Unmanned vehicle-mounted blasting object putting and supporting device

Abstract

The invention discloses an unmanned vehicle-mounted blasting object throwing and supporting device. An unmanned vehicle of the throwing and supporting device comprises a crawler belt, a chassis and a supporting plate. The supporting plate can be rotatably mounted on the chassis; the electric push rod is installed at the top of the chassis and used for driving the supporting plate to be switched between the horizontal state of the top of the chassis and the vertical state of the rear end of the chassis. The releasing device is fixedly installed on the supporting plate and used for fixing and releasing the blasting object supported on the supporting plate. The supporting device is installed at the bottom end of the blasting object, is folded and attached to the outer side of the blasting object before the blasting object is put, and is driven by the gravity of the blasting object to be unfolded after the blasting object is put so as to stably support the blasting object. The control system is used for controlling the electric push rod and the release device. The throwing and supporting device is loaded on the unmanned platform, has the characteristics of high integration level, high bearing capacity and high environmental adaptability, and is beneficial to realizing safe, efficient and accurate blasting operation.

Description

Technical Field

[0001] The present invention relates to the technical field of civil blasting, and in particular to an unmanned vehicle-mounted explosive delivery and support device. Background Art

[0002] In civil blasting environments, projects often face complex and ever-changing situations. Some blasting projects may need to be carried out in narrow spaces, such as the demolition of buildings or the construction of underground tunnels. In these environments, the traditional manual placement of explosives faces many difficulties. The traditional manual placement of explosives is inefficient and requires a lot of manpower and time to complete the placement and support of explosives. In addition, safety risks are issues that must be taken seriously in civil blasting operations. Manual operations have certain safety hazards, which may cause personal injury or accidents. This not only poses a threat to the life safety of workers, but may even cause accidental explosions, resulting in irreversible losses.

[0003] With the advancement of technology, some mechanized delivery devices such as conveyor belts, cranes or robotic arms have emerged. The use of mechanized devices to deliver explosives faces a series of challenges in practice: First, these traditional methods are cumbersome to operate and require heavy settings and adjustments, which leads to a slow delivery process and seriously affects the progress and efficiency of the project; secondly, due to the high operating skills required, professional training and rich experience accumulation are required, and the delivery process requires constant supervision and adjustment, which increases labor costs and training costs; at the same time, operational errors may cause the hoisted objects to slip or fall, causing personal injury or equipment damage, and there are great safety risks.

[0004] In addition, these traditional methods also have limitations in adapting to complex environments. For example, cranes need to have sufficient operating space and carrying capacity, conveyor belts require flat ground and sufficient length, and robotic arms have small carrying capacity. These requirements limit their application in narrow or irregular environments. Summary of the invention

[0005] In response to the above problems, the present invention provides an unmanned vehicle-mounted explosive delivery and support device, which is loaded on an unmanned platform and has the characteristics of high integration, strong carrying capacity and strong environmental adaptability, which is conducive to achieving safe, efficient and precise blasting operations.

[0006] In order to achieve the above object, the present invention adopts the following specific technical solutions:

[0007] An unmanned vehicle-mounted explosive delivery and support device, the delivery and support device comprising an unmanned vehicle, an electric push rod, a release device, a support device, explosives and a control system;

[0008] The unmanned vehicle comprises a crawler, a chassis and a support plate; the support plate is rotatably mounted on the chassis and is used to support explosives;

[0009] The electric push rod is installed on the top of the chassis, and is used to drive the support plate to switch between a horizontal state at the top of the chassis and a vertical state at the rear end of the chassis;

[0010] The release device is fixedly mounted on the support plate and is used to fix and release the explosive supported on the support plate;

[0011] The support device is installed at the bottom end of the explosive, folded and attached to the outside of the explosive before the explosive is dropped, and is unfolded by the gravity of the explosive after the explosive is dropped to stably support the explosive;

[0012] The control system is used to control the electric push rod and the release device.

[0013] Furthermore, the release device includes a plurality of electromagnets and electric clamps fixedly mounted on the support plate;

[0014] The explosive object is fixedly provided with a magnetic magnet sheet corresponding to the electromagnet on its outer side, and an annular clamp corresponding to the electric clamp is arranged on the outer peripheral surface;

[0015] When the release device fixes the explosive, the control system controls the electromagnet to be powered off to generate magnetic force, so that the corresponding electromagnet fits tightly with the magnetic magnet sheet, and the control system controls the electric clamp to fit tightly with the annular clamp and clamp the annular clamp;

[0016] When the release device releases the explosive, the control system controls the electromagnet to be powered on and demagnetized, so that the corresponding electromagnet is separated from the magnetic magnet sheet, and the control system controls the electric clamp to open and separate from the annular clamp.

[0017] Furthermore, the electric clamp comprises a clamp base, two clamp slide blocks and an annular clamp corresponding to the clamp slide blocks one by one;

[0018] The clamping jaw base is provided with a threaded positioning hole and a slide groove, and is fixed to the support plate by bolts;

[0019] The two clamping jaw slide blocks can be relatively slidably installed in the slide groove of the clamping jaw base; the clamping jaw slide blocks are fixedly connected to the corresponding annular clamping jaws by screws;

[0020] The inner side of the annular clamp is provided with an arc groove for matching the shape of the annular clamp;

[0021] The jaw base is used to drive the translation of the two jaw sliders, and drive the annular jaw to move through the two jaw sliders, so as to realize the clamping and loosening of the explosive.

[0022] Furthermore, the electromagnet is fixed on the support plate by screws; the magnetic iron sheet is fixed on the explosive by screws.

[0023] Furthermore, three of the support devices are evenly distributed along the circumferential direction of the explosive.

[0024] Furthermore, the support device includes a connecting seat, a dowel bolt, a rotating shaft, a curved arc thin plate, a spiral roller shaft, a polygonal column and a ball screw;

[0025] The connecting seat is a "C" - shaped structure with an opening facing the outside of the explosive, and the back surface of the connecting seat is in shape - fit and fixedly connected with the outer peripheral surface of the explosive; a first through - hole is arranged at the top end of the connecting seat, and a polygonal blind - hole in shape - fit with the polygonal column is arranged at the bottom end;

[0026] A notch is arranged in the middle of the rotating shaft, and it includes an upper half - shaft and a lower half - shaft located on the upper and lower sides of the notch; a first threaded hole extending along its axial direction is arranged at the top end of the upper half - shaft; a second through - hole penetrating along its axial direction is arranged in the lower half - shaft, and a second threaded hole penetrating its radial direction is arranged at the bottom end;

[0027] The bolt head of the dowel bolt is accommodated in the first through - hole, and the threaded part is threadedly connected with the first threaded hole;

[0028] The rotating shaft is fixedly connected with the curved arc thin plate;

[0029] The spiral roller shaft is installed in the second through - hole, and is provided with a polygonal through - hole along its axial direction and in shape - fit with the polygonal column, and two spiral grooves are arranged on the side surface of the bottom end;

[0030] The top end of the polygonal column is fixedly installed in the polygonal blind - hole; the bottom end of the polygonal column extends into the polygonal through - hole to limit the rotation of the spiral roller shaft;

[0031] Two of the ball screws are arranged oppositely and threadedly connected to the second threaded hole, and the hemispherical surface at the top end of the ball screw is tangent to the spiral groove;

[0032] After the explosive is dropped to the ground, under the drive of the gravity of the explosive, the spiral roller shaft moves upward along the second through - hole, and through the sliding fit between the ball screw and the spiral groove, the ball screw drives the rotating shaft and the curved arc thin plate to rotate.

[0033] Furthermore, the spiral roller shaft is provided with a communicating straight groove at the top of the spiral groove;

[0034] The side surface of the connecting seat is provided with a third threaded hole connected with the polygonal blind hole;

[0035] The third threaded hole is threadedly connected with a screw, and the polygonal column is fixedly installed on the connecting seat by the screw.

[0036] Furthermore, the polygonal column is a hexagonal column.

[0037] Furthermore, the rotating shaft and the arc-curling thin plate are fixedly connected by countersunk screws;

[0038] The connecting seat is fixedly connected to the explosive object by screws.

[0039] Furthermore, the explosive object is a cylindrical explosive structure, and the back side of the connecting seat is an arc-shaped surface.

[0040] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0041] 1. Compact layout and strong carrying capacity: Before delivery, the support device is folded and attached to the side of the explosive, which effectively saves storage space during transportation; when delivering, the support device that touches the ground and unfolds is used to achieve stable support for the explosive; while increasing stability, it maximizes the use of storage space and improves transportation efficiency.

[0042] 2. High stability in transportation and delivery: The release device firmly fixes the explosives on the vehicle body through magnetic force and uses electric clamps to limit the position of the explosives. Compared with traditional fixing methods, it is more solid and reliable, and can effectively prevent the explosives from shaking and falling off during transportation, thereby improving the safety of transportation.

[0043] 3. Easy operation and high reliability: The present invention adopts the automated design of electric push rod and release device, which can realize the rapid delivery and release of explosives through the control system. The operation is easy and convenient, ensuring the stability and reliability under various working conditions.

[0044] 4. Good versatility and wide applicability: The present invention adopts a modular design, and standardized connection methods are used between various components. It can be flexibly combined and adjusted according to different needs, can be conveniently connected and installed with the outside world, and the device is easy to maintain. It is suitable for unmanned vehicle-mounted explosive delivery and support tasks of different specifications and models, and has strong versatility and adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1It is a schematic diagram of the overall structure of the unmanned vehicle-mounted explosive placement and support device of the present invention;

[0046] Figure 2 It is a side view of the unmanned vehicle-mounted explosive delivery and support device of the present invention;

[0047] Figure 3 It is a schematic diagram of the structure of the electric gripper;

[0048] Figure 4 It is a structural schematic diagram of the clamping jaw base of the electric clamping jaw;

[0049] Figure 5 is a schematic diagram of the structure of the supporting device;

[0050] Figure 6 for Figure 5 Sectional view of section AA;

[0051] Figure 7 for Figure 5 Cross-sectional view of the middle BB section;

[0052] Figure 8 Schematic diagram of the coordination between the ball screw and the spiral roller.

[0053] Among them, 1-track, 2-chassis, 3-support plate, 4-electric push rod, 5-electromagnet, 6-magnetic iron sheet, 7-electric clamp, 8-annular clamp, 9-support device, 10-explosive, 71-clamp base, 72-clamp slider, 73-annular clamp, 711-slideway, 91-connecting seat, 92-plug bolt, 93-rotating shaft, 94-arc thin plate, 95-spiral roller, 96-hexagonal prism, 97-ball screw. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] like Figure 1 and Figure 2 As shown in the structure, this embodiment provides an unmanned vehicle-mounted explosive delivery and support device, which includes an unmanned vehicle, an electric push rod 4, a release device, a support device 9, an explosive 10 and a control system; the unmanned vehicle serves as a mobile platform and can carry the explosive 10 to a designated location;

[0056] The unmanned vehicle comprises a crawler 1, a chassis 2 and a support plate 3; the support plate 3 can be rotatably mounted on the chassis 2 to support the explosive 10; the support plate 3 can be movably mounted on the chassis 2 through a connecting rod; when the unmanned vehicle is moving, the support plate 3 is located on the top of the chassis 2; when the unmanned vehicle moves to a designated position, the support plate 3 is rotated to a vertical state and is located on one side of the unmanned vehicle to realize the delivery of the explosive 10;

[0057] The electric push rod 4 is installed on the top of the chassis 2, and is used to drive the support plate 3 to switch between the horizontal state at the top of the chassis 2 and the vertical state at the rear end of the chassis 2; the electric push rod 4 is used to provide power to drive the support plate 3 to rotate, and directly or indirectly acts on the support plate 3 through the connecting rod, so that the support plate 3 can be rotated from the horizontal state at the top of the chassis 2 to the vertical state at the rear end of the chassis 2, so as to release the explosive 10;

[0058] The release device is fixedly mounted on the support plate 3, and is used to fix and release the explosive 10 supported on the support plate 3; when the unmanned vehicle is moving with the explosive 10, the release device is used to fix the explosive 10 on the support plate 3; when the unmanned vehicle is moving with the explosive 10 to the delivery location, the electric push rod 4 drives the support plate 3 to rotate to a vertical state, and the release device releases the explosive 10, so as to separate the explosive 10 from the support plate 3 for delivery;

[0059] The support device 9 is installed at the bottom end of the explosive 10, and is folded and attached to the outside of the explosive 10 before the explosive 10 is dropped, and is unfolded by the gravity of the explosive 10 after the explosive 10 is dropped to stably support the explosive 10;

[0060] The control system is used to control the electric push rod 4 and the release device.

[0061] like Figure 1 and Figure 2As shown, the release device includes a plurality of electromagnets 5 and electric clamps 7 fixedly mounted on the support plate 3 by screws. In this embodiment, four electromagnets 5 and four magnetic magnet sheets 6 are provided as an example for explanation; the explosive 10 is fixedly mounted with magnetic magnet sheets 6 corresponding to the electromagnets 5 on its outer side by screws, and an annular clamp 8 corresponding to the electric clamp 7 is provided on the outer peripheral surface; the electromagnet 5 and the magnetic magnet sheet 6 are fitted and fixed by magnetic attraction in the power-off state, so as to achieve the fixation between the support plate 3 and the explosive 10; when the release device fixes the explosive 10, the control system controls the electromagnet 5 to be powered off to generate magnetic force, so that the corresponding electromagnet 5 is closely fitted with the magnetic magnet sheet 6, and the control system controls the electric clamp 7 to be closely fitted with the annular clamp 8 and clamp the annular clamp 8; when the release device releases the explosive 10, the control system controls the electromagnet 5 to be powered on and demagnetized, so that the corresponding electromagnet 5 is separated from the magnetic magnet sheet 6, and the control system controls the electric clamp 7 to open and separate from the annular clamp 8.

[0062] like Figure 3 and Figure 4 As shown, the electric clamp 7 includes a clamp base 71, two clamp sliders 72, and an annular clamp 73 corresponding to the clamp sliders 72; the clamp base 71 is provided with a threaded positioning hole and a slide groove 711, and is fixedly installed on the support plate 3 by bolts; the two clamp sliders 72 can be relatively slidably installed in the slide groove 711 of the clamp base 71; the clamp slider 72 is fixedly connected with the corresponding annular clamp 73 by screws; the inner side of the annular clamp 73 is provided with an arc groove for matching the shape of the annular clamp 8; the clamp base 71 is used to provide power and drive the two clamp sliders 72 to translate, and the two clamp sliders 72 drive the annular clamp 73 to move, thereby achieving the clamping and release of the explosive 10. The control system sends a command to drive the clamp slider 72 to translate along the slide groove 711, thereby driving the two annular clamps 73 to move in the direction of moving away from and approaching each other, thereby achieving the clamping and release of the explosive 10.

[0063] like Figure 1 , Figure 2 , Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, three supporting devices 9 are evenly distributed along the circumference of the explosive 10. The three supporting devices 9 are provided to balance the gravity of the explosive 10. The three-point support is beneficial to ensure safety and reliability during use.

[0064] The support device 9 includes a connecting seat 91, a dowel bolt 92, a rotating shaft 93, a rolled arc thin plate 94, a spiral roller shaft 95, a polygonal column, and a ball screw 97; the connecting seat 91 is a "C" - shaped structure with an opening facing the outside of the explosive 10. The back surface of the connecting seat 91 is shaped to fit the outer peripheral surface of the explosive 10 and is fixedly connected by screws; a first through - hole is provided at the top of the connecting seat 91, and a polygonal blind hole shaped to fit the polygonal column is provided at the bottom; when the explosive 10 is a cylindrical blasting structure, the back surface of the connecting seat 91 is an arc surface, and the diameter of the arc surface is equal to the diameter of the explosive 10; a notch is provided in the middle of the rotating shaft, and it includes an upper half - shaft located above the notch and a lower half - shaft located below the notch; the upper half - shaft is inserted into the opening of the connecting seat 91, and a first threaded hole extending along its axial direction is provided at the top of the upper half - shaft; the lower half - shaft is provided with a second through - hole penetrating along its axial direction and a second threaded hole penetrating along its radial direction at the bottom; the bolt head of the dowel bolt 92 is accommodated in the first through - hole, and the threaded part is threadedly connected to the first threaded hole; the rotating shaft and the rolled arc thin plate 94 are fixedly connected by countersunk head screws; the spiral roller shaft 95 is installed in the second through - hole and is provided with a polygonal through - hole along its axial direction and shaped to fit the polygonal column, and two spiral grooves are provided on the bottom side; the top of the polygonal column is fixedly installed in the polygonal blind hole; the bottom of the polygonal column extends into the polygonal through - hole to limit the rotation of the spiral roller shaft 95; the polygonal column is a hexagonal prism 96; two ball screws 97 are arranged opposite to each other and are threadedly connected to the second threaded hole, and the hemispherical surface at the top of the ball screw 97 is tangent to the spiral groove; after the explosive 10 is dropped to the ground, under the drive of the gravity of the explosive 10, the spiral roller shaft 95 moves upward along the second through - hole, and through the sliding fit between the ball screw 97 and the spiral groove, the ball screw 97 drives the rotating shaft and the rolled arc thin plate 94 to rotate. The spiral direction of the spiral groove enables the rolled arc thin plate 94 to rotate from a state of fitting the outer side surface of the explosive 10 to a state of opening towards the outside.

[0065] The rotating shaft and the rolled arc thin plate 94 adopt a split - type design, which can effectively reduce the thickness of the rolled arc thin plate 94 part, thereby reducing the weight of the overall structure, improving the operation efficiency and stability; in addition, the split - type design can also simplify the assembly and maintenance process, reduce the complexity of operation and maintenance, and avoid the problems of difficult operation and increased maintenance cost caused by the complex overall structure.

[0066] Based on the above - mentioned support device 9, the spiral roller shaft 95 is provided with a connected straight groove at the top of the spiral groove; as Figure 7As shown, a third threaded hole connected to the polygonal blind hole is provided on the side of the connection seat 91; a screw (not shown in the figure) is threadedly connected to the inner thread of the third threaded hole, and the polygonal column is fixedly installed on the connection seat 91 by the screw, so that the polygonal column and the connection seat 91 are fixed as a whole. The spiral roller shaft 95 adopts a notch design with a spiral at the lower end and a straight line at the upper end. The design of the spiral notch enables the arc structure to be firmly fixed on the spiral roller shaft 95, and the design of the straight line notch can ensure that the structure will not slide or tilt during transportation, thereby maintaining the stability and integrity of the structure.

[0067] The working principle of the above-mentioned unmanned vehicle-mounted explosive 10 placement and support device is as follows:

[0068] First, multiple electromagnets 5 are installed on the support plate 3 of the unmanned vehicle, and magnetic magnet sheets 6 corresponding to the electromagnets 5 are installed on the surface of the explosive 10. The explosive 10 is placed horizontally so that the electromagnets 5 and the magnetic magnet sheets 6 are tightly attached to each other under the action of magnetic attraction.

[0069] Secondly, the electric clamp 7 is closed so that the annular clamp 73 fits tightly with the annular clamp 8 on the surface of the explosive 10 to complete the loading and fixing of the explosive 10; in order to save transportation space, the supporting device 9 is fitted to the bottom of the explosive 10.

[0070] Then, after receiving the delivery task instruction, the crawler type 1 unmanned vehicle maneuvers to the designated blasting position, starts the electric push rod 4, and converts the large-caliber explosive 10 from a horizontal state to a vertical state. During the rotation process, the spiral roller shaft 95 of the support device 9 at the bottom of the explosive 10 first touches the ground, and under the action of pressure, the spiral roller shaft 95 moves upward along the hexagonal prism 96. The pressure is transmitted from the ball screw 97 to the rotating shaft and the arc-rolling thin plate 94 in turn, converting the vertical displacement of the spiral roller shaft 95 into a rotational movement and a rotational movement of the arc-rolling thin plate 94. After the support device 9 is unfolded and the explosive 10 is stably vertical on the ground, the electromagnet 5 of the release device is powered on, and the magnetic attraction between the electromagnetic clamp and the magnetic iron sheet 6 disappears; under the command of the control system, the clamp slider 72 of the electromagnetic clamp moves to both sides along the slide groove 711, and the annular clamp 73 opens from the closed loop state, thereby disconnecting the connection between the support plate 3 and the explosive 10, completing the release work;

[0071] Finally, the unmanned vehicle retreats backwards, waiting for the explosive 10 to detonate.

[0072] The above-mentioned delivery and support device solves the difficulties and safety hazards in the delivery of explosives through the unmanned vehicle, the electric push rod 4, the release device and the support device 9. The transportation, delivery and support operations of the explosives can be completed by remote control, which can significantly reduce the risks of personnel in blasting operations while improving work efficiency; the support plate 3 and the electromagnet 5 jointly provide a uniform support force to ensure that the explosive 10 is subjected to balanced force; through the combination of the electromagnet 5 and the electric clamp 7, the explosive 10 can be reliably fixed and released, effectively preventing the shaking and accidental falling of the explosive during transportation, improving the safety of the entire delivery process, and the delivery stability is high; the electric push rod 4 and the release device 9 can effectively prevent the shaking and accidental falling of the explosive during transportation, and improve the safety of the entire delivery process. The clamping jaws 7 can limit the positional deviation between the electromagnet 5 and the magnetic magnet sheet 6 during transportation, effectively reducing the unstable factors caused by vibration, and further ensuring the safe transportation of the explosive 10; a supporting device 9 is installed at the bottom of the explosive 10, and the supporting device 9 can be folded and attached to the side of the explosive during transportation to save storage space to the maximum extent. At the same time, by automatically unfolding when touching the ground, the three-point stable support of the explosive is achieved. The supporting device 9 can quickly and stably support the explosive, improving the stability of the blasting operation; and, by designing clamping jaws of different shapes, it can adapt to explosives 10 of different sizes and shapes, improving the flexibility and efficiency of the operation. Therefore, the delivery and support device adopts multiple support and fixing mechanisms, which enhances the stability and safety of the explosive 10 during transportation, and has the characteristics of compact layout and strong carrying capacity.

[0073] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An unmanned vehicle-mounted explosive delivery and support device, It is characterized in that It includes an unmanned vehicle, an electric push rod, a release device, a support device, explosives, and a control system; The unmanned vehicle comprises a crawler, a chassis and a support plate; the support plate is rotatably mounted on the chassis and is used to support explosives; The electric push rod is installed on the top of the chassis, and is used to drive the support plate to switch between a horizontal state at the top of the chassis and a vertical state at the rear end of the chassis; The release device is fixedly mounted on the support plate and is used to fix and release the explosive supported on the support plate; The support device is installed at the bottom end of the explosive, folded and attached to the outside of the explosive before the explosive is dropped, and is unfolded by the gravity of the explosive after the explosive is dropped to stably support the explosive; The control system is used to control the electric push rod and the release device.

2. The delivery and support device according to claim 1, It is characterized in that The release device includes a plurality of electromagnets and electric clamps fixedly mounted on the support plate; The explosive object is fixedly provided with a magnetic magnet sheet corresponding to the electromagnet on its outer side, and an annular clamp corresponding to the electric clamp is arranged on the outer peripheral surface; When the release device fixes the explosive, the control system controls the electromagnet to be powered off to generate magnetic force, so that the corresponding electromagnet fits tightly with the magnetic magnet sheet, and the control system controls the electric clamp to fit tightly with the annular clamp and clamp the annular clamp; When the release device releases the explosive, the control system controls the electromagnet to be powered on and demagnetized, so that the corresponding electromagnet is separated from the magnetic magnet sheet, and the control system controls the electric clamp to open and separate from the annular clamp.

3. The delivery and support device according to claim 2, It is characterized in that The electric clamp comprises a clamp base, two clamp slide blocks and an annular clamp corresponding to the clamp slide blocks one by one; The clamping jaw base is provided with a threaded positioning hole and a slide groove, and is fixed to the support plate by bolts; The two clamping jaw slide blocks can be relatively slidably installed in the slide groove of the clamping jaw base; the clamping jaw slide blocks are fixedly connected to the corresponding annular clamping jaws by screws; The inner side of the annular clamp is provided with an arc groove for matching the shape of the annular clamp; The clamping jaw base is used to drive the two clamping jaw slide blocks to translate, and the two clamping jaw slide blocks drive the annular clamping jaw to move, thereby achieving clamping and releasing of the explosive.

4. The delivery and support device according to claim 1, It is characterized in that The electromagnet is fixed to the support plate by screws; and the magnetic magnet sheet is fixed to the explosive by screws.

5. The delivery and support device according to any one of claims 1 to 4, It is characterized in that Three supporting devices are evenly distributed along the circumference of the explosive.

6. The delivery and support device according to claim 5, It is characterized in that The support device includes a connecting seat, a dowel bolt, a rotating shaft, a rolled arc thin plate, a spiral roller shaft, a polygonal column, and a ball screw; The connecting seat is in a "C" shape with an opening facing the outside of the explosive. The back surface of the connecting seat is shaped to fit and fixedly connect with the outer peripheral surface of the explosive; a first through hole is provided at the top end of the connecting seat, and a polygonal blind hole shaped to fit the polygonal column is provided at the bottom end; A notch is provided in the middle of the rotating shaft, and it includes an upper half shaft and a lower half shaft located on the upper and lower sides of the notch; a first threaded hole extending along its axial direction is provided at the top end of the upper half shaft; the lower half shaft is provided with a second through hole penetrating its axial direction, and a second threaded hole penetrating its radial direction is provided at the bottom end; The bolt head of the dowel bolt is accommodated in the first through hole, and the threaded part is threadedly connected to the first threaded hole; The rotating shaft is fixedly connected to the rolled arc thin plate; The spiral roller shaft is installed in the second through hole, and is provided with a polygonal through hole along its axial direction and shaped to fit the polygonal column, and two spiral grooves are provided on the side surface of the bottom end; The top end of the polygonal column is fixedly installed in the polygonal blind hole; the bottom end of the polygonal column extends into the polygonal through hole to limit the rotation of the spiral roller shaft; Two of the ball screws are arranged oppositely and threadedly connected to the second threaded hole, and the hemispherical surface at the top end of the ball screw is tangent to the spiral groove; After the explosive is dropped to the ground, driven by the gravity of the explosive, the spiral roller shaft moves upward along the second through hole, and the ball screw drives the rotating shaft and the rolled arc thin plate to rotate through the sliding fit between the ball screw and the spiral groove.

7. The dropping and supporting device according to claim 6, wherein, a through straight groove is provided at the top of the spiral groove of the spiral roller shaft; a third threaded hole communicating with the polygonal blind hole is provided on the side surface of the connecting seat; a screw is threadedly connected in the third threaded hole, and the polygonal column is fixedly installed on the connecting seat through the screw.

8. The dropping and supporting device according to claim 6, wherein, the polygonal column is a hexagonal prism.

9. The dropping and supporting device according to claim 6, wherein, the rotating shaft and the rolled arc thin plate are fixedly connected by countersunk head screws; the connecting seat and the explosive are fixedly connected by screws.

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