CN211038634U - A kind of auxiliary mining robot - Google Patents

Abstract

Translated fromChinese

本实用新型公开了一种辅助采矿机器人，在采矿机器人的底盘中设置了信息采集模块、信息处理模块、控制模块和运动模块，信息采集模块包括深度摄像头、激光雷达和单目摄像头，为采集矿井内的环境信息提供了硬件基础，通过信息处理模块处理信息采集模块所采集的信息，为得出采矿机器人的控制信息提供了硬件基础，控制模块包括无极电机调速器和减速直流电机，能够实现响应信息处理模块计算得出的驱动信息调整输出功率，同时还在底盘两侧设置了运动底盘，在底盘上侧设置机械臂，能够实现采矿机器人的移动和采矿操作，为实现自动智能采矿提供了硬件基础。

The utility model discloses an auxiliary mining robot. An information collection module, an information processing module, a control module and a motion module are arranged in the chassis of the mining robot. The information collection module includes a depth camera, a laser radar and a monocular camera, which is used for collecting mines The internal environmental information provides the hardware basis, and the information collected by the information acquisition module is processed by the information processing module, which provides the hardware basis for obtaining the control information of the mining robot. The output power is adjusted in response to the driving information calculated by the information processing module. At the same time, a motion chassis is set on both sides of the chassis, and a mechanical arm is set on the upper side of the chassis, which can realize the movement and mining operation of the mining robot, and provide the realization of automatic intelligent mining. Hardware basics.

Description

Translated fromChinese

一种辅助采矿机器人A kind of auxiliary mining robot

技术领域technical field

本实用新型涉及机器人领域，特别涉及一种辅助采矿机器人。The utility model relates to the field of robots, in particular to an auxiliary mining robot.

背景技术Background technique

采矿主要在矿井内进行，传统的采矿作业主要通过人工完成，而人工采矿的效率较低，而且发生事故时容易造成大量的人员伤亡。而随着机器人技术的发展，通过机器人取代人工进行采矿操作成为了现实，机器人采矿的效率远高于人工，而且能杜绝不规范的操作，即便出现意外也能避免人员伤亡。但是现有的采矿机器人主要是通过人工操作完成，智能化程度较低。Mining is mainly carried out in mines, and traditional mining operations are mainly done manually. However, the efficiency of manual mining is low, and it is easy to cause a large number of casualties in the event of an accident. With the development of robotics technology, it has become a reality to replace manual mining operations with robots. The efficiency of robotic mining is much higher than that of manual labor, and it can eliminate unregulated operations, and even if there is an accident, casualties can be avoided. However, the existing mining robots are mainly completed by manual operation, and the degree of intelligence is low.

实用新型内容Utility model content

本实用新型的目的在于至少解决现有技术中存在的技术问题之一，提供一种辅助采矿机器人，能够实现智能自动化采矿，提高采矿效率。The purpose of the utility model is to solve at least one of the technical problems existing in the prior art, and to provide an auxiliary mining robot, which can realize intelligent automatic mining and improve mining efficiency.

本实用新型的第一方面，提供一种辅助采矿机器人，包括底盘和设置于所述底盘中的用于采集信息的信息采集模块、用于响应采集信息并生成控制信息的信息处理模块、用于控制所述采矿机器人动作的控制模块和用于响应所述控制模块的运动模块；A first aspect of the present utility model provides an auxiliary mining robot, comprising a chassis and an information acquisition module arranged in the chassis for acquiring information, an information processing module for responding to the acquired information and generating control information, and for a control module for controlling the actions of the mining robot and a motion module for responding to the control module;

所述信息采集模块包括用于获取空间信息的深度摄像头、用于扫描获取环境信息的激光雷达和用于获取距离信息的单目摄像头，所述深度摄像头和激光雷达通过支架安装于所述底盘的上侧表面；The information acquisition module includes a depth camera for acquiring spatial information, a lidar for scanning to acquire environmental information, and a monocular camera for acquiring distance information, and the depth camera and lidar are installed on the chassis of the chassis through a bracket. upper surface;

所述底盘的上表面还包括有用于设置所述信息处理模块的隔离腔，所述隔离腔的上端连接有用于装载矿石的载物斗，所述载物斗与所述隔离腔之间设置有隔层；The upper surface of the chassis also includes an isolation cavity for arranging the information processing module, the upper end of the isolation cavity is connected with a loading bucket for loading ore, and a loading bucket is arranged between the loading bucket and the isolation cavity. compartment;

所述运动模块包括运动底盘和用于执行采矿操作的机械臂，所述运动底盘设置于所述底盘的两侧，所述运动底盘包括驱动所述采矿机器人前后移动的驱动装置和摆臂，所述摆臂的一端与所述驱动装置连接，所述摆臂可沿与所述驱动装置的连接处轴向转动，所述驱动装置和摆臂表面设置有履带，所述单目摄像头设置于所述机械臂的上侧；The motion module includes a motion chassis and a mechanical arm for performing mining operations, the motion chassis is arranged on both sides of the chassis, and the motion chassis includes a drive device and a swing arm that drive the mining robot to move forward and backward, so One end of the swing arm is connected to the drive device, the swing arm can rotate axially along the connection with the drive device, the surfaces of the drive device and the swing arm are provided with crawler tracks, and the monocular camera is arranged at the the upper side of the robotic arm;

所述控制模块包括用于为所述运动底盘提供动力的无极电机调速器和直流减速电机，所述直流减速电机与所述驱动装置相连接，所述无极电机调速器和所述直流减速电机分别与所述信息处理模块相连接，并且响应于所述信息处理模块的驱动信息驱动所述驱动装置。The control module includes a stepless motor governor and a DC deceleration motor for powering the moving chassis, the DC deceleration motor is connected with the driving device, the stepless motor governor and the DC deceleration motor The motors are respectively connected with the information processing modules, and drive the driving devices in response to driving information of the information processing modules.

进一步，所述底盘的表面为防爆壳体。Further, the surface of the chassis is an explosion-proof casing.

进一步，所述信息处理模块包括用于处理所述信息采集模块所获取的信息的工业控制计算机、用于控制所述运动底盘的主控芯片和用于控制所述机械臂的微控制器。Further, the information processing module includes an industrial control computer for processing the information acquired by the information acquisition module, a main control chip for controlling the motion chassis, and a microcontroller for controlling the robotic arm.

进一步，所述机械臂中设置有若干个舵机，所述舵机与所述微控制器电连接，所述舵机响应于所述微控制器的角度控制信息执行转动。Further, a plurality of steering gears are provided in the robotic arm, the steering gears are electrically connected to the microcontroller, and the steering gears perform rotation in response to the angle control information of the microcontroller.

进一步，所述底盘的前侧设置有环形照明灯，所述环形照明灯的信号输入端与所述主控芯片的信号输出端相连接。Further, a ring lighting lamp is arranged on the front side of the chassis, and the signal input terminal of the ring lighting lamp is connected with the signal output terminal of the main control chip.

进一步，所述载物斗的底板处还设置有压力传感器，所述压力传感器的信号输出端与所述微控制器的信号输入端相连接。Further, a pressure sensor is also provided at the bottom plate of the cargo hopper, and the signal output end of the pressure sensor is connected with the signal input end of the microcontroller.

进一步，所述载物斗的外侧还设置有用于人机交互的触控屏，所述触控屏与所述工业控制计算机相连接。Further, a touch screen for human-computer interaction is also provided on the outer side of the cargo hopper, and the touch screen is connected with the industrial control computer.

进一步，所述驱动装置包括设置于两端的第一履带齿轮，所述第一履带齿轮与所述减速直流电机啮合；所述第一履带齿轮之间的上下两侧分别设置有用于保持履带形状的第二履带齿轮和若干个滑轮。Further, the driving device includes first crawler gears arranged at both ends, and the first crawler gears are engaged with the deceleration DC motor; A second track gear and several pulleys.

进一步，所述摆臂的两端分别包括第一履带齿轮和滑轮，所述摆臂的第一履带齿轮与所述驱动装置的第一履带齿轮通过连接轴连接，所述摆臂内部的还设置有若干个转轴。Further, both ends of the swing arm respectively include a first crawler gear and a pulley, the first crawler gear of the swing arm is connected with the first crawler gear of the driving device through a connecting shaft, and the inside of the swing arm is also provided with There are several reels.

进一步，所述驱动装置和摆臂的侧面设置有护板。Further, the side surfaces of the driving device and the swing arm are provided with guard plates.

本实用新型实施例中提供的一个或多个技术方案，至少具有如下有益效果：本实用新型在采矿机器人的底盘中设置了信息采集模块、信息处理模块、控制模块和运动模块，信息采集模块包括深度摄像头、激光雷达和单目摄像头，为采集矿井内的环境信息提供了硬件基础，通过信息处理模块处理信息采集模块所采集的信息，为得出采矿机器人的控制信息提供了硬件基础，控制模块包括无极电机调速器和减速直流电机，能够实现响应信息处理模块计算得出的驱动信息调整输出功率，同时还在底盘两侧设置了运动底盘，在底盘上侧设置机械臂，能够实现采矿机器人的移动和采矿操作，为实现自动智能采矿提供了硬件基础，同时驱动装置配合摆臂能够使得采矿机器人适应更多的路况，提高了采矿机器人的适用性。One or more technical solutions provided in the embodiments of the present utility model have at least the following beneficial effects: the utility model is provided with an information acquisition module, an information processing module, a control module and a motion module in the chassis of the mining robot, and the information acquisition module includes: The depth camera, lidar and monocular camera provide the hardware basis for collecting environmental information in the mine. The information collected by the information acquisition module is processed by the information processing module, which provides the hardware basis for obtaining the control information of the mining robot. The control module It includes a stepless motor governor and a decelerated DC motor, which can adjust the output power in response to the driving information calculated by the information processing module. At the same time, a moving chassis is set on both sides of the chassis, and a mechanical arm is set on the upper side of the chassis, which can realize the mining robot. It provides a hardware basis for the realization of automatic and intelligent mining. At the same time, the driving device and the swing arm can make the mining robot adapt to more road conditions and improve the applicability of the mining robot.

附图说明Description of drawings

下面结合附图和实施例对本实用新型进一步地说明；Below in conjunction with accompanying drawing and embodiment, the utility model is further described;

图1为本实用新型实施例的立体示意图；Fig. 1 is the three-dimensional schematic diagram of the embodiment of the present utility model;

图2为本实用新型实施例的右视图；Fig. 2 is the right side view of the utility model embodiment;

图3为本实用新型实施例移除图1中载物斗后的示意图；Fig. 3 is the schematic diagram of the embodiment of the present utility model after removing the cargo hopper in Fig. 1;

图4为本实用新型实施例的底侧剖面视图；4 is a bottom side cross-sectional view of an embodiment of the present utility model;

图5为本实用新型实施例的俯视图；Fig. 5 is the top view of the utility model embodiment;

图6为本实用新型实施例的履带的结构示意图。6 is a schematic structural diagram of a crawler according to an embodiment of the present invention.

具体实施方式Detailed ways

本部分将详细描述本实用新型的具体实施例，本实用新型之较佳实施例在附图中示出，附图的作用在于用图形补充说明书文字部分的描述，使人能够直观地、形象地理解本实用新型的每个技术特征和整体技术方案，但其不能理解为对本实用新型保护范围的限制。This part will describe the specific embodiments of the present invention in detail, and the preferred embodiments of the present invention are shown in the accompanying drawings. Understand each technical feature and overall technical solution of the present invention, but it should not be construed as a limitation on the protection scope of the present invention.

在本实用新型的描述中，需要理解的是，涉及到方位描述，例如上、下、前、后、左、右等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本实用新型和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本实用新型的限制。In the description of the present utility model, it should be understood that the orientation descriptions related to orientations, such as up, down, front, rear, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings, only It is for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

在本实用新型的描述中，若干的含义是一个或者多个，多个的含义是两个以上，大于、小于、超过等理解为不包括本数，以上、以下、以内等理解为包括本数。如果有描述到第一、第二只是用于区分技术特征为目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。In the description of the present utility model, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including this number, above, below, within, etc. are understood as including this number. If it is described that the first and the second are only for the purpose of distinguishing technical features, it cannot be understood as indicating or implying relative importance, or indicating the number of the indicated technical features or the order of the indicated technical features. relation.

本实用新型的描述中，除非另有明确的限定，设置、安装、连接等词语应做广义理解，所属技术领域技术人员可以结合技术方案的具体内容合理确定上述词语在本实用新型中的具体含义。In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution .

参考图1-图5，本实用新型的实施例提供了一种辅助采矿机器人，包括底盘23和设置于所述底盘23中的用于采集信息的信息采集模块、用于响应采集信息并生成控制信息的信息处理模块、用于控制所述采矿机器人动作的控制模块和用于响应所述控制模块的运动模块；Referring to FIGS. 1-5 , an embodiment of the present invention provides an auxiliary mining robot, including achassis 23 and an information acquisition module disposed in thechassis 23 for collecting information, for responding to the collected information and generating control an information processing module for information, a control module for controlling the actions of the mining robot, and a motion module for responding to the control module;

所述信息采集模块包括用于获取空间信息的深度摄像头2、用于扫描获取环境信息的激光雷达1和用于获取距离信息的单目摄像头5，所述深度摄像头2和激光雷达1通过支架3安装于所述底盘23的上侧表面；The information acquisition module includes adepth camera 2 for acquiring spatial information, a lidar 1 for scanning and acquiring environmental information, and amonocular camera 5 for acquiring distance information. Thedepth camera 2 and the lidar 1 pass through thebracket 3. installed on the upper surface of thechassis 23;

所述底盘23的上表面还包括有用于设置所述信息处理模块的隔离腔8，所述隔离腔8的上端连接有用于装载矿石的载物斗6，所述载物斗6与所述隔离腔8之间设置有隔层；The upper surface of thechassis 23 also includes anisolation cavity 8 for arranging the information processing module. The upper end of theisolation cavity 8 is connected with acarrier 6 for loading ore, and thecarrier 6 is isolated from the A partition is arranged between thecavities 8;

所述运动模块包括运动底盘和用于执行采矿操作的机械臂4，所述运动底盘设置于所述底盘23的两侧，所述运动底盘包括驱动所述采矿机器人前后移动的驱动装置10和摆臂9，所述摆臂9的一端与所述驱动装置10连接，所述摆臂9可沿与所述驱动装置10的连接处轴向转动，所述驱动装置10和摆臂9表面设置有履带24，所述单目摄像头5设置于所述机械臂4的上侧；The motion module includes a motion chassis and a robotic arm 4 for performing mining operations. The motion chassis is provided on both sides of thechassis 23. The motion chassis includes adrive device 10 and a pendulum that drive the mining robot to move back and forth.Arm 9, one end of theswing arm 9 is connected with thedrive device 10, theswing arm 9 can rotate axially along the connection with thedrive device 10, and the surfaces of thedrive device 10 and theswing arm 9 are provided with Crawler 24, themonocular camera 5 is arranged on the upper side of the mechanical arm 4;

所述控制模块包括用于为所述运动底盘提供动力的无极电机调速器25和直流减速电机17，所述直流减速电机17与所述驱动装置10相连接，所述无极电机调速器25和所述直流减速电机17分别与所述信息处理模块相连接，并且响应于所述信息处理模块的驱动信息驱动所述驱动装置10。The control module includes a steplessmotor speed controller 25 and aDC gear motor 17 for powering the moving chassis, theDC gear motor 17 is connected to thedrive device 10, and the steplessmotor speed controller 25 and theDC deceleration motor 17 are respectively connected with the information processing module, and drive thedriving device 10 in response to the driving information of the information processing module.

其中，需要说明的是，本实施例中的深度摄像头2为现有技术中的设备，本实用新型并不涉及对上述设备的改进，现有技术中的深度摄像头2能够在指定获取具有某些特征的图像，因此本实施例能够利用深度摄像头2实现分割视野中的矿石并获取其位置坐标。需要说明的是，本实施例中的激光雷达1为现有技术中的设备，属于常用的构建网格地图的装置，在此不再赘述。需要说明的是，本实施例中的单目摄像头5为现有技术中的设备，例如市面上常见的测距摄像头，将单目摄像头5安装在机械臂4的上侧，能够对机械臂4夹持部与矿石的位置进行精准的检测，有利于实现采矿动作的控制。需要说明的是，信息处理模块可以安装在任意位置，本实施例优选通过隔离腔8安装在底盘的后侧，避免影响机械臂4的运作，同时与载物斗6之间设置隔板，避免放置的矿石对信息处理模块造成破坏。It should be noted that thedepth camera 2 in this embodiment is a device in the prior art, and the present invention does not involve improvements to the above-mentioned devices. Thedepth camera 2 in the prior art can obtain certain Therefore, in this embodiment, thedepth camera 2 can be used to segment the ore in the field of view and obtain its position coordinates. It should be noted that the laser radar 1 in this embodiment is a device in the prior art, and belongs to a commonly used device for constructing a grid map, which will not be repeated here. It should be noted that themonocular camera 5 in this embodiment is a device in the prior art, such as a common ranging camera on the market. Precise detection of the position of the clamping part and the ore is conducive to the control of the mining action. It should be noted that the information processing module can be installed in any position. In this embodiment, it is preferably installed on the rear side of the chassis through theisolation cavity 8 to avoid affecting the operation of the mechanical arm 4. The placed ores cause damage to the information processing module.

其中，需要说明的是，本实施例同时设置驱动装置10实现采矿机器人的前后移动，设置摆臂9能够在地势不平的时候提供更多方向的抓地力，使得采矿机器人更好地适用矿井中崎岖的路面。可以理解的是，基于矿井的路面比较复杂，因此本实施例优选设置履带24作为接触面，能够更好地适应地形。需要说明的是，调速器可以是任意类型，本实施例优选无极电机调速器25，能够使得速度的变化更加线性。可以理解的是，减速直流电机17的数量可以是任意，具体数量根据驱动装置10的驱动需求调整即可。可以理解的是，控制模块与信息处理模块相连接为现有技术中常见的选择，能够实现电机功率输出的控制即可，具体的控制算法并非本实用新型作出的改进，在此不再赘述。Among them, it should be noted that in this embodiment, the drivingdevice 10 is also provided to realize the forward and backward movement of the mining robot, and the setting of theswing arm 9 can provide more directional gripping force when the terrain is uneven, so that the mining robot is better suitable for the roughness in the mine. road. It can be understood that the road surface based on the mine is relatively complex, so in this embodiment, thecrawler belt 24 is preferably set as the contact surface, which can better adapt to the terrain. It should be noted that the speed governor may be of any type, and the steplessmotor speed governor 25 is preferred in this embodiment, which can make the speed change more linear. It can be understood that the number of the deceleratedDC motors 17 can be arbitrary, and the specific number can be adjusted according to the driving requirements of the drivingdevice 10 . It can be understood that the connection between the control module and the information processing module is a common choice in the prior art, which can realize the control of the motor power output. The specific control algorithm is not an improvement made by the present invention, and will not be repeated here.

其中，需要说明的是，采矿机器人在底盘23中还设置有电池19，避免电池19与路面发生磕碰。Among them, it should be noted that the mining robot is also provided with abattery 19 in thechassis 23 to prevent thebattery 19 from colliding with the road surface.

进一步，在本实用新型的另一个实施例中，所述底盘23的表面为防爆壳体。Further, in another embodiment of the present invention, the surface of thechassis 23 is an explosion-proof casing.

其中，需要说明的是，底板23的表面为防爆壳体能够确保采矿机器人在矿井内的安全性，避免受到落石的破坏。It should be noted that the surface of thebottom plate 23 is an explosion-proof casing, which can ensure the safety of the mining robot in the mine and avoid being damaged by falling rocks.

参考图3，进一步，在本实用新型的另一个实施例中，所述信息处理模块包括用于处理所述信息采集模块所获取的信息的工业控制计算机22、用于控制所述运动底盘的主控芯片21和用于控制所述机械臂4的微控制器20。Referring to FIG. 3 , further, in another embodiment of the present invention, the information processing module includes anindustrial control computer 22 for processing the information acquired by the information acquisition module, a main unit for controlling the motion chassisA control chip 21 and amicrocontroller 20 for controlling the robotic arm 4 are provided.

其中，需要说明的是，本实施例中的工业控制计算机22、主控芯片21和微控制器20均为现有技术中常见的型号，能够实现基础控制功能即可，在此不再赘述。It should be noted that theindustrial control computer 22 , themain control chip 21 and themicrocontroller 20 in this embodiment are all common models in the prior art, and can implement basic control functions, which will not be repeated here.

进一步，在本实用新型的另一个实施例中，所述机械臂4中设置有若干个舵机，所述舵机与所述微控制器20电连接，所述舵机响应于所述微控制器20的角度控制信息执行转动。Further, in another embodiment of the present invention, the mechanical arm 4 is provided with several steering gears, the steering gears are electrically connected with themicrocontroller 20, and the steering gears respond to the micro-controller The rotation is performed according to the angle control information of theactuator 20 .

其中，需要说明的是，机械臂4中的舵机数量可以是任意，根据机械臂4需要转动的节点数量调整即可，在此不再赘述。可以理解的是，通过微控制器20对舵机转动的角度进行控制为现有技术常见的控制，本实用新型并未对控制方法做出改进，在此不再赘述。Among them, it should be noted that the number of steering gears in the robotic arm 4 can be arbitrary, and can be adjusted according to the number of nodes that the robotic arm 4 needs to rotate, which will not be repeated here. It can be understood that the control of the rotation angle of the steering gear by themicrocontroller 20 is a common control in the prior art, and the present invention does not improve the control method, which will not be repeated here.

参考图1，进一步，在本实用新型的另一个实施例中，所述底盘23的前侧设置有环形照明灯7，所述环形照明灯7的信号输入端与所述主控芯片21的信号输出端相连接。Referring to FIG. 1 , further, in another embodiment of the present invention, the front side of thechassis 23 is provided with aring lighting lamp 7 , and the signal input end of thering lighting lamp 7 is connected to the signal of themain control chip 21 . connected to the output.

其中，需要说明的是，由于矿井内的光线不足，因此本实施例优选在底盘23的前侧设置环形照明灯7，其数量可以根据实际需求调整，本实施例优选2个。可以理解的是，由于环形照明灯7仅在工作时需要使用，因此通过主控芯片21进行控制为常见手段，在此不在赘述。Among them, it should be noted that due to insufficient light in the mine, in this embodiment,ring lights 7 are preferably arranged on the front side of thechassis 23, and the number can be adjusted according to actual needs, and this embodiment is preferably two. It can be understood that, since thering lighting lamp 7 only needs to be used during operation, the control through themain control chip 21 is a common method, which will not be repeated here.

进一步，在本实用新型的另一个实施例中，所述载物斗6的底板处还设置有压力传感器，所述压力传感器的信号输出端与所述微控制器20的信号输入端相连接。Further, in another embodiment of the present invention, a pressure sensor is further provided at the bottom plate of thecargo hopper 6 , and the signal output end of the pressure sensor is connected to the signal input end of themicrocontroller 20 .

其中，需要说明的是，为了实现智能采矿，需要对载物斗6中装载的矿石重量进行监测，避免超出采矿机器人的负荷，因此本实施例优选在载物斗6的底板处设置压力传感器，压力传感器可以是市面上常见的任意型号，而监测到压力后反馈给微控制器20，从而进一步控制采矿机器人的移动为常见手段，在此不再赘述。Among them, it should be noted that in order to realize intelligent mining, it is necessary to monitor the weight of the ore loaded in thecargo hopper 6 to avoid exceeding the load of the mining robot. Therefore, in this embodiment, it is preferable to set a pressure sensor at the bottom plate of thecargo hopper 6. The pressure sensor can be any type commonly found in the market, and after monitoring the pressure, it is fed back to themicrocontroller 20 to further control the movement of the mining robot, which is a common method, and will not be repeated here.

参考图5，进一步，在本实用新型的另一个实施例中，所述载物斗6的外侧还设置有用于人机交互的触控屏18，所述触控屏18与所述工业控制计算机22相连接。Referring to FIG. 5 , further, in another embodiment of the present invention, atouch screen 18 for human-computer interaction is also provided on the outer side of thecargo hopper 6 , and thetouch screen 18 is connected to the industrial control computer. 22 are connected.

其中，需要说明的是，采矿机器人在启动之前需要对运行参数进行一定的设置，因此在载物斗6的外侧设置触控屏18，便于操作。其参数输入方法为现有技术中常用的触控屏输入方法，在此不再赘述。Among them, it should be noted that the mining robot needs to set certain operating parameters before starting, so thetouch screen 18 is provided on the outer side of thecargo bucket 6 for easy operation. The parameter input method is a commonly used touch screen input method in the prior art, which will not be repeated here.

参考图6，进一步，在本实用新型的另一个实施例中，所述驱动装置10包括设置于两端的第一履带齿轮16，所述第一履带齿轮16与所述减速直流电机17啮合；所述第一履带齿轮16之间的上下两侧分别设置有用于保持履带24形状的第二履带齿轮11和若干个滑轮13。Referring to FIG. 6 , further, in another embodiment of the present invention, the drivingdevice 10 includes afirst crawler gear 16 disposed at both ends, and thefirst crawler gear 16 meshes with thedeceleration DC motor 17 ; The upper and lower sides between the first track gears 16 are respectively provided with second track gears 11 andseveral pulleys 13 for maintaining the shape of thetrack 24 .

其中，需要说明的是，为了确保转动的同步，本实施例优选驱动装置10和摆臂9的驱动齿轮为相同的第一履带齿轮16。本实施例优选在驱动装置10中设置第二履带齿轮11，能够在履带24的上方提供受力点，避免在重力的影响下履带24的形状变化，影响驱动装置10的运行，滑轮13的功能与第二履带齿轮11类似，在此不再赘述。It should be noted that, in order to ensure the synchronization of rotation, in this embodiment, the drive gears of thedrive device 10 and theswing arm 9 are preferably the samefirst track gear 16 . In this embodiment, it is preferable to set thesecond crawler gear 11 in thedrive device 10, which can provide a stress point above thecrawler 24, so as to avoid the shape change of thecrawler 24 under the influence of gravity, which affects the operation of thedrive device 10 and the function of thepulley 13. It is similar to thesecond track gear 11 and will not be repeated here.

进一步，在本实用新型的另一个实施例中，所述摆臂9的两端分别包括第一履带齿轮16和滑轮13，所述摆臂9的第一履带齿轮16与所述驱动装置10的第一履带齿轮16通过连接轴连接，所述摆臂9内部的还设置有若干个转轴12。Further, in another embodiment of the present invention, both ends of theswing arm 9 include afirst track gear 16 and apulley 13 respectively, and thefirst track gear 16 of theswing arm 9 is connected to the drivingdevice 10 . Thefirst track gear 16 is connected by a connecting shaft, and severalrotating shafts 12 are also arranged inside theswing arm 9 .

其中，需要说明的是，需要说明的是，由于摆臂9的接触面可能存在多角度，因此设置多个转轴12能够实现多个角度的弯曲，能够适应更多的地形。Among them, it should be noted that, since the contact surface of theswing arm 9 may have multiple angles, the arrangement of multiplerotating shafts 12 can achieve multiple angles of bending, and can adapt to more terrains.

参考图1，进一步，在本实用新型的另一个实施例中，所述驱动装置10和摆臂9的侧面设置有护板。Referring to FIG. 1 , further, in another embodiment of the present invention, the side surfaces of the drivingdevice 10 and theswing arm 9 are provided with guard plates.

其中，需要说明的是，护板可以通过任意连接件进行安装，本实施例优选通过六角螺母14进行固定驱动装置10中的护板，通过内六角螺栓15固定摆臂9侧面的护板，由于摆臂9位于较外侧，采用内六角螺栓15能够减少向外凸出的空间，减少与路面发生摩擦的可能，而驱动装置10并非位于左外侧，因此采用六角螺母14进行固定护板即可。It should be noted that the guard plate can be installed through any connector. In this embodiment, the guard plate in the drivingdevice 10 is preferably fixed by thehexagon nut 14, and the guard plate on the side of theswing arm 9 is fixed by the hexagonsocket head bolt 15. Since Theswing arm 9 is located on the outer side, and the use of hexagonalsocket head bolts 15 can reduce the space protruding outward and reduce the possibility of friction with the road surface. However, the drivingdevice 10 is not located on the left outer side, so thehexagonal nut 14 is used to fix the guard plate.

上面结合附图对本实用新型实施例作了详细说明，但是本实用新型不限于上述实施例，在所述技术领域普通技术人员所具备的知识范围内，还可以在不脱离本实用新型宗旨的前提下作出各种变化。The embodiments of the present utility model have been described in detail above in conjunction with the accompanying drawings, but the present utility model is not limited to the above-mentioned embodiments, and within the scope of knowledge possessed by those of ordinary skill in the technical field, the present utility model can also be used without departing from the purpose of the present utility model. make various changes.

Claims (10)

Translated fromChinese

1.一种辅助采矿机器人，其特征在于：包括底盘和设置于所述底盘中的用于采集信息的信息采集模块、用于响应采集信息并生成控制信息的信息处理模块、用于控制所述采矿机器人动作的控制模块和用于响应所述控制模块的运动模块；1. An auxiliary mining robot, characterized in that: it comprises a chassis and an information acquisition module arranged in the chassis for acquiring information, an information processing module for responding to acquisition information and generating control information, and for controlling the a control module for the actions of the mining robot and a motion module for responding to the control module;所述信息采集模块包括用于获取空间信息的深度摄像头、用于扫描获取环境信息的激光雷达和用于获取距离信息的单目摄像头，所述深度摄像头和激光雷达通过支架安装于所述底盘的上侧表面；The information acquisition module includes a depth camera for acquiring spatial information, a lidar for scanning to acquire environmental information, and a monocular camera for acquiring distance information, and the depth camera and lidar are installed on the chassis of the chassis through a bracket. upper surface;所述底盘的上表面还包括有用于设置所述信息处理模块的隔离腔，所述隔离腔的上端连接有用于装载矿石的载物斗，所述载物斗与所述隔离腔之间设置有隔层；所述运动模块包括运动底盘和用于执行采矿操作的机械臂，所述运动底盘设置于所述底盘的两侧，所述运动底盘包括驱动所述采矿机器人前后移动的驱动装置和摆臂，所述摆臂的一端与所述驱动装置连接，所述摆臂可沿与所述驱动装置的连接处轴向转动，所述驱动装置和摆臂表面设置有履带，所述单目摄像头设置于所述机械臂的上侧；The upper surface of the chassis also includes an isolation cavity for arranging the information processing module, the upper end of the isolation cavity is connected with a loading bucket for loading ore, and a loading bucket is arranged between the loading bucket and the isolation cavity. partition; the motion module includes a motion chassis and a mechanical arm for performing mining operations, the motion chassis is arranged on both sides of the chassis, and the motion chassis includes a drive device and a pendulum for driving the mining robot to move forward and backward an arm, one end of the swing arm is connected to the drive device, the swing arm can rotate axially along the connection with the drive device, the surfaces of the drive device and the swing arm are provided with crawler tracks, the monocular camera arranged on the upper side of the robotic arm;所述控制模块包括用于为所述运动底盘提供动力的无极电机调速器和直流减速电机，所述直流减速电机与所述驱动装置相连接，所述无极电机调速器和所述直流减速电机分别与所述信息处理模块相连接，并且响应于所述信息处理模块的驱动信息驱动所述驱动装置。The control module includes a stepless motor governor and a DC deceleration motor for powering the moving chassis, the DC deceleration motor is connected with the driving device, the stepless motor governor and the DC deceleration motor The motors are respectively connected with the information processing modules, and drive the driving devices in response to driving information of the information processing modules.2.根据权利要求1所述的一种辅助采矿机器人，其特征在于：所述底盘的表面为防爆壳体。2 . The auxiliary mining robot according to claim 1 , wherein the surface of the chassis is an explosion-proof casing. 3 .3.根据权利要求1所述的一种辅助采矿机器人，其特征在于：所述信息处理模块包括用于处理所述信息采集模块所获取的信息的工业控制计算机、用于控制所述运动底盘的主控芯片和用于控制所述机械臂的微控制器。3. An auxiliary mining robot according to claim 1, characterized in that: the information processing module comprises an industrial control computer for processing the information acquired by the information acquisition module, a computer for controlling the motion chassis A main control chip and a microcontroller for controlling the robotic arm.4.根据权利要求3所述的一种辅助采矿机器人，其特征在于：所述机械臂中设置有若干个舵机，所述舵机与所述微控制器电连接，所述舵机响应于所述微控制器的角度控制信息执行转动。4. An auxiliary mining robot according to claim 3, characterized in that: the mechanical arm is provided with a plurality of steering gears, the steering gears are electrically connected with the microcontroller, and the steering gears respond to The angle control information of the microcontroller performs the rotation.5.根据权利要求3所述的一种辅助采矿机器人，其特征在于：所述底盘的前侧设置有环形照明灯，所述环形照明灯的信号输入端与所述主控芯片的信号输出端相连接。5 . The auxiliary mining robot according to claim 3 , wherein a ring light is provided on the front side of the chassis, and the signal input end of the ring light is the signal output end of the main control chip. 6 . connected.6.根据权利要求3所述的一种辅助采矿机器人，其特征在于：所述载物斗的底板处还设置有压力传感器，所述压力传感器的信号输出端与所述微控制器的信号输入端相连接。6 . The auxiliary mining robot according to claim 3 , wherein a pressure sensor is further provided at the bottom plate of the cargo hopper, and the signal output end of the pressure sensor is connected with the signal input of the microcontroller. 7 . end connected.7.根据权利要求6所述的一种辅助采矿机器人，其特征在于：所述载物斗的外侧还设置有用于人机交互的触控屏，所述触控屏与所述工业控制计算机相连接。7 . The auxiliary mining robot according to claim 6 , wherein a touch screen for human-computer interaction is further provided on the outer side of the cargo bucket, and the touch screen is connected to the industrial control computer. 8 . connect.8.根据权利要求1所述的一种辅助采矿机器人，其特征在于：所述驱动装置包括设置于两端的第一履带齿轮，所述第一履带齿轮与所述直流减速电机啮合；所述第一履带齿轮之间的上下两侧分别设置有用于保持履带形状的第二履带齿轮和若干个滑轮。8 . The auxiliary mining robot according to claim 1 , wherein the driving device comprises first crawler gears arranged at both ends, and the first crawler gears are engaged with the DC reduction motor; The upper and lower sides between a track gear are respectively provided with a second track gear and several pulleys for maintaining the shape of the track.9.根据权利要求8所述的一种辅助采矿机器人，其特征在于：所述摆臂的两端分别包括第一履带齿轮和滑轮，所述摆臂的第一履带齿轮与所述驱动装置的第一履带齿轮通过连接轴连接，所述摆臂内部的还设置有若干个转轴。9 . The auxiliary mining robot according to claim 8 , wherein the two ends of the swing arm respectively comprise a first crawler gear and a pulley, and the first crawler gear of the swing arm is connected to the driving device. 10 . The first track gear is connected by a connecting shaft, and several rotating shafts are also arranged inside the swing arm.10.根据权利要求1所述的一种辅助采矿机器人，其特征在于：所述驱动装置和摆臂的侧面设置有护板。10 . The auxiliary mining robot according to claim 1 , wherein a guard plate is provided on the side surfaces of the driving device and the swing arm. 11 .

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