An intelligent blasting unmanned charging system and classified charging method

Abstract

The present invention provides an intelligent unmanned blasting charging system and a classified charging method, belonging to the technical field of intelligent blasting equipment. The present invention solves the problem of high manpower consumption in existing blasting processes by designing a system consisting of a measuring robot, an unmanned explosives delivery vehicle, and a blasthole charging robot. The system includes a measuring robot, an unmanned explosives delivery vehicle, a blasthole charging robot, a system control center, and an ammonium oil vehicle. The system control center controls the actions of the measuring robot, the unmanned explosives delivery vehicle, and the blasthole charging robot. The measuring robot measures the depth of the blasthole and the density of the rock near the blasthole. The ammonium oil vehicle provides explosives to the unmanned explosives delivery vehicle. The unmanned explosives delivery vehicle packages a variety of explosive packages of different densities and delivers them to the blasthole charging robot. The blasthole charging robot fills the explosive packages into the blasthole and backfills the rock debris near the blasthole into the blasthole.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent blasting equipment, and in particular relates to an intelligent blasting unmanned charging system and a classified charging method. Background Art

[0002] Blasting is a technique that uses the compression, loosening, destruction, projection, and lethality generated by the detonation of explosives in air, water, earth, rock, or objects to achieve a desired goal. This involves the compression, deformation, destruction, loosening, and projection of earth, rock, or structures caused by the detonation of explosives. Blasting is primarily used in earthwork projects and the demolition of metal buildings and structures. At open-pit blasting sites, such as those in mines, procedures include hole placement, blasthole drilling, explosive loading, blasthole backfilling, and blast warning.

[0003] In recent years, intelligent blasting has gradually begun to be applied to open-pit blasting sites. The so-called intelligent blasting means that when drilling blastholes in the open air, the approximate strength of rocks in different positions is obtained through the operator's experience and parameter information fed back by equipment such as drill rods. For blastholes in blasting areas of rocks with different strengths, different densities of explosives are loaded. That is, high-density explosives are loaded in high-strength rock areas, and low-density explosives are loaded in low-strength rock areas. This ensures that high-strength rocks that are difficult to blast can be broken into pieces, and the use of explosives can be saved in low-strength rock areas.

[0004] The current common process of intelligent blasting charge measurement includes workers using a measuring rod to measure the depth of the blasthole, and calculating an approximate value of the rock strength based on the operator's experience during drilling and the parameter information fed back by the drill rod and other equipment. The type and amount of explosives needed for the blasthole are calculated, and then an ammonium oil truck is driven to the vicinity of the construction site to prepare explosives of different densities. The staff takes the explosive bag and fills the output end of the spiral conveying pipe of the ammonium oil truck with explosives, and then seals the explosive bag. After that, the staff transports the sealed explosive bag to the blasting area, installs the detonator, and then puts it into the blasthole. The rock cuttings near the blasthole are then backfilled into the blasthole. The entire process uses a lot of manpower, there are construction risks, and the degree of intelligence needs to be improved. At the same time, the measured rock strength value is not accurate enough. Summary of the Invention

[0005] In view of the above-mentioned shortcomings of the prior art, the object of the present invention is to provide an intelligent blasting unmanned charging system and a classified charging method, which are used to solve the problem of high manpower consumption in the blasting process in the prior art.

[0006] To achieve the above-mentioned and other related objectives, the present invention provides an intelligent unmanned blasting charging system, comprising a measuring robot, an unmanned explosives delivery vehicle, a blasthole charging robot, a system control center, and an ammonium oil vehicle. The system control center controls the actions of the measuring robot, the unmanned explosives delivery vehicle, and the blasthole charging robot.

[0007] The measuring robot measures the depth of the blasthole and the density of the rock near the blasthole. The ammonium oil truck provides explosives to the unmanned explosives delivery vehicle. The unmanned explosives delivery vehicle packages a variety of explosive packages with different densities and delivers the explosive packages to the blasthole charging robot. The blasthole charging robot fills the explosive packages into the blasthole and backfills the rock cuttings near the blasthole into the blasthole.

[0008] The classified charging method based on the aforementioned intelligent blasting unmanned charging system includes the following steps:

[0009] Determining the depth of the blasthole and the strength of the rock near the blasthole: The system control center controls the measuring robot to move to the vicinity of the blasthole, and the measuring robot measures the depth of the blasthole and the strength of the rock near the blasthole and transmits the measured data back to the system control center. After processing the data, the system control center issues instructions for explosives delivery and loading explosive packages into the blasthole to the unmanned explosives delivery vehicle and the blasthole charging robot;

[0010] Explosives delivery: The unmanned explosives delivery vehicle drives to the ammonium oil truck according to the instructions of the system control center, receives the explosives from the ammonium oil truck, and packages the explosives from the ammonium oil truck into a variety of explosive packages with different densities, and then delivers the explosive packages to the blasthole charging robot;

[0011] Filling explosive packages: According to the instructions of the system control center, the blasthole charging robot fills the explosive packages received from the unmanned explosive delivery vehicle into the blasthole and backfills the rock cuttings near the blasthole into the blasthole.

[0012] As described above, the intelligent blasting unmanned charging system and classified charging method of the present invention have at least the following beneficial effects:

[0013] 1. The present invention designs a system consisting of a measuring robot, an unmanned explosives delivery vehicle, a blasthole charging robot, a system control center, and an ammonium oil vehicle. The measuring robot replaces manpower to measure the depth of the blasthole and the strength of the rock near the blasthole, the unmanned explosives delivery vehicle replaces manpower to pack and seal the explosives, and the blasthole charging robot replaces manpower to load the blasthole with explosive packages, thereby saving manpower. In addition, the measuring robot, the unmanned explosives delivery vehicle, and the blasthole charging robot can be reused. When a certain number of blastholes are loaded, the cost is reduced compared to using manpower, thereby improving the intelligence level of the entire blasting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Shown is a schematic diagram of an intelligent blasting unmanned charging system according to the present invention.

[0015] Figure 2 Shown is a schematic diagram of the measurement robot of the present invention.

[0016] Figure 3 Shown is a schematic diagram of a depth measurement module of the present invention.

[0017] Figure 4 Shown is a schematic diagram of the intensity measurement module of the present invention.

[0018] Figure 5 Shown is a schematic diagram of the strength measurement component of the present invention.

[0019] Figure 6 Shown is a schematic diagram of the rotating component and the lifting component of the present invention.

[0020] Figure 7 Shown is a schematic diagram of the pigment injection tube of the present invention.

[0021] Figure 8 Shown is a schematic diagram of the position of the calibration module of the present invention.

[0022] Figure 9 Shown is a schematic diagram of the calibration module of the present invention.

[0023] Figure 10 Shown is a schematic diagram of the unmanned explosives delivery vehicle of the present invention.

[0024] Figure 11 Shown is a schematic diagram of the drug storage module of the present invention.

[0025] Figure 12 Shown is a schematic diagram of the load plate and balance wheel of the present invention.

[0026] Figure 13 Shown is a schematic diagram of the charge door assembly of the present invention.

[0027] Figure 14 Shown is a schematic diagram of the medicine dispensing door component of the present invention.

[0028] Figure 15 Shown is a schematic diagram of the medicine outlet door power component and the medicine outlet door body of the present invention.

[0029] Figure 16 Shown is a schematic diagram of a charge module according to the present invention.

[0030] Figure 17 Shown is a schematic diagram of the bagging power components of the present invention.

[0031] Figure 18 Shown is a schematic diagram of the grip bag components of the present invention.

[0032] Figure 19 Shown is a schematic diagram of the bag feeding component of the present invention.

[0033] Figure 20 Shown is a schematic diagram of the bag opening component of the present invention.

[0034] Figure 21 Shown is a schematic diagram of the blasthole charging robot of the present invention.

[0035] Figure 22 Shown is a schematic diagram of the drug package storage module of the present invention.

[0036] Figure 23 Shown is a schematic diagram of the drug package delivery assembly of the present invention.

[0037] Figure 24 Shown is a schematic diagram of the medicine package grabbing module of the present invention.

[0038] Figure 25 Shown is a schematic diagram of the gripper assembly and gripper power assembly of the present invention.

[0039] Figure 26 Shown is a schematic diagram of the gripper component of the present invention.

[0040] Figure 27 Shown is a schematic diagram of a blasthole charge module of the present invention.

[0041] Figure 28 Shown is a schematic diagram of the drug package carrying assembly of the present invention.

[0042] Figure 29 Shown is a schematic diagram of the position of the cuttings backfill module of the present invention.

[0043] Figure 30 Shown is a schematic diagram of a cuttings backfill module according to the present invention.

[0044] Component number description

[0045] Measuring robot 1, depth measuring module 11, measuring rope 111, sinking block 112, rope reel 113, rope reel power member 114, second camera 115, contact sensor 116, strength measuring module 12, strength measuring component 121, strength meter 1211, rodless cylinder 1212, first camera 1213, lifting component 122, telescopic rod 1221, rotating component 123, connecting block 1231, rotating rod 1232, rotating Power member 1233, driving pulley 1234, driven pulley 1235, transmission belt 1236, displacement component 124, displacement power member 1241, displacement slide rail 1242, displacement mounting plate 1243, descending trough 1244, measurement data processing module 13, measurement travel module 14, measurement chassis 141, calibration module 15, calibration power member 151, calibration disk 152, calibration cylinder 153, electric butterfly valve 154, pigment injection tube 16;

[0046] Explosives unmanned delivery vehicle 2, delivery walking module 21, drug storage module 22, fan-shaped chamber 221, drug storage power part 222, drug storage barrel 223, charging port 224, drug discharge port 225, charging door component 226, charging door power part 2261, charging door body 2262, drug discharge door component 227, drug discharge door power part 2271, drug discharge door body 2272, balance wheel 228, load plate 229, drug discharge hole 2291, charging module 23, drug delivery component 231, bagging component 232, bagging turntable 2321, bag grabbing component 2322, clamping arm 2322a, first clamping block 23 22b, second clamping block 2322c, first bag grabbing power component 2322d, second bag grabbing power component 2322e, bag feeding component 2323, bag feeding push plate 2323a, bag feeding telescopic rod 2323b, push plate power component 2323c, bag feeding workbench 2323d, sliding table 2323e, annular groove 2323f, bag opening component 2324, pneumatic suction cup 2324a, bag opening power component 2324b, bag sealing component 2325, bag filling power component 2326, bag filling motor 2326a, gearbox 2326b, rotating shaft 2326c, delivery information processing module 24;

[0047] Blast hole charging robot 3, charging walking module 31, blast hole charging track wheel 311, blast hole charging chassis 312, medicine bag storage module 32, medicine bag storage chamber 321, medicine bag conveying assembly 322, medicine bag conveying power component 3221, medicine bag conveying conveyor belt 3222, medicine bag grabbing module 33, gripper assembly 331, gripper component 3311, gripper mounting frame 3311a, gripping power component 3311b, medicine bag claw 3311c, first gripper bracket 3311d, second gripper bracket 3311e, third gripper bracket 3311f, natural rubber sleeve 3311g, protrusion 3311h, connecting part 3312, gripper Power assembly 332, truss 3321, bracket 3321a, charge moving channel 3321b, traction component 3322, first hoist 3322a, flexible rope 3322b, guide wheel assembly 3322c, blasthole charging module 34, charge carrying assembly 341, charge carrying cylinder 3411, cylinder hole 3412, charge lifting power component 342, second hoist 3421, chain 3422, opening and closing door component 343, semicircular door 3431, opening and closing door driver 3432, cuttings backfill module 35, backfill shovel 351, backfill power component 352, charge information processing module 36, charge camera 37;

[0048] System control center 4; ammonium oil truck 5. DETAILED DESCRIPTION

[0049] The following describes the implementation of the present invention through specific embodiments. People skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0050] See also Figures 1 to 30 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they have no substantive technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0051] The following embodiments are for illustration only and can be combined with each other, and are not limited to the contents presented in the following single embodiments.

[0052] See also Figure 1The present invention provides an intelligent unmanned blasting charging system, comprising a measuring robot 1, an unmanned explosives delivery vehicle 2, a blasthole charging robot 3, a system control center 4, and an ammonium oil vehicle 5. The system control center 4 controls the actions of the measuring robot 1, the unmanned explosives delivery vehicle 2, and the blasthole charging robot 3.

[0053] The measuring robot 1 measures the depth of the blasthole and the density of the rock near the blasthole. The ammonium oil truck 5 provides explosives to the unmanned explosives delivery vehicle 2. The unmanned explosives delivery vehicle 2 packages a variety of explosive packages with different densities and delivers the explosive packages to the blasthole charging robot 3. The blasthole charging robot 3 fills the explosive packages into the blasthole and backfills the rock cuttings near the blasthole into the blasthole.

[0054] The ammonium oil truck 5 generally does not need to drive to the area where the blasthole is located. The ammonium oil truck 5 only needs to drive to the vicinity of the open-air blasting site, and then the system control center 4 sends a command to the unmanned explosives delivery vehicle 2. The unmanned explosives delivery vehicle 2 drives to the ammonium oil truck 5 to receive the explosives. After receiving the explosives, the unmanned explosives delivery vehicle 2 drives to the periphery of the blasthole area. After receiving the explosives, the blasthole charging robot 3 walks to the unmanned explosives delivery vehicle 2 to receive explosive packages of various densities.

[0055] At the same time, the measuring robot 1 measures the depth of each blast hole and the strength of the rock near the blast hole in the blast hole area and transmits the measured data to the control center. After processing the data, the control center records the conditions of each blast hole. The system control center 4 transmits the condition information of different blast holes to the blast hole charging robot 3. The blast hole charging robot 3 fills each blast hole with explosive packs of corresponding density based on this information.

[0056] For this example, please refer to Figure 2 and Figure 4 , the measuring robot 1 comprises:

[0057] Depth measurement module 11, used to measure the depth of the blasthole;

[0058] Strength measurement module 12, used to measure the strength of the inner wall of the blasthole to determine the density of the rock where the blasthole is located;

[0059] The measurement data processing module 13 is used to receive the measurement data from the depth measurement module 11 and the intensity measurement module 12 and process the data;

[0060] The measuring walking module 14 is used to carry the depth measuring module 11, the strength measuring module 12 and the measurement data processing module 13 to walk on the blasting site. The depth measuring module 11, the strength measuring module 12 and the measurement data processing module 13 are all installed on the measuring walking module 14;

[0061] The strength measurement module is installed at the end of the measuring walking module 14. The strength measurement module 12 includes a strength measurement component 121, a lifting component 122 and a rotating component 123. The strength measurement component 121 includes a strength measurement end;

[0062] When the measuring walking module 14 moves to a certain blasthole, the strength measuring component 121 at its front end is aligned with the blasthole, and the lifting component 122 drives the strength measuring component 121 to move from the upper surface of the measuring walking module 14 to a certain height position in the blasthole. The rotating component 123 then drives the strength measuring end to rotate along the circumference of the inner wall of the blasthole. During the rotation process, the strength measuring end measures the strength of the inner wall of the blasthole respectively. After the measurement, the lifting component 122 drives the strength measuring component 121 to another different height in the blasthole to measure the strength of the inner wall of the blasthole at this height. The specific number of measurement data sets is determined according to the conditions of different blasting sites and the blasting effect to be achieved.

[0063] After measuring a sufficient number of sets of blasthole inner wall strength values, the lifting component 122 drives the strength measuring component 121 to move from the blasthole to the upper surface of the walking module.

[0064] For this example, please refer to Figures 4 to 6 , the lifting component 122 includes a telescopic rod 1221, and the telescopic rod 1221 includes a fixed end and a telescopic end;

[0065] The fixed end of the telescopic rod 1221 is installed on the measuring walking module 14, and the telescopic end of the telescopic rod 1221 is connected to the strength measuring component 121. The movement of the strength measuring component 121 between the upper surface of the measuring walking module 14 and the bottom of the blast hole is controlled by the extension and retraction of the telescopic rod 1221. The telescopic rod 1221 can be a hydraulic cylinder or a servo electric cylinder. The specific implementation method depends on the actual situation and will not be repeated here. As for the extension and retraction of the telescopic rod 1221, it corresponds to the rise and fall of the strength measuring component 121. It will be explained in detail in conjunction with the structure of the rotating component 123 below, which will be omitted here.

[0066] For this example, please refer to Figures 4 to 6 The rotating component 123 includes a connecting block 1231, a rotating rod 1232 and a rotating power member 1233;

[0067] The fixed end of the telescopic rod 1221 is fixedly mounted on the upper surface of the measuring walking module 14, and the telescopic end of the telescopic rod 1221 is fixedly connected to one end of the connecting block 1231. Our design here is that the outward extension direction of the telescopic rod 1221 is facing upward, and the other end of the connecting block 1231 is rotatably connected to one end of the rotating rod 1232, and the rotation axis is perpendicular to the upper surface of the measuring walking module 14, and is limited in the direction perpendicular to the upper surface of the measuring walking module 14. Here, the rotation connection position of the rotating rod 1232 and the connecting block 1231 is installed with a bearing. This is a common technical implementation method and will not be repeated here. The strength measuring component 121 is fixedly mounted on the other end of the rotating rod 1232, and the rotating power member 1233 drives the rotating rod 1232 to rotate;

[0068] That is, when working, the telescopic rod 1221 extends outward to drive the rotating rod 1232 connected by the connecting block 1231 to rise, thereby driving the strength measuring component 121 installed at the bottom of the rotating rod 1232 to rise; on the contrary, when the telescopic rod 1221 retracts, it drives the strength measuring component 121 to descend. When it descends to the measuring position, the rotating power part 1233 drives the rotating rod 1232 to rotate, thereby driving the strength measuring component 121 to rotate. Because the rotating rod 1232 and the connecting block 1231 are rotationally connected but are limited in the direction perpendicular to the upper surface of the measuring walking module 14, and the telescopic rod 1221 and the connecting block 1231 are fixedly connected, the rotation of the rotating rod 1232 will not drive the rotation of the connecting block 1231 and the telescopic rod 1221.

[0069] For this example, please refer to Figures 4 to 6 , we provide a technical implementation form of a rotating power piece 1233 driving the rotating rod 1232 to rotate. The rotating component 123 also includes a driving pulley 1234, a driven pulley 1235 and a transmission belt 1236. These three parts constitute a transmission structure between the rotating power piece 1233 and the rotating rod 1232. The transmission belt 1236 surrounds the outer walls of the driving pulley 1234 and the driven pulley 1235. The rotating rod 1232 passes through the center of the driven pulley 1235 and is key-connected with the driven pulley 1235. The rotating power piece 1233 drives the driving pulley 1234 to rotate, and drives the driven pulley 1235 to rotate through the transmission belt 1236. The rotation of the driven pulley 1235 drives the rotating rod 1232 to rotate. Because the servo motor has high precision, the servo motor is selected as the rotating power piece 1233. Of course, relevant personnel can select a more suitable power piece according to actual conditions.

[0070] For this example, please refer to Figure 5 , the strength measuring component 121 includes an intensity meter 1211, a rodless cylinder 1212 and a first camera 1213;

[0071] The rodless cylinder 1212 is fixedly mounted on the other end of the rotating rod 1232, the intensity meter 1211 is mounted on the rodless cylinder 1212, and the strength measuring end is arranged on the intensity meter 1211. When it is necessary to measure the strength of the inner wall of the blast hole, the rodless cylinder 1212 drives the strength measuring end to move along the radial direction of the blast hole until it is against the inner wall of the blast hole. The first camera 1213 is fixedly mounted on the rotating rod 1232 and is located above the intensity meter 1211. The first camera 1213 captures the value of the intensity meter 1211 and transmits the data to the measurement data processing module 13.

[0072] For this example, please refer to Figures 4 to 6 , the strength measurement module 12 further includes a displacement component 124, and the displacement component 124 is mounted on the measurement walking module 14;

[0073] The displacement component 124 includes a displacement power member 1241, a displacement slide rail 1242, and a displacement mounting plate 1243. The displacement mounting plate 1243 is slidably mounted on the displacement slide rail 1242. The displacement power member 1241 drives the displacement mounting plate 1243 to slide on the displacement slide rail 1242.

[0074] The lifting component 122, the rotating component 123 and the strength measuring component 121 are installed on the displacement mounting plate 1243. The displacement mounting plate 1243 is provided with a descending groove 1244. The strength measuring component 121 descends from the upper surface of the measuring walking module 14 into the blasthole through the descending groove 1244. In this way, when the strength measurement is not needed, the rotating rod 1232 can be raised until the strength measuring component 121 is located above the displacement mounting plate 1243. Then, the displacement power component 1241 drives the displacement mounting plate 1243 to carry the components installed thereon to a position above the measuring walking module 14 near the middle, so that the walking movement of the measuring walking module 14 on the construction site is convenient.

[0075] Here, the displacement power member 1241 is a structure in which a motor and a lead screw are combined. This structure is common in the art and will not be described in detail.

[0076] For this example, please refer to Figure 3 The depth measurement module 11 is installed at the end of the measurement walking module 14. The depth measurement module 11 includes a measuring rope 111, a sinking block 112, a rope winding wheel 113, a rope winding power member 114 and a second camera 115. A contact sensor 116 is installed at the bottom of the sinking block 112;

[0077] A measuring rope 111 is provided with a length mark. One end of the measuring rope 111 is fixedly connected to a rope reel 113. A sinker 112 is installed at the other end of the measuring rope 111. A rope reel power member 114 drives the rope reel 113 to rotate. The rotation of the rope reel 113 drives the measuring rope 111 to be wound around the rope reel 113 or to be lowered from the rope reel 113. A second camera 115 is installed at the end of the walking measurement module and faces the measuring rope 111.

[0078] During use, the measuring travel module 14 travels to a certain blasthole and adjusts its position so that the sinking block 112 is aligned with the blasthole. The rope winding power member 114 drives the rope winding wheel 113 to rotate, so that the measuring rope 111 descends until the sinking block 112 touches the bottom. At this time, the contact sensor 116 transmits a signal, the rope winding power member 114 stops providing power, and the measuring rope 111 stops descending. The second camera 115 records the value on the measuring rope 111 and transmits this information back to the measurement data processing module 13.

[0079] The rope winding power part 114 is a combination of a motor, a reducer and a chain drive, which is a common technical form and will not be described in detail here.

[0080] For this example, please refer to Figure 3 The outer surface of the measuring rope 111 is wrapped with a water-reflecting cloth. This cloth is primarily made of black cloth, coated with a specially treated, environmentally friendly white coating that becomes transparent upon contact with water. The coating's primary component is silicon dioxide, and its water-reflective properties are primarily due to the physical principle of light reflection. The water-reflecting cloth instantly turns black upon contact with water, then returns to white after drying, making it reusable. After the measuring rope 111 measures the depth, as it rewinds, a second camera 115 captures the color of the measuring rope 111. The measurement data processing module 13 calculates the water depth within the blasthole based on this color change. The water depth determines the type of blasting explosive selected. There are water-soluble and water-insoluble explosives, as well as those with a density greater than or less than water. Detailed information on blasting explosives can be obtained by consulting relevant literature and will not be elaborated upon here.

[0081] For this example, please refer to Figures 7 to 9 , further comprising a calibration module 15, the measuring walking module 14 comprises a measuring chassis 141;

[0082] The calibration module 15 includes a calibration power part 151, a calibration disk 152 and a calibration cylinder 153. The calibration power part 151 adopts a structural form of a combination of a motor and a reducer, which will not be repeated here. The calibration disk 152 is installed below the measurement chassis 141. There are multiple calibration cylinders 153, each of which includes a material receiving end and a material discharging end. The material receiving end and the material discharging end are both provided with an electric butterfly valve 154. The opening and closing of the electric butterfly valve 154 is controlled by the measurement data processing module 13. Pigments are added to the calibration cylinder 153 from the material receiving end. The material discharging end is a conical mouth to control the use of pigments during calibration. The colors of pigments added to different calibration cylinders 153 are different. Multiple calibration cylinders 153 are arranged along the circumference of the calibration disk 152 and the calibration disk 152. They are fixedly connected respectively, and the discharge end is located below the calibration disk 152. According to the information conveyed by the measurement data processing module 13, the calibration power part 151 drives the calibration disk 152 to rotate until the discharge end of a calibration cylinder 153 rotates to the position to be calibrated, and the electric butterfly valve 154 at the discharge end is opened to inject a certain color of pigment into the calibration position. The measurement data processing module 13 transmits the calibration information to the system control center 4. The system control center 4 issues instructions for explosives delivery to the unmanned explosives delivery vehicle 2 and instructions for filling explosive packages in the blastholes to the blasthole charging robot 3 based on this information. The blasthole charging robot 3 fills different types of explosive packages (i.e., explosive packages with different densities) into the blastholes according to different calibrated colors.

[0083] For this example, please refer to Figures 7 to 9 A pigment injection tube 16 is installed on the measuring walking module 14, and a valve is installed on the upper end of the pigment injection tube 16, and the upper end of the pigment injection tube 16 is a bell mouth, which is convenient for pigment injection; the lower end of the pigment injection tube 16 passes through the measuring chassis 141 and is located above the calibration cylinder 153. When the calibration cylinder 153 needs to add pigment, the calibration power part 151 drives the calibration disk 152 to rotate until the receiving end of a certain calibration cylinder 153 and the lower end of the pigment injection tube 16 are docked. At this time, the electric butterfly valve 154 at the receiving end and the valve of the pigment injection tube 16 are opened, and pigment is injected into the calibration cylinder 153 from the bell mouth at the upper end of the pigment injection tube 16.

[0084] For this example, please refer to Figure 2 The measuring walking module 14 is a crawler structure. The measuring walking module 14 with a crawler structure can better adapt to the terrain of the blast hole distribution area of ​​the field blasting site than the wheeled structure.

[0085] For this example, please refer to Figure 10 and Figure 11 The unmanned explosives delivery vehicle 2 includes a delivery walking module 21, a drug storage module 22, a charging module 23 and a delivery information processing module 24. The delivery walking module 21 carries other modules and moves between the ammonium oil vehicle 5 and the blasthole charging robot 3;

[0086] The medicine storage module 22 includes a fan-shaped chamber 221 and a medicine storage power member 222. There are multiple fan-shaped chambers 221. The sides of the multiple fan-shaped chambers 221 are sequentially connected to form a medicine storage barrel 223. Each fan-shaped chamber 221 is provided with a medicine loading port 224 and a medicine discharging port 225. Each medicine loading port 224 corresponds to an openable and closable medicine loading door component 226, and each medicine discharging port 225 corresponds to an openable and closable medicine discharging door component 227.

[0087] The medicine loading module 23 includes a medicine delivery component 231 and a bagging assembly 232. The medicine storage power component 222 drives the medicine storage barrel 223 to rotate around the central axis of the medicine storage barrel 223. As the medicine storage barrel 223 rotates, the medicine delivery component 231 sequentially connects the bagging assembly 232 with different medicine outlets 225.

[0088] When in use, the medicine storage power piece 222 drives the medicine storage barrel 223 to rotate. When the charging port 224 of a certain sector-shaped chamber 221 corresponds to the explosive outlet on the ammonium oil cart 5, the medicine storage barrel 223 stops rotating. The ammonium oil cart 5 feeds explosives into the sector-shaped chamber 221. After the ammonium oil cart 5 feeds a certain amount of explosive of a certain type (mainly different densities), it prepares other types of explosives. The medicine storage power piece 222 drives the medicine storage barrel 223 to rotate again. Until the charging port 224 of a different sector-shaped chamber 221 corresponds to the explosive outlet on the ammonium oil cart 5 again, the medicine storage power piece 222 stops driving the medicine storage barrel 223 to rotate. The ammonium oil cart 5 injects another type of explosive into different sector-shaped chambers 221, and reciprocates with this to inject other types of explosives into other sector-shaped chambers 221.

[0089] After the medicine storage barrel 223 is loaded with the required amount of explosives, the distribution walking module 21 is started, and the unmanned explosives distribution vehicle 2 moves to the blasthole charging robot 3. Then, the distribution information processing module 24 processes the different information of each blasthole at the blasting site received from the system control center 4. According to the processing result, the medicine storage power member 222 drives the medicine storage barrel 223 to rotate again until the medicine outlet 225 of the fan-shaped chamber 221 containing the required type of explosives and the medicine inlet of the medicine delivery component 231 are aligned. Then, the medicine storage power member 222 stops driving the medicine storage barrel 223 to rotate, the medicine outlet door component 227 opens, and the explosives enter the medicine delivery component 231 from the fan-shaped chamber 221. The medicine delivery component 231 delivers the explosives to the bagging component 232. The bagging component 232 packs the explosives into explosive bags and then distributes them to the blasthole charging robot 3.

[0090] The above design solves the problems in the prior art of requiring more manpower to load explosive packs and being unable to timely distribute explosive packs of different densities according to the needs of blasthole charging.

[0091] For this example, please refer to Figure 11The medicine delivery component 231 is a two-section spiral conveyor cylinder. The working principle and structural form of the spiral conveyor cylinder are well known to those skilled in the art and will not be described here. Relevant personnel can also choose spiral conveyor cylinders with different structural forms according to actual needs.

[0092] For this example, please refer to Figure 12 and Figure 14 The medicine storage module 22 also includes a balance wheel 228. There are at least three balance wheels 228. Because three points can determine a plane, at least three balance wheels 228 are required to ensure that the medicine storage barrel 223 is balanced during rotation. The balance wheel 228 is rotatably installed on the distribution walking module 21. The medicine storage barrel 223 and the balance wheel 228 are in rolling cooperation, and the distance between different adjacent balance wheels 228 in the circumferential direction of the medicine storage barrel 223 is equal.

[0093] For this example, please refer to Figure 12 and Figure 14 The medicine storage module 22 further includes a load-bearing plate 229 , and the medicine storage barrel 223 is fixedly mounted on the load-bearing plate 229 .

[0094] The balance wheel 228 is installed below the load-bearing plate 229 and rolls with the lower surface of the load-bearing plate 229. The medicine storage power part 222 drives the load-bearing plate 229 to rotate around its own central axis on the balance wheel 228. This design increases the stability of the entire medicine storage module 22 during operation. At the same time, if the connection part 3312 between the balance wheel 228 and the bearing plate fails, the load-bearing plate 229 can be checked and repaired without repairing the medicine storage barrel 223, thereby achieving the purpose of protecting the medicine storage barrel 223, increasing the safety of operation and reducing the cost of repair and maintenance.

[0095] For this example, please refer to Figures 12 to 15 The medicine outlet 225 is provided at the bottom of the fan-shaped chamber 221, and a medicine outlet hole 2291 is provided on the bearing plate 229 at a position corresponding to the medicine outlet 225; as the bearing plate 229 rotates, the different medicine outlet holes 2291 are connected to the bagging assembly 232 in sequence through the medicine delivery component 231;

[0096] The medicine outlet door component 227 includes a medicine outlet door power part 2271 and a medicine outlet door body 2272. The medicine outlet door power part 2271 drives the medicine outlet door body 2272 to close the medicine outlet 225. The medicine outlet door power part 2271 is a hydraulic cylinder, and the medicine outlet door body 2272 is a rotating opening and closing structure. The rotating opening and closing structure is a common mechanical opening and closing form, which will not be repeated here. Relevant personnel can also choose other opening and closing forms to close and open the medicine outlet 225.

[0097] For this example, please refer to Figures 12 to 15 The charging port 224 is opened at the top of the fan-shaped chamber 221, and the charging door component 226 includes a charging door power part 2261 and a charging door body 2262. The charging door power part 2261 drives the charging door body 2262 to close the charging port 224. The charging door power part 2261 is also a hydraulic cylinder. The charging door body 2262 and the top of the fan-shaped chamber 221 are slidably matched. The charging door power part 2261 drives the charging door body 2262 to slide on the top of the fan-shaped chamber 221 to achieve the purpose of closing and opening the charging port 224.

[0098] For this example, please refer to Figure 16 The bagging assembly 232 includes a bagging turntable 2321, a bag grabbing component 2322, a bag feeding component 2323, a bag opening component 2324, a bag sealing component 2325, and a bagging power component 2326. The medicine feeding component 231 includes an inlet and an outlet. When the medicine storage barrel 223 rotates, the inlet of the medicine feeding component 231 is sequentially connected to different medicine outlets 225.

[0099] The bag grabbing component 2322 is mounted on the outer wall of the bagging turntable 2321. The bag feeding component 2323, the bag opening component 2324, the outlet of the medicine feeding component 231, and the bag sealing component 2325 are sequentially mounted on the periphery of the bagging turntable 2321 along the circumference of the bagging turntable 2321. The bagging power component 2326 drives the bagging turntable 2321 to rotate. As the bagging turntable 2321 rotates, the bag grabbing component 2322 rotates to the bag feeding component 2323, the bag opening component 2324, the outlet of the medicine feeding component 231, and the bag sealing component 2325 in sequence.

[0100] In order to improve efficiency, a plurality of bag grabbing parts 2322 are installed on the outer wall of the bagging turntable 2321. When in use, a bag grabbing part 2322 rotates with the bagging turntable 2321 to the bag feeding part 2323, grabs an explosive bag on the bag feeding part 2323, and then rotates with the bagging turntable 2321 to the bag opening part 2324. The bag opening part 2324 opens the upper side opening of the explosive bag. After that, the explosive bag rotates with the bag grabbing part 2322 to the medicine feeding part 231. The medicine feeding part 231 sends the explosive bag, i.e., the PVC Explosives of a certain density are placed in the material bag, and the bag rotates to the bag sealing component 2325. The bag sealing component 2325 seals the upper opening of the PVC material bag. The PVC material bag filled with explosives and sealed is the explosive bag. When the explosive bag rotates to the position for receiving the explosive bag with the bag grabbing component 2322, the bag grabbing component 2322 puts the explosive bag down. The bag grabbing component 2322 that has put down the explosive bag rotates to the bag feeding component 2323 with the bag loading turntable 2321, and a new cycle begins.

[0101] The multiple bag-grabbing components 2322 rotate to the above-mentioned positions in sequence and complete the corresponding actions, and the loaded explosive packages can be delivered to the blasthole charging robot 3 one by one.

[0102] For this example, please refer to Figure 18 The bag grabbing component 2322 includes a clamping arm 2322a, a first clamping block 2322b, a second clamping block 2322c, a first bag grabbing power member 2322d and a second bag grabbing power member 2322e;

[0103] There are two clamping arms 2322a, which are slidably mounted on the outer wall of the bagging turntable 2321. The first bag-grabbing power member 2322d drives the two clamping arms 2322a to move closer to or away from each other along the tangential direction of the bagging turntable 2321. The length direction of the clamping arms 2322a is perpendicular to the tangential direction of the bagging turntable 2321.

[0104] The first clamping block 2322b and the second clamping block 2322c are installed on one of the clamping arms 2322a, and the second bag-grabbing power member 2322e drives the first clamping block 2322b and the second clamping block 2322c to move closer to or farther away from each other along the length direction of the clamping arm 2322a;

[0105] When grabbing the explosive bag, the first bag-grabbing power member 2322d first drives the two clamping arms 2322a apart, and the bag-feeding member 2323 delivers the bag between the two clamping arms 2322a. The two clamping arms 2322a then move closer to each other. When the two clamping arms 2322a touch the bag, the first bag-grabbing power member 2322d stops driving the two clamping arms 2322a closer together, and then the second bag-grabbing power member 2322e drives the first clamping block 2322b and the second clamping block 2322c on the clamping arms 2322a closer together until the bag is clamped. After the bag is clamped, the bag-feeding telescopic rod 2323b retracts and disengages the clamped bag, and the bag-grabbing member 2322 rotates to the bag-opening member 2324.

[0106] The first bag grabbing power component 2322d and the second bag grabbing power component 2322e can both use a micro electric telescopic rod, the movement method of the clamping arm 2322a, the first clamping block 2322b and the second clamping block 2322c can use a slide rail slider, and the first bag grabbing power component 2322d can also use a bidirectional screw. The specific methods are well known to those skilled in the art and will not be repeated here.

[0107] For this example, please refer to Figure 19 The bag delivery component 2323 includes a bag delivery push plate 2323a, a bag delivery telescopic rod 2323b and a push plate power member 2323c;

[0108] The bag-feeding telescopic rod 2323b includes a fixed end and a telescopic end. The fixed end of the bag-feeding telescopic rod 2323b is fixedly mounted on the bag-feeding push plate 2323a. The telescopic end of the bag-feeding telescopic rod 2323b is located outside the bag-feeding push plate 2323a and faces the bag-loading turntable 2321. The push plate power member 2323c drives the bag-feeding push plate 2323a to move closer to or away from the bag-loading turntable 2321.

[0109] When in use, explosive bags are hung vertically on the bag feeding telescopic rod 2323b one by one. Whenever the bag grabbing component 2322 grabs a bag filled with explosives, the pushing plate power component 2323c pushes the bag feeding pushing plate 2323a to move a certain distance toward the bag grabbing component 2322, and at the same time, the bag feeding telescopic rod 2323b retracts a certain distance, thereby ensuring that the next bag grabbing component 2322 can also successfully grab an explosive bag. This design solves the problem that two adjacent PVC rubber bags are difficult to separate when the explosive bags are placed horizontally. At the same time, the bag feeding mechanism composed of the bag feeding pushing plate 2323a, the bag feeding telescopic rod 2323b and the pushing plate power component 2323c has a simple structure. Compared with other complex bag feeding mechanisms, the mechanism has good operating reliability and low failure rate. The bag feeding telescopic rod 2323b uses a servo electric telescopic rod. The servo electric telescopic rod has more precise control of the telescopic stroke and can accurately control the stroke of a very small distance. The specific structure of the servo electric telescopic rod is common knowledge in the field and will not be repeated here.

[0110] For this example, please refer to Figure 19 The bag feeding component 2323 also includes a bag feeding workbench 2323d. The push plate power component 2323c is a servo hydraulic cylinder. The servo hydraulic cylinder is fixedly mounted on the bag feeding workbench 2323d and drives the bag feeding push plate 2323a to move on the bag feeding workbench 2323d. The advantages of the servo hydraulic cylinder include: control accuracy of 0.01mm; low noise, energy saving, cleanliness, high rigidity, impact resistance, long life, simple operation and maintenance; long working time, high strength, low maintenance cost, and flexible configuration. Because of these advantages, the servo hydraulic cylinder was selected.

[0111] For this example, please refer to Figure 19 The bag feeding component 2323 further includes a sliding platform 2323e, the sliding platform 2323e is fixedly mounted on the upper surface of the bag feeding workbench 2323d, and the bag feeding push plate 2323a is slidably mounted on the sliding platform 2323e;

[0112] The servo hydraulic cylinder drives the bag feeding push plate 2323a to slide on the sliding platform 2323e. The design of the sliding platform 2323e ensures the smooth operation of the servo hydraulic cylinder when pushing the bag feeding push plate 2323a to move. The servo hydraulic cylinder is also installed on the sliding platform 2323e, and the sliding platform 2323e also provides a suitable installation position for the servo hydraulic cylinder.

[0113] For this example, please refer to Figure 19 The sliding table 2323e is a roller conveyor table, and the roller conveyor belt includes a roller. The bag feeding push plate 2323a is installed on the roller. The installation here is to place it on the roller. When the servo hydraulic cylinder drives the bag feeding push plate 2323a to move on the roller conveyor table, the roller rolls. The reason for choosing roller conveyor here is that the roller conveyor has a flexible layout, a high degree of universality, and is easy to maintain in the later stage.

[0114] For this example, please refer to Figure 19 A ring groove 2323f is provided on the telescopic end of the bag feeding telescopic rod 2323b. There are multiple ring grooves 2323f, and the multiple ring grooves 2323f are arranged along the axial direction of the bag feeding telescopic rod 2323b. When in use, the PVC rubber bags are hung on the ring grooves 2323f one by one, and the bag grabbing component 2322 can smoothly grab the PVC rubber bags one by one, ensuring that during the bag feeding process, adjacent explosive bags will not stick together, affecting subsequent loading.

[0115] For this example, please refer to Figure 20 The bag opening component 2324 includes a pneumatic suction cup 2324a and a bag opening power element 2324b. The pneumatic suction cups 2324a are two and arranged opposite each other. The bag opening power element 2324b drives the two pneumatic suction cups 2324a to move closer or farther from each other. The pneumatic suction cups 2324a can be mounted on a slider mounted on a slide rail. The bag opening power element 2324b can be a motor. A telescopic component such as a hydraulic cylinder can be used. The specific structure is shown in the drawings and is readily understood by those skilled in the art by consulting relevant materials. Similarly, the structure of the pneumatic suction cups 2324a is also common knowledge in the art and will not be further described here.

[0116] For this example, please refer to Figure 16 and Figure 17 The bagging power component 2326 includes a bagging motor 2326a, a gearbox 2326b and a rotating shaft 2326c. The bagging motor 2326a is connected to the gearbox 2326b, the gearbox 2326b is connected to the rotating shaft 2326c, and one end of the rotating shaft 2326c is connected to the bagging turntable 2321.

[0117] The bagging motor 2326a drives the rotating shaft 2326c to rotate through the gearbox 2326b, and the rotation of the rotating shaft 2326c drives the bagging turntable 2321 to rotate. The bagging motor 2326a and the gearbox 2326b can be connected by a sprocket and a chain. Of course, this is only one way, and relevant personnel can also choose a more appropriate way according to actual conditions, which will not be elaborated here.

[0118] For this example, please refer to Figure 10 The distribution walking module 21 is a wheeled structure. This is because the unmanned explosives distribution vehicle 2 moves between the ammonium oil truck 5 and the equipment for loading explosive bags into the blastholes. The equipment for loading explosive bags into the blastholes can be moved on the construction site, so the terrain adaptability of the distribution walking module 21 does not need to be very strong. Compared with the crawler structure, the wheeled structure is easier to maintain and has lower cost in the later stage. Therefore, the distribution walking module 21 chooses a wheeled structure. The specific implementation form of the wheeled structure is well known to those skilled in the art and will not be repeated here.

[0119] For this example, please refer to Figure 21 and Figure 27 The blasthole charging robot 3 includes a charging walking module 31, a drug package storage module 32, a drug package grabbing module 33, a blasthole charging module 34, a rock cuttings backfilling module 35, and a charging information processing module 36. The drug package storage module 32, the drug package grabbing module 33, the rock cuttings backfilling module 35, the blasthole charging module 34, and the charging information processing module 36 are installed on the charging walking module 31;

[0120] When in use, information is sent to the charge information processing module 36, and the charge information processing module 36 starts the charge moving module 31, and the charge moving module 31 moves to a certain blasthole according to the received information;

[0121] The blasthole charging module 34 includes a drug bag carrying assembly 341 and a drug bag lifting power component 342, and the drug bag lifting power component 342 is installed on the charging walking module 31; the drug bag grabbing module 33 includes a gripper assembly 331 and a gripper power component 332, and the gripper power component 332 drives the gripper assembly 331 to grab the explosive bag on the drug bag storage module 32 and put it on the drug bag carrying assembly 341; the drug bag lifting power component 342 drives the drug bag carrying assembly 341 to move from the charging walking module 31 to a specified position in the blasthole, and an opening and closing door component 343 is installed at the bottom of the drug bag carrying assembly 341. When the opening and closing door component 343 is opened, the explosive bag falls from the drug bag carrying assembly 341 into the blasthole, and the drug bag lifting power component 342 drives the drug bag carrying assembly 341 to be lifted onto the charging walking module 31, and the opening and closing door component 343 is closed; the charging walking module 31 then moves to the next blasthole;

[0122] According to the above design, a blasthole charging robot 3 can replace multiple workers to load explosive packs into blastholes. At the same time, the robot can be used repeatedly, which not only saves manpower but also saves costs in multiple blasting processes.

[0123] For this example, please refer to Figure 24 and Figure 25 The gripper power assembly 332 includes a truss 3321 and a traction component 3322. The truss 3321 is installed on the charging walking module 31, and the traction component 3322 is installed on the truss 3321. The truss 3321 provides a suitable installation position for the traction component 3322.

[0124] The traction component 3322 drives the gripper assembly 331 to move between the medicine package storage module 32 and the medicine package carrying assembly 341;

[0125] The traction component 3322 includes a first hoist 3322a, a flexible cable 3322b, and a guide wheel assembly 3322c. One end of the flexible cable 3322b is fixedly connected to the first hoist 3322a, and the other end of the flexible cable 3322b passes through the guide wheel assembly 3322c and is fixedly connected to the gripper assembly 331.

[0126] The design of the commonly used robotic arm of a walking robot generally includes a base, with a motor and multiple transmission gears installed inside the base. There are also multiple parts and transmission parts at the joints to ensure the flexible movement of different arms. The traction part 3322 is much simpler in structure than the robotic arm. At the blasting site, due to dust, the failure rate of equipment with complex structure is higher than that of equipment with simple structure, and the reliability is lower. Therefore, the design of the relatively complex robotic arm is replaced by the traction part 3322 and the gripper part 3311 with relatively simple structure, which reduces the failure rate of the equipment and improves the reliability during the transportation of explosive packages, thereby solving the problem that the reliability cannot be well guaranteed when using the robotic arm for transportation due to dust at the blasting site.

[0127] For this example, please refer to Figure 24 and Figure 25 The truss 3321 is fixedly connected by a plurality of brackets 3321a and forms a drug package moving channel 3321b on the upper surface of the drug charging walking module 31. The gripper assembly 331 is installed in the drug package moving channel 3321b. The drug package moving channel 3321b provides a specific movement space for the gripper assembly 331.

[0128] The gripper assembly 331 includes a connecting portion 3312 and a gripper component 3311 , wherein the gripper component 3311 is fixedly installed below the connecting portion 3312 ;

[0129] There are at least four first hoists 3322a, and each of the first hoists 3322a corresponds to one flexible rope 3322b and one guide wheel group 3322c. At least two flexible ropes 3322b are fixedly connected to the upper end of the connecting part 3312, and at least another two flexible ropes 3322b are fixedly connected to the lower end of the connecting part 3312. The connection positions of the flexible ropes 3322b and the connecting part 3312 are alternately arranged at the upper and lower ends of the connecting part 3312. Different flexible ropes 3322b do not interfere with each other, and different flexible ropes 3322b pull the connecting part 3312 in different directions, thereby realizing the function that the gripping component 3311 can move in all directions in the medicine bag moving channel 3321b. The function of the connecting part 3312 is to provide a suitable connection position for the flexible ropes 3322b.

[0130] For this example, please refer to Figure 24 and Figure 25 There are eight first hoists 3322a, and each first hoist 3322a corresponds to one flexible rope 3322b and one guide wheel group 3322c. Four flexible ropes 3322b are fixedly connected to the upper end of the connecting part 3312, and the other four flexible ropes 3322b are fixedly connected to the lower end of the connecting part 3312. The use of eight hoists and eight flexible ropes 3322b further ensures the stability of the gripping component 3311 during movement compared to four hoists and four flexible ropes 3322b.

[0131] The designs of the above two embodiments refer to the utility model patent with authorization announcement number: CN 218433615 U, the patent owner of which is Yunnan Jiaotong Highway Construction Sixth Engineering Co., Ltd. and Southwest Forestry University - a flexible rope 3322b traction and transfer mechanism for cement sandbags. The patent describes in detail the movement mode and control method of the flexible rope 3322b traction mechanism, which will not be repeated here.

[0132] For this example, please refer to Figure 22 and Figure 23The drug package storage module 32 includes a plurality of drug package storage chambers 321. A drug package conveying assembly 322 is installed at the bottom of each drug package storage chamber 321. The drug package conveying assembly 322 includes a drug package conveying power component 3221 and a drug package conveyor belt 3222. The drug package conveying power component 3221 drives the drug package conveyor belt 3222 to rotate. Because intelligent blasting requires that blastholes of different intensities be filled with explosive packages of different densities, multiple drug package storage chambers 321 are designed to store explosive packages of different densities respectively. At the same time, each drug package storage chamber 321 is separately equipped with a drug package conveyor belt 3222 and a drug package conveying power component 3221, so that explosive packages of different densities can be conveyed to the front end of the drug package conveyor belt 3222 for grabbing by the gripper component 3311 as needed.

[0133] The front end of the medicine pack storage chamber 321 and the front end of the medicine pack conveyor belt 3222 are located in the medicine pack moving channel 3321b, thereby reducing the travel of the gripping member 3311 when gripping the medicine pack.

[0134] For this example, please refer to Figure 22 and Figure 23 The medicine bag conveyor belt 3222 is installed at the bottom of the medicine bag storage chamber 321, and the medicine bag transmission power component 3221 is installed below the medicine bag conveyor belt 3222 and is located inside the medicine bag storage chamber 321. The medicine bag storage chamber 321 and the medicine bag conveyor belt 3222 isolate most of the dust, which plays a role in protecting the transmission power component, reducing the adverse effects of dust on the internal structure of the transmission power component, and improving the reliability of the operation of the entire mechanism.

[0135] For this example, please refer to Figure 23 The medicine bag conveying power component 3221 includes a reduction motor integrated machine, a driving roller and a driven roller;

[0136] The reduction motor integrated unit is installed below the medicine bag conveyor belt 3222, and the two ends of the active roller and the two ends of the driven roller are rotatably connected to the two side walls of the medicine bag storage chamber 321 respectively; the medicine bag conveyor belt 3222 surrounds the active roller and the driven roller; the reduction motor integrated unit drives the active roller to rotate, driving the active roller to rotate, and the rotation of the active roller drives the medicine bag conveyor belt 3222 to rotate around the active roller and the driven roller. There can be multiple driven rollers to ensure the smoothness of the conveying process, or a support frame can be installed between the active roller and the driven roller to improve the bearing capacity of the medicine bag conveyor belt 3222. This structure is more common in actual applications and will not be repeated here.

[0137] For this example, please refer to Figure 23The drug package conveying power component 3221 also includes a belt, a driving pulley (blasthole charging robot) and a driven pulley (blasthole charging robot); the belt is wrapped around the driving pulley (blasthole charging robot) and the driven pulley (blasthole charging robot), and the reduction motor integrated machine drives the driving pulley (blasthole charging robot) to rotate, and one end of the driving roller passes through the center of the driven pulley (blasthole charging robot) and is fixedly connected. This is a structural form of the drug package conveying power component 3221, which has the characteristics of smooth transmission and compact structure.

[0138] For this example, please refer to Figure 25 and Figure 26 The gripping component 3311 includes a gripping mounting frame 3311a, a gripping power member 3311b and a medicine bag claw 3311c. There are multiple medicine bag claws 3311c. The gripping power member 3311b and the medicine bag claw 3311c are both mounted on the gripping mounting frame 3311a. The gripping mounting frame 3311a is fixedly mounted on the connecting portion 3312. The gripping power member 3311b drives different medicine bag claws 3311c to approach or move away from each other. When different medicine bag claws 3311c approach each other, the gripping component 3311 grabs the explosive bag. When different medicine bag claws 3311c move away from each other, the gripping component 3311 puts down the explosive bag. There are many structures of this type of gripping component 3311. We should try to choose a structure with a simple structure and a firm and reliable grip.

[0139] For this example, please refer to Figure 26 We have selected a simple gripper component 3311 to achieve the function of grabbing the explosive package. The structure will be described in detail below to ensure that those skilled in the art can design or select the corresponding gripper component 3311 based on the instructions. The gripper component 3311 also includes a first gripper bracket 3311d, a second gripper 3311e, and a third gripper 3311f. The gripping power member 3311b is a hydraulic cylinder, and the explosive package claws 3311c have three;

[0140] The fixed end of the hydraulic cylinder is fixedly mounted on the gripper mounting bracket 3311a, the telescopic rod of the hydraulic cylinder is extended and retracted toward the horizontal ground, the first gripper bracket 3311d and the second gripper bracket 3311e are both fixedly mounted on the telescopic end of the telescopic rod of the hydraulic cylinder, and the second gripper bracket 3311e is above the first gripper bracket 3311d;

[0141] There are three third gripping brackets 3311f. One end of each of the three third gripping brackets 3311f is hinged to the second gripping bracket 3311e at equal intervals along the circumference of the telescopic rod of the hydraulic cylinder. The other end of each of the three third gripping brackets 3311f is hinged to the middle of a medicine bag claw 3311c, with one third gripping bracket 3311f corresponding to one medicine bag claw 3311c. The non-grasping ends of the three medicine bag claws 3311c are hinged to the first gripping bracket 3311d at equal intervals along the circumference of the telescopic rod of the hydraulic cylinder.

[0142] When a charge needs to be grabbed, the telescopic rod of the hydraulic cylinder first extends outward to touch the charge to be grabbed, and then retracts, so that the grabbing ends of the three charge claws 3311c move closer to each other to grab the charge;

[0143] When the explosive pack is moved to the desired position, the telescopic rod of the hydraulic cylinder is extended again, the grasping ends of the three explosive pack claws 3311c move away from each other, and the explosive pack is put down.

[0144] For this example, please refer to Figure 26 The explosive pack claw 3311c is covered with a natural rubber sleeve 3311g. Since the outer skin of the explosive pack is made of PVC rubber material with the characteristics of wear resistance, impact resistance, waterproofness, flame retardancy, dustproofness and anti-staticness, the natural rubber sleeve 3311g is used to cover the explosive pack claw 3311c. This can increase the friction between the explosive pack claw 3311c and the explosive pack without causing damage by the outer packaging of the explosive pack.

[0145] For this example, please refer to Figure 26 The natural rubber sleeve 3311g is provided with a protrusion 3311h to further increase the friction between the explosive pack claw 3311c and the explosive pack, thereby ensuring the stability of the gripping component 3311 when grabbing the explosive pack.

[0146] For this example, please refer to Figure 27 and Figure 28 The drug package lifting power component 342 includes a second winch 3421 and a chain 3422. The second winch 3421 is installed on the upper surface of the charging walking module 31. A charge hole is provided on the charging walking module 31. One end of the chain 3422 is fixedly connected to the second winch 3421, and the other end of the chain 3422 passes through the charge hole and is fixedly connected to the drug package carrying component 341. When in use, the drug package lifting power component 342 drives the drug package carrying component 341 to move above the charge hole, and the gripping component 3311 grabs the explosive package onto the drug package carrying component 341. Then, the drug package lifting power component 342 drives the drug package carrying component 341 to pass through the charge hole and sink into the blast hole.

[0147] For this example, please refer to Figure 27 and Figure 28 The explosive package carrying assembly 341 includes a cartridge carrying cylinder 3411. A bore 3412 is formed at both the top and bottom ends of the cartridge carrying cylinder 3411. The diameter of the bore 3412 is greater than the length of the explosive package. The bore 3412 at the bottom end of the cartridge carrying cylinder 3411 is correspondingly provided with an opening and closing door component 343. When the cartridge carrying cylinder 3411 sinks to the bottom of the bore, the opening and closing door component 343 opens, allowing the explosive package to fall from the bore 3412 at the bottom end of the cartridge carrying cylinder 3411. At other times, the opening and closing door component 343 is closed.

[0148] The opening and closing door component 343 includes a fan-shaped door and an opening and closing door driving component 3432. There are multiple fan-shaped doors. The arc edge of the fan-shaped door is rotatably connected to the outer wall of the bottom end of the medicine package carrying tube 3411, and the straight edge of the fan-shaped door is in contact with the straight edges of other fan-shaped doors. The opening and closing door driving component 3432 drives the fan-shaped door to rotate. Here, the fan-shaped doors we choose are two semicircular doors 3431. The round edges of the semicircular doors 3431 are rotatably connected to the outer wall of the bottom end of the medicine package carrying tube 3411. The straight edges of one semicircular door 3431 are in contact with the straight edges of the other semicircular door 3431 when the opening and closing door component 343 is closed. The opening and closing door driving component 3432 uses a hydraulic telescopic rod, and the specific connection method is no longer repeated.

[0149] For this example, please refer to Figure 29 and Figure 30 The charging walking module 31 includes blasthole charging track wheels 311 and a blasthole charging chassis 312. The blasthole charging track wheels 311 are installed on both sides of the blasthole charging chassis 312, and the lower surface of the blasthole charging chassis 312 is higher than the bottom plane of the blasthole charging track wheels 311; the cuttings backfilling module 35 is installed on the lower surface of the blasthole charging chassis 312. The blasthole charging robot 3 needs to move between the positions of various blastholes, which requires higher terrain adaptability of the bag walking module. Therefore, we choose a tracked structure instead of a wheeled structure.

[0150] The backfill module includes a backfill shovel 351 and a backfill power component 352. The backfill power component 352 drives the backfill shovel 351 to move between the bottom plane of the track wheel and the lower surface of the chassis. After the explosive package is filled into the blast hole and the charge carrier tube 3411 rises onto the charge walking module, the backfill power component 352 drives the backfill shovel 351 to backfill the rock cuttings around the blast hole into the blast hole; the backfill power component 352 adopts a common forklift structure, that is, different hydraulic cylinders drive the backfill shovel 351 to lift and lower and move forward and backward respectively, which will not be repeated here.

[0151] For this example, please refer to Figure 21The blasthole charging robot 3 also includes a charging camera 37, which is installed at the front end of the charging walking module 31. The charging camera 37 collects the position information of each blasthole and transmits the information back to the charging information processing module 36. After analyzing the information, the charging information processing module 36 sends instructions to the drug package storage module 32 and the drug package grabbing module 33. The drug package grabbing module 33 grabs the corresponding type of explosive package from the drug package storage module 32 according to the instructions.

[0152] See also Figures 1 to 30 The present invention provides a classified charging method based on the aforementioned intelligent blasting unmanned charging system, comprising the following steps:

[0153] Measuring the blasthole depth: The measurement travel module 14 moves to a blasthole and adjusts its position so that the sinking block 112 is aligned with the blasthole. The rope winding power unit 114 drives the rope winding wheel 113 to rotate, causing the measuring rope 111 to descend until the sinking block 112 touches the bottom. At this time, the contact sensor 116 transmits a signal to the measurement data processing module 13, the rope winding power unit 114 stops providing power, and the measuring rope 111 stops descending. The second camera 115 records the value on the measuring rope 111 and transmits this information back to the measurement data processing module 13 to calculate the blasthole depth data;

[0154] Measuring the water depth in the blasthole: After the measuring rope 111 measures the depth, during the rewinding process, the second camera 115 captures the color of the water marking cloth on the measuring rope 111, and the measurement data processing module 13 calculates the water depth in the blasthole based on the color change;

[0155] 12. Measuring the strength of blastholes: When the walking module 14 moves to a certain blasthole, the displacement power part 1241 drives the displacement mounting plate 1243 with the strength measuring component 121 and other components to move to the top of the blasthole, and the telescopic rod 1221 retracts to drive the strength meter 1211 on the rotating rod 1232 to descend into the blasthole, and the rotating power part 1233 drives the rotating rod 1232 to rotate. During the rotation, the barless cylinder drives the strength measuring end to move along the radial direction of the blasthole until it touches the inner wall of the blasthole, and the strength measuring end measures the strength of the inner wall of the blasthole respectively. After the measurement, the telescopic rod 1221 extends or retracts again to drive the strength measuring end to align with positions at different heights of the inner wall of the blasthole, and measures the strength at this height again. The value of the strength measuring instrument is recorded by the first camera 1213 and transmitted to the measurement data processing module 13. After measuring a sufficient number of sets of blasthole inner wall strength values, the telescopic rod 1221 extends outward to drive the strength measuring component 121 to rise above the displacement mounting plate 1243;

[0156] Measurement data processing: The measurement data processing module 13 processes the received data and transmits it to the calibration module 15 and the system control center 4. The calibration power component 151 drives the calibration disk 152 to rotate until the discharge end of a calibration cylinder 153 rotates to the position to be calibrated. The electric butterfly valve 154 at the discharge end opens, injecting a certain color of paint into the calibration position to mark the blasthole. The system control center 4 issues instructions to the unmanned explosives delivery vehicle 2 and the blasthole charging robot 3 based on the received measurement information.

[0157] The unmanned explosive delivery vehicle 2 receives explosives: According to the command issued by the system control center 4, the unmanned explosive delivery vehicle 2 drives to the ammonium oil vehicle 5, and the drug storage power member 222 drives the drug storage barrel 223 to rotate. When the charging port 224 of a certain sector chamber 221 corresponds to the explosive outlet of the spiral conveying pipe on the ammonium oil vehicle 5, the drug storage barrel 223 stops rotating, opens the charging door component 226, and the ammonium oil vehicle 5 delivers explosives into the sector chamber 221. After the ammonium oil vehicle 5 delivers a certain amount of a certain type (mainly a certain density) After the explosives are loaded, the charging door component 226 is closed, and the ammonium oil cart 5 prepares other types of explosives. The drug storage power member 222 drives the drug storage barrel 223 to rotate again until the charging port 224 of the next different sector-shaped chamber 221 corresponds to the explosive outlet on the ammonium oil cart 5 again. The drug storage power member 222 stops driving the drug storage barrel 223 to rotate, and the ammonium oil cart 5 injects another type of explosive into the different sector-shaped chamber 221, and repeats this process to inject other types of explosives into other sector-shaped chambers 221.

[0158] The unmanned explosive delivery vehicle 2 transports explosives: After the explosive storage barrel 223 is filled with the required amount of explosives, the system control center 4 controls the delivery walking module 21 to start, and the unmanned explosive delivery vehicle 2 moves to the blasthole charging robot 3;

[0159] Explosive bagging: The delivery information processing module 24 processes the different information of each blasthole at different blasting sites received from the system control center 4. Based on the processing results, the explosive storage power component 222 drives the explosive storage barrel 223 to rotate again until the discharge port 225 of the fan-shaped chamber 221 containing the required type of explosive is aligned with the inlet of the drug delivery component 231. Then, the explosive storage power component 222 stops driving the drug storage barrel 223 to rotate, the drug discharge door component 227 opens, and the explosive enters the drug delivery component 231 from the fan-shaped chamber 221. The drug delivery component 231 delivers the explosive to the bagging component 232. The bagging component 232 packs the explosive into explosive bags and delivers them to the blasthole charging robot 3.

[0160] The blasthole charging robot 3 receives explosive packages: Based on the instructions from the system control center 4, the explosive package storage module 32 receives the packaged explosive packages from the unmanned explosive delivery vehicle 2 and places them in different explosive package storage chambers 321 according to their density;

[0161] The blasthole charging robot 3 moves to the blasthole: the charging information processing module 36 determines the location of the blasthole based on the blasthole mark captured by the charging camera 37 and the information received from the system control center 4, and then issues a command to control the blasthole charging robot 3 to move to a blasthole;

[0162] Dropping explosive packs into the blasthole: The charge information processing module 36 processes the information marked on the blasthole captured by the charge camera 37 and the information received from the system control center 4, determines the depth of the blasthole and the strength of the rock near the blasthole, and calculates the density of the explosive pack required for the blasthole. It then issues instructions to the pack storage module 32 and the pack grabbing module 33. The gripper power component 332 drives the gripper component 331 to grab the explosive pack in the corresponding type of pack storage chamber 321 and put it into the pack carrying tube 3411. The pack lifting power component 342 drives the pack carrying tube 3411 to move from the charge walking module 31 to the bottom of the blasthole. The opening and closing door component 343 opens, and the explosive pack is dropped from the pack carrying tube 3411 into the blasthole.

[0163] Lift the charge carrier assembly 341: the charge lifting power component 342 drives the charge carrier tube 3411 to move from the blast hole to the charge moving module 31, and then the opening and closing door component 343 is closed;

[0164] Backfilling rock: After the explosive package is filled into the blasthole and the charge carrier tube 3411 rises onto the charge walking module, the backfill power component 352 drives the backfill shovel 351 to backfill the rock cuttings around the blasthole into the blasthole; the blasthole charging robot 3 moves to the next blasthole.

[0165] In summary, the intelligent blasting unmanned charging system and classified charging method of the present invention are designed by a system consisting of a measuring robot 1, an unmanned explosives delivery vehicle 2, a blasthole charging robot 3, a system control center 4 and an ammonium oil vehicle 5. The measuring robot 1 replaces manpower to measure the depth of the blasthole and the strength of the rock near the blasthole, the unmanned explosives delivery vehicle 2 replaces manpower to pack and seal the explosives, and the blasthole charging robot 3 replaces manpower to load the blasthole with explosive bags, thereby saving manpower. In addition, the measuring robot 1, the unmanned explosives delivery vehicle 2 and the blasthole charging robot 3 can be used repeatedly. When the number of blastholes filled reaches a certain number, the cost is reduced compared to using manpower, which improves the overall efficiency. The blasting process is intelligent. Simultaneously, through the design of the depth measurement module 11, the strength measurement module 12, the measurement data processing module 13, and the measurement travel module 14, the depth measurement module 11 is used to measure the depth of the blasthole, and the strength measurement module 12 is used to measure the strength of the rock on the inner wall of the blasthole, i.e., the location of the blasthole. The lifting component 122 and the rotating component 123 enable the strength measurement component 121 to measure the strength at different depths and locations on the inner wall of the blasthole. This results in more accurate measurement results, which are then transmitted to the measurement data processing module 13 for processing. This solves the problem of inaccurate rock strength values ​​calculated by the operator based on experience and parameter information fed back by equipment such as the drill pipe. Therefore, the present invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0166] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. An intelligent blasting unmanned charging system, characterized by: It includes a measuring robot, an unmanned explosives delivery vehicle, a blasthole charging robot, a system control center and an ammonium oil vehicle. The system control center controls the actions of the measuring robot, the unmanned explosives delivery vehicle and the blasthole charging robot. The measuring robot measures the depth of the blasthole and the density of the rock near the blasthole. The ammonium oil truck provides explosives to the unmanned explosives delivery vehicle. The unmanned explosives delivery vehicle packages a variety of explosive packages with different densities and delivers the explosive packages to the blasthole charging robot. The blasthole charging robot fills the explosive packages into the blasthole and backfills the rock cuttings near the blasthole into the blasthole. The unmanned explosives delivery vehicle comprises a delivery walking module, an explosives storage module, an explosives loading module and a delivery information processing module, wherein the explosives storage module, the explosives loading module and the delivery information processing module are mounted on the delivery walking module; The medicine storage module includes a fan-shaped chamber and a medicine storage power part. There are multiple fan-shaped chambers. The sides of the multiple fan-shaped chambers are sequentially connected to form a medicine storage barrel. Each fan-shaped chamber is provided with a medicine loading port and a medicine discharging port. One of the medicine loading ports corresponds to an openable and closable medicine loading door component, and one of the medicine discharging ports corresponds to an openable and closable medicine discharging door component. The medicine loading module includes a medicine delivery component and a bagging assembly. The medicine storage power component drives the medicine storage barrel to rotate around the central axis of the medicine storage barrel. As the medicine storage barrel rotates, the medicine delivery component sequentially connects the bagging assembly with different medicine outlets. The bagging assembly includes a bagging turntable, a bag grabbing component, a bag feeding component, a bag opening component, a bag sealing component and a bagging power component. The medicine feeding component includes an inlet and an outlet. When the medicine storage barrel rotates, the inlet of the medicine feeding component is connected to different medicine outlets in sequence. The bag grabbing component is mounted on the outer wall of the bagging turntable, and the bag feeding component, the bag opening component, the outlet of the medicine feeding component, and the bag sealing component are sequentially mounted on the periphery of the bagging turntable along the circumference of the bagging turntable. The bagging power component drives the bagging turntable to rotate, and the bag grabbing component rotates to the bag feeding component, the bag opening component, the outlet of the medicine feeding component, and the bag sealing component in sequence as the bagging turntable rotates. The bag delivery component includes a bag delivery push plate, a bag delivery telescopic rod and a push plate power component; The bag delivering telescopic rod includes a fixed end and a telescopic end. The fixed end of the bag delivering telescopic rod is fixedly mounted on the bag delivering push plate. The telescopic end of the bag delivering telescopic rod is located on the outside of the bag delivering push plate and faces the bag loading turntable. The push plate power part drives the bag delivering push plate to approach or move away from the bag loading turntable.

2. The intelligent blasting unmanned charging system according to claim 1, characterized in that: The measuring robot includes a depth measuring module, a strength measuring module, a measurement data processing module and a measurement walking module, wherein the depth measuring module, the strength measuring module and the measurement data processing module are mounted on the measurement walking module; The strength measuring module is installed at the end of the measuring walking module. The strength measuring module includes a strength measuring component, a lifting component and a rotating component. The lifting component drives the strength measuring component to rise and fall between the upper surface of the measuring walking module and the bottom of the blast hole. The strength measuring component includes a strength measuring end, and the rotating component drives the strength measuring end to rotate circumferentially along the inner wall of the blast hole.

3. The intelligent blasting unmanned charging system according to claim 2, characterized in that: The depth measurement module is installed at the end of the measurement walking module. The depth measurement module includes a measuring rope, a sinking block, a rope winding wheel, a rope winding power member and a second camera. A contact sensor is installed at the bottom of the sinking block. The measuring rope is provided with a length mark, one end of the measuring rope is fixedly connected to the rope winding wheel, and the other end of the measuring rope is installed with the sinking block, and the rope winding power member drives the rope winding wheel to rotate, and the rotation of the rope winding wheel drives the measuring rope to wrap around the rope winding wheel or be lowered from the rope winding wheel; The second camera is installed at the end of the measuring walking module and faces the measuring rope.

4. The intelligent blasting unmanned charging system according to claim 1, characterized in that: The charging robot includes a charging walking module, a drug bag storage module, a drug bag grabbing module, a blasthole charging module, a rock cuttings backfilling module and a charging information processing module, wherein the drug bag storage module, the drug bag grabbing module, the rock cuttings backfilling module, the blasthole charging module and the charging information processing module are installed on the charging walking module; The blasthole charging module includes a drug package carrying assembly and a drug package lifting power component, the drug package lifting power component is installed on the charging walking module, the drug package lifting power component drives the drug package carrying assembly to move between the charging walking module and the bottom of the blasthole, and an opening and closing door component is installed at the bottom of the drug package carrying assembly; The medicine package grabbing module includes a gripper assembly and a gripper power assembly, and the gripper power assembly drives the gripper assembly to move between the medicine package storage module and the medicine package carrying assembly.

5. The intelligent blasting unmanned charging system according to claim 4, characterized in that: The gripper power assembly includes a truss and a traction component, the truss is mounted on the charging walking module, and the traction component is mounted on the truss; The traction component drives the gripper assembly to move between the medicine package storage module and the medicine package carrying assembly; The traction component includes a first hoist, a flexible cable and a guide wheel group. One end of the flexible cable is fixedly connected to the first hoist, and the other end of the flexible cable passes around the guide wheel group and is fixedly connected to the gripper assembly.

6. The intelligent blasting unmanned charging system according to claim 4, characterized in that: The drug bag lifting power component includes a second winch and a chain. The second winch is installed on the upper surface of the drug charging walking module. A drug dropping hole is opened on the drug charging walking module. One end of the chain is fixedly connected to the second winch, and the other end of the chain passes through the drug dropping hole and is fixedly connected to the drug bag carrying assembly. The explosive package carrying assembly includes an explosive package carrying cylinder, wherein the top and bottom ends of the explosive package carrying cylinder are both provided with cylinder holes, the diameter of the cylinder holes being larger than the length of the explosive package; the cylinder hole at the bottom end of the explosive package carrying cylinder is provided with the opening and closing door component correspondingly; The opening and closing door component includes a fan-shaped door and an opening and closing door driving component. There are multiple fan-shaped doors. The arc edge of the fan-shaped door is rotatably connected to the outer wall of the bottom end of the medicine bag carrying tube. The straight edge of the fan-shaped door is in contact with the straight edge of other fan-shaped doors. The opening and closing door driving component drives the fan-shaped door to rotate.

7. A classified charging method for an intelligent blasting unmanned charging system according to any one of claims 1 to 6, comprising the following steps: Determining the depth of the blasthole and the strength of the rock near the blasthole: The system control center controls the measuring robot to move to the vicinity of the blasthole, and the measuring robot measures the depth of the blasthole and the strength of the rock near the blasthole and transmits the measured data back to the system control center. After processing the data, the system control center issues instructions for explosives delivery and loading explosive packages into the blasthole to the unmanned explosives delivery vehicle and the blasthole charging robot; Explosives delivery: The unmanned explosives delivery vehicle drives to the ammonium oil truck according to the instructions of the system control center, receives the explosives from the ammonium oil truck, and packages the explosives from the ammonium oil truck into a variety of explosive packages with different densities, and then delivers the explosive packages to the blasthole charging robot; Filling explosive packages: According to the instructions of the system control center, the blasthole charging robot fills the explosive packages received from the unmanned explosive delivery vehicle into the blasthole and backfills the rock cuttings near the blasthole into the blasthole.

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