CN210013261U

CN210013261U - Mining excavation robot

Info

Publication number: CN210013261U
Application number: CN201822011753.9U
Authority: CN
Inventors: 王超; 吴洁
Original assignee: Zhengzhou Chuang Ke Technology Co Ltd
Current assignee: Zhengzhou Chuang Ke Technology Co Ltd
Priority date: 2018-12-03
Filing date: 2018-12-03
Publication date: 2020-02-04
Anticipated expiration: 2028-12-03

Abstract

The utility model discloses a mining excavation machine people, including the gyro wheel, a pedestal, the case that gathers materials, first electric putter, the guide box, signal receiver, MCU, first gear, first bull stick, first band pulley, first belt, the arm, the track, the scraper blade, go into the feed bin, the pin, second electric putter, the screen cloth, the telescopic link, the cam, the sixth bull stick, the grinding cylinder, the swash plate, the third bull stick, the chain, the rotary drum, the fourth bull stick, first bevel gear, the install bin, the second gear, second bevel gear, double shaft motor, the third gear, the second belt, the second bull stick, the second band pulley, the fifth bull stick, step motor and double gear. The mining excavating robot for the seed mines is provided with the cam, the screen, the stop lever, the inclined plate and the telescopic rod which are matched with each other, so that soil doped in ores can be better screened and filtered, and the screening efficiency of the ores is greatly improved; the working strength of workers is reduced, and meanwhile, the cost is also reduced.

Description

Mining excavation robot

Technical Field

The utility model relates to an excavating robot specifically is a kind of mining excavating robot, belongs to robot application technical field.

Background

Robots are the common name of automatic control machines, including all machines simulating human behaviors or ideas and other creatures, and there are many categories and disputes in the narrow definition of robots, and some computer programs are even called robots. Robots are also often used in mining excavation processes.

The existing mining excavating robot mostly provides an excavating function, the functionality is single, ores and soil are easily mixed together in the excavating process, the screening is complex, screening and crushing are needed by means of other devices, the working strength of workers is greatly improved, the cost is increased, the robot moves slowly in the process, and particularly turns to make the robot difficult, so that the practicability of the robot is greatly reduced. Therefore, various mining excavation robots are proposed to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is just to provide a mining excavation robot in order to solve above-mentioned problem.

The utility model realizes the above purpose through the following technical proposal, a mining excavating robot comprises a turning mechanism, an ore screening mechanism and an ore crushing mechanism which are sequentially arranged on the surface of a base from left to right;

the turning mechanism comprises a roller, a double-shaft motor, a first electric push rod, a first rotating rod and a fourth rotating rod, wherein the inner side of the roller is fixedly connected with the fifth rotating rod, the surface of the fifth rotating rod and the output end of the double-shaft motor are respectively sleeved with a second belt wheel, the surface of the second belt wheel is wound with a second belt, one end of the double-shaft motor, far away from the second belt wheel, is sleeved with a first bevel gear, the surface of the first bevel gear is in meshing connection with a second bevel gear, the center part of the second bevel gear is sleeved with the second rotating rod, the bottom end of the second rotating rod is fixedly connected with a second gear, the bottom end of the first electric push rod is fixedly connected with a third gear, the top end of the first electric push rod is fixedly connected with the top end of the inner side of the base, the surfaces of the first rotating rod and the fourth rotating rod are respectively sleeved with a first belt wheel, the surface of the first belt wheel is, the top ends of the first rotating rod and the fourth rotating rod are rotatably connected with the top end of the inner cavity of the base;

the ore screening mechanism comprises a material guiding box and an installation box, wherein the top end of the material guiding box is sequentially provided with an MCU (microprogrammed control Unit) and an mechanical arm from left to right, one end of the MCU is provided with a signal receiver, the top end of the installation box is connected with a material inlet bin in an embedded manner, the inner side wall of the installation box is sequentially and fixedly connected with a second electric push rod, a telescopic rod and an inclined plate from top to bottom, one end of the second electric push rod is fixedly connected with a scraper, one end of the telescopic rod is fixedly connected with a screen, two ends of the screen are both fixedly connected with stop rods, and the bottom ends;

the ore crushing mechanism is including gathering materials case, step motor and third bull stick, step motor output fixedly connected with sixth bull stick, cam and grinding drum have been cup jointed from the back to the front in proper order on sixth bull stick surface, double gear has all been cup jointed on third bull stick and sixth bull stick surface, double gear surface drive is connected with the chain, the rotary drum has been cup jointed on third bull stick surface, rotary drum surface drive is connected with the track.

Preferably, the number of the first gear, the second gear and the third gear is two, the two third gears are respectively meshed with the two first gears and the two second gears, and the second gear and the first gear are on the same horizontal plane.

Preferably, the number of the rollers is three, two of the rollers are fixedly connected with each other through a fifth rotating rod, the top ends of the two rollers are fixedly connected with the bottom end of the base, and the top ends of the two rollers correspond to the top ends of the other rollers and are fixedly connected with the bottom end of a fourth rotating rod.

Preferably, the number of the third rotating rods is two, two ends of one of the third rotating rods are rotatably connected with the inner side wall of the installation box, two ends of the other corresponding to the third rotating rod are rotatably connected with the inner side wall of the material guide box, and the third rotating rod is positioned at the top of the material collecting box.

Preferably, the number of the stop levers and the cams is two, the stop levers and the cams are symmetrically distributed through the screen mesh respectively, and the stop levers and the cams are located on the same vertical plane.

Preferably, the telescopic link figure is four, four the telescopic link averagely divide into two sets ofly, two sets of the telescopic link passes through screen cloth symmetric distribution, and the telescopic link comprises two sleeve pipes and spring, and two sleeve pipes of telescopic link pass through the mutual elastic connection of spring.

Preferably, the number of the double gears is three, one of the double gears is sleeved on the surface of the third rotating rod, the two corresponding double gears are sleeved on the surface of the sixth rotating rod, the two double gears on the surface of the sixth rotating rod are meshed with each other and connected, and one of the double gears on the surface of the sixth rotating rod is in transmission connection with the double gears on the surface of the third rotating rod through a chain.

Preferably, the bottom end of the feeding bin penetrates through the top end of the mounting box and extends to the top of the screen, and the feeding bin, the screen and the grinding drum are all located on the same central line.

Preferably, the number of the second bevel gears is two, the two second bevel gears are meshed with the first bevel gears and are connected with the first bevel gears, and the two second bevel gears are symmetrically distributed through the axle center parts of the first bevel gears.

Preferably, the MCU is respectively and electrically connected with the signal receiver, the first electric push rod, the mechanical arm, the second electric push rod, the double-shaft motor and the stepping motor.

The utility model has the advantages that:

1. this kind of mining excavation machine people simple structure, the simple operation, the functionality is strong, and the modern design through setting up cam, screen cloth, mutually supporting between pin, swash plate and the telescopic link, can be better to the earth of adulteration in the ore sieve and filter, very big improvement to the screening efficiency of ore.

2. Through setting up mutually supporting between grinding drum, track, double gear and the cylinder, can be better carry out the breakage and arrange in order to the ore, avoided carrying out breakage and screening with the help of other devices, very big reduction staff's working strength, the cost is also reduced simultaneously.

3. Through setting up mutually supporting between gear, bevel gear, gyro wheel, electric putter and the band pulley, can be better as removing and turning round the robot, very big improvement the work efficiency of robot, also strengthened the practicality of robot simultaneously.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the connection structure of the dual-shaft motor of the present invention;

FIG. 3 is a schematic view of the connecting structure of the rolling drum of the present invention;

FIG. 4 is a schematic view of the enlarged structure of the part A of the present invention;

fig. 5 is a schematic view of the working principle structure of the present invention.

In the figure: 1. the device comprises a roller, 2, a base, 3, a material collecting box, 4, a first electric push rod, 5, a material guiding box, 6, a signal receiver, 7, an MCU, 8, a first gear, 9, a first rotating rod, 10, a first belt wheel, 11, a first belt, 12, a mechanical arm, 13, a crawler belt, 14, a scraper, 15, a material feeding bin, 16, a stop lever, 17, a second electric push rod, 18, a screen, 19, a telescopic rod, 20, a cam, 21, a sixth rotating rod, 22, a grinding drum, 23, an inclined plate, 24, a third rotating rod, 25, a chain, 26, a rotating drum, 27, a fourth rotating rod, 28, a first bevel gear, 29, a mounting box, 30, a second gear, 31, a second bevel gear, 32, a double-shaft motor, 33, a third gear, 34, a second belt, 35, a second rotating rod, 36, a second belt wheel, 37, a fifth rotating rod, 38, a stepping motor, 39 and a double-toothed wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, a mining excavating robot includes a turning mechanism, an ore screening mechanism and an ore crushing mechanism, which are sequentially installed on the surface of a base 2 from left to right;

the turning mechanism comprises a roller 1, a double-shaft motor 32, a first electric push rod 4, a first rotating rod 9 and a fourth rotating rod 27, wherein a fifth rotating rod 37 is fixedly connected to the inner side of the roller 1, a second belt wheel 36 is sleeved on the surface of the fifth rotating rod 37 and the output end of the double-shaft motor 32, a second belt 34 is wound on the surface of the second belt wheel 36, a first bevel gear 28 is sleeved on one end, away from the second belt wheel 36, of the double-shaft motor 32, a second bevel gear 31 is meshed and connected on the surface of the first bevel gear 28, a second rotating rod 35 is sleeved on the axis part of the second bevel gear 31, a second gear 30 is fixedly connected on the bottom end of the second rotating rod 35, a third gear 33 is fixedly connected on the bottom end of the first electric push rod 4, the top end of the first electric push rod 4 is fixedly connected with the top end of the inner side of the base 2, a first belt wheel 10 is sleeved on the surfaces of the, the surface of the first belt wheel 10 is in transmission connection with a first belt 11, the surface of the first rotating rod 9 is sleeved with a first gear 8, and the top ends of the first rotating rod 9 and the fourth rotating rod 27 are in rotary connection with the top end of the inner cavity of the base 2;

the ore screening mechanism comprises a material guiding box 5 and an installation box 29, wherein a MCU7 and a mechanical arm 12 are sequentially installed at the top end of the material guiding box 5 from left to right, a signal receiver 6 is installed at one end of the MCU7, a material inlet bin 15 is connected to the top end of the installation box 29 in an embedded mode, a second electric push rod 17, a telescopic rod 19 and an inclined plate 23 are sequentially and fixedly connected to the inner side wall of the installation box 29 from top to bottom, so that soil can be better guided out, a scraper 14 is fixedly connected to one end of the second electric push rod 17, a screen 18 is fixedly connected to one end of the telescopic rod 19, so that ore can be better screened, baffle rods 16 are fixedly connected to two ends of the screen 18, and the bottom ends of the material guiding box 5 and the installation box 29;

ore crushing mechanism is including case 3, step motor 38 and third bull stick 24 of gathering materials, step motor 38 output fixedly connected with sixth bull stick 21, cam 20 and grinding drum 22 have been cup jointed in proper order from the back to the front in the sixth bull stick 21 surface, be convenient for better carry out the breakage to the ore, double gear 39 has all been cup jointed on third bull stick 24 and sixth bull stick 21 surface, double gear 39 surface transmission is connected with chain 25, rotary drum 26 has been cup jointed on third bull stick 24 surface, rotary drum 26 surface transmission is connected with track 13 and is convenient for better convey the ore.

The number of the first gear 8, the second gear 30 and the third gear 33 is two, the two third gears 33 are respectively meshed with the two first gears 8 and the two second gears 30, and the second gears 30 and the first gears 8 are on the same horizontal plane, so that the first gears 8 can drive the second gears 30 to rotate through the third gears 33; the number of the rollers 1 is three, wherein two rollers 1 are fixedly connected with each other through a fifth rotating rod 37, the top ends of the two rollers 1 are fixedly connected with the bottom end of the base 2, and the top ends of the other rollers 1 are fixedly connected with the bottom end of the fourth rotating rod 27 corresponding to the top ends of the two rollers, so that the rollers 1 can be fixed better and the directions of the rollers 1 can be adjusted better; the number of the third rotating rods 24 is two, two ends of one third rotating rod 24 are rotatably connected with the inner side wall of the installation box 29, two ends of the other corresponding third rotating rod 24 are rotatably connected with the inner side wall of the material guide box 5, and the third rotating rod 24 is positioned at the top of the material collecting box 3, so that the third rotating rods 24 can be better fixed; the number of the stop levers 16 and the number of the cams 20 are two, the two stop levers 16 and the two cams 20 are symmetrically distributed through the screen 18, and the stop levers 16 and the cams 20 are located on the same vertical plane, so that the cams 20 can impact the stop levers 16 better to vibrate the screen 18; the number of the telescopic rods 19 is four, the four telescopic rods 19 are divided into two groups on average, the two groups of telescopic rods 19 are symmetrically distributed through the screen 18, the telescopic rods 19 are composed of two sleeves and springs, and the two sleeves of the telescopic rods 19 are elastically connected with each other through the springs, so that the screen 18 can be better supported and elastic force can be provided; the number of the double gears 39 is three, one of the double gears 39 is sleeved on the surface of the third rotating rod 24, the two corresponding double gears 39 are sleeved on the surface of the sixth rotating rod 21, the two double gears 39 on the surface of the sixth rotating rod 21 are meshed with each other, and one of the double gears 39 on the surface of the sixth rotating rod 21 is in transmission connection with the double gears 39 on the surface of the third rotating rod 24 through the chain 25, so that the mutual transmission between the upper double gears 39 is facilitated; the bottom end of the feeding bin 15 penetrates through the top end of the mounting box 29 and extends to the top of the screen 18, and the feeding bin 15, the screen 18 and the grinding drum 22 are all located on the same central line, so that ore can be better screened and crushed; the number of the second bevel gears 31 is two, the two second bevel gears 31 are meshed with the first bevel gears 28, and the two second bevel gears 31 are symmetrically distributed through the axial center parts of the first bevel gears 28, so that the two second bevel gears 31 can rotate in opposite directions; the MCU7 is respectively and electrically connected with the signal receiver 6, the first electric push rod 4, the mechanical arm 12, the second electric push rod 17, the double-shaft motor 32 and the stepping motor 38, so that the signal receiver 6, the first electric push rod 4, the mechanical arm 12, the second electric push rod 17, the double-shaft motor 32 and the stepping motor 38 can be better controlled.

When the utility model is used, electrical components appearing in the application are externally connected with a power supply and a control switch when in use, when ores are excavated, firstly, the stepping motor 38 is controlled to be opened through the MCU7, the output end of the stepping motor 38 drives the double gears 39 through the sixth rotating rod 21, the cam 20 and the grinding drum 22 rotate, the rotating cam 20 repeatedly impacts the stop lever 16, so that the stop lever 16 drives the screen 18 to vibrate under the action of the telescopic rod 19, meanwhile, the double gears 39 drive the third rotating rod 24 to rotate through the chain 25, the rotating rod drives the crawler belt 13 to do circular motion through the rotating drum 26, then the MCU7 controls the mechanical arm 12 to be opened, the mechanical arm 12 digs the ores and falls into the material bin 15, the ores fed into the material bin 15 are guided into the surface of the screen 18, the ores on the surface of the screen 18 are screened under the action of vibration, thereby, the miscellaneous soil in the ores are screened out and are guided out through the inclined plate 23, the MCU7 controls the second electric push rod 17 to be opened, so that the second electric push rod 17 drives the scraper 14 to move in the vertical direction, the moving scraper 14 pushes the ore to the top of the grinding cylinder 22, the ore is ground under the action of the rotating grinding cylinder 22, the ground ore is guided to the surface of the crawler 13, the ore on the surface of the crawler 13 is guided into the collecting box 3 under the action of the crawler 13, and the ore is excavated;

when the excavating robot is moved, firstly, the double-shaft motor 32 is controlled to be started through the MCU7, the double-shaft motor 32 drives the fifth rotating rod 37 to rotate through the second belt wheel 36 and the second belt 34, the fifth rotating rod 37 drives the roller 1 to rotate, so that the rotating roller 1 drives the excavating robot to move, when the robot needs to turn, the MCU7 controls the first electric push rod 4 to be started, the first electric push rod 4 drives the third gear 33 to move towards the first gear 8 and the second gear 30, so that the third gear 33 is meshed with the first gear 8 and the second gear 30, the output end of the double-shaft motor 32 drives the first bevel gear 28 to rotate, the first bevel gear 28 drives the second gear 30 to rotate through the second bevel gear 31 and the second rotating rod 35, the second gear 30 drives the first gear 8 to rotate through the third gear 33, so that the first gear 8 drives the fourth rotating rod 27 to rotate under the action of the first belt 11 through the first rotating rod 9 and the first gear 10, the fourth rotating rod 27 drives the roller 1 to rotate, so that the rotating roller 1 turns the robot.

The stepper motor 38 is a YVP90L-4 stepper motor sold by suma motor limited of south kyo, and its supporting circuit can be provided by the merchant.

The first electric push rod 4 and the second electric push rod 17 both adopt DTII electric push rods provided by the electromechanical equipment Limited company of Guruit, Yangzhou, and a power supply and a circuit matched with the DTII electric push rods.

The double-shaft motor 32 is a YZB160M1-6 double-shaft motor sold by Henan Hua worker heavy machinery limited company, and a matching circuit of the double-shaft motor can be provided by a merchant.

The signal receiver 6 adopts a TL-WDA6332RE signal receiver provided by a Tplink-drive exclusive shop and a matched power supply and a matched circuit thereof.

The MCU7 adopts STM32F103ZET6 MCU and its supporting power supply and circuit provided by Shenshengda digital private branch shop.

It is well within the skill of those in the art to implement, without undue experimentation, the present invention does not relate to software and process improvements, as related to circuits and electronic components and modules.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. Mining excavation machine people, its characterized in that: comprises a turning mechanism, an ore screening mechanism and an ore crushing mechanism which are sequentially arranged on the surface of a base (2) from left to right;

the turning mechanism comprises a roller (1), a double-shaft motor (32), a first electric push rod (4), a first rotating rod (9) and a fourth rotating rod (27), a fifth rotating rod (37) is fixedly connected to the inner side of the roller (1), a second belt wheel (36) is sleeved on the surface of the fifth rotating rod (37) and the output end of the double-shaft motor (32), a second belt (34) is wound on the surface of the second belt wheel (36), a first bevel gear (28) is sleeved on one end, away from the second belt wheel (36), of the double-shaft motor (32), a second bevel gear (31) is meshed and connected with the surface of the first bevel gear (28), a second rotating rod (35) is sleeved on the axis part of the second bevel gear (31), a second gear (30) is fixedly connected to the bottom end of the second rotating rod (35), a third gear (33) is fixedly connected to the bottom end of the first electric push rod (4), the top end of the first electric push rod (4) is fixedly connected with the top end of the inner side of the base (2), the surfaces of the first rotating rod (9) and the fourth rotating rod (27) are respectively sleeved with a first belt wheel (10), the surface of the first belt wheel (10) is in transmission connection with a first belt (11), the surface of the first rotating rod (9) is sleeved with a first gear (8), and the top ends of the first rotating rod (9) and the fourth rotating rod (27) are respectively in rotary connection with the top end of the inner cavity of the base (2);

the ore screening mechanism comprises a material guiding box (5) and an installation box (29), wherein an MCU (7) and a mechanical arm (12) are sequentially installed at the top end of the material guiding box (5) from left to right, a signal receiver (6) is installed at one end of the MCU (7), a material inlet bin (15) is connected to the top end of the installation box (29) in an embedded mode, a second electric push rod (17), a telescopic rod (19) and an inclined plate (23) are sequentially and fixedly connected to the inner side wall of the installation box (29) from top to bottom, a scraper blade (14) is fixedly connected to one end of the second electric push rod (17), a screen (18) is fixedly connected to one end of the telescopic rod (19), stop rods (16) are fixedly connected to two ends of the screen (18), and the bottom ends of the material guiding box (5) and the installation;

ore crushing mechanism is including gathering materials case (3), step motor (38) and third bull stick (24), step motor (38) output fixedly connected with sixth bull stick (21), cam (20) and grinding drum (22) have been cup jointed in proper order to the front from the back to the surface of sixth bull stick (21), double gear (39) have all been cup jointed on third bull stick (24) and sixth bull stick (21) surface, double gear (39) surface transmission is connected with chain (25), rotary drum (26) has been cup jointed on third bull stick (24) surface, rotary drum (26) surface transmission is connected with track (13).

2. The mining excavation robot of claim 1, wherein: the number of the first gears (8), the second gears (30) and the third gears (33) is two, the two third gears (33) are respectively meshed with the two first gears (8) and the two second gears (30) and are connected with each other, and the second gears (30) and the first gears (8) are on the same horizontal plane.

3. The mining excavation robot of claim 1, wherein: the number of the rollers (1) is three, wherein two rollers (1) are fixedly connected with each other through a fifth rotating rod (37), the top ends of the two rollers (1) are fixedly connected with the bottom end of the base (2), and the top ends of the two rollers (1) are fixedly connected with the bottom end of a fourth rotating rod (27) correspondingly.

4. The mining excavation robot of claim 1, wherein: third bull stick (24) figure is two, one of them third bull stick (24) both ends are connected with install bin (29) inside wall rotation each other, correspond another with it third bull stick (24) both ends are connected with guide box (5) inside wall rotation, and third bull stick (24) are located collection workbin (3) top.

5. The mining excavation robot of claim 1, wherein: the number of the stop levers (16) and the number of the cams (20) are two, the stop levers (16) and the cams (20) are symmetrically distributed through the screen (18), and the stop levers (16) and the cams (20) are located on the same vertical plane.

6. The mining excavation robot of claim 1, wherein: the number of the telescopic rods (19) is four, four the telescopic rods (19) are equally divided into two groups, the telescopic rods (19) are symmetrically distributed through the screen (18), the telescopic rods (19) are composed of two sleeves and springs, and the two sleeves of the telescopic rods (19) are elastically connected with each other through the springs.

7. The mining excavation robot of claim 1, wherein: the number of the double gears (39) is three, one of the double gears (39) is sleeved on the surface of the third rotating rod (24), the two corresponding double gears (39) are all sleeved on the surface of the sixth rotating rod (21), the two double gears (39) on the surface of the sixth rotating rod (21) are meshed with each other and connected, and one of the double gears (39) on the surface of the sixth rotating rod (21) is in transmission connection with the double gears (39) on the surface of the third rotating rod (24) through a chain (25).

8. The mining excavation robot of claim 1, wherein: go into feed bin (15) bottom and run through install bin (29) top and extend to screen cloth (18) top, and pan feeding bin (15), screen cloth (18) and grinding drum (22) all are located same central line.

9. The mining excavation robot of claim 1, wherein: the number of the second bevel gears (31) is two, the two second bevel gears (31) are meshed with the first bevel gears (28) in a mutual engagement mode, and the two second bevel gears (31) are symmetrically distributed through the axle center of the first bevel gears (28).

10. The mining excavation robot of claim 1, wherein: the MCU (7) is electrically connected with the signal receiver (6), the first electric push rod (4), the mechanical arm (12), the second electric push rod (17), the double-shaft motor (32) and the stepping motor (38) respectively.