotating part is disposed along the width of the rotating groove.

[0024] In at least one embodiment of this application, the second rotating part is a cylinder.

[0025] In at least one embodiment of this application, a plurality of first rotating parts are uniformly arranged along the height direction of the main body, and the first rotating parts are provided with rotating holes that match the fixed shaft, and the fixed shaft is sleeved in the rotating holes.

[0026] In at least one embodiment of this application, the rotating mechanism includes a second fixed component disposed on the movable body;

[0027] The second fixing component includes:

[0028] The first connector has one end fixedly connected to the cleaning component and the other end rotatably connected to the other end of the connecting component;

[0029] The second connector has one end connected to the first connector and the other end rotatably connected to the connecting assembly;

[0030] The third connector has one end rotatably connected to the connecting assembly, and the other end is attached to the second connector and rotatably connected to the connecting assembly.

[0031] In at least one embodiment of this application, the two second connectors are respectively located at both ends of the width direction of the first connector, and the two second connectors clamp the connecting assembly;

[0032] The two third connectors are located at both ends of the width direction of the connecting component, and the two third connectors clamp the connecting component. One side of the third connector is attached to the connecting component, and the other side is attached to the second connector.

[0033] In at least one embodiment of this application, the second rotating component includes:

[0034] A first connecting shaft is provided along the width direction of the first connecting member and passes through the first connecting member, and is rotatably connected to the first connecting shaft and the first connecting member. One end of the first connecting member and the second connecting member is sleeved on the first connecting shaft.

[0035] The first connector and the second connector are connected by a first connecting shaft;

[0036] The second connecting shaft is arranged in the same direction as the first connecting member and passes through the first connecting member. The first connecting member and the connecting component are sleeved inside the second connecting shaft, and the connecting component is located in the first connecting member.

[0037] In at least one embodiment of this application, the second rotating component further includes:

[0038] The third connecting shaft has two ends that are rotatably connected to the two second connecting pieces respectively, and is fixedly connected to the connecting assembly. The connection part between the third connecting shaft and the connecting assembly is located between the two second connecting pieces. The other end of the third connecting piece and the other end of the second connecting piece are sleeved on the third connecting shaft.

[0039] A fourth connecting shaft is provided along the width direction of the connecting component, passes through the connecting component, and is rotatably connected to the connecting component. The connecting component and the third connecting member are sleeved on the fourth connecting shaft.

[0040] The aforementioned mine heavy object cleaning robot disperses mechanical stress through the independent configuration of the first and second rotating components, avoiding the overload risk of a single rotating node. The synergistic effect of the connecting components and the rotating mechanism ensures efficient torque transmission during cleaning operations and improves the overall structural stability, making it particularly suitable for high-intensity working conditions in mine heavy object cleaning. Attached Figure Description

[0041] Figure 1 This is a perspective view of the mine heavy object cleaning robot described in this application;

[0042] Figure 2 This is a top view of the mine heavy object cleaning robot described in this application;

[0043] Figure 3 for Figure 2 Sectional view in AA;

[0044] Figure 4 for Figure 1 A magnified view of a section at point B in the middle;

[0045] Figure 5 for Figure 1 A magnified view of a section at point C;

[0046] Explanation of main component symbols

[0047] 100. Mine heavy object cleaning robot; 10. Mobile body; 20. Connecting component; 30. Cleaning component; 40. Rotating mechanism; 41. First rotating component; 411. First rotating plate; 412. Second rotating plate; 4121. Main body; 4122. Rotating groove; 4123. First rotating part; 41231. Rotating hole; 4124. Second rotating part; 42. Second rotating component; 43. First fixing component; 431. Fixing shaft; 432. Fixing plate; 44. Second fixing component; 441. First connector; 442. Second connector; 443. Third connector; 421. First connecting shaft; 422. Second connecting shaft; 423. Third connecting shaft; 424. Fourth connecting shaft. Detailed Implementation

[0048] The embodiments of this application will now be described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0049] It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or may also have an intervening component. When a component is considered to be "placed" on another component, it can be directly placed on the other component or may also have an intervening component. The terms "top," "bottom," "upper," "lower," "left," "right," "front," "back," and similar expressions used in this article are for illustrative purposes only.

[0050] Embodiments of this application provide a mine heavy object cleaning robot, including a mobile body, a connecting assembly, a cleaning assembly, and a rotating mechanism. One end of the connecting assembly is connected to the mobile body. The cleaning assembly is rotatably connected to the other end of the connecting assembly, and the cleaning assembly is used to clean heavy objects in the mine. A first rotating assembly is disposed on the mobile body and rotatably connected to the mobile body, and is fixedly connected to one end of the connecting assembly. A second rotating assembly is disposed on the cleaning assembly and is fixedly connected to the cleaning assembly, and is rotatably connected to the other end of the connecting assembly.

[0051] The aforementioned mine heavy object cleaning robot disperses mechanical stress through the independent configuration of the first and second rotating components, avoiding the overload risk of a single rotating node. The synergistic effect of the connecting components and the rotating mechanism ensures efficient torque transmission during cleaning operations and improves the overall structural stability, making it particularly suitable for high-intensity working conditions in mine heavy object cleaning.

[0052] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0053] Please see Figures 1-5 This application provides a mine heavy object cleaning robot 100, including a mobile body 10, a connecting component 20, a cleaning component 30, and a rotating mechanism 40. One end of the connecting component 20 is connected to the mobile body 10. The cleaning component 30 is rotatably connected to the other end of the connecting component 20, and the cleaning component 30 is used to clean heavy objects in the mine. A first rotating component 41 is disposed on the mobile body 10, rotatably connected to the mobile body 10, and fixedly connected to one end of the connecting component 20. A second rotating component 42 is disposed on the cleaning component 30, fixedly connected to the cleaning component 30, and rotatably connected to the other end of the connecting component 20.

[0054] Specifically, the mobile body 10 is the basic component of the robot platform, typically consisting of a tracked or wheeled structure to adapt to complex mine terrain (such as sand, gravel, slopes, and irregular foundations). The body is equipped with basic modules such as a control unit, battery, drive motor, and positioning module.

[0055] The mobile body 10 supports the entire mechanical system. The mobile body 10 provides mobility, moving the robot to the location of the heavy object. The mobile body 10 serves as the mounting base for the first rotating component 41, enabling lower-level rotation.

[0056] The mobile unit 10 can be remotely operated in extremely dangerous areas such as landslide areas and toxic gas areas, improving operational safety and preventing personnel from approaching high-risk areas.

[0057] The connecting component 20 is located between the mobile body 10 and the cleaning component 30. It has a certain length, structural strength, and flexibility, and can integrate multiple control cables, hydraulic / pneumatic hoses, etc., for signal transmission and power transmission. Its two ends are connected to the first rotating component 41 and the second rotating component 42, respectively.

[0058] One end of the connecting component 20 is connected to the movable body 10, and the connection is made by rotation via the first rotating component 41. The other end of the connecting component 20 is rotatably connected to the cleaning component 30, and multi-angle adjustment is achieved via the second rotating component 42.

[0059] The connecting component 20 provides a structural connection channel. The connecting component 20 facilitates the transmission of force and serves as a relay for rotation. The connecting component 20 acts as a buffer and flexible rotation unit between the front and rear mechanisms.

[0060] The connecting component 20 reduces the load on a single rotating node. The connecting component 20 improves the system's resistance to seismic and shock impacts. The connecting component 20 is adaptable to different operating angles and cleaning paths.

[0061] The cleaning component 30 is an end-effector, and can be equipped with push blades, hydraulic shears, cutting saws, telescopic grabbers, or other actuators as needed. The cleaning component 30 is connected to the other end of the connecting component 20 via the second rotating component 42 at an adjustable angle, giving it independent operating capability. The cleaning component 30 can grab, push, clamp, or cut heavy objects in the mine (such as fallen rocks, rubble, and debris from landslides). The cleaning component 30 can automatically adjust its operating angle according to the terrain and the object being cleaned. The cleaning component 30 avoids manual entry into high-risk areas and improves cleaning efficiency and processing accuracy.

[0062] The rotating mechanism 40 includes two relatively independent but cooperative rotating components. The first rotating component 41 is mounted on the moving body 10 and is rotatably connected to the moving body 10 via bearings, rotating brackets, etc., while being fixedly connected to one end of the connecting component 20. For example, a rotating platform structure can be used, which can be driven by a servo motor to achieve 360° rotation in the horizontal plane.

[0063] The first rotating component 41 enables the connecting component 20 to rotate omnidirectionally in the horizontal plane. The first rotating component 41 is used to adjust the working orientation or obstacle avoidance angle of the cleaning component 30. The first rotating component 41 shares the bottom torque during operation, reducing the lateral load on the connecting component 20. The first rotating component 41 improves the system's adaptability to complex terrain (such as slopes and potholes).

[0064] The second rotating component 42 is located at the end of the cleaning component 30 and is fixedly connected to the cleaning component 30, while also being rotatably connected to the other end of the connecting component 20. This component typically takes the form of a rotating arm with an end pivot, allowing for vertical adjustment and adjustment of the pitch angle of the cleaning device.

[0065] The second rotating component 42 adjusts the posture of the cleaning component 30 in the vertical direction. The second rotating component 42, in conjunction with the first rotating component 41, completes a two-degree-of-freedom motion of "pitch + rotation". The second rotating component 42 prevents the cleaning device from jamming or experiencing force concentration due to improper angle. The second rotating component 42 improves the accuracy of the contact angle control of the heavy object, enhancing operational safety and efficiency.

[0066] The mobile unit 10, controlled by a remote control system, enters the target work area. The first rotating component 41 adjusts the angle of the connecting component 20, aligning the cleaning component 30 with the target area. The second rotating component 42 controls the pitch of the cleaning component 30, achieving a suitable angle of contact with the ground or the heavy object. The cleaning component 30 performs operations such as pushing, clamping, and cutting to complete the removal of the heavy object. After cleaning is completed, the system retracts its arm and returns to its original position, allowing the mobile unit 10 to depart.

[0067] In one specific embodiment, the rotating mechanism 40 includes a first fixing component 43 disposed on the movable body 10. The first fixing component 43 includes a fixing shaft 431 and a fixing plate 432. The fixing shaft 431 is disposed along the height direction of the movable body 10, and one end of the fixing shaft 431 is fixedly connected to the movable body 10. The fixing plate 432 is fixedly connected to the movable body 10, and the other end of the fixing plate 432 is fixedly connected to the fixing shaft 431.

[0068] Specifically, the fixed shaft 431 is a hollow or solid metal shaft set along the height direction (i.e., the vertical direction) of the movable body 10. Its lower end is rigidly connected to the base of the movable body 10 by welding or bolting to ensure that the shaft does not move.

[0069] The fixed shaft 431 provides the rotation center axis for the first rotating assembly 41 (such as a rotating plate). The fixed shaft 431 serves as the central support point between the connecting assembly 20 and the rotating mechanism 40. The fixed shaft 431 bears part of the vertical load and lateral moment transmitted from the connecting assembly 20.

[0070] The fixing plate 432 is arranged horizontally, and its edges are fixed to the upper surface of the moving body 10 by bolts or welding. Its center is fastened to the upper end of the fixing shaft 431, which further stabilizes the fixing shaft 431. The fixing plate 432 can be rectangular, circular or other structurally stable.

[0071] The fixing plate 432 restricts the axial swing of the fixing shaft 431. The fixing plate 432 improves the resistance of the fixing shaft 431 to external torques (such as rotational torque). The fixing plate 432 serves as the structural transition between the first rotating assembly 41 and the body.

[0072] During robot assembly, the first rotating component 41 is mounted on the fixed shaft 431 via a bearing or sleeve structure, achieving a rotatable connection with the fixed shaft 431. With the fixed shaft 431 stationary, the first rotating component 41 can rotate horizontally around it. The fixed plate 432 provides anti-sway support for the fixed shaft 431, limiting radial displacement.

[0073] When the robot performs a cleaning task, after the mobile body 10 moves to the target area, it drives the first rotating component 41 to rotate around the fixed axis 431, causing the connecting component 20 to turn accordingly and adjusting the posture of the cleaning component 30. The fixed axis 431 remains stationary during this process, providing a stable axis of rotation. The fixed plate 432 prevents the fixed axis 431 from wobbling due to inertia or torque, improving rotational accuracy and rigidity.

[0074] In one specific embodiment, the first rotating assembly 41 includes a first rotating plate 411 and a second rotating plate 412. The first rotating plate 411 is disposed on the movable body 10 and is rotatably connected to the fixed shaft 431. The second rotating plate 412 is perpendicularly connected to the movable body 10. The second rotating plate 412 is rotatably connected to the fixed shaft 431 and is located at the end opposite to the movable body 10.

[0075] Specifically, the first rotating plate 411 is a horizontal support plate set on the top of the movable body 10, and a rotating hole 41231 is provided in its center. The rotating hole 41231 matches the outer diameter of the fixed shaft 431, and they are rotated together by a sliding bearing or a copper sleeve structure.

[0076] The first rotating plate 411 is secured by an axial limiting ring or snap-fit ​​structure, allowing it to rotate only horizontally around the fixed axis 431 to prevent axial slippage. The first rotating plate 411 serves as the direct mounting surface for the connecting assembly 20, providing a rotatable foundation support platform for the subsequent connecting assembly 20. During robot operation, the horizontal direction of the connecting assembly 20 can be adjusted (e.g., from left to front, or right). This rotation can be driven by a motor or achieved through manual rotation.

[0077] The first rotating plate 411 provides 360° rotation capability, allowing the robot to flexibly adjust its cleaning direction without moving the main body 10. The first rotating plate 411 effectively disperses some of the impact force transmitted from the moving main body 10, reducing stress concentration on a single joint. The first rotating plate 411 enhances the robot's adaptability and operational efficiency in complex working environments.

[0078] The second rotating plate 412 is a vertical bearing plate mounted on the fixed shaft 431 and arranged perpendicularly to the first rotating plate 411.

[0079] The second rotating plate 412 is also provided with a rotating connection structure with the fixed shaft 431, and its shaft hole can be located at the bottom or center of the plate.

[0080] The second rotating plate 412 is usually in the form of an L-shaped or T-shaped extension arm structure, and the end of the plate away from the moving body 10 can serve as the connection point of the connecting assembly 20. Structurally, the second rotating plate 412 is provided with mounting holes or slot interfaces on the mating surface with the connecting assembly 20 for fixed installation of the connecting assembly 20.

[0081] The second rotating plate 412 transmits the torque from the connecting assembly 20 vertically to the fixed shaft 431 and the moving body 10, enhancing the three-dimensional support force. The second rotating plate 412 and the first rotating plate 411 work together to form a stable structural system of a horizontal rotating platform and a vertical connecting bracket.

[0082] The offset angle of the connecting component 20 can be limited by setting rotational damping or limits, ensuring operational stability. It provides multi-faceted support in the spatial direction, enhancing the overall structure's torsional resistance. It withstands eccentric loads from the cleaning component 30, preventing the connecting component 20 from twisting or swaying. It forms a stress diffusion path, extending the robot's overall service life and making it suitable for continuous operation.

[0083] After the mobile body 10 moves to the target area, the first rotating plate 411 rotates around the fixed axis 431, causing the entire cleaning arm to adjust its horizontal angle. The second rotating plate 412 provides structural stability in the vertical direction and provides a fixed interface for the connecting assembly 20. The connecting assembly 20 is installed on the upper end of the second rotating plate 412, thereby completing the direction change.

[0084] In one specific embodiment, the second rotating plate 412 includes: a main body 4121, a rotating groove 4122, a first rotating part 4123, and a second rotating part 4124. The main body 4121 is perpendicularly connected to the movable body 10. The rotating groove 4122 is formed in the main body 4121 and is disposed along the height of the main body 4121. The first rotating part 4123 is integrally formed with the main body 4121, and is rotatably connected to the fixed shaft 431. The first rotating part 4123 is located at one end opposite to the rotating groove 4122. The second rotating part 4124 is rotatably disposed with the main body 4121, and is fixedly connected to one end of the connecting assembly 20. The second rotating part 4124 is disposed along the width of the rotating groove 4122.

[0085] Specifically, the main body 4121 is a vertical plate-like structure. The main body 4121 is preferably made of high-strength alloy steel or composite carbon fiber material to balance rigidity and weight control. The main body 4121 is vertically installed on the top or side of the movable body 10 by welding, screws or pins, and serves as the main load-bearing frame of the entire second rotating plate 412.

[0086] The main body 4121 provides a structural connection interface between the second rotating plate 412 and the movable body 10. The main body 4121 bears the overall structural load of the first rotating part 4123 and the second rotating part 4124. The main body 4121 provides a mounting surface and spatial support base for the rotating components.

[0087] The rotating groove 4122 is an elongated guide groove formed along the height direction of the main body 4121. It is typically rectangular or arc-shaped, with its length aligned with the height direction of the main body. The groove depth is designed according to the embedding depth of the second rotating part 4124. The second rotating part 4124 can be partially or completely embedded in the rotating groove 4122 and slide or rotate within the groove along its width direction. The rotating groove 4122 enhances the positioning accuracy and torque distribution uniformity of the rotating assembly.

[0088] The first rotating part 4123 is integrally formed with the main body part 4121 (it can be cast or integrally machined), and it is located on the side opposite to the rotating groove 4122. It is an approximately cylindrical or collar structure and is rotatably connected around the fixed shaft 431.

[0089] A low-friction rotary connection can be formed with the fixed shaft 431 by setting a sleeve bearing, a sliding bearing, or an oil film lubrication hole, and an axial limiting structure can be set to prevent movement.

[0090] The first rotating part 4123 serves as the pivot for the overall rotation of the second rotating plate 412 around the fixed shaft 431. The first rotating part 4123 absorbs a portion of the rotational torque from the connecting assembly 20 and transmits it to the fixed shaft 431 / body.

[0091] The second rotating part 4124 can rotate left and right at a certain angle under the guidance of the rotating groove 4122, so as to realize the angle adjustment of the end of the connecting assembly 20. The second rotating part 4124 provides the connecting assembly 20 with a vertical rotational degree of freedom, such as pitch adjustment.

[0092] In one specific embodiment, the second rotating part 4124 is a cylinder.

[0093] A plurality of first rotating parts 4123 are evenly arranged along the height direction of the main body 4121. Each first rotating part 4123 has a rotating hole 41231 that matches the fixed shaft 431, and the fixed shaft 431 is sleeved in the rotating hole 41231.

[0094] Specifically, the second rotating part 4124 is an integrally formed cylindrical structure, with its axis arranged along the width direction of the rotating groove 4122. This cylinder is rotatably connected to the main body 4121 via a rotating pin or bushing, and its installation position is located within the rotating groove 4122.

[0095] In one specific embodiment, a plurality of first rotating parts 4123 are uniformly arranged along the height direction of the main body 4121, and the first rotating parts 4123 are provided with rotating holes 41231 that match the fixed shaft 431, and the fixed shaft 431 is sleeved in the rotating holes 41231.

[0096] Specifically, multiple first rotating parts 4123 are collectively sleeved on the outer surface of the fixed shaft 431, forming a multi-point support structure, which greatly improves the structural stability and service life. Each first rotating part 4123 is a ring-shaped or sleeve-shaped structure, which is disposed on the main body 4121 of the second rotating plate 412.

[0097] The rotating parts 4123 are evenly arranged along the height direction (i.e., the vertical direction) of the main body 4121. For example, a rotating part is set at a certain distance, usually ranging from 2 to 5, depending on the size of the robot and the load requirements. All the first rotating parts 4123 are arranged collinearly, and their interiors have through structures for cooperating with the fixed shaft 431.

[0098] Each first rotating part 4123 has a rotating hole 41231, the diameter of which is precisely matched with the outer diameter of the fixed shaft 431. The fixed shaft 431 passes through multiple rotating holes 41231 in sequence, forming an axial multi-point rotational connection. The point support of multiple rotating parts forms a multi-point force-sharing structure, distributing the rotational load. Compared with a single rotating support, multiple rotating parts can effectively prevent radial wobble or angular deviation of the connecting assembly 20 during rotation. This improves the positioning accuracy and motion response stability during rotation. It also reduces single-point wear pressure and extends the overall service life of the structure.

[0099] In one specific embodiment, the rotating mechanism 40 includes a second fixing component 44 disposed on the movable body 10. The second fixing component 44 includes a first connector 441, a second connector 442, and a third connector 443. One end of the first connector 441 is fixedly connected to the cleaning component 30, and the other end of the first connector 441 is rotatably connected to the other end of the connecting component 20. One end of the second connector 442 is connected to the first connector 441, and the other end of the second connector 442 is rotatably connected to the connecting component 20. One end of the third connector 443 is rotatably connected to the connecting component 20, and the other end of the third connector 443 is attached to the second connector 442 and rotatably connected to the connecting component 20.

[0100] Specifically, the first connector 441 is located at the outermost end between the connecting component 20 and the cleaning component 30. One end is fixedly connected to the cleaning component 30, and the other end is rotatably connected to the end of the connecting component 20 through structures such as a pin, a pivot, and a universal joint.

[0101] The first connector 441 is preferably a plate-like structure with a rotating hinge. The first connector 441 may be equipped with a rotation damping device or a limiting structure to control the rotation angle. This enables the main attitude adjustment between the cleaning assembly 30 and the connecting assembly 20. The first connector 441 absorbs most of the working load of the cleaning assembly 30. The first connector 441 provides a reference connection position for the subsequent second and third connectors 443.

[0102] The second connector 442 is disposed between the first connector 441 and the connecting assembly 20. It is a flexible or articulated connection structure. One end of the connector is connected to the first connector 441, and the other end is connected to the connecting assembly 20 by a rotational connection.

[0103] The third connector 443 is disposed on the outside of the connecting assembly 20, and is relatively close to the second connector 442. It is rotatably connected to the connecting assembly 20 again via a rotating shaft, forming an interlaced multi-axis support structure. Both ends are hinged to the connecting assembly 20 and the second connector 442 respectively via a rotating shaft and a pin. The third connector 443 and the second connector 442 maintain a surface-to-surface or near-surface contact state, forming a support pair.

[0104] The third connector 443 provides lateral limiting support for the connecting assembly 20. The third connector 443 further increases the overall rotational freedom. The third connector 443 disperses stress concentration at the connection point, improving system reliability.

[0105] After the mobile body 10 moves the cleaning component 30 to the target area, the first connector 441 in the second fixed component 44 rotates at a large angle according to the target posture, so that the cleaning component 30 is aligned with the target. The second connector 442 undergoes a slight twist to adapt to the pressure at the end of the arm or external force disturbance. The third connector 443 provides lateral rotation correction or force compensation for the connecting component 20, so that the whole machine remains stable.

[0106] In one specific embodiment, two second connectors 442 are respectively located at both ends of the first connector 441 in the width direction, and the two second connectors 442 clamp the connecting assembly 20. Two third connectors 443 are respectively located at both ends of the connecting assembly 20 in the width direction, and the two third connectors 443 clamp the connecting assembly 20. One side of each third connector 443 is attached to the connecting assembly 20, and the other side is attached to the second connector 442.

[0107] Specifically, two second connectors 442 are respectively disposed on the left and right sides (i.e., at both ends in the width direction) of the first connector 441. The second connectors 442 can adopt an ear plate and axle pin structure, with one end connected to the first connector 441 and the other end clamping the connecting assembly 20 by rotation. The two second connectors 442 form a symmetrical arrangement structure, with space reserved in the middle for the connecting assembly 20 to ensure rotational alignment.

[0108] The inner surface of the second connector 442 is in contact with the connecting assembly 20, and a rotational connection is achieved through a pivot pin. This ensures that the connecting assembly 20 can be adjusted for yaw between the two connectors with the horizontal axis as the center. Bushings, washers, or buffer layers can be added to improve rotational smoothness and vibration absorption performance.

[0109] The third connector 443 is located on both sides of another set of symmetrical directions of the connecting assembly 20, such as the thickness direction or another orthogonal direction. The two third connectors 443 are respectively attached to both ends of the connecting assembly 20, and are also attached to or partially overlapped with the second connector 442. This forms an enveloping clamping structure, achieving multi-axial rigid support.

[0110] The second connector 442 and the third connector 443 symmetrically surround and limit the connecting assembly 20 from different positions. This four-point surrounding configuration ensures that the rotational axis of the connecting assembly 20 does not drift. The moving force is distributed across the four connectors, reducing stress concentration at single points. The double-sided connection forms a stable couple structure, improving torsional resistance. This enhances the consistency of the connecting assembly 20's response during high-speed movements or sudden impacts.

[0111] In one specific embodiment, the second rotating component 42 includes a first connecting shaft 421 and a second connecting shaft 422. The first connecting shaft 421 is disposed along the width direction of the first connecting member 441, passes through the first connecting member 441, and is rotatably connected to both the first connecting shaft 421 and the first connecting member 441. One end of the first connecting member 441 and one end of the second connecting member 442 are sleeved on the first connecting shaft 421. The first connecting shaft 421 connects the first connecting member 441 and the second connecting member 442. The second connecting shaft 422 is disposed in the same direction as the first connecting member 422, passes through the first connecting member 441, and the first connecting member 441 and the connecting component 20 are sleeved within the second connecting shaft 422. The connecting component 20 is located within the first connecting member 441.

[0112] In one specific embodiment, the second rotating assembly 42 further includes a third connecting shaft 423 and a fourth connecting shaft 424. Both ends of the third connecting shaft 423 are rotatably connected to two of the second connecting members 442, and the third connecting shaft 423 is fixedly connected to the connecting assembly 20. The connection portion between the third connecting shaft 423 and the connecting assembly 20 is located between the two second connecting members 442. The other end of the third connecting member 443 and the other end of the second connecting member 442 are sleeved onto the third connecting shaft 423.

[0113] The first connecting shaft 421, the second connecting shaft 422, the third connecting shaft 423, and the fourth connecting shaft 424 are all arranged along the width direction of the connecting assembly 20. The shafts can be staggered or positioned at different plane heights to avoid structural interference. All shafts can be structurally connected to their corresponding components via bearings, bushings, or other means to form a rotational connection.

[0114] The first connecting shaft 421 is used to rotatably connect the first connecting member 441 to the two second connecting members 442. It is located at the front part between the cleaning assembly 30 and the connecting assembly 20, allowing the cleaning assembly 30 to tilt. It is usually located at the end of the first connecting member 441 near the cleaning assembly 30.

[0115] The second connecting shaft 422 passes through the first connecting member 441 and the connecting assembly 20, and is used to strengthen the connection between the first connecting member 441 and the connecting assembly 20. The second connecting shaft 422 plays the role of main rotational support and bears a large torque. The second connecting shaft 422 is often used as the main control shaft of the second rotating assembly 42.

[0116] The third connecting shaft 423 is rotatably connected to two second connecting pieces 442 at both ends, and fixed to the connecting assembly 20 in the middle. The third connecting shaft 423 plays a role in lateral torsional resistance and shock absorption, thereby improving lateral stiffness.

[0117] The fourth connecting shaft 424 is located at the rear end of the connecting assembly 20 and connects the third connecting member 443 to the connecting assembly 20. The fourth connecting shaft 424 allows the third connecting member 443 to rotate around the end of the connecting assembly 20 for fine-tuning compensation.

[0118] Therefore, the aforementioned mine heavy object cleaning robot 100 disperses mechanical stress through the independent setting of the first rotating component 41 and the second rotating component 42, avoiding the overload risk of a single rotating node. The synergistic effect of the connecting component 20 and the rotating mechanism 40 ensures the torque transmission efficiency during cleaning operations and improves the stability of the overall structure, making it particularly suitable for high-intensity working conditions of mine heavy object cleaning.

[0119] The above description is merely an embodiment of this application. It should be noted that those skilled in the art can make improvements without departing from the inventive concept of this application, but these improvements all fall within the protection scope of this application.

Claims

1. A mine heavy object cleaning robot, characterized in that, include: Moving the main body; A connecting component, one end of which is connected to the mobile body; A cleaning component is rotatably connected to the other end of the connecting component and is used to clean heavy objects in the mine. Rotating mechanism, including: A first rotating component is disposed on the movable body and rotatably connected to the movable body, and is fixedly connected to one end of the connecting component; The second rotating component is disposed on the cleaning component and is fixedly connected to the cleaning component, and is rotatably connected to the other end of the connecting component.

2. The mine heavy object cleaning robot according to claim 1, characterized in that, The rotating mechanism includes a first fixed component disposed on the movable body; The first fixing component includes: A fixed shaft is provided along the height direction of the movable body, and one end is fixedly connected to the movable body; A fixed plate is fixedly connected to the movable body and to the other end of the fixed shaft.

3. The mine heavy object cleaning robot according to claim 2, characterized in that, The first rotating component includes: A first rotating plate is disposed on the movable body and is rotatably connected to the fixed shaft; The second rotating plate is perpendicularly connected to the moving body and rotatably connected to the fixed axis, and is located at one end away from the moving body.

4. The mine heavy object cleaning robot according to claim 3, characterized in that, The second rotating plate includes: The main body is perpendicularly connected to the movable body; A rotating groove is formed in the main body and is provided along the height of the main body; The first rotating part is integrally formed with the main body and is rotatably connected to the fixed shaft. The first rotating part is located at one end away from the rotating groove. The second rotating part is rotatably disposed with respect to the main body part, and is fixedly connected to one end of the connecting assembly. The second rotating part is disposed along the width of the rotating groove.

5. The mine heavy object cleaning robot according to claim 4, characterized in that, The second rotating part is a cylinder.

6. The mine heavy object cleaning robot according to claim 4, characterized in that, A plurality of first rotating parts are evenly arranged along the height direction of the main body, and each first rotating part has a rotating hole that matches the fixed shaft, and the fixed shaft is sleeved in the rotating hole.

7. The mine heavy object cleaning robot according to claim 1, characterized in that, The rotating mechanism includes a second fixed component disposed on the movable body; The second fixing component includes: The first connector has one end fixedly connected to the cleaning component and the other end rotatably connected to the other end of the connecting component; The second connector has one end connected to the first connector and the other end rotatably connected to the connecting assembly; The third connector has one end rotatably connected to the connecting assembly, and the other end is attached to the second connector and rotatably connected to the connecting assembly.

8. The mine heavy object cleaning robot according to claim 7, characterized in that, The two second connectors are respectively located at both ends of the width direction of the first connector, and the two second connectors clamp the connecting assembly; The two third connectors are located at both ends of the width direction of the connecting component, and the two third connectors clamp the connecting component. One side of the third connector is attached to the connecting component, and the other side is attached to the second connector.

9. The mine heavy object cleaning robot according to claim 7, characterized in that, The second rotating component includes: A first connecting shaft is provided along the width direction of the first connecting member and passes through the first connecting member, and is rotatably connected to the first connecting shaft and the first connecting member. One end of the first connecting member and the second connecting member is sleeved on the first connecting shaft. The first connector and the second connector are connected by a first connecting shaft; The second connecting shaft is arranged in the same direction as the first connecting member and passes through the first connecting member. The first connecting member and the connecting component are sleeved inside the second connecting shaft, and the connecting component is located in the first connecting member.

10. The mine heavy object cleaning robot according to claim 7, characterized in that... The second rotating component further includes: The third connecting shaft has two ends that are rotatably connected to the two second connecting pieces respectively, and is fixedly connected to the connecting assembly. The connection part between the third connecting shaft and the connecting assembly is located between the two second connecting pieces. The other end of the third connecting piece and the other end of the second connecting piece are sleeved on the third connecting shaft. A fourth connecting shaft is provided along the width direction of the connecting component, passes through the connecting component, and is rotatably connected to the connecting component. The connecting component and the third connecting member are sleeved on the fourth connecting shaft.

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