CN211784343U

CN211784343U - Geological mineral auxiliary sampling robot

Info

Publication number: CN211784343U
Application number: CN201921505529.3U
Authority: CN
Inventors: 崔庆权
Original assignee: Yunnan Land and Resources Vocational College
Current assignee: Yunnan Land and Resources Vocational College
Priority date: 2019-09-11
Filing date: 2019-09-11
Publication date: 2020-10-27
Anticipated expiration: 2029-09-11

Abstract

The utility model discloses a geology mineral products auxiliary sampling robot relates to geology mineral products investigation technical field, including robot main part, automatic sampling arm and walking leg, the frame is stored in the sampling of the rear surface fixedly connected with of robot main part, and the upper surface welding of robot main part has the base, the upside of base runs through there is the carrier block. The utility model discloses in, through the rotating electrical machines, the rotation axis, cooperation between carrier block and the connecting rod drives automatic sampling arm and uses the rotation axis to rotate as the centre of a circle, through removing the motor, it drives automatic sampling arm back-and-forth movement to remove the cooperation between axle and the connecting block, and the cooperation through cylinder and telescopic shaft drives automatic sampling arm and reciprocates, the convenience is sampled to different positions, the sampling range of this sampling robot has been increased, through setting up automatic sampling arm and sampling storage frame, can gather the sample in succession, the sampling volume of this sampling robot has been increased.

Description

Geological mineral auxiliary sampling robot

Technical Field

The utility model belongs to the technical field of geology mineral products investigation, specifically be a geology mineral products auxiliary sampling robot.

Background

The geological mineral exploration is based on advanced geological scientific theory, on the basis of occupying a large amount of field geological observation and collecting and arranging related geological data, by adopting comprehensive geological means and methods of geological measurement, physical prospecting, pit drilling exploration and the like, reliable geological mineral information data are obtained, the geological mineral exploration can be observed and detected according to the soil structure of geological strata by an industrial microscope, the soil can be divided into old accumulated soil, general accumulated soil and newly accumulated soil according to the accumulation years, the soil can be divided into gravel soil, sandy soil, silt soil and cohesive soil according to the particle grading or plasticity index, the soil can be divided into inorganic soil, organic soil, carbon soil and peat according to the organic content, and the soil can be divided into disintegrating soil, soft soil, expansive soil, saline soil, artificial filling soil and the like according to the engineering geological significance and the special components, state and structural characteristics of the soil. However, in most geological mineral exploration, most mineral raw materials are in danger or are difficult to collect by human beings, so that the raw materials need to be collected by a geological mineral auxiliary sampling robot.

In the prior art, most geological mineral sampling robots have poor practical performance due to limited sampling range, and can only collect samples once without continuous collection capacity, so that the sampling amount is low.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a: in order to solve the problems that in the prior art, most geological mineral sampling robots are poor in practical performance due to the fact that sampling ranges are limited, and the sampling amount of the most geological mineral sampling robots is low due to the fact that the most geological mineral sampling robots can only conduct one-time sampling on samples and do not have continuous collecting capacity, the sampling range of the most geological mineral sampling robots is limited, and the geological mineral sampling robots are provided.

The utility model adopts the technical scheme as follows:

a geological mineral auxiliary sampling robot comprises a robot main body, an automatic sampling mechanical arm and walking legs, wherein a moving wheel is arranged on the right side of the robot main body, a sampling storage frame is fixedly connected to the rear surface of the robot main body, a base is welded to the upper surface of the robot main body, a camera is arranged on the front surface of the robot main body, a chain wraps the outer surface of the moving wheel, a bearing block penetrates through the upper side of the base, a rotating motor is arranged on the lower side of the inside of the base, a rotating shaft is arranged on the upper side of the inside of the base, a connecting rod is welded on the upper side of the front surface of the bearing block, a moving groove is formed in the lower side of the connecting rod, a moving motor is arranged on the rear side of the inside of the connecting rod, a connecting block is arranged on the front side of the inside of the moving groove, a moving shaft is arranged in the, and the inside of connecting block is provided with the cylinder, automatic sampling arm includes arm main part and sampling frame, the left surface of arm main part is provided with the sampling motor, and the downside of arm main part is provided with the adjustment tank, the regulating spindle has been run through in the left side of arm main part, the hold up tank has been seted up in the left side of sampling frame.

The sampling frame is provided with two, and two the symmetry setting of sampling frame is in the inside of adjustment tank, two the hold up tank has respectively been seted up to the adjacent side of sampling frame, the lower surface and the level of hold up tank are 15 contained angles.

Wherein, the regulating spindle is in the inside of adjustment tank, and the right-hand member of regulating spindle passes through the bearing with the inside right surface of adjustment tank and is connected, the left end of regulating spindle is connected through rotating with the output of sampling motor, and the left side and the right side of regulating spindle are provided with opposite direction's screw thread, the regulating spindle with two the sampling frame is through-connection, two the part of sampling frame and regulating spindle contact is provided with the screw thread.

Wherein, the inside of robot main part is provided with the controller, the controller has bluetooth receiving function, sampling motor, rotating electrical machines, moving motor and cylinder with the controller all passes through wire electric connection, and sampling motor and the left surface of arm main part, rotating electrical machines and the inside lower surface of base, cylinder and connecting block all pass through screwed connection.

Wherein, it is provided with six, and six to remove the wheel symmetry and set up in the left and right sides of robot main part, is in every three of robot main part one side it passes through chain parcel to remove the wheel and connects, the walking leg is provided with six, and six the walking leg also symmetry sets up the left and right sides in the robot main part.

The bearing block is connected with the base through a shaft sleeve, the lower end of the bearing block is connected with the upper end of the rotating shaft through welding, and the lower end of the rotating shaft is connected with the output end of the rotating motor through rotation.

The front end of the moving shaft is connected with the front surface inside the moving groove through a bearing, the rear end of the moving shaft is connected with the output end of the moving motor through rotation, threads are arranged on the outer surface of the moving shaft, the moving shaft and the connecting block are connected through penetrating, the connecting block is provided with threads matched with the moving shaft with the part in contact with the moving shaft, and the mechanical arm main body is connected with the cylinder through a telescopic shaft.

To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:

1. the utility model discloses in, drive automatic sampling arm through the cooperation between rotating electrical machines, rotation axis, carrier block and the connecting rod and use the rotation axis to rotate as the centre of a circle, through the cooperation of removing the motor, removing between axle and the connecting block drive automatic sampling arm back-and-forth movement, and the cooperation through cylinder and telescopic shaft drives automatic sampling arm and reciprocates, conveniently samples the sampling range of this sampling robot to different positions.

2. The utility model discloses in, store the frame through setting up automatic sampling arm and sampling, can gather the sample in succession, increased this sampling robot's sampling volume.

Drawings

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

FIG. 2 is a cross-sectional view of a side view of the present invention between the base and the connecting rod;

fig. 3 is a sectional view of the automatic sampling mechanical arm of the present invention.

The labels in the figure are: 1. a robot main body; 2. a moving wheel; 3. sampling and storing the frame; 4. an automatic sampling mechanical arm; 41. a robot arm main body; 42. sampling a motor; 43. an adjustment groove; 44. sampling frame; 45. an adjustment shaft; 46. a storage tank; 5. a base; 6. a camera; 7. a chain; 8. a bearing block; 9. a connecting rod; 10. connecting blocks; 11. a telescopic shaft; 12. a rotating electric machine; 13. a rotating shaft; 14. a moving groove; 15. a moving motor; 16. a movable shaft; 17. a cylinder; 18. and (5) walking legs.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

Referring to fig. 1-3, a geological mineral auxiliary sampling robot comprises a robot main body 1, an automatic sampling mechanical arm 4 and six moving wheels 2, wherein the moving wheels 2 are arranged on the right side of the robot main body 1, the six moving wheels 2 are symmetrically arranged on the left side and the right side of the robot main body 1, every three moving wheels 2 on one side of the robot main body 1 are wrapped and connected through chains 7, the robot can conveniently move on a smooth road surface through the moving wheels 2 and the chains 7, the six moving legs 18 are arranged on the six moving legs 18, the six moving legs 18 are also symmetrically arranged on the left side and the right side of the robot main body 1, the robot can conveniently move on a complex road surface through the six moving legs 18, a sampling storage frame 3 is fixedly connected to the rear surface of the robot main body 1, a base 5 is welded to the upper surface of the robot main body 1, and a camera 6 is arranged on the front surface of the robot main body 1, the outer surface of the movable wheel 2 is wrapped by a chain 7, a bearing block 8 penetrates through the upper side of the base 5, a rotating motor 12 is arranged on the inner lower side of the base 5, a rotating shaft 13 is arranged on the inner upper side of the base 5, a connecting rod 9 is welded on the upper side of the front surface of the bearing block 8, a movable groove 14 is formed in the lower side of the connecting rod 9, a movable motor 15 is arranged on the inner rear side of the connecting rod 9, a connecting block 10 is arranged on the inner front side of the movable groove 14, a movable shaft 16 is arranged in the middle of the inner portion of the movable groove 14, an expansion shaft 11 is arranged on the lower side of the connecting block 10, an air cylinder 17 is arranged inside the connecting block 10, the automatic sampling mechanical arm 4 comprises a mechanical arm main body 41 and a sampling frame 44, a sampling motor 42 is arranged on the left surface of the mechanical arm main body 41, a, The mobile motor 15 and the air cylinder 17 are electrically connected with the controller through leads, the sampling motor 42, the rotating motor 12, the mobile motor 15 and the air cylinder 17 are conveniently controlled through the controller, the convenience of the sampling robot is improved, and the sampling motor 42 is connected with the left surface of the mechanical arm main body 41, the rotating motor 12 is connected with the lower surface in the base 5, the air cylinder 17 is connected with the connecting block 10 through screws, so that the stability of the sampling motor 42, the rotating motor 12 and the air cylinder 17 during working is improved, and the lower side of the mechanical arm main body 41 is provided with an adjusting groove 43, the left side of the mechanical arm main body 41 is penetrated with an adjusting shaft 45, the left side of the sampling frame 44 is provided with a storage groove 46, two sampling frames 44 are arranged, and the two sampling frames 44 are symmetrically arranged in the adjusting groove 43, the adjacent sides of the two sampling frames 44 are respectively provided with a storage groove 46, and the lower surface of the storage groove 46 forms an included angle of 15 degrees with the horizontal plane.

As shown in fig. 3, the adjusting shaft 45 is located inside the adjusting groove 43, the right end of the adjusting shaft 45 is connected with the right surface inside the adjusting groove 43 through a bearing, the left end of the adjusting shaft 45 is connected with the output end of the sampling motor 42 through rotation, threads in opposite directions are arranged on the left side and the right side of the adjusting shaft 45, the adjusting shaft 45 is connected with the two sampling frames 44 through penetration, threads are arranged on the contact part of the two sampling frames 44 and the adjusting shaft 45, the adjusting shaft 45 is driven to rotate by the sampling motor 42 by applying work and taking the axial direction of the adjusting shaft 45 as the center of a circle, the adjusting shaft 45 drives the two sampling frames 44 to move oppositely, and the geological mineral samples are collected into the storage groove 46.

As shown in fig. 2, the connection portion of the bearing block 8 and the base 5 is connected by a shaft sleeve, the lower end of the bearing block 8 is connected with the upper end of the rotating shaft 13 by welding, the lower end of the rotating shaft 13 is connected with the output end of the rotating motor 12 by rotation, the front end of the moving shaft 16 is connected with the front surface inside the moving groove 14 by a bearing, the rear end of the moving shaft 16 is connected with the output end of the moving motor 15 by rotation, the outer surface of the moving shaft 16 is provided with a thread, the moving shaft 16 is connected with the connecting block 10 by penetration, the part of the connecting block 10 contacting with the moving shaft 16 is provided with a thread matching with the moving shaft 16, the mechanical arm main body 41 is connected with the cylinder 17 by the telescopic shaft 11, the rotating shaft 13 is driven to rotate by the rotating motor 12 with its own axial direction as the center, the rotating shaft 13 drives the bearing block 8 to rotate with the rotating shaft 13 as the center, the bearing block 8 drives the automatic The line rotates, it uses its self axial direction to rotate to drive through mobile motor 15 doing work and removes axle 16, it drives the 4 back-and-forth movements of automatic sampling arm through connecting block 10 to remove axle 16, the convenient sampling to different positions, and conveniently store the sample to the sampling and store in frame 3, cylinder 17 does work and drives automatic sampling arm 4 through telescopic shaft 11 and remove in the vertical direction, so that gather the sample of co-altitude, the sampling range of this sampling robot has been increased.

The working principle is as follows: in the using process, a user firstly uses a mobile phone or a computer to wirelessly connect with a controller of the sampling robot through Bluetooth, then the sampling robot is placed at an inlet to be sampled, the sampling robot is controlled to enter a geological mineral sampling area through the mobile phone or the computer, according to the position of the sample to be sampled, the rotating shaft 13 is driven to rotate by the power of the rotating motor 12 by taking the axial direction of the rotating shaft 13 as the center of a circle, the rotating shaft 13 drives the bearing block 8 to rotate by taking the rotating shaft 13 as the center of a circle, the bearing block 8 drives the automatic sampling mechanical arm 4 to rotate by taking the rotating shaft 13 as the center of a circle through the connecting rod 9 and the connecting block 10, the moving shaft 16 is driven to rotate by the power of the moving motor 15 by taking the axial direction of the moving shaft 16 as the center of a circle, the moving shaft 16 drives the automatic sampling mechanical arm 4 to move back and forth through the connecting block, so that the automatic sampling mechanical arm reaches the position of a sample to be collected, the sampling range of the sampling robot is increased, then the sampling motor 42 applies work to drive the adjusting shaft 45 to rotate by taking the axial direction of the adjusting shaft 45 as the center of a circle, the adjusting shaft 45 drives the two sampling frames 44 to move in opposite directions, the geological mineral sample is collected into the storage tank 46, then the automatic sampling mechanical arm 4 is driven to be above the sampling storage frame 3 by the rotating motor 12, the moving motor 15 and the air cylinder 17, and finally the two sampling frames 44 are driven to move in opposite directions by the sampling motor 42 applying work, so that the collected sample falls into the sampling storage frame 3, and the sampling amount of the sampling robot is increased.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a geological mineral auxiliary sampling robot, includes robot main part (1), automatic sampling arm (4) and walking leg (18), its characterized in that: the right side of the robot main body (1) is provided with a moving wheel (2), the rear surface of the robot main body (1) is fixedly connected with a sampling storage frame (3), the upper surface of the robot main body (1) is welded with a base (5), the front surface of the robot main body (1) is provided with a camera (6), the outer surface of the moving wheel (2) is wrapped with a chain (7), a bearing block (8) penetrates through the upper side of the base (5), a rotating motor (12) is arranged on the inner lower side of the base (5), a rotating shaft (13) is arranged on the inner upper side of the base (5), a connecting rod (9) is welded on the upper side of the front surface of the bearing block (8), a moving groove (14) is formed in the lower side of the connecting rod (9), a moving motor (15) is arranged on the inner rear side of the connecting rod (9), a connecting block (10) is arranged on the inner front side of, and be provided with in the middle of the inside of moving groove (14) and remove axle (16), the downside of connecting block (10) is provided with telescopic shaft (11), and the inside of connecting block (10) is provided with cylinder (17), automatic sampling arm (4) are including arm main part (41) and sampling frame (44), the left surface of arm main part (41) is provided with sampling motor (42), and the downside of arm main part (41) is provided with adjustment tank (43), adjustment shaft (45) have been run through in the left side of arm main part (41), storage tank (46) have been seted up in the left side of sampling frame (44).

2. The geological mineral assisted sampling robot of claim 1, wherein: sampling frame (44) are provided with two, and two the symmetry setting of sampling frame (44) is in the inside of adjustment tank (43), two storage tank (46) have respectively been seted up to the adjacent side of sampling frame (44), 15 contained angles are personally submitted with the level to the lower surface of storage tank (46).

3. The geological mineral assisted sampling robot of claim 1, wherein: adjusting shaft (45) are in the inside of adjustment tank (43), and the right-hand member of adjusting shaft (45) passes through the bearing with the inside right surface of adjustment tank (43) and is connected, the left end of adjusting shaft (45) is connected through rotating with the output of sampling motor (42), and the left side and the right side of adjusting shaft (45) are provided with opposite direction's screw thread, adjusting shaft (45) and two sampling frame (44) are through-connection, two the part of sampling frame (44) and adjusting shaft (45) contact is provided with the screw thread.

4. The geological mineral assisted sampling robot of claim 1, wherein: the inside of robot main part (1) is provided with the controller, the controller has the bluetooth and receives the function, sampling motor (42), rotating electrical machines (12), moving motor (15) and cylinder (17) and the controller all through wire electric connection, and sampling motor (42) and the left surface of arm main part (41), rotating electrical machines (12) and the inside lower surface of base (5), cylinder (17) and connecting block (10) all through screwed connection.

5. The geological mineral assisted sampling robot of claim 1, wherein: remove wheel (2) and be provided with six, and six remove wheel (2) symmetry and set up in the left and right sides of robot main part (1), be in every three of robot main part (1) one side remove wheel (2) and pass through chain (7) parcel connection, walking leg (18) are provided with six, and six walking leg (18) also symmetry sets up the left and right sides in robot main part (1).

6. The geological mineral assisted sampling robot of claim 1, wherein: the bearing block (8) is connected with the base (5) through a shaft sleeve, the lower end of the bearing block (8) is connected with the upper end of the rotating shaft (13) through welding, and the lower end of the rotating shaft (13) is connected with the output end of the rotating motor (12) through rotation.

7. The geological mineral assisted sampling robot of claim 1, wherein: the front end of removal axle (16) passes through the bearing with the inside front surface of removal groove (14) and is connected, and the rear end of removing axle (16) is connected through rotating with the output of moving motor (15), the surface of removing axle (16) is provided with the screw thread, and removes axle (16) and connecting block (10) through connection, the part of connecting block (10) and removal axle (16) contact is provided with and removes axle (16) assorted screw thread, arm main part (41) are connected through telescopic shaft (11) with cylinder (17).