A milling mechanism of a sampling robot

Abstract

The utility model provides a kind of milling mechanism of sampling robot, including stretching device and the planing mechanism being arranged at the top of the stretching device;The stretching device includes fixed seat and the stretching arm mechanism and swing oil cylinder being hinged with one end of the fixed seat, the swing oil cylinder is set on the upside of stretching arm mechanism, the piston rod of the swing oil cylinder is hinged with stretching arm mechanism, and the stretching end of stretching arm mechanism is connected with planing mechanism.The utility model has the beneficial effects as follows: by stretching arm mechanism and swing oil cylinder cooperation and setting the planing mechanism on stretching arm mechanism, it solves the technical problem that milling angle cannot be adjusted when the milling mechanism of existing sampling robot is milling.

Description

Technical Field

[0001] This utility model relates to the field of mining equipment technology, and in particular to a milling mechanism for a sampling robot. Background Technology

[0002] In tunnel exploration in coal mines, geological exploration, and other fields, sampling the inner sidewalls of tunnels is a fundamental and important task. Currently, the most common sampling method is manual sampling, where workers use tools such as pneumatic picks to hammer and manually chisel out trenches of specific dimensions in designated sampling areas.

[0003] This traditional manual sampling method has several significant drawbacks: First, it is extremely inefficient. Limited by the power of manual tools and the physical strength of workers, completing the excavation of a standard trench often takes 5 to 6 hours, severely hindering the exploration progress. Second, it poses significant safety hazards. Sampling operations often need to be carried out at high altitudes in the tunnel, exposing workers to risks such as falls from heights and being hit by falling debris. Third, the labor intensity is enormous; prolonged operation of heavy vibrating tools also poses a serious threat to the health of the operators.

[0004] To overcome the drawbacks of manual sampling, the industry has begun to explore the use of sampling robots to replace manual labor. These robots are typically equipped with milling mechanisms, using motors to drive a milling head to rotate and cut the rock face, thus mechanizing the trenching task. Compared to manual labor, this represents a significant improvement in both efficiency and safety.

[0005] However, existing milling mechanisms for sampling robots still have significant limitations in their structural design. Most current milling mechanisms have a fixed cutting orientation, typically designed to perform horizontal milling in only one direction, or at most fixed at a specific tilt angle. This rigid design severely limits the flexibility and adaptability of sampling. In complex geological conditions of actual tunnels, sampling tasks may require trenches with different spatial orientations, such as oblique cuts along specific dip angles of rock strata, or combinations of trenches with multiple angles within a single sampling area. Existing mechanisms that cannot adjust the milling cutting orientation struggle to meet these complex process requirements, forcing the robot to frequently adjust its overall pose, and even requiring repositioning. This reduces operational efficiency and increases the robot's control complexity. Utility Model Content

[0006] To address the shortcomings of existing technologies, this utility model provides a milling mechanism for a sampling robot, which solves the technical problem that existing milling mechanisms for sampling robots cannot adjust the milling angle during milling.

[0007] A milling mechanism for a sampling robot according to an embodiment of the present invention includes an extension device and a planing mechanism disposed on the top of the extension device. The extension device includes a fixed base, an extension arm mechanism and a swing cylinder with one end hinged to the fixed base. The swing cylinder is located on the upper side of the extension arm mechanism, and the piston rod of the swing cylinder is hinged to the extension arm mechanism. The extended end of the extension arm mechanism is connected to the planing mechanism.

[0008] The technical principle of this utility model is as follows: When in use, first control the swing cylinder to extend or retract so that the extension arm mechanism is aligned with the direction to be milled, and then the extension arm mechanism extends to perform milling. When it is necessary to change the tilt angle, simply control the swing cylinder to extend or retract again.

[0009] Compared with the prior art, the present invention has the following advantages: the planing mechanism set on the extension arm mechanism by the extension arm mechanism and the swing cylinder solves the technical problem that the milling mechanism of the existing sampling robot cannot adjust the milling angle when performing milling.

[0010] Furthermore, the extension arm mechanism includes an extension cylinder and an inner sleeve and an outer sleeve sequentially sleeved on the outside of the extension cylinder. The outer sleeve is hinged to the fixed seat, the inner sleeve is connected to the planing mechanism, one end of the cylinder body of the extension cylinder is mounted on the outer sleeve, and one end of the piston rod of the extension cylinder is connected to the inner sleeve.

[0011] Furthermore, the fixing seat has a clearance hole in the middle, and the outer sleeve is hinged to the fixing seat in the clearance hole.

[0012] Furthermore, a connecting block is provided at the top of the outer sleeve near the planing mechanism, and the connecting block is hinged to the piston rod of the swing cylinder.

[0013] Furthermore, the planing mechanism includes a roller seat and a planing roller mounted on the roller seat. The planing roller has milling teeth evenly distributed around its circumference. A drive mechanism is provided on one side of the roller seat. The drive mechanism is connected to the planing roller in a transmission manner. The roller seat is connected to the extension arm mechanism.

[0014] Furthermore, the roller seat is provided with an upper baffle at the top and a scraper plate at the bottom, and the upper baffle and scraper plate cover the top and bottom of the planing roller.

[0015] The upper baffle and scraper plate are used to protect the planing roller and also to prevent the chips from flying around.

[0016] Furthermore, the shovel plate is provided with a planing collection port on the side near the extension device, and the planing collection port is connected to a material suction system.

[0017] Furthermore, the upper baffle and the shovel plate are provided with limiting rollers on the side away from the extension device. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the milling mechanism structure according to an embodiment of the present utility model.

[0019] Figure 2 This is a cross-sectional view of the milling mechanism according to an embodiment of the present utility model.

[0020] Figure 3 This is a top view of the milling mechanism according to an embodiment of the present utility model.

[0021] In the above figures: 1. Planing mechanism; 11. Roller seat; 12. Planing roller; 121. Milling gear; 13. Drive mechanism; 14. Upper baffle; 15. Material scraping plate; 151. Planing collection port; 16. Limiting roller; 2. Fixed seat; 21. Clearance hole; 3. Extension arm mechanism; 31. Extension cylinder; 32. Inner sleeve; 33. Outer sleeve; 331. Connecting block; 4. Swing cylinder; 5. Material suction system. Detailed Implementation

[0022] The technical solution of this utility model will be further described below with reference to the accompanying drawings and embodiments.

[0023] like Figure 1 The milling mechanism of the sampling robot shown includes an extension device and a planing mechanism 1 disposed on top of the extension device. The extension device is mounted on the sampling robot.

[0024] The specific extension device includes a fixed base 2, an extension arm mechanism 3 hinged to the fixed base 2 at one end, and a swing cylinder 4. The swing cylinder 4 is located on the upper side of the extension arm mechanism 3. The piston rod of the swing cylinder 4 is hinged to the extension arm mechanism 3. The extension end of the extension arm mechanism 3 is connected to the planing mechanism 1. Thus, regardless of the working state of the planing mechanism 1, the swing cylinder 4 can adjust the working direction of the planing mechanism 1, that is, the extension direction of the extension arm mechanism 3.

[0025] like Figure 2 As shown, the extension arm mechanism 3 includes an extension cylinder 31 and an inner sleeve 32 and an outer sleeve 33 sequentially sleeved on the outside of the extension cylinder 31. The outer sleeve 33 is hinged to the fixed seat 2, and the inner sleeve 32 is connected to the planing mechanism 1. One end of the cylinder body of the extension cylinder 31 is mounted on the outer sleeve 33, and one end of the piston rod of the extension cylinder 31 is connected to the inner sleeve 32. Thus, the extension cylinder 31 can drive the inner sleeve 32 to extend, thereby driving the planing mechanism 1 to extend.

[0026] like Figure 1-2As shown, a clearance hole 21 is provided in the middle of the fixed base 2. The outer sleeve 33 is hinged to the fixed base 2 in the clearance hole 21. A connecting block 331 is fixed to the top of the outer sleeve 33 near the planing mechanism 1. The connecting block 331 is hinged to the piston rod of the swing cylinder 4, so that the swing cylinder 4 can adjust the orientation of the outer sleeve 33.

[0027] like Figure 2-3 As shown, the planing mechanism 1 includes a roller seat 11 and a planing roller 12 mounted on the roller seat 11. The planing roller 12 has milling teeth 121 evenly distributed around its circumference for milling the rock strata. A drive mechanism 13 is provided on one side of the roller seat 11. The drive mechanism 13 is a motor and is connected to the planing roller 12 to provide rotational force for milling. The roller seat 11 is connected to the extension arm mechanism 3, so that the entire planing mechanism 1 can be driven by the extension arm mechanism 3.

[0028] like Figure 2-3 As shown, an upper baffle 14 is fixed to the top of the roller base 11, and a scraper plate 15 is fixed to the bottom of the roller base 11. The upper baffle 14 and the scraper plate 15 cover the top and bottom of the planing roller 12. Specifically, the scraper plate 15 has a planing collection port 151 on the side near the extension device. The planing collection port 151 is connected to a material suction system 5. The material suction system 5 can be a conventional vacuum cleaner structure, which can suck the material into the dust collection bag for storage.

[0029] like Figure 1-3 As shown, the upper baffle 14 and the shovel plate 15 are provided with a limiting roller 16 on the side away from the extension device for limiting.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A milling mechanism for a sampling robot, characterized in that: Includes an extension device and a planing mechanism disposed on top of the extension device; The extension device includes a fixed base, an extension arm mechanism and a swing cylinder with one end hinged to the fixed base. The swing cylinder is located on the upper side of the extension arm mechanism, and the piston rod of the swing cylinder is hinged to the extension arm mechanism. The extended end of the extension arm mechanism is connected to the planing mechanism.

2. The milling mechanism of a sampling robot as described in claim 1, characterized in that: The extension arm mechanism includes an extension cylinder and an inner sleeve and an outer sleeve sequentially sleeved on the outside of the extension cylinder. The outer sleeve is hinged to a fixed base, and the inner sleeve is connected to a planing mechanism. One end of the cylinder body of the extension cylinder is mounted on the outer sleeve, and one end of the piston rod of the extension cylinder is connected to the inner sleeve.

3. The milling mechanism of a sampling robot as described in claim 2, characterized in that: The fixing seat has a clearance hole in the middle, and the outer sleeve is hinged to the fixing seat in the clearance hole.

4. The milling mechanism of a sampling robot as described in claim 2, characterized in that: The top of the outer sleeve near the planing mechanism is provided with a connecting block, which is hinged to the piston rod of the swing cylinder.

5. The milling mechanism of a sampling robot as described in claim 1, characterized in that: The planing mechanism includes a roller seat and a planing roller mounted on the roller seat. The planing roller has milling teeth evenly distributed around its circumference. A drive mechanism is provided on one side of the roller seat. The drive mechanism is connected to the planing roller. The roller seat is connected to the extension arm mechanism.

6. The milling mechanism of a sampling robot as described in claim 5, characterized in that: The roller seat is provided with an upper baffle at the top and a scraper plate at the bottom. The upper baffle and the scraper plate cover the top and bottom of the planing roller.

7. The milling mechanism of a sampling robot as described in claim 6, characterized in that: The shovel plate is provided with a planing collection port on the side near the extension device, and the planing collection port is connected to a material suction system.

8. The milling mechanism of a sampling robot as described in claim 6, characterized in that: The upper baffle and the shovel plate are provided with limiting rollers on the side away from the extension device.

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