Discharging device for emulsion explosive

Abstract

The application discloses a kind of emulsion explosive blanking device, including blanking mechanical arm and blanking appliance, wherein blanking appliance can be loaded with emulsion explosive, blanking appliance is configured on the blanking mechanical arm in a manner that can be replaced.Blanking mechanical arm's main arm can rotate around its vertical transfer axis, so that the mechanical arm as a whole can rotate in horizontal plane, and blanking mechanical arm's blanking arm can have pitch movement in vertical plane, blanking appliance can be driven to rotate around its first rotation axis relative to blanking arm, and can be driven to rotate around second rotation axis, to produce rotating movement around the end of the blanking arm.Based on these movements, the blanking device of the application can ensure that the blanking angle of blanking reaches the angle required for actual delivery, thereby solving the technical problem that the current bagged emulsion explosive blanking method is mainly manual delivery, and there is no blanking device that can be well applied to automatic blanking of bagged emulsion explosive.

Description

Technical Field

[0001] This invention relates to the field of emulsion explosives dispensing technology, and particularly to a feeding device for emulsion explosives. Background Technology

[0002] Emulsion explosives are water-in-oil emulsion explosives that utilize emulsifiers to uniformly disperse microdroplets of an oxidizing agent salt solution within a continuous oil-phase medium containing porous materials such as dispersed air bubbles or hollow glass microspheres. Emulsion explosives are now widely used in various civilian blasting operations, specifically in scenarios requiring deep-hole blasting, such as in open-pit mining, blasting medium-hard rock, or underground coal mining operations.

[0003] Currently, deep-hole filling of emulsion explosives is mostly done manually. That is, after simply measuring the depth of the borehole, the emulsion explosive is manually placed into the deep hole from the borehole opening. There is a lack of a suitable automatic feeding device for bagged emulsion explosives in the existing technology. Summary of the Invention

[0004] In view of this, the present invention provides a feeding device for emulsion explosives, which can effectively solve the problem that the current feeding method for bagged emulsion explosives is mainly manual, and there is no feeding device that can be well applied to the automatic feeding of bagged emulsion explosives.

[0005] The present invention discloses a feeding device for emulsion explosives, including a feeding robotic arm and a feeding device, wherein the feeding device is capable of loading emulsion explosives and the feeding device is disposed on the feeding robotic arm in a replaceable manner.

[0006] The unloading robotic arm includes a base, a main arm, and an unloading arm. The main arm is vertically mounted on the base and has a vertical central axis. The main arm can be driven to rotate relative to the base around its central axis. The unloading arm is located at the upper end of the main arm and has a rotation axis, which is perpendicular to the central axis in the lateral direction of the main arm. The unloading arm can be driven to rotate up and down relative to the main arm around its rotation axis in a vertical plane.

[0007] In this invention, a feeding device is attached to the end of the feeding arm. The feeding device has a first axis of rotation, which is parallel to the axis of rotation of the feeding arm and perpendicular to the center line of the feeding device itself. The feeding device can be driven to rotate relative to the feeding arm about its first axis of rotation.

[0008] In this invention, the feeding device also has a second rotation axis along the length of the feeding arm, and the second rotation axis is perpendicular to the first rotation axis. The feeding device can be driven to rotate about the second rotation axis to generate rotational motion around the end of the feeding arm.

[0009] In this invention, a drive electric cylinder is attached to the main arm. The cylinder body of the drive electric cylinder is attached to the main arm via a mounting bracket. The rod of the drive electric cylinder is movably connected to the unloading arm. The mounting position of the drive electric cylinder, the connection position of the rod of the drive electric cylinder to the unloading arm, and the connection position of the unloading arm to the main arm form a triangular connection structure.

[0010] In this invention, the cylinder body of the drive electric cylinder is arranged in an inclined manner, so that the rod of the drive electric cylinder can point towards the unloading arm.

[0011] In this invention, the end of the unloading arm is provided with a joint, the joint including a series of T-shaped joints and I-shaped joints, the T-shaped joint is attached to the end of the unloading arm, the unloading device is attached to the end of the I-shaped joint, the first rotation axis of the unloading device is the rotation axis of the I-shaped joint, and the second rotation axis of the unloading device is the rotation axis of the T-shaped joint.

[0012] In this invention, the feeding device is quickly connected to the end of the I-type joint via a pneumatic clamp.

[0013] In this invention, the unloading arm is mounted on the upper end of the main arm by means of a turntable bearing, and the rotation axis of the unloading arm is the central axis of the turntable bearing.

[0014] In this invention, the unloading arm is a telescopic structure.

[0015] In this invention, the unloading arm includes an outer arm body, a middle arm body, and an inner arm body, which are nested in layers. The outer arm body is provided with an outer electric cylinder that drives the middle arm body to extend and retract relative to the outer arm body. The inner arm body has an inner cavity, and an inner electric cylinder that drives the inner arm body to extend and retract relative to the middle arm body is provided in the inner cavity.

[0016] In this invention, ventilation openings are provided at the top of both the outer arm and the middle arm.

[0017] In this invention, the feeding device includes a shell and a loading carrier, wherein the shell has a loading end, a discharging end, and an inner cavity; the loading carrier is installed in the inner cavity of the shell; the loading carrier is provided with a loading hole that extends along its own length and is used for loading emulsion explosive, the two ends of the loading hole corresponding to the loading end and the discharging end of the shell, respectively; multiple loading holes are provided on the loading carrier, and a discharge hole is provided on the discharging end of the shell; the loading carrier is configured to be operable to rotate relative to the shell, so that when not feeding, the loading hole (205) and the discharge hole are misaligned, and when feeding, multiple loading holes are sequentially aligned with the discharge hole.

[0018] Beneficial Effects: In the feeding device for emulsion explosives of the present invention, the main arm of the feeding robotic arm can rotate around its vertical central axis, thereby enabling the entire robotic arm to rotate in the horizontal plane. Furthermore, the feeding arm of the robotic arm can have pitch motion in the vertical plane. The feeding device can be driven to rotate relative to the feeding arm around its first rotation axis and can also be driven to rotate around its second rotation axis, generating rotational motion around the end of the feeding arm. Based on these movements, the feeding device of the present invention can ensure that the feeding angle reaches the angle required for actual delivery, thus solving the technical problem that the current feeding method for bagged emulsion explosives mainly relies on manual delivery, and there is no feeding device that can be well applied to the automatic feeding of bagged emulsion explosives.

[0019] The feeding device for emulsion explosives of the present invention is disclosed in detail below with reference to the embodiments shown in the accompanying drawings and the reference numerals. Attached Figure Description

[0020] Figure 1 A schematic diagram of the overall structure of the emulsion explosive delivery assembly in this invention is shown.

[0021] Figure 2 The overall structure diagram of the unloading robotic arm in this invention is shown.

[0022] Figure 3 The diagram shows the overall assembly of the feeding device for emulsion explosives according to the present invention, wherein the feeding device is assembled on the end of the feeding robotic arm.

[0023] Figure 4 The folded state of the unloading robotic arm in this invention is shown.

[0024] Figure 5 The figure shows the unfolded state of the unloading robotic arm in this invention.

[0025] Figure 6 A three-dimensional structural diagram of the tool changing mechanism in this invention is shown.

[0026] Figure 7A perspective view of the tool changing mechanism in this invention is shown, relative to... Figure 6 This is a rear-side view.

[0027] Figure 8 A front view of the tool changing mechanism in this invention is shown.

[0028] Figure 9 The diagram shows a front view of the tool changing mechanism in this invention, relative to... Figure 8 The front turntable has been removed.

[0029] Figure 10 A side view of the tool changing mechanism in this invention is shown.

[0030] Figure 11 A schematic diagram of the feeding mechanism in this invention is shown.

[0031] Figure 12 A schematic diagram of the feeding mechanism in this invention is shown, relative to... Figure 11 The slide is located at the opposite end of the track slide.

[0032] Figure 13 This is a perspective view of the feeding device of the present invention from the loading end of the housing.

[0033] Figure 14 This is a perspective view of the feeding device of the present invention from the discharge end of the housing.

[0034] Figure 15 The diagram shows a plan view of the feeding device of the present invention from the loading end of the housing.

[0035] Figure 16 for Figure 15 A cross-sectional view along the BB direction.

[0036] Figure 17 A schematic diagram of the gripper unit of the deceleration mechanism in this invention is shown.

[0037] Figure 18 A cross-sectional view of the gripper unit in this invention is shown.

[0038] Figure 19 An assembly diagram of the gripper unit and the housing of the unloading device in this invention is shown.

[0039] Figure Labels

[0040] 1. Unloading robotic arm; 2. Unloading device; 3. Tool changing mechanism; 4. Tool feeding mechanism; 5. Gripper unit.

[0041] Base 101, main arm 102, unloading arm 103, drive motor 104, turntable bearing 105, drive electric cylinder 106, mounting bracket 107, I-type joint 108, T-type joint 109, pneumatic quick-release clamp 110, outer arm body 111, middle arm body 112, inner arm body 113, outer electric cylinder 114, inner electric cylinder 115.

[0042] Central axis O, rotation axis P, first rotation axis M, second rotation axis N, center line L.

[0043] The outer casing 201, the carrier 202, the loading end 203, the discharge end 204, the loading hole 205, the discharge hole 206, the cover 207, the middle body 208, the positioning post 209, the positioning receiving cavity 210, the drive mounting cavity 211, the drive device 212, the wire pushing unit mounting cavity 213, the wire pushing plate 214, the operating device 215, the partition 216, and the strip-shaped side opening 217.

[0044] Mounting bracket 301, turntable 302, clamping cut 303, connecting shaft 304, bushing 305, support 306, tool changing screw 307, tool changing slider 308, clamping component 309, flipping clamp 310.

[0045] Track slide 401, slide 402, induction switch 403, moving seat 404, outer cylinder 405, slide rail 406, base box 407, feed screw 408, feed slider 409, feed clamping plate 410, rubber layer 411, accordion cover 412.

[0046] Main component 501, pressure-bearing rod 502, arc-shaped pressure-bearing part 503, return spring 504, positioning ball 505, pre-tightening spring 506, groove 507, positioning groove in open state 508, positioning groove in closed state 509, magnetic suction part 510, attachment part 511, guide groove 512, guide rod 513, gripper body 514, connecting rod 515, cross position 516. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0048] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0049] Figure 1 A schematic diagram of the overall structure of the emulsion explosive delivery assembly in this invention is shown. (Combined with...) Figure 1 As shown, the present invention provides an emulsion explosive dispensing assembly, which includes a feeding device and a feeding device. The feeding device includes a feeding robotic arm 1 and a feeding device 2, wherein the feeding device 2 is used to load the emulsion explosive body to be dispensed. The specific structure and embodiments of the feeding device 2 are described below. In the present invention, the feeding device 2 is disposed on the feeding robotic arm 1 in a replaceable manner. The feeding device includes a changing mechanism 3 and a feeding mechanism 4. The feeding mechanism 4 is capable of reciprocatingly conveying the emulsion explosive feeding device 2 between the changing mechanism 3 and the feeding robotic arm 1.

[0050] When using the emulsion explosive delivery assembly of the present invention to deliver emulsion explosive, it can have multiple delivery devices 2. Each delivery device can be manually (via a conveying pipe) filled with emulsion explosive. One or more of the filled delivery devices 2 can be clamped on the changing device mechanism 3. When the changing device mechanism 3 releases the filled delivery device 2 onto the feeding mechanism 4, the feeding mechanism 4 can transport the delivery device 2 filled with emulsion explosive to the delivery robotic arm 1. When a delivery device 2 is transported to the delivery robotic arm 1, the delivery robotic arm 1 can connect with it, and under the operation of the delivery robotic arm 1, the emulsion explosive to be delivered from the delivery device 2 is delivered into the blasting deep hole. When the emulsion explosive in the feeding device 2 attached to the feeding robotic arm 1 has been completely dispensed, the feeding device 2 can be transported from the feeding robotic arm 1 to the changing device mechanism 3 via the feeding mechanism 4. At this time, the clamping unit on the changing device mechanism 3 can clamp the dispensed feeding device 2, and the changing device mechanism 3 can release a new feeding device 2 filled with emulsion explosive to be dispensed onto the feeding mechanism 4. The feeding mechanism 4 then transports the new feeding device 2 back to the feeding robotic arm 1. This process is repeated until all the required emulsion explosive is dispensed.

[0051] The present invention also provides a feeding device for emulsion explosives, which includes a feeding robotic arm 1 and a feeding device 2.

[0052] Figure 2 The overall structure of the unloading robotic arm 1 in this invention is shown in the figure. Figure 3 The diagram shows the assembly of the unloading robotic arm 1 and the unloading device 2 in this invention.

[0053] Combination Figures 2-3As shown, the unloading robotic arm 1 includes a base 101, a main arm 102, and an unloading arm 103. The main arm 102 is vertically mounted on the base 101 and has a vertical central axis O. The main arm 102 can be driven to rotate relative to the base 101 around its central axis O. Specifically, a drive motor 104 is mounted relative to the base 101. The power of the drive motor 104 is transmitted to the main arm 102, thereby causing the main arm 102 to rotate around its own central axis O. The power transmission between the drive motor 104 and the main arm 102 can be achieved through a gear pair structure in the prior art, which will not be elaborated further here.

[0054] The unloading arm 103 is disposed at the upper end of the main arm 102 and has a rotation axis P. The rotation axis P of the unloading arm 103 is perpendicular to the central rotation axis O in the lateral direction of the main arm 102. The unloading arm 103 can be driven to rotate up and down relative to the main arm 102 about its rotation axis P in the vertical plane, which allows the unloading arm 103 to perform pitching motion in the vertical plane. Specifically, the unloading arm 103 is disposed at the upper end of the main arm 102 by means of a turntable bearing 105, and the rotation axis P of the unloading arm 103 is the axis of the turntable bearing 105. By means of the turntable bearing 105, the friction and surface contact between the main arm 102 and the unloading arm 103 mechanism during rotation can be reduced, while bearing the load and ensuring the normal operation of the unloading robot arm 1.

[0055] Combination Figure 2 and Figure 3 As shown, a drive cylinder 106 is attached to the main arm 102. The cylinder body of the drive cylinder 106 is attached to the main arm 102 via a bracket. The rod of the drive cylinder 106 is movably connected to the unloading arm 103. The installation position of the drive cylinder 106, the connection position between the rod of the drive cylinder 106 and the unloading arm 103, and the connection position between the unloading arm 103 and the main arm 102 form a triangular structure. The connection between the cylinder body of the drive cylinder 106 and the main arm 102 is achieved through a mounting bracket 107. Specifically, the mounting bracket 107 is fixedly installed at the lower part of the main arm 102 and near the base 101. The mounting bracket 107 is a triangular bracket structure, and the cylinder body of the drive cylinder 106 is fixed at an angle on the bracket corner of the mounting bracket 107 away from the main arm 102. By means of the inclined mounting of the cylinder body of the drive cylinder 106 on the bracket corner of the mounting bracket 107 away from the main arm 102, the rod of the drive cylinder 106 can point towards the unloading arm 103, and the free end of the rod is connected to the unloading arm 103.

[0056] Figure 4 The folded state of the unloading robotic arm 1 in this invention is shown. Figure 5 The diagram shows the deployed state of the unloading robotic arm 1 in this invention. Combined with... Figure 4 and Figure 5 A comparison shows that the connection points between the main arm 102, the unloading arm 103, and the drive cylinder 106 form a spatial triangular connection relationship. A spatial triangular connection relationship means that the lines connecting any two of the connection points form a planar triangle, such as... Figure 4 and Figure 5 As shown by the dashed line. Based on this triangular connection, when not in operation, the unloading robotic arm 1 can be fully folded, where it can be stored parallel to and side by side with the main arm 102, which reduces the space occupied. When operation is required, the unloading arm 103 can be easily and smoothly unfolded relative to the main arm 102 by the drive cylinder 106, and can be self-locked by the drive cylinder 106 after unfolding to the required position.

[0057] The drive electric cylinder 106 is mounted by means of the triangular mounting bracket 107, which can provide support for the spatial triangular connection, thereby reducing the load on the main arm 102. Moreover, the triangular mounting bracket 107 has good structural stability, which can fully guarantee the rigidity of the drive electric cylinder 106 connection and operation.

[0058] Combination Figure 3 As shown, the feeding device 2 is attached to the end of the feeding arm 103. The feeding device 2 has a first rotation axis M, which is parallel to the rotation axis P of the feeding arm 103 and perpendicular to the center line L of the feeding device's mounting carrier. The feeding device 2 can be driven to rotate relative to the feeding arm 103 about its first rotation axis M. In addition, the feeding device 2 also has a second rotation axis N, which is in the length direction of the feeding arm 103 and is perpendicular to the first rotation axis M. The feeding device 2 can be driven to rotate about the second rotation axis N to generate rotational motion around the end of the feeding arm 103.

[0059] Combination Figure 3 As shown, in a specific embodiment, the end of the feeding arm 103 is provided with a joint, which includes a series of T-shaped joints 109 and I-shaped joints 108. The T-shaped joint 109 is attached to the end of the feeding arm 103, and the feeding device 2 is attached to the end of the I-shaped joint 108. The first rotation axis M of the feeding device 2 is the rotation axis of the I-shaped joint 108, and the second rotation axis N of the feeding device 2 is the rotation axis of the T-shaped joint 109. This ensures that the feeding angle of the feeding device 2 can reach the angle required for actual feeding. The so-called T-shaped joint 109 refers to a joint type with a right-angle bend, and the so-called I-shaped joint 108 refers to a straight-tube joint.

[0060] exist Figure 3 In the diagram, the arrows at the corresponding axes represent the corresponding rotation directions.

[0061] In one specific embodiment, the unloading device 2 is quickly connected to the end of the I-joint 108 via a pneumatic quick-connect clamp 110. This ensures that the unloading arm 103 and the unloading device 2 can be quickly replaced, saving replacement time. Specifically, pneumatic quick-connect clamps 110 that can be quickly connected to each other are respectively provided on the outer shell of the unloading device 2 and the end of the I-joint 108. The specific structure of the pneumatic quick-connect clamp 110 can be implemented using existing technology and will not be described in detail here.

[0062] In one specific embodiment, the unloading arm 103 is a telescopic structure. Specifically, the unloading arm 103 includes an outer arm body 111, an intermediate arm body 112, and an inner arm body 113, which are nested together. The outer arm body 111 is provided with an outer electric cylinder 114 that drives the intermediate arm body 112 to extend and retract relative to the outer arm body 111. The inner arm body 113 has an inner cavity, and an inner electric cylinder 115 that drives the inner arm body 113 to extend and retract relative to the intermediate arm body 112 is provided inside the inner cavity of the inner arm body 113. In a preferred embodiment, the cylinder body of the inner electric cylinder 115 is installed in the inner cavity of the inner arm body 113, and the end of the rod of the inner electric cylinder 115 is fixedly connected to the top of the intermediate arm body 112.

[0063] In one specific embodiment, ventilation openings (not shown in the figure) are provided at the top of both the outer arm 111 and the middle arm 112. The term "top" refers to the upper vertical ends of the outer arm 111 and the middle arm 112. By providing ventilation openings, pressure differences can be prevented between the outer arm 111 and the middle arm 112, and between the middle arm 112 and the inner arm 113, during operation of the unloading arm 103, thus preventing obstruction of its normal movement. Simultaneously, the ventilation openings also serve to ventilate and dissipate heat from the electric cylinder. Those skilled in the art will understand that the telescopic structure of the unloading arm 103 can also be configured as a telescopic structure with two or more telescopic arms.

[0064] By means of the feeding robotic arm 1 in this invention, the problem that the current feeding method for bagged emulsion explosives is mainly manual feeding, and there is no feeding device that can be well applied to the automatic feeding of bagged emulsions can be effectively solved.

[0065] Figure 6 A three-dimensional structural diagram of the changing mechanism 3 in this invention is shown. Figure 7 A perspective view of the changing mechanism 3 in this invention is shown, relative to... Figure 6 This is a rear-side view. Figure 8 A front view of the changing mechanism 3 in this invention is shown. Figure 9 The diagram shows a front view of the changing mechanism 3 in this invention, relative to... Figure 8 The front turntable has been removed. Figure 10A side view of the changing mechanism 3 in this invention is shown.

[0066] Combination Figures 6-10 As shown, in this invention, the tool changing mechanism 3 includes a mounting frame 301, a turntable 302, and a clamping unit; wherein the turntable 302 is mounted on the mounting frame 301; the turntable 302 has multiple clamping positions along its perimeter on its edge, and the clamping positions are clamping cuts 303 formed on the edge of the turntable; a set of clamping units is provided for each clamping position, which can be operated to clamp and release the unloading tool 2; the turntable 302 can be driven to rotate so that the different clamping cuts 303 are sequentially rotated to the working position for clamping and releasing the unloading tool 2. The turntable 302 comprises two opposing turntable bodies, a front turntable body and a back turntable body, which are fixedly connected by a bushing 305 and a connecting shaft 304. Both turntable bodies are driven to rotate by a drive mechanism mounted on a mounting bracket 301. The drive mechanism may include a drive device and a rotating platform. The rotating platform can be driven to rotate by the drive device (e.g., a motor), and the turntable 302 is fixedly mounted on the rotating platform, so that the turntable 302 can rotate accordingly when the rotating platform is driven to rotate. An installation space is formed between the two turntable bodies, and the support of the clamping unit is fixedly mounted on one of the two turntable bodies or fixedly connected to both turntable bodies.

[0067] The so-called working position refers to the lowest position of the turntable 302 in the vertical direction. When the turntable 302 is rotated, the clamping cutter 303 on it can be rotated to the lowest position in sequence, so that the feeding device 2 conveyed from the feeding robot arm 1 by the feeding mechanism 4 can be clamped by the clamping unit located at the lowest position, or the feeding device 2 filled with emulsion explosive body that has been clamped on the clamping unit located at the lowest position can be released onto the feeding mechanism 4.

[0068] With the help of the multi-cut 303 design of the turntable 302 in this invention, it can meet the clamping of various specifications of feeding devices 2, while achieving a lightweight design, facilitating motor operation and increasing the number of feeding devices 2 that can be clamped.

[0069] In one specific embodiment, the clamping unit includes a support 306, a tool changing screw 307, a tool changing slider 308, and a clamping component 309. The support 306 is fixedly mounted on the turntable 302. The tool changing screw 307 is mounted on the support 306 in a manner that allows it to be manipulated to rotate around its own axis. There are two tool changing sliders 308, which are mounted on the tool changing screw 307 in a manner that allows them to move closer together when the tool changing screw 307 is manipulated to rotate forward and move away from each other when it is rotated backward. The clamping component 309 is provided for each tool changing slider 308 and is arranged opposite to each other.

[0070] In this invention, the tool changing screw 307 is a positive and negative screw with opposite textures on its left and right halves. This allows the two tool changing sliders 308 on the screw 307 to move in opposite directions when the screw 307 is driven to rotate, thereby achieving clamping and releasing of the unloading tool 2.

[0071] In this invention, a groove is cut off at the end of the tool changing screw to install a retaining ring. One side of the retaining ring acts on the support 306 to provide fixed support for the position of the tool changing screw and prevent the tool changing screw from slipping.

[0072] In this invention, the clamping component 309 includes a clamping arm and a flipping clamping body 310 disposed at the end of the clamping arm. The flipping clamping body 310 can freely flip relative to the clamping arm at an angle of 15°-25°. This allows it to hold various sizes of unloading tools 2. Furthermore, preferably, a rubber pad is provided on the flipping clamping body 310 to increase friction and prevent the unloading tool 2 from slipping.

[0073] In the initial state, the clamping unit of the present invention is in its maximum limit state, with the clamping components 309 of each clamping unit spaced 460mm apart. At this time, the drive motor 104 corresponding to the tool changing screw 307 of each clamping unit is not in operation. When the tool changing mechanism 3 is running, the flipping clamp 310 of the clamping component 309 can be positioned on the outside of the outer shell of the unloading device 2. At this time, the drive motor 104 can be started, driving the corresponding tool changing screw 307 to rotate through the coupling, thereby causing the corresponding tool changing slider 308 to move towards each other. The flipping clamp 310 can be moved and flipped to a suitable position, thereby clamping the corresponding unloading device 2. Conversely, the unloading device 2 can be released.

[0074] In one specific embodiment, each clamping position of the turntable 302 has a clamping slit 303, the shape of the clamping slit 303 is adapted to the shape of the outer shell of the unloading device 2, and the clamping unit is set corresponding to the clamping slit 303.

[0075] The tool changing mechanism 3 of the present invention enables rapid replacement between the feeding tool 2 that has been deployed and the feeding tool 2 that has been filled. Furthermore, the tool changing mechanism 3 of the present invention has a simple structure and small size, and can complete the rapid replacement of the feeding tool 2 in different states within a limited space.

[0076] Figure 11 A schematic diagram of the feeding mechanism 4 in this invention is shown. Figure 12 A schematic diagram of the feeding mechanism 4 in this invention is shown, relative to... Figure 11 The slide is located at the opposite end of the track slide.

[0077] Combination Figures 11-12As shown, the feeding mechanism 4 includes a track slide 401, a slide 402, and a feeding clamp. The track slide 401 extends from the position of the feeding mechanism 3 towards the feeding robot arm 1. The slide 402 is disposed on the track slide 401 and extends in the vertical direction of the track slide 401. The slide 402 can be manipulated to move linearly back and forth along the track slide. The feeding clamp can clamp the feeding device 2. The feeding clamp is disposed on the slide 402 and can be manipulated to move linearly back and forth in the extending direction of the slide 402.

[0078] In the feeding mechanism 4 of the present invention, inductive switches 403 are provided at both ends of the track slide 401, which can contact the movable seat 404 of the slide 402 to respond to the extreme sliding range of the movable seat 404. The inductive switches 403 can contact the movable seat 404, thereby limiting the extreme sliding range of the movable seat 404 and ensuring operational safety.

[0079] In the feeding mechanism 4 of the present invention, an outer cylinder 405 is provided on the side of the slide 402 to manipulate the feeding clamp to move linearly reciprocally relative to the slide 402 in the extending direction of the slide 402. The rod of the outer cylinder 405 is fixedly connected to the feeding clamp. A slide rail 406 is provided on the slide 402 for the overall sliding of the feeding clamp. The slide rail 406 is bolted to the slide 402. This allows the feeding clamp to move along the slide rail 406 in the extending direction of the slide 402 under the drive of the outer cylinder 405.

[0080] In the feeding mechanism 4 of the present invention, the feeding clamp includes a base box 407, a feeding screw 408, a feeding slider 409, and a feeding clamping plate 410. The feeding screw 408 extends in the extending direction of the slide 402 and is disposed on the base box 407 in a manner that can be manipulated around its own axis. There are two feeding sliders 409, which are disposed on the feeding screw 408 in a manner that can move closer to each other when the feeding screw 408 is manipulated to rotate forward and move away from each other when it is rotated backward. There are two feeding clamping plates 410 disposed opposite to each other and fixedly disposed on one feeding slider 409.

[0081] In one specific embodiment, a rubber layer 411 is provided on the feed clamping plate 410. This can reduce the squeezing wear between the feeder 2 and the feed clamp, thereby protecting the components on the feeder 2 and preventing the feeder 2 from deforming and failing. It also increases the friction to prevent the feeder 2 from slipping.

[0082] In one specific embodiment, the feed fixture is provided with an accordion cover 412 that covers the base box 407. The accordion cover 412 provides effective dust protection, preventing the mechanism from being affected by dust, and also preventing other parts from entering the mechanism and affecting the working efficiency of the clamping feed fixture mechanism 4. It can also reduce the failure rate of the clamping feed fixture mechanism 4.

[0083] In the feeding mechanism 4 of the present invention, the feeding clamp moves with the slide 402 relative to the track slide 401, and also moves relative to the slide 402 in the extension direction of the slide 402. Moreover, the movements in these two directions can be carried out simultaneously, which greatly improves the conveying efficiency of the feeding device 2.

[0084] When the feeding mechanism 4 is running, the feeding clamp is moved to a designated position near the feeding mechanism 3 or the unloading robot arm 1 by means of movement in the two directions of the extension direction of the track slide 401 and the extension direction of the slide 402, waiting to clamp the unloading device 2. The motor starts and drives the feeding screw to rotate through the coupling. The feeding sliders 409 move towards each other, the feeding clamp clamps the unloading device 2, and then the unloading device 2 filled with emulsion explosive is transported to a designated position near the unloading robot arm 1 or the unloading device 2 that has been placed is transported to a designated position near the feeding mechanism 3.

[0085] Figure 13 This is a perspective view of the feeding device 2 of the present invention from the loading end of the outer shell. Figure 14 This is a perspective view of the feeding device 2 from the discharge end of the outer shell in this invention. Figure 15 The diagram shows a plan view of the feeding device 2 from the loading end of the housing in this invention. Figure 16 for Figure 15 A cross-sectional view along the BB direction.

[0086] Combination Figures 13-16 As shown, the emulsion explosive feeding device 2 of the present invention includes a shell 201 and a loading carrier 202. The shell 201 has a loading end 203, a discharging end 204 and an inner cavity. The loading carrier 202 is installed in the inner cavity of the shell 201. The loading carrier 202 is provided with a loading hole 205 that runs through its own length and is used to fill the emulsion explosive body. The two ends of the loading hole 205 correspond to the loading end 203 and the discharging end 204 of the shell 201, respectively. Multiple loading holes 205 are provided on the loading carrier 202. The discharging end 204 of the shell 201 is provided with a dropping hole 206. Specifically, there is one dropping hole 206.

[0087] The loading carrier 202 is configured to be rotatable relative to the outer casing 201, so that the loading holes 205 and the discharge holes 206 are misaligned when not loading, and that multiple loading holes 205 sequentially correspond to the discharge holes 206 during loading. That is, in the initial state, the loading holes 205 on the loading carrier 202 and the discharge holes 206 of the outer casing 201 are misaligned, facilitating proper storage of the object to be loaded within the loading holes 205 of the loading device 2, and ensuring that the loaded object does not fall out of the loading device 2 when no loading operation is performed. When a loading operation is required, the loading holes 205 of the loading device 2 can be aligned one-to-one with the discharge holes 206 of the outer casing 201 by the rotational movement of the loading device 2, thereby enabling the loading operation. The sequential alignment of the loading holes 205 with the discharge holes 206 can be accomplished by controlling the rotation of the loading device 2 via a drive device (motor).

[0088] By utilizing multiple loading holes 205 on the loading carrier 202, multiple emulsion explosive objects to be unloaded can be loaded. Furthermore, the loading carrier 202 can be rotated relative to the outer casing 201. When unloading is required, the multiple loading holes 205 can sequentially connect with the discharge holes 206 on the bottom discharge end 204 of the outer casing 201, allowing the emulsion explosive objects filled in the multiple loading holes 205 to be sequentially released into the blasting depth hole. This achieves multiple unloading using a single unloading device 2, significantly improving efficiency compared to existing single-unloading methods. This solves the technical problem that current unloading mechanisms do not consider multiple unloading operations.

[0089] In this invention, the loading end 203 of the outer shell 201 of the feeding device 2 can be provided with a cover 207. The cover 207 can be provided with a plurality of holes corresponding one-to-one with the loading holes 205 of the carrier 202. The emulsion explosive is loaded into the corresponding loading hole 205 of the carrier 202 of the feeding device 2 under the action of pneumatic force.

[0090] In the feeding device 2 of the present invention, the loading carrier 202 is a circular cylinder with a central body 208 located at the center. Multiple loading holes 205 are arranged around the central body 208 in the circumferential direction of the loading carrier 202. In a preferred embodiment, 12 loading holes 205 are provided, but other numbers, such as 4-16, can also be used, depending on the need.

[0091] Among the multiple loading holes 205, a specific hole position is provided for loading a section of emulsion explosive with a detonator wire into that specific hole position.

[0092] In the feeding device 2 of the present invention, a positioning post 209 extending from the discharge end 204 to the loading end 203 is provided inside the outer shell 201. A positioning receiving cavity 210 is formed on the middle body 208 of the loading carrier 202 at the end facing the discharge end 204 of the outer shell 201. The positioning post 209 is received in the positioning receiving cavity 210 so that the loading carrier 202 is positioned and installed in the inner cavity of the outer shell 201. The positioning receiving cavity 210 is formed by an inward recess at the end of the loading carrier 202 facing the discharge end 204 of the outer shell 201, and the positioning post 209 is received in the positioning receiving cavity 210.

[0093] In the feeding device 2 of the present invention, the positioning post 209 has a drive mounting cavity 211. A drive device is mounted on the positioning post 209 within the drive mounting cavity 211, and the drive device 212 (servo motor) is connected to the loading carrier 202 for operation of rotating the loading carrier 202 relative to the housing 201. The drive mounting cavity 211 opens toward the discharge end 204 of the housing 201. The drive device 212 is received within the drive mounting cavity 211 and fixedly connected to the top of the positioning post 209. The drive shaft of the drive device 212 extends from the top of the positioning post 209 and is then connected to the loading carrier 202.

[0094] Through the above structural design, in the feeding device 2 of the present invention, the loading carrier 202 and the driving device 212 for driving the loading carrier 202 to rotate can both be accommodated in the outer shell 201. Moreover, since the driving mounting cavity 211 is formed in the positioning post 209 located in the positioning receiving cavity 210, it is possible to accommodate the positioning post 209 and the driving device 212 within the space occupied by the positioning receiving cavity 210 without the need for additional installation space for the driving device 212, thereby greatly improving the compactness of the overall structure.

[0095] By utilizing multiple loading holes on the loading carrier, multiple emulsion explosive objects to be fed can be loaded. Furthermore, by utilizing the rotatable configuration of the loading carrier relative to the outer shell, when feeding is required, the multiple loading holes can be sequentially connected to the discharge holes on the bottom discharge end of the outer shell to sequentially release the emulsion explosive objects filled in the multiple loading holes into the blasting deep hole. This achieves multiple feedings using a single feeding device, greatly improving efficiency compared to the existing single feeding method.

[0096] The feeding device 2 of the present invention also includes a deceleration mechanism that can decelerate the feeding of emulsion explosive body with detonator wire. Figure 17 A schematic diagram of the gripper unit of the deceleration mechanism in this invention is shown. Figure 18 A cross-sectional view of the gripper unit in this invention is shown. Figure 19An assembly diagram of the gripper unit and the housing 201 of the unloading device 2 in this invention is shown.

[0097] The deceleration mechanism solves the problem of not considering the feeding speed control when adding emulsion explosives in the existing technology.

[0098] Combination Figures 13-16 and Figures 17-19 As shown, the reduction mechanism includes:

[0099] The gripper unit 5 has a main body component 501 and a gripper component; the main body component 501 of the gripper unit 5 is a box structure, which can be attached to the side wall of the outer shell 201 at the loading end 203 of the outer shell 201, and the gripper component is disposed on the main body component 501 with the gripper end facing the loading carrier 202.

[0100] A wire pusher unit is mounted on the carrier 202 and is disposed opposite to the gripper unit 5; the wire pusher unit can be operated to push the detonator wire into the gripper member of the gripper unit 5.

[0101] The gripper component has an open state and a closed state, and the gripper component can switch from the open state to the closed state by means of the pushing force of the pusher unit to provide clamping friction to the detonator wire that is pushed into it.

[0102] That is, the gripper component can provide gripping friction for the detonator wire to reduce the feeding speed of the emulsion explosive body with the detonator wire.

[0103] In one specific embodiment, a wire pushing unit mounting cavity 213 is formed on one end of the middle body 208 of the carrier 202 facing the feeding end of the outer shell 201. The wire pushing unit is installed in the wire pushing unit mounting cavity 213. The wire pushing unit includes a wire pushing plate 214 and an operating device 215 (propulsion motor) that can drive the wire pushing plate 214 to make linear reciprocating motion in the radial direction of the carrier 202. That is, the wire pushing unit mounting cavity 213 and the positioning receiving cavity 210 are arranged opposite to each other and separated by a partition 216. The drive shaft of the drive device 212 is connected to the partition 216 to drive the entire carrier 202 to rotate relative to the outer shell 201.

[0104] In one specific embodiment, the gripper unit 5 further includes a pressure-bearing rod 502 disposed on the main body component 501. The end of the pressure-bearing rod 502 extends out of the main body component 501 toward the mounting carrier 202 in the initial state to form a pressure-bearing end. The pressure-bearing end of the pressure-bearing rod 502 can receive the push from the push plate 214, and after being pushed, it generates a linear movement in which the pressure-bearing end retracts into the main body component 501. The gripper component includes two opposing gripper bodies 514 and two connecting rods 515. The two gripper bodies 514 are arranged in an X shape and are pivotally connected to the main body component 501 at the intersection position 516. One end of each of the two connecting rods 515 is movably connected to one of the two gripper bodies 514, and the other end is pivotally disposed on the pressure-bearing rod 502. By means of the linear movement in which the pressure-bearing end of the pressure-bearing rod 502 retracts into the main body component 501 after being pushed, the two connecting rods 515 can drive the two gripper bodies 514 to switch from an open state to a closed state. That is, the pressure rod 502 can accept the thrust of the push wire unit to drive the gripper component to switch states.

[0105] During the unloading operation, under the action of the drive device 212, emulsion explosives without detonators can be smoothly unloaded by aligning them with the holes. For emulsion explosives with detonators, a deceleration mechanism is required to slow down the unloading process. The entire device is driven by a motor. Under the action of the push motor, the push plate 214 continuously pushes towards the hole 205. During the continuous push, the detonator wire of the emulsion explosive with detonator wire is pushed between the gripper components of the gripper unit 5. During the continued push, the pressure rod 502 of the gripper unit 5 receives the pushing force of the push plate 214, which drives the two gripper bodies 514 to switch from the open state to the closed state, thereby clamping the tail of the detonator wire located therein, thus providing a certain friction force and slowing down the unloading of the emulsion explosive with detonator wire.

[0106] In one specific embodiment, a return spring 504 is provided inside the main component 501. The return spring 504 can be compressed when the pressure end of the pressure rod 502 is subjected to a thrust, and can be extended when the thrust disappears to push the pressure rod 502 to move to the initial position.

[0107] In one specific embodiment, a positioning component is further provided in the main body component 501. The positioning component includes a positioning ball 505 and a preload spring 506. The positioning ball 505 and the preload spring 506 are fitted into a groove 507 formed on the push rod. The preload spring 506 provides a spring force to the positioning ball 505 in the groove to move it out of the groove opening. The main body component 501 is provided with a positioning groove for receiving the positioning ball 505 to form a positioning.

[0108] In one specific embodiment, the positioning groove includes an open positioning groove 508 and a closed positioning groove 509, wherein the depth of the closed positioning groove 509 at the bottom of the main body member 501 is greater than the depth of the open positioning groove 508. In a preferred embodiment, the closed positioning groove 509 penetrates the bottom of the main body member 501.

[0109] In a preferred embodiment, the end of the pusher plate 214 is an arc-shaped end, and the pressure-bearing end of the pressure-bearing rod 502 is provided with an arc-shaped pressure-bearing part 503, wherein the arc shape of the arc-shaped pressure-bearing part 503 and the arc shape of the arc-shaped end of the pusher plate 214 are arranged facing each other, so as to prevent hard squeezing of the detonator while pushing the detonator.

[0110] In a preferred embodiment, a side opening 217 extending from the loading end 203 to the discharge end 204 is provided on the side wall of the housing 201 at the position of the discharge hole 206 of the discharge end 204. The gripper unit 5 is attached to the strip-shaped side opening 217 at the discharge end 204 of the housing 201 by means of the main body component 501. The gripper component and the pressure rod 502 of the gripper unit 5 both extend into the housing 201 from the strip-shaped side opening 217.

[0111] In a further preferred embodiment, each loading hole 205 is also provided with a loading hole side opening 217 that opens radially outward to the loading carrier 202, so as to facilitate the detonator wire being pushed out by the push plate 214. The gripper end of the gripper component of the gripper unit 5 and the pressure end of the pressure rod 502 are located at the loading hole side opening position and do not extend into the hole of the loading hole 205.

[0112] A magnetic suction element 510 is provided on the main component 501, and the gripper unit 5 is attached to the side wall of the outer casing 201 by means of the magnetic suction element 510. The main component 501 has an attachment part 511, which has a countersunk hole, and the magnetic suction element 510 is a magnet filled in the countersunk hole. During the final pushing process, the gripper unit 5 may separate from the outer casing 201 of the unloading device 2 to complete the unloading operation of the emulsion explosive with detonator wire. After the unloading operation of this stage is completed, the separated gripper unit 5 can be collected and reused.

[0113] In a preferred embodiment, a guide groove 512 is provided in the main body component 501, a portion of the bearing rod 502 located in the main body component 501 is accommodated in the guide groove 512, and can move along the guide groove 512 when pushed, and a return spring 504 is provided in the guide groove 512 to act on the bearing rod 502.

[0114] In a preferred embodiment, the bearing rod 502 is located at the inner end of the main component 501 and a guide rod 513 is also provided. The main component 501 is provided with a guide hole communicating with the guide groove 512. The guide rod 513 extends out of the main component 501 in the guide hole. The return spring 504 is sleeved on the guide rod 513 inside and outside the guide groove 512 and abuts against the bottom of the guide groove 512 and the inner end of the bearing rod 502.

[0115] In the unloading device 2 of the present invention, a pneumatic quick-release clamp 110 is installed on the outer shell 201, which can cooperate with the quick-release clamp provided on the end of the unloading arm 103 of the unloading robot arm 1. This pneumatic quick-release clamp 110 can be automatically installed and automatically disassembled during loading and unloading. Its connection part is a steel ball locking device, and the loading and unloading action is very smooth. It also has a pneumatic circuit cut-off function (the air circuit is automatically closed when disassembling). The pneumatic quick-release clamp 110 is made of ultra-hard aluminum and steel, with excellent rigidity and long service life. It has a safety circuit mechanism, which can maintain the locked state even if the air pressure stops, ensuring that the unloading device 2 works stably throughout the unloading operation.

[0116] The feeding device of this invention can feed multiple objects to be fed, and can automatically and accurately complete the entire feeding process smoothly. At the same time, it can also take into account the situation where the feeding speed of a specific object (such as an emulsion explosive with a detonator wire) cannot be too fast, and is equipped with a deceleration device to achieve the effect of slowing down the feeding of a specific object.

[0117] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0118] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0119] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0120] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A feeding device for emulsion explosives, characterized in that, It includes a feeding robotic arm and a feeding device, the feeding device being loaded with emulsion explosive and configured on the feeding robotic arm in a replaceable manner; The unloading robotic arm includes a base, a main arm, and an unloading arm. The main arm is vertically mounted on the base and has a vertical central axis. The main arm can be driven to rotate relative to the base around its central axis. The unloading arm is located at the upper end of the main arm and has a rotation axis, which is perpendicular to the central axis in the lateral direction of the main arm. The unloading arm can be driven to rotate up and down relative to the main arm around its rotation axis in a vertical plane. A feeding device is attached to the end of the feeding arm. The feeding device has a first axis of rotation, which is parallel to the axis of rotation of the feeding arm and perpendicular to the centerline of the feeding device itself. The feeding device can be driven to rotate relative to the feeding arm about its first axis of rotation. The feeding device also has a second axis of rotation along the length of the feeding arm and is perpendicular to the first axis of rotation. The feeding device can be driven to rotate about the second axis of rotation to generate rotational motion about the end of the feeding arm. The feeding device includes a shell and a loading carrier. The shell has a loading end, a discharging end, and an inner cavity. The loading carrier is installed in the inner cavity of the shell. The loading carrier has a loading hole that runs through its own length and is used to load emulsion explosive. The two ends of the loading hole correspond to the loading end and the discharging end of the shell, respectively. Multiple loading holes are provided on the loading carrier. The discharging end of the shell has a discharge hole. The loading carrier is configured to be operable and rotatable relative to the shell, so that the loading holes and the discharge hole are misaligned when not feeding, and that multiple loading holes are sequentially aligned with the discharge hole during feeding. The feeding device also includes a deceleration mechanism for slowing down the feeding of emulsion explosive body with detonator wire. The deceleration mechanism includes a gripper unit and a wire pushing unit. The gripper unit has a main body component and a gripper component. The main body component is attached to the side wall of the shell at the loading end of the shell. The gripper component is set on the main body component and the gripper end faces the loading carrier. The wire pushing unit is mounted on the carrier and is positioned opposite to the gripper unit; The pusher unit can be operated to push the detonator wire into the gripper member of the gripper unit; the gripper member has an open state and a closed state, and the gripper member can switch from the open state to the closed state by means of the pusher unit to provide clamping friction to the detonator wire pushed therein.

2. The feeding device for emulsion explosives according to claim 1, characterized in that, A drive electric cylinder is attached to the main arm. The cylinder body of the drive electric cylinder is attached to the main arm via a mounting bracket. The rod of the drive electric cylinder is movably connected to the unloading arm. The mounting position of the drive electric cylinder, the connection position of the rod of the drive electric cylinder to the unloading arm, and the connection position of the unloading arm to the main arm form a triangular connection structure.

3. The feeding device for emulsion explosives according to claim 2, characterized in that, The cylinder body of the drive electric cylinder is arranged at an angle, so that the rod of the drive electric cylinder can point towards the unloading arm.

4. The feeding device for emulsion explosives according to claim 1, characterized in that, The end of the unloading arm is provided with a joint, which includes a series of T-shaped joints and I-shaped joints. The T-shaped joint is attached to the end of the unloading arm, and the unloading device is attached to the end of the I-shaped joint. The first rotation axis of the unloading device is the rotation axis of the I-shaped joint, and the second rotation axis of the unloading device is the rotation axis of the T-shaped joint.

5. The feeding device for emulsion explosives according to claim 4, characterized in that, The feeding device is quickly connected to the end of the I-type joint via a pneumatic clamp.

6. The feeding device for emulsion explosives according to claim 1, characterized in that, The unloading arm is mounted on the upper end of the main arm by means of a turntable bearing, and the rotation axis of the unloading arm is the central axis of the turntable bearing.

7. The feeding device for emulsion explosives according to claim 1, characterized in that, The unloading arm is a telescopic structure.

8. The feeding device for emulsion explosives according to claim 7, characterized in that, The unloading arm includes an outer arm body, a middle arm body, and an inner arm body, which are nested in layers. The outer arm body is equipped with an outer electric cylinder that drives the middle arm body to extend and retract relative to the outer arm body. The inner arm body has an inner cavity, and an inner electric cylinder that drives the inner arm body to extend and retract relative to the middle arm body is installed in the inner cavity.

9. The feeding device for emulsion explosives according to claim 8, characterized in that, Ventilation openings are provided at the top of both the outer and middle arm layers.

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