Underground unmanned charging truck

Abstract

The invention relates to the technical field of unmanned charging trucks, in particular to an underground unmanned charging truck which comprises an unmanned truck body and further comprises a protection box fixed to the top of the unmanned truck body and internally used for storing and protecting explosives. The mounting table is fixed on the side wall of one side of the protection box; the mechanical arm is mounted on the mounting table, and a clamping jaw and a drill bit which can be switched and controlled are mounted on the mechanical arm; the discharging assembly is mounted in the protection box and used for pushing the explosive in the protection box to be singly discharged; according to the device, through the arrangement of the protection box and the discharging assembly, explosives are stored in the protection box, the risk that generated sparks splash to the explosives when a drill bit conducts drilling construction of an explosive hole is avoided, and therefore the safety in the automatic explosive filling process can be improved advantageously.

Description

Technical Field

[0001] The present invention relates to the field of unmanned charge-loading vehicles, and in particular to an underground unmanned charge-loading vehicle. Background Art

[0002] The underground unmanned charging vehicle is an automated device designed specifically for underground mines. It is used to automatically load explosives during blasting operations. Through advanced navigation and control systems, this device can autonomously complete charging tasks in complex underground environments, improving operational efficiency and safety.

[0003] In order to improve the safety of the underground unmanned charging vehicle during the charging process, the charging holes can be drilled by the underground unmanned charging vehicle. However, sparks are generated during the drilling process, which makes the explosives loaded on the underground unmanned charging vehicle have the risk of explosion. Therefore, strict safety measures are needed to reduce the safety hazards of the underground unmanned charging vehicle during the charging process. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose an underground unmanned charging vehicle.

[0005] In a first aspect, the present invention provides an underground unmanned charging vehicle, comprising an unmanned vehicle body, and further comprising:

[0006] A protection box, fixed on the top of the unmanned vehicle body, for storing and protecting explosives;

[0007] A mounting platform, fixed on one side wall of the protection box;

[0008] A mechanical arm is mounted on the mounting platform, and a switchable and controllable clamping claw and a drill are mounted on the mechanical arm;

[0009] A discharge assembly is installed inside the protection box and is used to push the explosive inside the protection box to discharge a single charge;

[0010] During the explosive loading process, the staff loads the explosives inside the protective box, so that when the unmanned vehicle body drives the explosives to the explosive loading position, the explosives are always stored inside the protective box. On the one hand, during the transportation of the explosives, the explosives are protected by the protective box, so that the explosives will not have the risk of explosion due to the impact inside the tunnel or the sparks generated during the construction during the transportation process, and the explosives are protected during the transportation process to avoid the explosives being exposed to moisture and affecting the explosion effect; on the other hand, the explosives are stored inside the protective box, so that when the drill bit is drilling the explosive hole, there is no risk of sparks splashing onto the explosives, which is conducive to improving the safety of the automatic loading process of explosives;

[0011] The discharge assembly can drive the explosives to be discharged one by one in sequence, so that the clamping claw can grab the explosives individually when grabbing them for loading, which is helpful to avoid the clamping claw igniting one of them during the grabbing process after all the explosives are released, causing all the explosives to explode before the loading is completed, resulting in damage to the main body of the unmanned vehicle and deviation in the explosion position of the explosives, thereby causing safety hazards.

[0012] Preferably, the protection box specifically includes:

[0013] The side walls of the protection box are made of explosion-proof materials;

[0014] The top of the protection box is provided with an opening, the inside of which is installed with a thickened cover plate, and the thickened cover plate is detachably fixedly connected to the edge of the opening;

[0015] The protective box is made of explosion-proof material to protect the explosives placed inside. A thickened cover plate is provided to facilitate the staff to place the explosives. After the explosives are placed, the thickened cover plate is fixed to the protective box so that the explosives are enclosed and stored inside the protective box for protection, which is beneficial to improve the safety of automatic loading of explosives.

[0016] Preferably, the discharging assembly comprises:

[0017] A material unloading platform is provided on the inner side wall of the protection box, and a slide groove is provided on the material unloading platform;

[0018] A first push plate, slidably mounted inside the slide groove;

[0019] A first driving mechanism, installed on the unloading platform, for driving the first pushing plate to move;

[0020] A material unloading chute is provided at the end of the material unloading platform;

[0021] A shielding plate is rotatably mounted on the top of the material discharge chute, and a torsion spring is installed between the rotating shaft of the shielding plate and the material discharge chute;

[0022] A lifting plate is vertically slidably installed inside the protection box and is vertically driven by a second driving mechanism installed inside the protection box;

[0023] A second push plate is installed in a transversely sliding manner inside the protection box and is transversely driven by a third driving mechanism installed inside the protection box;

[0024] The second driving mechanism can drive the lifting plate to move upward, so that the explosive moves upward as a whole, so that the explosive can be lifted to the plane of the unloading platform, and then the third driving mechanism is started, and the third driving mechanism can push the explosive lifted to the plane of the unloading platform to move to the unloading platform, so that the explosive moves to the top of the unloading platform, and then the first driving mechanism is started, and the first driving mechanism drives the first pushing plate to move, so that the first pushing plate pushes the explosive on the unloading platform after moving, so that the explosives reach the unloading chute in turn for unloading, and the baffle plate arranged on the top of the unloading chute closes the unloading chute under the action of the torsion spring when there is no explosive above the baffle plate, and when there is explosive moving to the top of the baffle plate, the gravity of the explosive itself pushes the baffle plate to flip, so that the explosive slides along the unloading chute;

[0025] An interception frame is arranged on the top of the mounting platform, so that after the explosive slides down the unloading chute, it is intercepted by the interception frame, which helps to avoid excessive sliding of the explosive, thereby facilitating the clamping claw to grab the explosive from the inside of the interception frame.

[0026] Preferably, it also includes:

[0027] A first inner cavity is provided inside the side wall of the protection box, and the first inner cavity is wrapped inside the side wall of the protection box;

[0028] Liquid flame retardant, contained in the first inner cavity;

[0029] a first solenoid valve, fixedly mounted on the bottom of the protection box, wherein the first solenoid valve connects the first inner cavity and the protection box when the first solenoid valve is turned on;

[0030] Liquid flame retardant is stored inside the first inner cavity. When the loaded explosives outside the protective box explode accidentally, the first solenoid valve is controlled to open, so that after the first solenoid valve is opened, the liquid flame retardant inside the first inner cavity flows to the inside of the protective box, so that the liquid flame retardant infiltrates the explosives inside the protective box, thereby helping to avoid further explosion of the explosives inside the protective box, thereby helping to reduce the degree of explosion, thereby helping to reduce damage caused by the explosion, and helping to reduce explosion damage to the main body of the unmanned vehicle.

[0031] Preferably, it also includes:

[0032] A second inner cavity is opened inside the side wall of the protection box, the first inner cavity is wrapped inside the side wall of the protection box, and the first inner cavity is located inside the wrapping circle of the second inner cavity;

[0033] Compressed inert gas is placed inside the second inner cavity;

[0034] an air pressure sensor, fixed inside the second inner cavity;

[0035] a second solenoid valve, fixed on a side wall of the first inner cavity, the second solenoid valve being opened to connect the first inner cavity with the second inner cavity;

[0036] The second inner cavity stores compressed inert gas, so that when an explosion occurs outside the protection box, if the damage caused by the explosion does not damage the outer layer of the protection box, the compressed inert gas stored in the second inner cavity will not change, and the air pressure sensor will not change. At this time, the protection box is in a safe state, and there is no need to perform flame retardant treatment on the explosives inside the protection box;

[0037] If the explosion causes damage to the outer layer of the protective box, the second inner cavity will be damaged, causing the compressed inert gas inside the second inner cavity to overflow. At this time, the air pressure sensor inside the second inner cavity detects the air pressure change, and then controls the second solenoid valve and the first solenoid valve to start. After the second solenoid valve is started, the compressed inert gas inside the second inner cavity diffuses into the interior of the first inner cavity, thereby pushing the liquid flame retardant inside the first inner cavity through the gas pressure, thereby assisting the liquid flame retardant to accelerate through the first solenoid valve into the interior of the protective box, thereby performing flame retardant treatment on the explosives. At this time, the protective box is in a dangerous state. By flame retardant treatment of the explosives, it is helpful to reduce the explosive power of the explosives, thereby helping to reduce the damage caused by the explosion, thereby helping to reduce safety hazards.

[0038] Preferably, it also includes:

[0039] A concave platform, fixedly embedded in the bottom of the first inner cavity;

[0040] A first pipe is fixed inside the first inner cavity, the bottom of the first pipe extends to the inside of the concave platform, and the top of the first pipe passes through the side wall of the protection box;

[0041] a third solenoid valve, fixed inside the bottom of the first pipe;

[0042] A second pipe is fixed inside the thickened cover plate, and the bottom of the second pipe is plugged and matched with the top of the first pipe;

[0043] A booster nozzle is fixed to the bottom of the thickened cover plate, and the top of the second pipe is connected to the booster nozzle;

[0044] When the air pressure inside the first inner cavity rises, the liquid inside the first inner cavity is pushed downward by the action of the air pressure, so that after the liquid enters the concave platform, it enters the first pipe through the concave platform, and is sprayed out by the booster nozzle after passing through the first pipe and the second pipe in sequence, so that the liquid flame retardant is sprayed from the thickened cover plate of the protection box to the inside of the protection box, so as to be conducive to the infiltration and flame retardancy of the explosive located above the inside of the protection box, so as to be conducive to reducing the explosion degree of the explosive, so as to alleviate the explosion damage;

[0045] The arrangement of the concave platform enables the liquid flame retardant to enter the concave platform and be transported to the booster nozzle when the liquid flame retardant in the first inner cavity is reduced.

[0046] Preferably, it also includes:

[0047] A plurality of movable magnetic plates are vertically slidably inserted into the interior of the protection box;

[0048] A fixed magnetic plate is fixed to the bottom of the thickened cover plate, and the fixed magnetic plate is magnetically attracted to the movable magnetic plate;

[0049] The movable magnetic plate can separate the explosives of each layer, so that when the explosives of one layer are pushed toward the lower feeding table, they will not produce friction with the explosives below, but will slide on the movable magnetic plate as a whole, which is helpful to reduce the resistance of the explosives when pushing the material down;

[0050] After a layer of explosives is unloaded, the movable magnetic plate can be magnetically adsorbed by the fixed magnetic plate when it is pushed upward, thereby automatically recovering the movable magnetic plate, which helps to avoid the situation where the presence of the movable magnetic plate hinders the unloading of the lower layer of explosives.

[0051] Preferably, it also includes:

[0052] an air bag, fixed inside the first inner cavity;

[0053] A one-way valve, fixed on the side wall of the airbag, the one-way valve being aligned and communicated with the second solenoid valve;

[0054] The setting of the airbag allows the gas inside the second inner cavity to directly enter the interior of the airbag through the one-way valve after passing through the second solenoid valve, so that the airbag expands to squeeze and push out the liquid flame retardant inside the first inner cavity. When the second inner cavity is damaged, the gas entering the first inner cavity will not overflow again after returning to the second inner cavity, thereby maintaining the push and discharge of the liquid flame retardant inside the second inner cavity.

[0055] Preferably, it also includes:

[0056] A third inner cavity is opened inside the mounting platform;

[0057] A conveying pipeline is fixedly connected to the interior of the conveying pipeline, and the top of the conveying pipeline passes through the mounting platform and then extends upward;

[0058] An atomizing nozzle is fixed on the top of the conveying pipeline;

[0059] Water is stored inside the third inner cavity, and the delivery pipeline has an active delivery function. The water flow is delivered to the atomizing nozzle through the internal water pump for spraying, so that when the drill bit is drilling the installation hole for the explosive, the generation of impact sparks can be reduced, which is beneficial to reduce the occurrence of safety hazards caused by sparks igniting explosives.

[0060] Preferably, the first driving mechanism comprises:

[0061] A first motor is fixed inside the installation space provided on the side wall of the protection box;

[0062] A second gear, fixed to the end of the output shaft of the first motor;

[0063] A first screw rod is rotatably mounted inside the slide groove, and the first screw rod is threadedly connected to the first push plate;

[0064] A first gear, fixed to an end of the first screw rod, the first gear being threadedly connected to the second gear;

[0065] After the first motor is started, the output shaft drives the second gear connected to it to rotate, the second gear drives the first gear meshing with it to rotate, the first gear drives the first screw connected to it to rotate, and the first screw drives the first push plate threadedly connected to it to move, thereby driving the first push plate.

[0066] Compared with the prior art, the present invention has the following beneficial effects:

[0067] 1. The present invention stores explosives in the protective box by providing a protective box and a discharge assembly, so that when the drill is drilling holes for explosives, there is no risk of sparks splashing onto the explosives, which is beneficial to improving the safety of the automated loading process of explosives.

[0068] 2. The present invention sets the first inner cavity so that the liquid flame retardant can infiltrate the explosive inside the protective box, thereby helping to avoid further explosion of the explosive inside the protective box, thereby helping to reduce the degree of explosion, thereby helping to reduce the damage caused by the explosion, and helping to reduce the explosion damage to the main body of the unmanned vehicle.

[0069] 3. The present invention can determine the dangerous state of the protection box through the provision of the second inner cavity, which is beneficial to reducing the explosive power of the explosive, thereby helping to reduce the damage caused by the explosion, thereby helping to reduce safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0071] Figure 2 The structure of the protective box of the present invention is schematically shown after the section Figure 1 .

[0072] Figure 3 For the present invention Figure 2 Schematic diagram of the enlarged structure at point A in the middle.

[0073] Figure 4 For the present invention Figure 2 Schematic diagram of the enlarged structure at point B in the middle.

[0074] Figure 5 For the present invention Figure 2 Schematic diagram of the enlarged structure at point C in the middle.

[0075] Figure 6 For the present invention Figure 2 Schematic diagram of the enlarged structure at D in the middle.

[0076] Figure 7 The structure of the protective box of the present invention is schematically shown after the section Figure 2 .

[0077] Figure 8 For the present invention Figure 7 Schematic diagram of the enlarged structure at E in the middle.

[0078] Fig. 9 The structure of the protective box of the present invention is schematically shown after the section Figure 3 .

[0079] Fig.10 For the present invention Figure 8 Schematic diagram of the enlarged structure at F in the middle.

[0080] In the figure: 1, protection box; 2, unmanned vehicle body; 3, mounting platform; 4, mechanical arm; 401, clamping claw; 5, drill bit; 601, unloading platform; 602, first push plate; 603, first screw rod; 604, first gear; 605, second gear; 606, first motor; 607, chute; 608, unloading chute; 609, shielding plate; 610, interception frame; 7, first inner cavity; 701, first solenoid valve; 8, lifting plate; 801, second screw rod; 802, second electric machine; 9, second push plate; 901, third screw rod; 902, third motor; 10, second inner cavity; 1001, second solenoid valve; 1002, air pressure sensor; 11, first pipeline; 1101, concave platform; 1102, third solenoid valve; 1103, second pipeline; 1104, booster nozzle; 12, movable magnetic plate; 1201, fixed magnetic plate; 13, air bag; 1301, one-way valve; 14, third inner cavity; 1401, delivery pipeline; 1402, atomizing nozzle. DETAILED DESCRIPTION

[0081] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0082] like Figures 1 to 10 The underground unmanned charging vehicle shown includes an unmanned vehicle body 2 and also includes:

[0083] A protection box 1 is fixed on the top of the unmanned vehicle body 2, and is used to store and protect explosives;

[0084] The mounting platform 3 is fixed on one side wall of the protection box 1;

[0085] A mechanical arm 4 is mounted on the mounting platform 3, and a switchable and controllable clamping claw 401 and a drill bit 5 are mounted on the mechanical arm 4;

[0086] The discharge assembly is installed inside the protection box 1 and is used to push the explosive inside the protection box 1 to discharge a single charge;

[0087] In order to improve the safety of the underground unmanned charging vehicle during the charging process, the underground unmanned charging vehicle can be used to drill the charging hole. However, sparks are generated during the drilling process of the underground unmanned charging vehicle, which makes the explosives loaded on the underground unmanned charging vehicle have the risk of explosion. Therefore, strict safety measures are required to reduce the safety hazards of the underground unmanned charging vehicle during the charging process.

[0088] This embodiment of the present invention can solve the above problems. The specific implementation method is as follows: during the explosive loading process, the staff loads the explosives inside the protection box 1, so that when the unmanned vehicle body 2 drives the explosives to the explosive loading position, the explosives are always stored inside the protection box 1. On the one hand, during the transportation of the explosives, the explosives are protected by the protection box 1, so that the explosives will not have the risk of explosion due to the impact inside the tunnel or the sparks generated during the construction during the transportation process, and the explosives are protected during the transportation process to avoid the explosives being exposed to moisture and affecting the explosion effect; on the other hand, the explosives are stored inside the protection box 1, so that when the drill bit 5 is drilling the explosive hole, there is no risk of sparks splashing onto the explosives, which is conducive to improving the safety of the automatic loading process of explosives;

[0089] It should be noted that the unmanned vehicle body 2 includes:

[0090] Navigation system, which specifically includes laser radar for accurately measuring distance and building three-dimensional maps, GPS or INS for providing high-precision position and attitude information, and visual sensors for identifying environmental features and obstacles;

[0091] The control system includes a central processor responsible for processing sensor data and control instructions, a motion control component that controls the movement of the vehicle and the action of the robotic arm through motors and drives, and a path planning component that generates the optimal path based on the terrain and mission requirements;

[0092] Safety devices, including emergency stop buttons, safety sensors, etc., to ensure safe operation;

[0093] Communication system, the communication system includes wireless communication for remote monitoring and control through technologies such as Wi-Fi, 4G / 5G, and data transmission of sensor data, control instructions and status information;

[0094] It should be noted that the above are all prior art and will not be described in detail here;

[0095] The discharge assembly can drive the explosives to be discharged one by one in sequence, so that the clamping claw 401 can grab the explosives individually when grabbing them for loading, which is helpful to avoid that after all the explosives are released, the clamping claw 401 ignites one of them during the grabbing process, causing all the explosives to explode before the loading is completed, causing damage to the unmanned vehicle body 2, and causing the explosion position of the explosives to deviate, thereby causing a safety hazard.

[0096] As an optional embodiment, the protection box 1 specifically includes:

[0097] The side walls of the protection box 1 are made of explosion-proof materials;

[0098] The top of the protection box 1 is provided with an opening, and a thickened cover plate is installed inside the opening, and the thickened cover plate is detachably fixedly connected to the edge of the opening;

[0099] The protective box 1 is made of explosion-proof material to protect the explosives placed inside. The thickened cover plate can facilitate the staff to place the explosives. After the explosives are placed, the thickened cover plate is fixed to the protective box, so that the explosives are enclosed and stored inside the protective box 1 for protection, which is beneficial to improve the safety of automatic loading of explosives.

[0100] As an optional embodiment, the discharging assembly includes:

[0101] The unloading platform 601 is provided on the inner side wall of the protection box 1, and a slide groove 607 is provided on the unloading platform 601;

[0102] The first push plate 602 is slidably mounted inside the slide groove 607;

[0103] A first driving mechanism is installed on the unloading platform 601 and is used to drive the first pushing plate 602 to move;

[0104] A material discharge chute 608 is provided at the end of the material discharge platform 601;

[0105] The shielding plate 609 is rotatably mounted on the top of the material discharge chute 608, and a torsion spring is installed between the rotating shaft of the shielding plate 609 and the material discharge chute 608;

[0106] The lifting plate 8 is vertically slidably installed inside the protection box 1 and is vertically driven by a second driving mechanism installed inside the protection box 1;

[0107] The second push plate 9 is installed in a transversely sliding manner inside the protection box 1 and is transversely driven by a third driving mechanism installed inside the protection box 1;

[0108] The second driving mechanism can drive the lifting plate 8 to move upward, so that the explosive moves upward as a whole, so that the explosive can be lifted to the plane of the unloading platform 601, and then the third driving mechanism is started. The third driving mechanism can push the explosive lifted to the plane of the unloading platform 601 to move to the unloading platform 601, so that the explosive moves to the top of the unloading platform 601, and then the first driving mechanism is started. The first driving mechanism drives the first pushing plate 602 to move, so that the first pushing plate 602 pushes the explosive on the unloading platform 601 after moving, so that the explosives reach the unloading chute 608 in turn for unloading. The shielding plate 609 arranged on the top of the unloading chute 608 makes it possible for the shielding plate 609 to close the unloading chute 608 under the action of the torsion spring when there is no explosive above the shielding plate 609. When there is explosive moving to the top of the shielding plate 609, the shielding plate 609 is pushed to flip by the gravity of the explosive itself, so that the explosive slides down along the unloading chute 608;

[0109] An interception frame 610 is provided on the top of the mounting platform 3, so that after the explosive slides down the unloading chute 608, it is intercepted by the interception frame 610, which is helpful to prevent the explosive from sliding excessively, so that the clamping claw 401 can grab the explosive from the inside of the interception frame 610;

[0110] The second driving mechanism comprises:

[0111] The second motor 802 is fixed to the top of the thickened cover plate of the protection box 1;

[0112] The second screw rod 801 is rotatably mounted inside the protection box 1, and the second screw rod 801 is threadedly connected to the lifting plate 8;

[0113] The output shaft of the second motor 802 is plugged and adapted to the top of the second screw rod 801 , so that the second motor 802 drives the second screw rod 801 to rotate.

[0114] The third driving mechanism comprises:

[0115] The third motor 902 is fixed inside the protection box 1;

[0116] The third screw rod 901 is fixed to the end of the output shaft of the third motor 902 , and the third screw rod 901 is threadedly connected to the second push plate 9 .

[0117] As an optional embodiment, it also includes:

[0118] The first inner cavity 7 is provided inside the side wall of the protection box 1, and the first inner cavity 7 is arranged to be wrapped inside the side wall of the protection box 1;

[0119] Liquid flame retardant, contained in the first inner cavity 7;

[0120] The first solenoid valve 701 is fixedly installed at the bottom of the protection box 1. When the first solenoid valve 701 is opened, the first inner cavity 7 and the protection box 1 are connected;

[0121] Liquid flame retardant is stored inside the first inner cavity 7. When the loaded explosives outside the protective box 1 explode accidentally, the first solenoid valve 701 is controlled to open, so that after the first solenoid valve 701 is opened, the liquid flame retardant inside the first inner cavity 7 flows to the inside of the protective box 1, so that the liquid flame retardant infiltrates the explosives inside the protective box 1, thereby helping to avoid further explosion of the explosives inside the protective box 1, thereby helping to reduce the degree of explosion, thereby helping to reduce the damage caused by the explosion, and helping to reduce the explosion damage to the unmanned vehicle body 2.

[0122] As an optional embodiment, it also includes:

[0123] The second inner cavity 10 is opened inside the side wall of the protection box 1, and the first inner cavity 7 is wrapped inside the side wall of the protection box 1, and the first inner cavity 7 is located inside the wrapping circle of the second inner cavity 10;

[0124] Compressed inert gas is placed inside the second inner cavity 10;

[0125] The air pressure sensor 1002 is fixed inside the second inner cavity 10;

[0126] The second solenoid valve 1001 is fixed on the side wall of the first inner cavity 7. When the second solenoid valve 1001 is opened, the first inner cavity 7 and the second inner cavity 10 are connected;

[0127] The second inner cavity 10 stores compressed inert gas, so that when an explosion occurs outside the protection box 1, if the damage caused by the explosion does not damage the outer layer of the protection box 1, the compressed inert gas stored in the second inner cavity 10 will not change, and the air pressure sensor 1002 will not change. At this time, the protection box 1 is in a safe state, and there is no need to perform flame retardant treatment on the explosives inside the protection box 1;

[0128] If the explosion damages the outer layer of the protection box 1, the second inner cavity 10 is damaged, causing the compressed inert gas inside the second inner cavity 10 to overflow. At this time, the air pressure sensor 1002 inside the second inner cavity 10 detects the air pressure change, and then controls the second solenoid valve 1001 and the first solenoid valve 701 to start. After the second solenoid valve 1001 is started, the compressed inert gas inside the second inner cavity 10 diffuses into the first inner cavity 7, thereby pushing the liquid flame retardant inside the first inner cavity 7 through the gas pressure, thereby assisting the liquid flame retardant to accelerate through the first solenoid valve 701 into the interior of the protection box 1, thereby performing flame retardant treatment on the explosive. At this time, the protection box 1 is in a dangerous state. By flame retardant treatment of the explosive, it is beneficial to reduce the explosive power of the explosive, thereby helping to reduce the damage caused by the explosion, thereby helping to reduce safety hazards.

[0129] As an optional embodiment, it also includes:

[0130] The concave platform 1101 is fixedly embedded in the bottom of the first inner cavity 7;

[0131] The first pipe 11 is fixed inside the first inner cavity 7, the bottom of the first pipe 11 extends to the inside of the concave platform 1101, and the top of the first pipe 11 passes through the side wall of the protection box 1;

[0132] The third solenoid valve 1102 is fixed inside the bottom of the first pipeline 11;

[0133] The second pipe 1103 is fixed inside the thickened cover plate, and the bottom of the second pipe 1103 is plugged and matched with the top of the first pipe 11;

[0134] The boost nozzle 1104 is fixed to the bottom of the thickened cover plate, and the top of the second pipe 1103 is connected to the boost nozzle 1104;

[0135] When the air pressure inside the first inner cavity 7 rises, the liquid inside the first inner cavity 7 is pushed downward by the air pressure, so that after the liquid enters the concave platform 1101, it enters the first pipe 11 through the concave platform 1101, and is sprayed out by the booster nozzle 1104 after passing through the first pipe 11 and the second pipe 1103 in sequence, so that the liquid flame retardant is sprayed from the thickened cover plate of the protection box 1 to the inside of the protection box 1, so as to be conducive to the infiltration and flame retardancy of the explosive located above the inside of the protection box 1, so as to be conducive to reducing the explosion degree of the explosive, so as to alleviate the explosion damage;

[0136] The arrangement of the concave platform 1101 allows the liquid flame retardant to enter the concave platform 1101 and be transported to the boost nozzle 1104 when the amount of liquid flame retardant in the first inner cavity 7 is reduced.

[0137] As an optional embodiment, it also includes:

[0138] A plurality of movable magnetic plates 12 are vertically slidably inserted into the interior of the protection box 1;

[0139] The fixed magnetic plate 1201 is fixed to the bottom of the thickened cover plate, and the fixed magnetic plate 1201 magnetically attracts the movable magnetic plate 12;

[0140] The movable magnetic plate 12 can separate the layers of explosives, so that when the explosives in one layer are pushed toward the lower feeding platform 601, they will not generate friction with the explosives below, but will slide on the movable magnetic plate 12 as a whole, thereby helping to reduce the resistance of the explosives when pushing the material down;

[0141] After a layer of explosives is unloaded, the movable magnetic plate 12 can be magnetically adsorbed by the fixed magnetic plate 1201 when it is pushed upward, thereby automatically recovering the movable magnetic plate 12, which helps to avoid the situation where the presence of the movable magnetic plate 12 hinders the unloading of the lower layer of explosives.

[0142] As an optional embodiment, it also includes:

[0143] The airbag 13 is fixed inside the first inner cavity 7;

[0144] The one-way valve 1301 is fixed on the side wall of the airbag 13, and the one-way valve 1301 is aligned and communicated with the second solenoid valve 1001;

[0145] The setting of the airbag 13 allows the gas inside the second inner cavity 10 to directly enter the interior of the airbag 13 through the one-way valve 1301 after passing through the second solenoid valve 1001, so that the airbag 13 expands to squeeze and push out the liquid flame retardant inside the first inner cavity 7. When the second inner cavity 10 is damaged, the gas entering the first inner cavity 7 will not overflow again after returning to the interior of the second inner cavity 10, thereby maintaining the push and discharge of the liquid flame retardant inside the second inner cavity 10.

[0146] As an optional embodiment, it also includes:

[0147] The third inner cavity 14 is opened inside the mounting platform 3;

[0148] The delivery pipe 1401 is fixedly connected to the interior of the delivery pipe 1401, and the top of the delivery pipe 1401 passes through the mounting platform 3 and then extends upward;

[0149] Atomizing nozzle 1402 is fixed on the top of the delivery pipe 1401;

[0150] Water is stored inside the third inner cavity 14, and the delivery pipe 1401 has an active delivery function. The water flow is delivered to the atomizing nozzle 1402 for spraying through the internal water pump, so that when the drill bit 5 is drilling the installation hole for the explosive, the generation of impact sparks can be reduced, which is beneficial to reduce the occurrence of safety hazards caused by sparks igniting the explosives.

[0151] As an optional embodiment, the first driving mechanism includes:

[0152] The first motor 606 is fixed inside the installation space provided on the side wall of the protection box 1;

[0153] The second gear 605 is fixed to the end of the output shaft of the first motor 606;

[0154] The first screw rod 603 is rotatably mounted inside the slide groove 607, and the first screw rod 603 is threadedly connected to the first push plate 602;

[0155] The first gear 604 is fixed to the end of the first screw rod 603, and the first gear 604 is threadedly connected to the second gear 605;

[0156] After the first motor 606 is started, it drives the second gear 605 connected to it to rotate through the output shaft, the second gear 605 drives the first gear 604 meshing with it to rotate, the first gear 604 drives the first screw rod 603 connected to it to rotate, and the first screw rod 603 drives the first push plate 602 threadedly connected to it to move, thereby driving the first push plate 602.

[0157] Working principle of the present invention: During the process of loading explosives, the staff loads the explosives inside the protection box 1, so that when the unmanned vehicle body 2 drives the explosives to the explosives loading position, the explosives are always stored inside the protection box 1. On the one hand, during the transportation of the explosives, the explosives are protected by the protection box 1, so that the explosives will not have the risk of explosion due to the impact inside the tunnel or the sparks generated during the construction during the transportation, and the explosives are protected during the transportation of the explosives to avoid the situation where the explosives are exposed to moisture and affect the explosion effect; on the other hand, the explosives are stored inside the protection box 1, so that when the drill bit 5 is drilling the explosive hole, there is no risk of sparks splashing onto the explosives, which is conducive to improving the safety of the automatic loading process of explosives;

[0158] The discharge assembly can drive the explosives to be discharged one by one in sequence, so that the clamping claw 401 can grab the explosives individually when grabbing them for loading, which is helpful to avoid that after all the explosives are released, the clamping claw 401 ignites one of them during the grabbing process, causing all the explosives to explode before the loading is completed, causing damage to the unmanned vehicle body 2, and causing the explosion position of the explosives to deviate, thereby causing a safety hazard.

[0159] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention, and these changes and improvements fall within the scope of the present invention claimed.

Claims

1. An underground unmanned charging vehicle, comprising an unmanned vehicle body (2), characterized in that: Also includes: A protection box (1) is fixed to the top of the unmanned vehicle body (2), and is used to store and protect explosives; A mounting platform (3) fixed on a side wall of the protection box (1); A mechanical arm (4) is mounted on the mounting platform (3), and a switchable and controllable clamping claw (401) and a drill bit (5) are mounted on the mechanical arm (4); A discharge assembly is installed inside the protection box (1) and is used to push the explosive inside the protection box (1) to discharge a single charge.

2. The underground unmanned charging vehicle according to claim 1, characterized in that: The protection box (1) specifically comprises: The side walls of the protection box (1) are all made of explosion-proof material; The top of the protection box (1) is provided with an opening, and a thickened cover plate is installed inside the opening, and the thickened cover plate is detachably fixedly connected to the edge of the opening.

3. The underground unmanned charging vehicle according to claim 2, characterized in that: The discharging assembly comprises: A material unloading platform (601) is provided on the inner side wall of the protection box (1), and a slide groove (607) is provided on the material unloading platform (601); A first push plate (602) is slidably mounted inside the slide groove (607); A first driving mechanism, installed on the unloading platform (601), used for driving the first pushing plate (602) to move; A material discharge chute (608) is provided at the end of the material discharge platform (601); A shielding plate (609) is rotatably mounted on the top of the material discharge chute (608), and a torsion spring is installed between the rotating shaft of the shielding plate (609) and the material discharge chute (608); A lifting plate (8) is vertically slidably installed inside the protection box (1) and is vertically driven by a second driving mechanism installed inside the protection box (1); The second push plate (9) is installed in a transversely sliding manner inside the protection box (1) and is driven transversely by a third driving mechanism installed inside the protection box (1).

4. The underground unmanned charging vehicle according to claim 2, characterized in that: Also includes: A first inner cavity (7) is provided inside the side wall of the protection box (1), and the first inner cavity (7) is arranged to be wrapped inside the side wall of the protection box (1); Liquid flame retardant, contained in the first inner cavity (7); The first solenoid valve (701) is fixedly mounted on the bottom of the protection box (1); when the first solenoid valve (701) is opened, the first inner cavity (7) and the protection box (1) are connected.

5. The underground unmanned charging vehicle according to claim 4, characterized in that: Also includes: The second inner cavity (10) is opened inside the side wall of the protection box (1), the first inner cavity (7) is wrapped inside the side wall of the protection box (1), and the first inner cavity (7) is located inside the wrapping circle of the second inner cavity (10); Compressed inert gas is placed inside the second inner cavity (10); An air pressure sensor (1002) fixed inside the second inner cavity (10); The second solenoid valve (1001) is fixed on the side wall of the first inner cavity (7); when the second solenoid valve (1001) is opened, the first inner cavity (7) and the second inner cavity (10) are connected.

6. The underground unmanned charging vehicle according to claim 5, characterized in that: Also includes: A recessed platform (1101) fixedly embedded in the bottom of the first inner cavity (7); A first pipe (11) is fixed inside the first inner cavity (7), the bottom of the first pipe (11) extends to the inside of the recessed platform (1101), and the top of the first pipe (11) passes through the side wall of the protection box (1); A third solenoid valve (1102) is fixed inside the bottom of the first pipe (11); A second pipe (1103) is fixed inside the thickened cover plate, and the bottom of the second pipe (1103) is plugged and matched with the top of the first pipe (11); A booster nozzle (1104) is fixed to the bottom of the thickened cover plate, and the top of the second pipe (1103) is connected to the booster nozzle (1104).

7. The underground unmanned charging vehicle according to claim 3, characterized in that: Also includes: A plurality of movable magnetic plates (12) are vertically slidably inserted into the interior of the protection box (1); A fixed magnetic plate (1201) is fixed to the bottom of the thickened cover plate, and the fixed magnetic plate (1201) magnetically adsorbs the movable magnetic plate (12).

8. The underground unmanned charging vehicle according to claim 6, characterized in that: Also includes: An air bag (13) fixed inside the first inner cavity (7); A one-way valve (1301) is fixed on the side wall of the airbag (13), and the one-way valve (1301) is aligned and connected with the second solenoid valve (1001).

9. The underground unmanned charging vehicle according to claim 3, characterized in that: Also includes: A third inner cavity (14) is provided inside the mounting platform (3); A conveying pipeline (1401) is fixedly connected to the interior of the conveying pipeline (1401), and the top of the conveying pipeline (1401) passes through the mounting platform (3) and then extends upward; The atomizing nozzle (1402) is fixed on the top of the delivery pipeline (1401).

10. The underground unmanned charging vehicle according to claim 3, characterized in that: The first driving mechanism comprises: A first motor (606) is fixed inside an installation space provided on a side wall of the protection box (1); A second gear (605) is fixed to the end of the output shaft of the first motor (606); A first screw rod (603) is rotatably mounted inside the slide groove (607), and the first screw rod (603) is threadedly connected to the first push plate (602); The first gear (604) is fixed to the end of the first screw rod (603), and the first gear (604) is threadedly connected to the second gear (605).

Images