Intelligent blasting hole charging robot and charging method

Abstract

This invention provides an intelligent blasting borehole loading robot and loading method, belonging to the technical field of intelligent blasting borehole loading equipment. This intelligent blasting borehole loading robot, through a loading walking module that integrates a charge storage module, a charge grasping module, a borehole loading module, a cuttings backfilling module, and a loading information processing module, solves the problem of excessive manual labor in existing technologies for loading explosive charges into boreholes. This intelligent blasting borehole loading robot includes a loading walking module, a charge storage module, a charge grasping module, a borehole loading module, a cuttings backfilling module, and a loading information processing module. The charge storage module, the charge grasping module, the cuttings backfilling module, the borehole loading module, and the loading information processing module are mounted on the loading walking module; the borehole loading module includes a charge carrying component and a charge lifting and lowering power component.

Description

Technical Field

[0001] This invention belongs to the technical field of intelligent blasting borehole charging equipment, and in particular relates to an intelligent blasting borehole charging robot and charging method. Background Technology

[0002] Blasting is a technique that utilizes the compression, loosening, destruction, throwing, and destructive effects produced by the explosion of explosives in air, water, soil, rock, or other materials to achieve a desired objective. It includes the phenomena of compression, deformation, destruction, loosening, and throwing of explosive charges or packages within soil, rock, or structures. It is primarily used in earthwork engineering and the demolition of metal buildings and structures. At open-pit blasting sites, such as mines, tasks include borehole layout, drilling, explosive loading, backfilling of boreholes, and blast warning.

[0003] In recent years, intelligent blasting has gradually been applied to open-pit blasting sites. Intelligent blasting refers to the process of obtaining the approximate strength of rocks at different locations by using the operator's experience and parameter information fed back by equipment such as drill rods when drilling blast holes in the open. For blast holes in areas with rocks of different strengths, explosives of different densities are filled. That is, high-density explosives are filled for areas with high-strength rocks, and low-density explosives are filled for areas with low-strength rocks. This ensures that high-strength rocks that are difficult to blast can be broken up, and that the amount of explosives used in low-strength rock areas can be saved.

[0004] Currently, the method for loading explosives into blast holes during blasting involves selecting explosive charges of appropriate density based on the rock strength and blast hole depth recorded during drilling, placing them into different blast holes, and then backfilling the blast holes with rock debris from the vicinity. The entire process requires a lot of manpower, and the manual operation of placing explosive charges carries certain risks. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide an intelligent blasting borehole loading robot and loading method to solve the problem that the prior art requires a lot of manpower to load explosive charges into boreholes.

[0006] To achieve the above and other related objectives, the present invention provides an intelligent blasting borehole loading robot, comprising a loading walking module, a charge storage module, a charge grasping module, a borehole loading module, a cuttings backfilling module, and a loading information processing module, wherein the charge storage module, the charge grasping module, the cuttings backfilling module, the borehole loading module, and the loading information processing module are mounted on the loading walking module;

[0007] The blast hole loading module includes a charge carrier assembly and a charge lifting power component. The charge lifting power component is installed on the loading travel module and drives the charge carrier assembly to move between the loading travel module and the bottom of the blast hole. An opening and closing door component is installed at the bottom of the charge carrier assembly.

[0008] The medicine pack grasping module includes a gripper assembly and a gripper power assembly, wherein the gripper power assembly drives the gripper assembly to move between the medicine pack storage module and the medicine pack carrying assembly.

[0009] Optionally, the gripper power assembly includes a truss and a traction component, the truss being mounted on the charge-carrying travel module, and the traction component being mounted on the truss;

[0010] The traction component drives the gripper assembly to move between the medicine pack storage module and the medicine pack carrying assembly;

[0011] The traction component includes a first winch, a flexible cable, and a guide wheel assembly. One end of the flexible cable is fixedly connected to the first winch, and the other end of the flexible cable passes around the guide wheel assembly and is fixedly connected to the gripper assembly.

[0012] Optionally, the truss is fixedly connected by several supports and forms a drug pack moving channel on the upper surface of the drug loading and walking module, and the gripper assembly is installed in the drug pack moving channel;

[0013] The gripper assembly includes a connecting part and a gripper component, wherein the gripper component is fixedly installed below the connecting part;

[0014] There are at least four first winches, each of which corresponds to one flexible rope and one guide wheel assembly. At least two of the flexible ropes are fixedly connected to the upper end of the connecting part, and at least two other flexible ropes are fixedly connected to the lower end of the connecting part. The connection positions of the flexible ropes and the connecting part are alternately arranged at the upper and lower ends of the connecting part. Different flexible ropes do not interfere with each other, and different flexible ropes pull the connecting part in different directions.

[0015] Optionally, there are eight first winches, each of which corresponds to one flexible rope and one guide wheel assembly. Four of the flexible ropes are fixedly connected to the upper end of the connecting part, and the other four flexible ropes are fixedly connected to the lower end of the connecting part.

[0016] Optionally, the medicine pack storage module includes multiple medicine pack storage chambers, and a medicine pack conveying assembly is installed at the bottom of each medicine pack storage chamber. The medicine pack conveying assembly includes a medicine pack conveying power component and a medicine pack conveyor belt, and the medicine pack conveying power component drives the medicine pack conveyor belt to rotate.

[0017] The front end of the medicine pack storage room and the front end of the medicine pack conveyor belt are located within the medicine pack moving channel.

[0018] Optionally, the medicine pack lifting power component includes a second winch and a chain. The second winch is installed on the upper surface of the medicine loading and walking module. The medicine loading and walking module has a medicine dropping hole. One end of the chain is fixedly connected to the second winch, and the other end of the chain passes through the medicine dropping hole and is fixedly connected to the medicine pack carrying component.

[0019] Optionally, the explosive charge carrier assembly includes an explosive charge carrier cylinder, with holes at both the top and bottom ends of the cylinder, the diameter of which is larger than the length of the explosive charge; the opening and closing door component is correspondingly provided at the hole at the bottom end of the explosive charge carrier cylinder.

[0020] The opening and closing door component includes a fan-shaped door and an opening and closing door drive 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 pack carrier cylinder. 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 drive component drives the fan-shaped door to rotate.

[0021] Optionally, the loading and walking module includes tracked wheels and a chassis, with the tracked wheels mounted on both sides of the chassis and the lower surface of the chassis being higher than the bottom plane of the tracked wheels; the cuttings backfilling module is mounted on the lower surface of the chassis.

[0022] The backfill module includes a backfill shovel and a backfill power unit, wherein the backfill power unit drives the backfill shovel to move between the bottom plane of the track wheel and the lower surface of the chassis.

[0023] Optionally, a drug loading camera may also be included, which is installed at the front end of the drug loading walking module.

[0024] The charging method for an intelligent blasting borehole charging robot described above includes the following steps:

[0025] Receiving explosive charges: The explosive charge storage module receives the sealed explosive charges with the detonation device installed, and places them in different positions of the explosive charge storage module according to the density of the explosive charges;

[0026] Walking to the blast hole: The explosive charging information processing module receives and processes the blast hole location information of different depths and intensities, and then issues a command to control the intelligent blasting blast hole charging robot to walk to a blast hole.

[0027] Dropping explosive charges into the borehole: Based on the information received by the charge information processing module, the gripper power component drives the gripper component to grab the explosive charge from the charge storage module onto the charge carrier component. The charge lifting power component drives the charge carrier component to move from the charge walking module to the bottom of the borehole. The opening and closing door component opens, and the explosive charge is dropped from the charge carrier component into the borehole.

[0028] Lifting the propellant pack carrying assembly: The propellant pack lifting power component drives the propellant pack carrying assembly from the blast hole to the propellant loading and walking module, and then the opening and closing door component closes;

[0029] Backfilling rock cuttings: The rock cuttings backfilling module backfills the rock cuttings around the blast hole into the blast hole; The intelligent blasting blast hole loading robot moves to the next blast hole.

[0030] As described above, the intelligent blasting borehole loading robot method of the present invention has at least the following beneficial effects:

[0031] 1. This intelligent blasting borehole loading robot, through a loading and walking module carrying a charge storage module, a charge grabbing module, a borehole loading module, a cuttings backfilling module, and a charge information processing module, moves to the borehole. The charge grabbing module grabs the explosive charge from the storage module onto the charge carrying component, and then the lifting power component drives the charge carrying component to deliver the explosive charge into the borehole before lifting the charge carrying component. Finally, the cuttings backfilling module backfills the cuttings near the borehole into the borehole. With this design, one intelligent blasting borehole loading robot can replace multiple workers in loading explosive charges into the borehole. At the same time, the robot can be reused multiple times, which not only saves manpower but also saves costs in multiple blasting processes.

[0032] 2. This intelligent blasting borehole loading robot replaces the relatively complex mechanical arm design with a traction component and a gripper component, reducing the equipment failure rate and improving the reliability of the explosive charge transfer process. This solves the problem that the reliability of mechanical arm transfer cannot be well guaranteed due to dust at the blasting site. Attached Figure Description

[0033] Figure 1 The diagram shown is a schematic of an intelligent blasting borehole loading robot according to the present invention.

[0034] Figure 2 The diagram shown is a schematic of the medicine package storage module of the present invention.

[0035] Figure 3 The diagram shown is a schematic representation of the medicine package delivery assembly of the present invention.

[0036] Figure 4The diagram shown is a schematic of the medicine packet grasping module of the present invention.

[0037] Figure 5 The diagram shown illustrates the gripper assembly and gripper power assembly of the present invention.

[0038] Figure 6 The diagram shown is a schematic representation of the gripper component of the present invention.

[0039] Figure 7 The diagram shown is a schematic of the borehole charging module of the present invention.

[0040] Figure 8 The diagram shown is a schematic representation of the medicine package carrier assembly of the present invention.

[0041] Figure 9 The diagram shows the location of the cuttings backfill module of the present invention.

[0042] Figure 10 The diagram shown is a schematic diagram of the rock cuttings backfill module of the present invention.

[0043] Figure 11 The diagram shown is a structural schematic of a transfer robotic arm.

[0044] Component designation explanation

[0045] The components include: a drug loading and walking module 31, track wheels 311, a chassis 312, a drug package storage module 32, a drug package storage chamber 321, a drug package conveying assembly 322, a drug package conveying power component 3221, a drug package conveyor belt 3222, a drug package gripping module 33, a gripper assembly 331, a gripper component 3311, a gripper mounting bracket 3311a, a gripping power component 3311b, a drug package claw 3311c, a first gripper bracket 3311d, a second gripper bracket 3311e, a third gripper bracket 3311f, a natural rubber sleeve 3311g, a protrusion 3311h, a connecting part 3312, and a gripper power component 332. Truss 3321, support 3321a, explosive charge moving channel 3321b, traction component 3322, first winch 3322a, flexible cable 3322b, guide wheel assembly 3322c, blast hole loading module 34, explosive charge carrying assembly 341, explosive charge carrying cylinder 3411, cylinder hole 3412, explosive charge lifting power component 342, second winch 3421, chain 3422, opening and closing door component 343, semi-circular door 3431, opening and closing door drive component 3432, rock cuttings backfilling module 35, backfill shovel 351, backfilling power component 352, explosive charge information processing module 36, explosive charge camera 37. Detailed Implementation

[0046] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0047] Please see Figures 1 to 11 It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0048] The following embodiments are for illustrative purposes only. These embodiments can be combined and are not limited to the content shown in any single embodiment below.

[0049] Please see Figure 1 and Figure 7 This invention provides an intelligent blasting borehole loading robot, comprising a loading walking module 31, a charge storage module 32, a charge grabbing module 33, a borehole loading module 34, a cuttings backfilling module 35, and a loading information processing module 36. The charge storage module 32, the charge grabbing module 33, the cuttings backfilling module 35, the borehole loading module 34, and the loading information processing module 36 are mounted on the loading walking module 31.

[0050] When in use, information is sent to the charging information processing module 36, and the charging information processing module 36 starts the charging walking module 31. The charging walking module 31 moves to a certain borehole according to the received information.

[0051] The borehole loading module 34 includes a charge carrier assembly 341 and a charge lifting power component 342, which is mounted on the loading travel module 31. The charge grabbing module 33 includes a gripper assembly 331 and a gripper power component 332. The gripper power component 332 drives the gripper assembly 331 to grab the explosive charge from the charge storage module 32 onto the charge carrier assembly 341. The charge lifting power component 342 drives the charge carrier assembly 341 from the loading travel module 31 to a designated position inside the borehole. An opening and closing door component 343 is installed at the bottom of the charge carrier assembly 341. When the opening and closing door component 343 opens, the explosive charge falls from the charge carrier assembly 341 into the borehole. The charge lifting power component 342 then drives the charge carrier assembly 341 to rise onto the loading travel module 31, and the opening and closing door component 343 closes. The loading travel module 31 then moves to the next borehole.

[0052] The above design allows a single intelligent blasting hole loading robot to replace multiple workers in loading explosive charges into blast holes. Furthermore, the robot can be reused multiple times, saving both manpower and costs during multiple blasting operations.

[0053] For this embodiment, please refer to Figure 4 , Figure 5 and Figure 11 The gripper power assembly 332 includes a truss 3321 and a traction component 3322. The truss 3321 is mounted on the drug delivery walking module 31, and the traction component 3322 is mounted on the truss 3321. The truss 3321 provides a suitable installation position for the traction component 3322.

[0054] The traction component 3322 drives the gripper assembly 331 to move between the medicine pack storage module 32 and the medicine pack carrying assembly 341;

[0055] The traction component 3322 includes a first winch 3322a, a flexible cable 3322b, and a guide wheel assembly 3322c. One end of the flexible cable 3322b is fixedly connected to the first winch 3322a, and the other end of the flexible cable 3322b passes around the guide wheel assembly 3322c and is fixedly connected to the gripper assembly 331.

[0056] The design of a walking robot's commonly used robotic arm typically includes a base, inside which a motor and multiple transmission gears are installed. At the joints, there are also multiple components and transmission parts to ensure the flexible movement of different arms. The traction component 3322 has a much simpler structure compared to the robotic arm itself. At blasting sites, due to dust pollution, equipment with complex structures has a higher failure rate and lower reliability than equipment with simpler structures. Therefore, the relatively simple traction component 3322 and gripper component 3311 replace the relatively complex robotic arm design, reducing the equipment failure rate and improving the reliability of explosive charge transport. This solves the problem of insufficient reliability when using a robotic arm for transport due to dust pollution at blasting sites.

[0057] For this embodiment, please refer to Figure 4 and Figure 5 The truss 3321 is fixedly connected by several supports 3321a and forms a medicine bag moving channel 3321b on the upper surface of the medicine bag moving module 31. The gripper assembly 331 is installed in the medicine bag moving channel 3321b, and the medicine bag moving channel 3321b provides specific movement space for the gripper assembly 331.

[0058] The gripper assembly 331 includes a connecting part 3312 and a gripper component 3311, wherein the gripper component 3311 is fixedly installed below the connecting part 3312;

[0059] There are at least four first winches 3322a. Each first winch 3322a corresponds to one flexible rope 3322b and one guide wheel assembly 3322c. At least two flexible ropes 3322b are fixedly connected to the upper end of the connecting part 3312, and at least two other 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. This enables the gripper component 3311 to move in all directions within the medicine pack moving channel 3321b. The function of the connecting part 3312 is to provide a suitable connection position for the flexible ropes 3322b.

[0060] For this embodiment, please refer to Figure 4 and Figure 5 There are eight first winches 3322a. Each first winch 3322a corresponds to one flexible cable 3322b and one guide wheel assembly 3322c. Four flexible cables 3322b are fixedly connected to the upper end of the connecting part 3312, and the other four flexible cables 3322b are fixedly connected to the lower end of the connecting part 3312. The use of eight winches and eight flexible cables 3322b further ensures the stability of the gripper component 3311 during movement compared to using four winches and four flexible cables 3322b.

[0061] The design of the above two embodiments references the utility model patent with authorization announcement number CN 218433615 U, which is owned by Yunnan Jiaotong Highway Construction Sixth Engineering Co., Ltd. and Southwest Forestry University. The patent describes in detail the motion mode and control mode of the flexible cable 3322b traction mechanism, which will not be repeated here.

[0062] For this embodiment, please refer to Figure 2 and Figure 3The explosive charge storage module 32 includes multiple explosive charge storage chambers 321. Each explosive charge storage chamber 321 has an explosive charge conveying assembly 322 installed at its bottom. The explosive charge conveying assembly 322 includes an explosive charge conveying power component 3221 and an explosive charge conveying belt 3222. The explosive charge conveying power component 3221 drives the explosive charge conveying belt 3222 to rotate. Because intelligent blasting requires filling blast holes of different strengths with explosive charges of different densities, multiple explosive charge storage chambers 321 are designed to store explosive charges of different densities respectively. At the same time, each explosive charge storage chamber 321 is equipped with an explosive charge conveying belt 3222 and an explosive charge conveying power component 3221. Thus, explosive charges of different densities can be conveyed to the front end of the explosive charge conveying belt 3222 for the gripper component 3311 to grab as needed.

[0063] The front end of the medicine pack storage chamber 321 and the front end of the medicine pack conveyor belt 3222 are located within the medicine pack moving channel 3321b, thereby reducing the travel of the gripper component 3311 when gripping the medicine pack.

[0064] For this embodiment, please refer to Figure 2 and Figure 3 The medicine pack conveyor belt 3222 is installed at the bottom of the medicine pack storage chamber 321. The medicine pack transmission power component 3221 is installed below the medicine pack conveyor belt 3222 and inside the medicine pack storage chamber 321. The medicine pack storage chamber 321 and the medicine pack conveyor belt 3222 isolate most of the dust, which protects the transmission power component, reduces the adverse effects of dust on the internal structure of the transmission power component, and improves the reliability of the entire mechanism.

[0065] For this embodiment, please refer to Figure 2 and Figure 3 The medicine pack conveying power component 3221 includes an integrated geared motor, a driving roller, and a driven roller;

[0066] The geared motor is installed below the medicine bag conveyor belt 3222. Both ends of the drive roller and 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 drive roller and the driven roller. The geared motor drives the drive roller to rotate, which in turn drives the medicine bag conveyor belt 3222 to rotate around the drive roller and the driven roller. There can be multiple driven rollers to ensure the smoothness of the conveying process. Alternatively, a support frame can be installed between the drive roller and the driven roller to improve the load-bearing capacity of the medicine bag conveyor belt 3222. This structure is common in practical applications and will not be described in detail here.

[0067] For this embodiment, please refer to Figure 2 and Figure 3The medicine pack transmission power component 3221 also includes a belt, a drive pulley, and a driven pulley; the belt surrounds the drive pulley and the driven pulley, the integrated geared motor drives the drive pulley to rotate, and one end of the drive roller passes through the center of the driven pulley and is fixedly connected. This is one structural form of the medicine pack transmission power component 3221, which has the characteristics of smooth transmission and compact structure.

[0068] For this embodiment, please refer to Figure 6 The gripper component 3311 includes a gripper mounting frame 3311a, a gripping power component 3311b, and explosive charge claws 3311c. There are multiple explosive charge claws 3311c. The gripping power component 3311b and the explosive charge claws 3311c are all mounted on the gripper mounting frame 3311a. The gripper mounting frame 3311a is fixedly mounted on the connecting part 3312. The gripping power component 3311b drives different explosive charge claws 3311c to move closer to or further away from each other. When different explosive charge claws 3311c move closer to each other, the gripper component 3311 grips the explosive charge. When different explosive charge claws 3311c move further away from each other, the gripper component 3311 lowers the explosive charge. There are many structures for this gripper component 3311. We should choose a structure that is simple in structure and has a firm and reliable gripping mechanism as much as possible.

[0069] For this embodiment, please refer to Figure 6 We have chosen a simple gripper component 3311 to achieve the function of gripping the explosive charge. 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 through the instruction manual. The gripper component 3311 also includes a first gripper bracket 3311d, a second gripper bracket 3311e and a third gripper bracket 3311f. The gripping power component 3311b is a hydraulic cylinder, and there are three explosive charge claws 3311c.

[0070] The fixed end of the hydraulic cylinder is fixedly installed on the gripper mounting bracket 3311a. The extension and retraction direction of the extension rod of the hydraulic cylinder is towards the horizontal ground. The first gripper bracket 3311d and the second gripper bracket 3311e are both fixedly installed on the extension and retraction end of the extension rod of the hydraulic cylinder, and the second gripper bracket 3311e is above the first gripper bracket 3311d.

[0071] There are three third gripper supports 3311f. One end of each of the three third gripper supports 3311f is hinged to the second gripper support 3311e at equal intervals along the circumference of the extension rod of the hydraulic cylinder. The other end of each of the three third gripper supports 3311f is hinged to the middle of a medicine bag claw 3311c. One third gripper support 3311f corresponds to one medicine bag claw 3311c. The non-gripping ends of the three medicine bag claws 3311c are hinged to the first gripper support 3311d at equal intervals along the circumference of the extension rod of the hydraulic cylinder.

[0072] When it is necessary to grab the explosive charge, the extension rod of the hydraulic cylinder first extends outward to touch the explosive charge to be grabbed, and then retracts, and the grabbing ends of the three explosive charge claws 3311c move closer to each other to grab the explosive charge.

[0073] When the explosive charge is moved to the required position, the extension rod of the hydraulic cylinder extends outward again, the gripping ends of the three charge claws 3311c move away from each other, and the explosive charge is lowered.

[0074] For this embodiment, please refer to Figure 6 The explosive charge claw 3311c is covered with a natural rubber sleeve 3311g. Because the outer skin of the explosive charge is made of PVC rubber, which has the characteristics of wear resistance, impact resistance, water resistance, flame retardancy, dust resistance and antistatic properties, using a natural rubber sleeve 3311g to cover the explosive charge claw 3311c can increase the friction between the explosive charge claw 3311c and the explosive charge, and will not be damaged by the outer packaging of the explosive charge.

[0075] For this embodiment, please refer to Figure 6 The natural rubber sleeve 3311g is provided with protrusions 3311h, which further increases the friction between the explosive pack claw 3311c and the explosive pack, ensuring the stability of the gripper component 3311 when gripping the explosive pack.

[0076] For this embodiment, please refer to Figure 7 and Figure 8 The explosive charge 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 explosive charging and walking module 31. The explosive charging and walking module 31 has an explosive discharge hole. 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 explosive discharge hole and is fixedly connected to the explosive charge carrying assembly 341. In use, the explosive charge lifting power component 342 drives the explosive charge carrying assembly 341 to move above the explosive discharge hole. The gripper component 3311 grabs the explosive charge onto the explosive charge carrying assembly 341. Then, the explosive charge lifting power component 342 drives the explosive charge carrying assembly 341 to sink into the blast hole through the explosive discharge hole.

[0077] For this embodiment, please refer to Figure 8 The explosive charge carrier assembly 341 includes an explosive charge carrier cylinder 3411. The top and bottom ends of the explosive charge carrier cylinder 3411 are provided with cylinder holes 3412. The diameter of the cylinder holes 3412 is larger than the length of the explosive charge. The cylinder hole 3412 at the bottom end of the explosive charge carrier cylinder 3411 is correspondingly provided with the opening and closing door component 343. When the explosive charge carrier cylinder 3411 sinks to the bottom of the explosive hole, the opening and closing door component 343 opens, and the explosive charge falls from the cylinder hole 3412 at the bottom end of the explosive charge carrier cylinder 3411. At other times, the opening and closing door component 343 is closed.

[0078] The opening and closing door component 343 includes a fan-shaped door and an opening and closing door drive 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 pack carrier cylinder 3411. The straight edge of the fan-shaped door is in contact with the straight edge of the other fan-shaped doors. The opening and closing door drive component 3432 drives the fan-shaped door to rotate. Here, we select two semi-circular doors 3431. The circular edge of the semi-circular door 3431 is rotatably connected to the outer wall of the bottom end of the medicine pack carrier cylinder 3411. The straight edge of one semi-circular door 3431 and the straight edge of the other semi-circular door 3431 are in contact when the opening and closing door component 3433 is closed. The opening and closing door drive component 3432 is a hydraulic telescopic rod. The specific connection method will not be described in detail.

[0079] For this embodiment, please refer to Figure 9 and Figure 10 The charging and walking module 31 includes tracked wheels 311 and a chassis 312. The tracked wheels 311 are mounted on both sides of the chassis 312, and the lower surface of the chassis 312 is higher than the bottom plane of the tracked wheels 311. The rock cuttings backfilling module 35 is mounted on the lower surface of the chassis 312. The intelligent blasting hole charging robot needs to move between the positions of various blast holes, which requires high terrain adaptability of the charging and walking module. Therefore, we chose a tracked structure instead of a wheeled one.

[0080] The backfilling module includes a backfilling shovel 351 and a backfilling power unit 352. The backfilling power unit 352 drives the backfilling shovel 351 to move between the bottom plane of the track wheel 311 and the lower surface of the chassis 312. After the explosive package is filled into the blast hole and the explosive package carrier cylinder 3411 rises onto the explosive package traveling module, the backfilling power unit 352 drives the backfilling shovel 351 to backfill the rock debris around the blast hole into the blast hole. The backfilling power unit 352 adopts a common loader structure, that is, different hydraulic cylinders drive the backfilling shovel 351 to lift, lower, move forward and backward respectively, which will not be described in detail here.

[0081] For this embodiment, please refer to Figure 1 It 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 blast hole 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 explosive pack storage module 32 and the explosive pack grabbing module 33. The explosive pack grabbing module 33 grabs the corresponding type of explosive pack from the explosive pack storage module 32 according to the instructions.

[0082] Please see Figures 1 to 10 This invention provides a method for loading explosives based on the intelligent blasting borehole loading robot described above, comprising the following steps:

[0083] Receiving explosive packages: The explosive package storage module 32 receives the explosive packages that are sealed and equipped with detonation devices, and places them in different explosive package storage chambers 321 according to the density of the explosive packages;

[0084] Walking to the blast hole: The charging information processing module 36 determines the location of the blast hole based on the blast hole marking captured by the charging camera 37, and then issues a command to control the intelligent blasting blast hole charging robot to walk to a blast hole.

[0085] Deploying explosive charges into the borehole: The explosive charge information processing module 36 processes the information marked at the borehole captured by the explosive charge camera 37 to determine the required density of explosive charges based on the depth and intensity of the borehole. Then, it sends instructions to the explosive charge storage module 32 and the explosive charge grabbing module 33. The grabbing power component 332 drives the grabbing component 331 to grab the explosive charge from the corresponding explosive charge storage chamber 321 onto the explosive charge carrying component 341. The explosive charge lifting power component 342 drives the explosive charge carrying component 341 to move from the explosive charge walking module 31 to the bottom of the borehole. The opening and closing door component 343 opens, and the explosive charge is dropped from the explosive charge carrying component 341 into the borehole.

[0086] Lifting the explosive charge carrier assembly 341: The explosive charge lifting power component 342 drives the explosive charge carrier assembly 341 from the blast hole to the explosive loading walking module 31, and then the opening and closing door component 343 closes;

[0087] Backfilling rock cuttings: After the explosive package is filled into the blast hole and the explosive package carrier cylinder 3411 rises onto the explosive package walking module, the backfilling power unit 352 drives the backfilling shovel 351 to backfill the rock cuttings around the blast hole into the blast hole; the intelligent blasting blast hole loading robot moves to the next blast hole.

[0088] In summary, the intelligent blasting borehole loading robot and loading method of the present invention uses a loading walking module 31 to carry a charge storage module 32, a charge grabbing module 33, a borehole loading module 34, a rock cuttings backfilling module 35, and a loading information processing module 36 to the borehole. The charge grabbing module 33 grabs the explosive charge from the storage module onto the charge carrying component 341, and then the lifting power component drives the charge carrying component to deliver the explosive charge into the borehole before lifting the charge carrying component. Finally, the rock cuttings backfilling module 35 backfills the rock cuttings near the borehole into the borehole. The above design allows a single intelligent blasting borehole loading robot to replace multiple workers in loading explosive charges into blast holes. This robot is reusable, saving both manpower and costs during multiple blasting operations. Furthermore, by replacing the relatively complex robotic arm design with a traction component 3322 and a gripper component 3311, the failure rate of the equipment is reduced, and the reliability of the explosive charge transport process is improved. This solves the problem of unreliable reliability when using robotic arms for transport due to dust at blasting sites. Therefore, this invention effectively overcomes the various shortcomings of existing technologies and has high industrial application value.

[0089] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can 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 those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. An intelligent blasting borehole loading robot, characterized in that: The system includes a propellant walking module, a propellant storage module, a propellant grabbing module, a borehole loading module, a cuttings backfilling module, and a propellant information processing module. The propellant storage module, the propellant grabbing module, the cuttings backfilling module, the borehole loading module, and the propellant information processing module are mounted on the propellant walking module. The borehole loading module includes a propellant carrying component and a propellant lifting power component. The propellant lifting power component is mounted on the propellant walking module and drives the propellant carrying component to move between the propellant walking module and the bottom of the borehole. An opening and closing door component is installed at the bottom of the propellant carrying component. The propellant grabbing module includes a gripper component and a gripper power component. The gripper power component drives the gripper component to move between the propellant storage module and the propellant carrying component. The medicine bag lifting power component includes a second winch and a chain. The second winch is installed on the upper surface of the medicine loading and walking module. The medicine loading and walking module has a medicine dropping hole. One end of the chain is fixedly connected to the second winch, and the other end of the chain passes through the medicine dropping hole and is fixedly connected to the medicine bag carrying component. The explosive charge carrier assembly includes an explosive charge carrier cylinder, with holes at both the top and bottom ends of the cylinder. The diameter of the holes is larger than the length of the explosive charge. The opening and closing door component is correspondingly provided at the hole at the bottom end of the explosive charge carrier cylinder. 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 explosive charge carrier cylinder. 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 drives the fan-shaped door to rotate. The gripper power assembly includes a truss and a traction component. The truss is mounted on the drug loading and walking module, and the traction component is mounted on the truss. The traction component drives the gripper assembly to move between the drug pack storage module and the drug pack carrying assembly. The traction component includes a first winch, a flexible cable, and a guide wheel assembly. One end of the flexible cable is fixedly connected to the first winch, and the other end of the flexible cable passes around the guide wheel assembly and is fixedly connected to the gripper assembly. The truss is fixedly connected by several supports and forms a medicine bag moving channel on the upper surface of the medicine bag moving module. The gripper assembly is installed in the medicine bag moving channel. The gripper assembly includes a connecting part and a gripper component. The gripper component is fixedly installed below the connecting part. The medicine pack storage module includes multiple medicine pack storage chambers. Each medicine pack storage chamber is equipped with a medicine pack conveying assembly at its bottom. The medicine pack conveying assembly includes a medicine pack conveying power component and a medicine pack conveyor belt. The medicine pack conveying power component drives the medicine pack conveyor belt to rotate. The front end of the medicine pack storage chamber and the front end of the medicine pack conveyor belt are located within the medicine pack moving channel. The loading and walking module includes tracked wheels and a chassis. The tracked wheels are mounted on both sides of the chassis, and the lower surface of the chassis is higher than the bottom plane of the tracked wheels. The cuttings backfilling module is mounted on the lower surface of the chassis. The backfilling module includes a backfilling shovel and a backfilling power unit. The backfilling power unit drives the backfilling shovel to move between the bottom plane of the tracked wheels and the lower surface of the chassis.

2. The intelligent blasting borehole loading robot according to claim 1, characterized in that: There are eight first winches, each of which corresponds to one flexible rope and one guide wheel assembly. Four of the flexible ropes are fixedly connected to the upper end of the connecting part, and the other four flexible ropes are fixedly connected to the lower end of the connecting part.

3. The intelligent blasting borehole loading robot according to claim 1, characterized in that: It also includes a drug loading camera, which is installed at the front end of the drug loading walking module.

4. A method for loading explosives using an intelligent blasting borehole loading robot according to any one of claims 1 to 3, characterized in that... The process includes the following steps: Receiving explosive charges: The explosive charge storage module receives sealed explosive charges with detonation devices installed, and places them at different positions on the module according to their density; Moving to the blast hole: The explosive charge information processing module receives and processes blast hole location information of different depths and intensities, and then issues a command to control the intelligent blasting blast hole loading robot to move to a blast hole; Deploying explosive charges into the blast hole: Based on the information received by the explosive charge information processing module, the gripper power component drives the gripper component to move the explosive charge from the explosive charge storage module. The explosive charge is picked up at the blast hole and placed onto the explosive charge carrier assembly. The explosive charge lifting and lowering power unit drives the explosive charge carrier assembly to move from the explosive charging walking module to the bottom of the blast hole. The opening and closing door component opens, and the explosive charge is dropped from the explosive charge carrier assembly into the blast hole. The explosive charge carrier assembly is then lifted: the explosive charge lifting and lowering power unit drives the explosive charge carrier assembly from the blast hole to the explosive charging walking module, and then the opening and closing door component closes. Rock cuttings are backfilled: the rock cuttings backfilling module backfills the rock cuttings around the blast hole into the blast hole. The intelligent blasting blast hole loading robot moves to the next blast hole.

Images