A blasting cap delivery device for mine operation based on AGV

Abstract

The application discloses a detonator delivery device for mine operation based on an AGV trolley, which comprises the AGV trolley, a rear wheel driving module and a front wheel module of the AGV trolley, and a damping mechanism is arranged between the AGV trolley and the frame of the AGV trolley, a binocular vision mechanism is fixedly arranged at the top front end of the frame, a detonator clamping assembly for placing and clamping detonators is fixedly arranged at one end of the top surface of the frame, a lifting mechanism is fixedly arranged at the other end of the top surface of the frame, a multi-degree-of-freedom mechanical arm is fixedly arranged at the power execution end of the lifting mechanism, a mechanical hand assembly is connected to the execution end of the multi-degree-of-freedom mechanical arm, and a motion control and driving system is further arranged on the top surface of the frame. The application can realize the storage, fixed-point transportation, automatic grabbing and fixed-point placement of detonators, thereby realizing the automation of detonator delivery in a mine, saving time and labor cost, and being high in safety; the application can realize the fixed-point delivery of detonators in a large space range, meets the detonator placement requirements of different parts in a mine, and is good in flexibility.

Description

Technical Field

[0001] This invention relates to the field of mining blasting equipment technology, specifically to a detonator delivery device for mining operations based on an AGV (Automated Guided Vehicle) trolley. Background Technology

[0002] Currently, the placement of detonators in underground mine blasting in my country still requires manual operation and machinery. Improper handling poses a significant threat to the structural safety of the mine and the lives of workers. Given the current state of underground mine blasting, the manual placement of detonators presents substantial safety hazards, is time-consuming, has low positioning accuracy, and low installation efficiency, making it unsuitable for the demands of intelligent, high-precision blasting projects.

[0003] Chinese invention patent CN106927079A discloses a machine vision-based industrial detonator gripping and packing system and method. This invention features a simple structure, high integration, and convenient installation for the machine vision-based industrial detonator and packing system. Utilizing a machine vision system ensures the safety and accuracy of detonator gripping, and employing a six-axis industrial robot to replace manual labor achieves unmanned or minimally manned packaging, improving the efficiency of industrial detonator production and handling, and meeting the requirements of future intelligent, safe, and reliable industrial detonator production lines. Therefore, using industrial robots to replace manual labor for detonator gripping and placement is a feasible and relatively ideal approach. However, this robot is suitable for a two-point working mode of fixed-position gripping and fixed-position placement, and is not suitable for placement methods with a spatially distributed network of nodes in complex environments such as mines.

[0004] Chinese invention patent CN112781454A discloses a robot for installing detonators in bridge pier demolition. This invention uses a lifting and pushing mechanism to convert linear motion into changes in the device's height, allowing for adjustment of the pushing mechanism's height and installation at different heights. However, this type of robot can only place detonators in a vertical linear direction above the lifting and pushing mechanism, and is not applicable to placing detonators at lower positions on mine walls. Furthermore, because its lifting mechanism uses a scissor-type platform, the drilling and detonator pushing mechanisms operate in fixed directions, preventing multi-angle, free-form, and arbitrary-position placement. It can only perform horizontal, unidirectional, and vertically fixed-point placement of detonators, resulting in poor device flexibility.

[0005] AGVs (Automated Guided Vehicles), also known as unmanned transport vehicles, automated guided vehicles, or laser-guided vehicles, are characterized by their driverless operation. Equipped with an automated guidance system, AGVs can automatically travel along predetermined routes without manual guidance, transporting goods or materials from the starting point to the destination. Another advantage of AGVs is their flexibility, high degree of automation, and high level of intelligence. AGV travel paths can be flexibly changed according to warehouse storage requirements and production processes, and the cost of changing operating paths is significantly lower compared to traditional conveyor belts and rigid conveyor lines. AGVs are generally equipped with loading and unloading mechanisms, allowing them to automatically interface with other logistics equipment to automate the entire process of loading, unloading, and handling goods and materials. Based on these advantages, AGVs are increasingly favored in the industrial conveying sector.

[0006] Therefore, there is an urgent need to provide a detonator delivery device for use in mining environments to solve the above problems and realize the automatic delivery of detonators in underground mining environments. Summary of the Invention

[0007] To address the safety hazards associated with manual detonator placement during underground blasting operations, as well as the problems of long operation times, low positioning accuracy, and low installation and filling efficiency, this invention provides a detonator delivery device for mining operations based on an AGV (Automated Guided Vehicle).

[0008] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0009] A detonator delivery device for mining operations based on an AGV (Automated Guided Vehicle) includes an AGV. A shock-absorbing mechanism is installed between the rear-wheel drive module and the front-wheel module of the AGV and the AGV frame. A binocular vision mechanism is fixedly installed at the top front end of the frame. A detonator clamping assembly for placing and holding detonators is fixedly installed at one end of the top surface of the frame, and a lifting mechanism is fixedly installed at the other end of the top surface of the frame. A multi-degree-of-freedom robotic arm is fixedly installed at the power execution end of the lifting mechanism, and a robotic arm assembly is connected to the execution end of the multi-degree-of-freedom robotic arm. A motion control and drive system is also installed on the top surface of the frame.

[0010] The multi-degree-of-freedom robotic arm drives the robotic arm assembly to grab the detonator from the detonator clamping assembly. The lifting mechanism drives the multi-degree-of-freedom robotic arm to lift and position itself. The multi-degree-of-freedom robotic arm then drives the robotic arm assembly to place the detonator into the detonator placement hole on the mine wall.

[0011] Furthermore, the detonator clamping assembly includes a mounting plate fixedly mounted on the top surface of the vehicle frame, a flipping mechanism fixedly mounted on the top surface of the mounting plate away from the multi-degree-of-freedom robotic arm, and a temporary storage mechanism fixedly mounted on the top surface of the mounting plate near the multi-degree-of-freedom robotic arm. The actuating end of the flipping mechanism is fixedly provided with an upper pressure plate that can be movably flipped over directly above the temporary storage mechanism.

[0012] Furthermore, the flipping mechanism includes a base plate fixedly mounted on the top surface of the mounting plate, a push-pull electric cylinder and a flipping block respectively rotatably mounted above the base plate, a connecting member fixedly connected to one side of the flipping block, and the end of the connecting member being connected to the output shaft end of the push-pull electric cylinder via a fisheye rod end joint bearing. The upper pressure plate is fixedly connected to the flipping block via a connecting rod.

[0013] Furthermore, the temporary storage mechanism includes a placement plate fixedly disposed on the top surface of the mounting plate and a positioning plate fixedly disposed on one side of the placement plate, wherein the top surface of the placement plate is provided with a plurality of placement slots arranged side by side.

[0014] Furthermore, the bottom surface of the upper pressure plate is provided with an upper pressure groove corresponding to the placement groove. When the upper pressure plate is flipped over above the placement plate, the upper pressure groove and the placement groove work together to clamp the detonator located in the placement groove.

[0015] Furthermore, a protective layer made of flexible polymer material is fixedly provided on the surface of both the upper pressure groove and the placement groove.

[0016] Furthermore, both the placement plate and the upper pressure plate are made of flexible polymer material.

[0017] Furthermore, the top surface of the placement plate is provided with several spring holes, and each spring hole is provided with a limit pin and a buffer spring sleeved on the outside of the limit pin.

[0018] Furthermore, the lifting mechanism includes a support plate fixedly mounted on the top surface of the vehicle frame, a linear module and a guide rail respectively fixedly mounted on the side of the support plate and arranged vertically, a slider slidably mounted on the guide rail, a lifting frame plate fixedly connected between the power output end of the linear module and the slider, and the multi-degree-of-freedom robotic arm fixedly mounted on the top surface of the lifting frame plate.

[0019] Furthermore, the motion control and drive system includes a motor driver, a battery pack, and an industrial control box, which are respectively fixedly mounted on the top surface of the frame. The battery pack provides power to the entire device, the industrial control box is used for motion control of each power component and movement control of the AGV, and the motor driver is used for motion drive of the rear wheel drive module.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. The detonator delivery device for mining operations based on AGV (Automated Guided Vehicle) proposed in this invention adopts 2D-3D visual servoing, which can realize target detection and map modeling in the complex environment of the mine, realize trajectory planning and motion control of AGV, and accurately control the vehicle to reach the destination. With the help of multi-degree-of-freedom robotic arm and robotic arm components, it can realize the storage, fixed-point delivery, automatic grasping and fixed-point placement of detonators, thereby realizing the automation of detonator delivery in the mine, saving time and labor costs, and avoiding accidental injury to workers from detonator explosions.

[0022] 2. This invention uses linear modules to achieve height adjustment and positioning of a multi-degree-of-freedom robotic arm. Combined with the advantage of the large spatial operating range of the multi-degree-of-freedom robotic arm, the robotic arm component can achieve point placement of detonators in a large space, thus meeting the detonator placement needs of different parts of the mine. It has a high degree of automation and good flexibility.

[0023] 3. The method for automatically deploying detonators using an AGV vehicle proposed in this invention solves the problems of long operation time, low positioning accuracy, and low installation efficiency compared to traditional methods. It can greatly simplify the blasting process in mines and improve the economic benefits of the mining industry. Attached Figure Description

[0024] Figure 1 This is one of the three-dimensional structural schematic diagrams of the present invention;

[0025] Figure 2 This is a second three-dimensional structural schematic diagram of the present invention;

[0026] Figure 3 This is a three-dimensional structural diagram of the AGV vehicle in this invention;

[0027] Figure 4 This is a schematic diagram of the assembly structure of the shock absorption mechanism on the AGV trolley in this invention;

[0028] Figure 5 This is a three-dimensional structural diagram of the detonator clamping assembly in the flipped-up state on the upper pressure plate in this invention;

[0029] Figure 6 This is a schematic diagram showing the placement of the detonator on the placement plate in this invention;

[0030] Figure 7 This is a three-dimensional structural diagram of the placement plate in this invention;

[0031] Figure 8 This is a three-dimensional structural diagram of the upper pressure plate in this invention;

[0032] Figure 9 This is a three-dimensional structural diagram of the detonator clamping assembly in the state of the upper pressure plate being pressed down in this invention;

[0033] Figure 10 This is a three-dimensional structural diagram of the multi-degree-of-freedom robotic arm assembled on the lifting mechanism in this invention.

[0034] In the diagram: 1. AGV trolley, 11. Rear-wheel drive module, 12. Front wheel module, 13. Shock absorption mechanism, 14. Chassis, 15. Binocular vision mechanism, 2. Detonator clamping assembly, 21. Mounting bracket plate, 211. Support column, 22. Tilting mechanism, 221. Base plate, 222. Push-pull electric cylinder, 223. Tilting block, 224. Connector, 225. Fisheye rod end joint bearing, 226. Connecting rod, 227. First bearing seat, 228. Second bearing seat, 23. Temporary storage mechanism, 231. Placement plate 2311 Placement slot, 2312 Spring hole, 232 Positioning plate, 233 Limit pin, 234 Buffer spring, 235 Pad, 24 Upper pressure plate, 241 Upper pressure groove, 242 Spring upper pressure groove, 3 Lifting mechanism, 31 Support plate, 32 Linear module, 33 Guide rail, 34 Slider, 35 Lifting frame plate, 4 Multi-degree-of-freedom robotic arm, 5 Robotic arm assembly, 6 Control and drive system, 61 Motor driver, 62 Battery pack, 63 Industrial control box, 100 Detonator. Detailed Implementation

[0035] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0036] It should be noted that when a component is said to be "installed on" another component, it can be directly on the other component or it may be in a component that is centered on it. When a component is said to be "set on" another component, it can be directly set on the other component or it may also be in a component that is centered on it. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or it may also be in a component that is centered on it.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0038] Please see Figures 1 to 10A detonator delivery device for mining operations based on an AGV (Automated Guided Vehicle) includes an AGV 1. A shock-absorbing mechanism 13 is installed between the rear-wheel drive module 11 and the front-wheel module 12 of the AGV 1 and its frame 14. A binocular vision mechanism 15 is fixedly installed at the top front end of the frame 14. The binocular vision mechanism 15 acquires real-time road condition information of the AGV, providing image information for path planning and real-time map updates, as well as obstacle avoidance. The rear-wheel drive module 11 provides power and shock absorption for the AGV's movement, while the front-wheel module 12 provides steering and shock absorption. A motion control and drive system 6 is also installed on the top surface of the frame 14. The motion control and drive system 6 includes a motor driver 61, a battery pack 62, and an industrial control box 63, all fixedly mounted on the top surface of the frame 14. The battery pack 62 provides power to the entire device, the industrial control box 63 is used for motion control of each power component and movement control of the AGV trolley 1, and the motor driver 61 is used for motion drive of the rear wheel drive module 11. The above structure is basically the same as that of existing intelligent AGV trolleys, and it has visual guidance and shock absorption functions. Only the structure and size of the components need to be appropriately modified, and the functions of the control system need to be appropriately expanded. Therefore, its specific structure and working principle will not be described in detail here; only the innovative structural design and working principle of this invention will be described in detail below.

[0039] A detonator clamping assembly 2 for placing and holding the detonator 100 is fixedly installed at one end of the top surface (rear end) of the frame 14. For example... Figure 5 As shown, the detonator clamping assembly 2 includes a mounting plate 21 fixedly mounted on the top surface of the frame 14, a flipping mechanism 22 fixedly mounted on the side of the top surface of the mounting plate 21 away from the multi-degree-of-freedom robotic arm 4, and a temporary storage mechanism 23 fixedly mounted on the side of the top surface of the mounting plate 21 close to the multi-degree-of-freedom robotic arm 4. The actuating end of the flipping mechanism 22 is fixedly provided with an upper pressure plate 24 that can be movably flipped over directly above the temporary storage mechanism 23. In this embodiment, the mounting plate 21 is a rectangular metal plate, and support columns 211 are fixedly connected to the four corners of its bottom surface by bolts. The bottom ends of the support columns 211 are fixedly connected to the top surface of the frame 14 by bolts, so that the mounting plate 21 is located directly above the industrial control box 63 and the battery pack 63, and the industrial control box 63 and the battery pack 63 are accommodated below the mounting plate 21, thereby making the top structure of the frame 14 more compact.

[0040] The flipping mechanism 22 includes a base plate 221 fixedly mounted on the top surface of the mounting plate 21, a push-pull electric cylinder 222 rotatably mounted above the base plate 221, and a flipping block 223. A connector 224 is fixedly connected to one side of the flipping block 223. The end of the connector 224 is connected to the output shaft end of the push-pull electric cylinder 222 via a fisheye rod end joint bearing 225. The upper pressure plate 24 is fixedly connected to the flipping block 223 via a connecting rod 226. Specifically, a set of first bearing seats 227 and a set of second bearing seats 228 are fixedly mounted on the top surface of the base plate 221, and the axes of the first bearing seats 227 and the second bearing seats 228 are parallel to each other. An electric cylinder bracket is fixedly sleeved on the outer side of the cylinder end (where the telescopic rod is located) of the push-pull electric cylinder 222. A rotating shaft is integrally provided on both sides of the electric cylinder bracket pair. The rotating shaft is rotatably mounted in the top side of the first bearing seat 227 via rolling bearings, so that the push-pull electric cylinder 222 can swing back and forth on the first bearing seat 227. Rotating components are bolted to both ends of the bottom edge of the flipping block 223. The shaft of the rotating component is rotatably mounted inside the top side of the second bearing seat 228 via a rolling bearing, allowing the flipping block 223 to swing back and forth on the second bearing seat 228. The connecting rod end of the fisheye rod end spherical bearing 225 is threadedly sleeved onto the telescopic rod end of the push-pull electric cylinder 222. The bottom end of the outer side of the connecting component 224 is bolted to the inner ring of the fisheye rod end spherical bearing 225. The connecting rod 226 is a V-shaped rod with a connecting plate integrally provided at both ends. One end of the connecting plate is fixedly connected to the top surface of the flipping block 223 by screws, and the other end is fixedly connected to the top surface of the upper pressure plate 24 by screws.

[0041] The temporary storage mechanism 23 includes a placement plate 231 fixedly mounted on the top surface of the mounting plate 21 and a positioning plate 232 fixedly mounted on one side of the placement plate 231. A pad 235 is provided at the bottom of the placement plate 231 and is fixedly connected to the pad 235 by bolts. The pad 235 is fixedly connected to the top surface of the mounting plate 21 by bolts. The height of the placement plate 231 can be adjusted by the pad 235 to cooperate with the upper pressure plate 24 when it is tilted down to a horizontal position, thus completing the clamping and fixing of the detonator 100. Figure 7 As shown, the placement plate 231 is a long, flat plate, and its top surface has several placement slots 2311 arranged side by side. Figure 8 As shown, the upper pressure plate 24 is also a long strip plate, and an upper pressure groove 241 corresponding to the placement groove 2311 is formed on the bottom surface of the upper pressure plate 24. Since the outer shell of the detonator 100 is cylindrical, both the placement groove 2311 and the upper pressure groove 241 have arc cross sections. When the upper pressure plate 24 is flipped over on top of the placement plate 231, the upper pressure groove 241 and the placement groove 2311 work together to clamp the detonator 100 located in the placement groove 2311.

[0042] Preferably, both the placement plate 231 and the upper pressure plate 24 are made of flexible polymer material. This allows the detonator 100 to be tightly fitted into the placement groove 2311 through the plasticity of the material, preventing the detonator 100 from slipping out of the placement groove 2311 when the upper pressure plate 24 is open. Therefore, the arc-shaped cross-section of the placement groove 2311 should preferably be larger than a semi-circular arc. Furthermore, both the placement plate 231 and the upper pressure plate 24 can be made of common rigid material, and a protective layer made of flexible polymer material is fixedly provided on the surfaces of both the upper pressure groove 241 and the placement groove 2311. This protective layer allows for tight clamping and protection of the detonator 100. Furthermore, if the protective layer is damaged, partial replacement allows for normal use of the placement plate 231 and the upper pressure plate 24, reducing usage and maintenance costs.

[0043] like Figure 6 and Figure 7 As shown, the top surface of the placement plate 231 has several spring holes 2312, each spring hole 2312 being provided with a limit pin 233 and a buffer spring 234 sleeved on the outside of the limit pin 233. In this embodiment, the spring holes 2312 are through holes, and the top surface of the pad 235 has threaded holes corresponding to the through holes. The bottom end of the limit pin 233 is threaded into the threaded hole, thereby coaxially fixing the limit pin 233 within the spring hole 2312. Figure 8 As shown, a spring pressure groove 242 corresponding to the spring hole 2312 is provided on the bottom surface of the upper pressure plate 24. When the upper pressure plate 24 is flipped down to a horizontal state and positioned above the placement plate 231, the bottom surface of the upper pressure plate 24 contacts the top of the buffer spring 234. The buffer spring 234 is compressed and acts as a buffer against the upper pressure plate 24 until the top surface of the spring pressure groove 242 abuts against the top of the limiting pin 233, thus completing the clamping process of the detonator 100. At the same time, the limiting control can prevent the detonator 100 from being over-compressed, thus providing a certain degree of protection.

[0044] A lifting mechanism 3 is fixedly installed at the other end (front end) of the top surface of the frame 14. A multi-degree-of-freedom robotic arm 4 is fixedly installed at the power execution end of the lifting mechanism 3, and a robotic arm assembly 5 is connected to the execution end of the multi-degree-of-freedom robotic arm 4. Specifically, as shown... Figure 10As shown, the lifting mechanism 3 includes a support plate 31 fixedly mounted on the top surface of the frame 14, a linear module 32 and a guide rail 33 respectively fixedly mounted on the side of the support plate 31 and arranged vertically. A slider 34 is slidably mounted on the guide rail 33. A lifting frame plate 35 is fixedly connected between the power output end of the linear module 32 and the slider 34. The multi-degree-of-freedom robotic arm 4 is fixedly mounted on the top surface of the lifting frame plate 35. The lifting mechanism 3 can drive the overall lifting and vertical positioning of the multi-degree-of-freedom robotic arm 4, so that the robotic arm assembly 5 can reach the gripping position on the temporary storage mechanism 23 to conveniently and accurately clamp and grasp the detonator 100, and the robotic arm assembly 5 can grasp the detonator 100 within its operating space to complete the placement operation of the detonator 100.

[0045] In this embodiment, the degree-of-freedom robotic arm 4 adopts an existing micro six-degree-of-freedom industrial robot arm. Through a preset control program, it can move according to the preset motion trajectory controller end. The robotic arm component 5 adopts an existing two-finger electric gripper, and a protective layer made of flexible polymer material is set on the gripping surface of the fingers to prevent rigid damage to the outer shell of the detonator during the gripping process. The gripping force is preferably such that the detonator 100 can be reliably gripped at the preset gripping point and will not undergo significant positional changes during the transfer process, so as to prevent excessive gripping force from damaging the detonator 100 itself.

[0046] The usage process of this invention is as follows:

[0047] (1) Pre-stored detonators:

[0048] When the push-pull electric cylinder 222 is started to work in the forward direction, its telescopic rod extends. The telescopic rod pushes the connecting piece 224 and the flipping block 223 to swing counterclockwise around the axis of the rotating piece through the fisheye rod end joint bearing 225. The upper pressure plate 24 flips up with the connecting piece 226 and separates from the placement plate 231. At this time, the placement slot 2311 is in the open state.

[0049] The operator places the detonators 100 one by one into the placement slot 2311 and pre-tightens them, and aligns and positions the ends of the detonators 100 through the positioning plate 232, so that a certain number of detonators 100 are placed parallel to each other on the placement plate 231.

[0050] (2) Clamping the detonator:

[0051] When the push-pull electric cylinder 222 is activated to work in reverse, its telescopic rod retracts. The telescopic rod pulls the connecting piece 224 and the flipping block 223 to swing clockwise around the axis of the rotating part through the fisheye rod end joint bearing 225. The upper pressure plate 24 follows the connecting piece 226 to flip down and gradually approaches the placement plate 231 until the upper pressure plate 24 is in a horizontal state and is directly above the placement plate 231. At this time, the upper pressure groove 241 and the placement groove 2311 cooperate to press and clamp the detonator 100 located in the placement groove 2311.

[0052] (3) Transporting detonators:

[0053] The AGV 1 is started and travels along a preset trajectory to the detonator placement point in the mine, thereby transporting the detonator 100 it is holding to the target location.

[0054] (4) Grabbing and placing the detonator:

[0055] After reaching the first detonator placement point, the system automatically starts the push-pull electric cylinder 222 to work in the forward direction, driving the upper pressure plate 24 to flip up so that the detonator 100 is exposed.

[0056] The lifting mechanism 3 operates in reverse, driving the multi-degree-of-freedom robotic arm 4 to descend to the preset gripping position. The robotic arm assembly 5 grips and grasps the first detonator 100, causing the detonator 100 to be removed from the placement slot 2311. Then, the lifting mechanism 3 operates in the forward direction, driving the multi-degree-of-freedom robotic arm 4 to rise to the preset placement position. The robotic arm assembly 5 places the detonator 100 into the corresponding detonator placement hole inside the hollow wall.

[0057] During the placement of the detonators, the system automatically activates the push-pull electric cylinder 222 to work in reverse, driving the upper pressure plate 24 to flip down and clamp the remaining detonators 100 again to prevent the detonators 100 from shifting position during subsequent movements.

[0058] After the first detonator 100 is placed, the above-mentioned transportation, grabbing and placement process continues until all detonators 100 are placed. Then, the AGV trolley 1 exits the mine along the original path back to the starting point.

[0059] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0060] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A detonator delivery device for mining operations based on an AGV (Automated Guided Vehicle) trolley, comprising an AGV trolley (1), wherein a shock-absorbing mechanism (13) is provided between the rear wheel drive module (11) and the front wheel module (12) of the AGV trolley (1) and the frame (14) of the AGV trolley (1), and a binocular vision mechanism (15) is fixedly provided at the top front end of the frame (14), characterized in that: One end of the top surface of the frame (14) is fixedly provided with a detonator clamping assembly (2) for placing and clamping detonators (100), and the other end of the top surface of the frame (14) is fixedly provided with a lifting mechanism (3). The power execution end of the lifting mechanism (3) is fixedly provided with a multi-degree-of-freedom robotic arm (4), and the execution end of the multi-degree-of-freedom robotic arm (4) is connected to a robotic arm assembly (5). A motion control and drive system (6) is also provided on the top surface of the frame (14). The detonator clamping assembly (2) includes a mounting plate (21) fixedly mounted on the top surface of the frame (14), a flipping mechanism (22) fixedly mounted on the top surface of the mounting plate (21) away from the multi-degree-of-freedom robotic arm (4), and a temporary storage mechanism (23) fixedly mounted on the top surface of the mounting plate (21) close to the multi-degree-of-freedom robotic arm (4). The flipping mechanism (22) has an upper pressure plate (24) fixedly mounted on the execution end that can be movably flipped over directly above the temporary storage mechanism (23). The detonator clamping assembly (2) is used for batch safe clamping of detonators (100). The detonator clamping assembly (2) is linked with the multi-degree-of-freedom robotic arm (4), binocular vision mechanism (15), motion control and drive system (6). Before the AGV car (1) moves, the flipping mechanism (22) locks the detonator (100) in the temporary storage mechanism (23). The AGV car (1) moves to the detonator placement point in the mine through the preset travel trajectory. The flipping mechanism (22) flips up to unlock the detonator (100). The multi-degree-of-freedom robotic arm (4) drives the robotic arm assembly (5) to grab the detonator (100) from the detonator clamping assembly (2). The lifting mechanism (3) drives the multi-degree-of-freedom robotic arm (4) to lift and position. The multi-degree-of-freedom robotic arm (4) then drives the robotic arm assembly (5) to place the detonator (100) in the detonator placement hole on the mine wall.

2. The detonator delivery device for mining operations based on an AGV (Automated Guided Vehicle) as described in claim 1, characterized in that: The flipping mechanism (22) includes a base plate (221) fixedly mounted on the top surface of the mounting plate (21), a push-pull electric cylinder (222) rotatably mounted above the base plate (221), and a flipping block (223). A connector (224) is fixedly connected to one side of the flipping block (223). The end of the connector (224) is connected to the output shaft end of the push-pull electric cylinder (222) via a fisheye rod end joint bearing (225). The upper pressure plate (24) is fixedly connected to the flipping block (223) via a connecting rod (226).

3. A detonator delivery device for mining operations based on an AGV (Automated Guided Vehicle) as described in claim 1 or 2, characterized in that: The temporary storage mechanism (23) includes a placement plate (231) fixedly installed on the top surface of the mounting plate (21) and a positioning plate (232) fixedly installed on one side of the placement plate (231). The top surface of the placement plate (231) has several placement slots (2311) arranged side by side.

4. A detonator delivery device for mining operations based on an AGV (Automated Guided Vehicle) as described in claim 3, characterized in that: The bottom surface of the upper pressure plate (24) is provided with an upper pressure groove (241) corresponding to the placement groove (2311). When the upper pressure plate (24) is flipped over the placement plate (231), the upper pressure groove (241) and the placement groove (2311) work together to clamp the detonator (100) located in the placement groove (2311).

5. A detonator delivery device for mining operations based on an AGV (Automated Guided Vehicle) as described in claim 4, characterized in that: Both the upper pressure groove (241) and the placement groove (2311) are fixedly provided with a protective layer made of flexible polymer material.

6. A detonator delivery device for mining operations based on an AGV (Automated Guided Vehicle) as described in claim 4, characterized in that: Both the placement plate (231) and the upper pressure plate (24) are made of flexible polymer material.

7. A detonator delivery device for mining operations based on an AGV (Automated Guided Vehicle) as described in claim 3, characterized in that: The top surface of the placement plate (231) is provided with a plurality of spring holes (2312), and the spring holes (2312) are respectively provided with limit pins (233) and buffer springs (234) sleeved on the outside of the limit pins (233).

8. A detonator delivery device for mining operations based on an AGV (Automated Guided Vehicle) as described in claim 1, characterized in that: The lifting mechanism (3) includes a support plate (31) fixedly installed on the top surface of the frame (14), a linear module (32) and a guide rail (33) respectively fixedly installed on the side of the support plate (31) and vertically arranged. A slider (34) is slidably arranged on the guide rail (33). A lifting frame plate (35) is fixedly connected between the power output end of the linear module (32) and the slider (34). The multi-degree-of-freedom robotic arm (4) is fixedly installed on the top surface of the lifting frame plate (35).

9. A detonator delivery device for mining operations based on an AGV (Automated Guided Vehicle) as described in claim 1, characterized in that: The motion control and drive system (6) includes a motor driver (61), a battery pack (62) and an industrial control box (63) respectively fixed on the top surface of the frame (14). The battery pack (62) provides power to the entire device, the industrial control box (63) is used for motion control of each power component and travel control of the AGV trolley (1), and the motor driver (61) is used for motion drive of the rear wheel drive module (11).

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