An unmanned vehicle-mounted explosive delivery and support device

Abstract

The application discloses a kind of unmanned vehicle explosive material throwing and supporting device, and the unmanned vehicle of the throwing and supporting device includes track, chassis and support plate;Support plate is rotatably mounted on chassis;Electric push rod is installed on the top of chassis, for driving support plate switches between the horizontal state of the top of chassis and the vertical state of the rear end of chassis;Release device is fixedly installed on support plate, for fixing and releasing explosive material supported on support plate;Support device is installed at the bottom end of explosive material, folded and attached to the outside of explosive material before explosive material is thrown, and unfolded to stably support explosive material after explosive material is thrown by the gravity of explosive material driving;Control system is used to control electric push rod and release device.The above-mentioned throwing and supporting device is loaded on unmanned platform, with the characteristics of high integration, strong carrying capacity and strong environmental adaptability, which is conducive to realizing safe, efficient and accurate blasting operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of civilian blasting technology, and particularly relates to a device for unmanned vehicle-mounted explosive delivery and support. BACKGROUND

[0002] In the environment of civilian blasting, engineering often faces complex and variable situations, and some blasting projects may need to be carried out in narrow spaces, such as building demolition or underground tunnel construction. In these environments, the traditional manual explosive placement method faces many difficulties. The traditional manual explosive placement method is inefficient, requiring a large amount of manpower and time to complete the delivery and support of the explosive. In addition, safety risk is a problem that must be paid attention to in civilian blasting operations. Manual operation has certain safety hazards, which may cause personal injury or accidents. This not only threatens the life safety of workers, but may also cause misblasting, causing irreversible losses.

[0003] With the advancement of technology, some mechanized delivery devices such as conveyors, cranes or mechanical arms have appeared. The use of mechanized devices to deliver explosives faces a series of challenges in practice: first, these traditional methods have a complicated operation process that requires heavy setup and adjustment, resulting in a slow delivery process that seriously affects the progress and efficiency of the project; second, due to the high skill requirement, professional training and rich experience are required, and the delivery process needs to be constantly supervised and adjusted, increasing the labor cost and training cost; at the same time, operation errors may cause the lifting object to slip or fall, causing personal injury or equipment damage, posing a great safety risk.

[0004] In addition, these traditional methods also have limitations in adapting to complex environments, such as the need for sufficient operating space and carrying capacity for cranes, flat ground and sufficient length for conveyors, and small carrying capacity for mechanical arms, which limit their application in narrow or irregular environments. SUMMARY

[0005] To solve the above problems, the present application provides a device for unmanned vehicle-mounted explosive delivery and support, which is loaded on an unmanned platform and has the characteristics of high integration, strong carrying capacity and strong environmental adaptability, which is beneficial to realize safe, efficient and precise blasting operations.

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

[0007] A device for unmanned vehicle-mounted explosive delivery and support, the device comprising an unmanned vehicle, an electric push rod, a release device, a support device, an explosive and a control system.

[0008] The unmanned vehicle comprises a track, a chassis and a support plate; the support plate is rotatably installed on the chassis and used for supporting the explosive;

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

[0010] The release device is fixedly installed on the support plate and used for fixing and releasing 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 launched, and unfolded to stably support the explosive through the gravity drive of the explosive after the explosive is launched;

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

[0013] Further, the release device comprises a plurality of electromagnets and electric clamps fixedly installed on the support plate;

[0014] The explosive is fixedly installed with a magnetic sheet corresponding to the electromagnet on the outside surface, and is provided with a ring-shaped hoop corresponding to the electric clamp on the outer circumferential surface;

[0015] When the release device fixes the explosive, the control system controls the electromagnets to generate magnetic force by being powered off, so that the corresponding electromagnets are tightly attached to the magnetic sheets, and the control system controls the electric clamps to be tightly attached to the ring-shaped hoops and clamp the ring-shaped hoops;

[0016] When the release device launches the explosive, the control system controls the electromagnets to be demagnetized by being powered on, so that the corresponding electromagnets are separated from the magnetic sheets, and the control system controls the electric clamps to be opened and separated from the ring-shaped hoops.

[0017] Further, the electric clamp comprises a clamp base, two clamp sliding blocks and a ring-shaped clamp corresponding to the clamp sliding blocks;

[0018] The clamp base is provided with a threaded positioning hole and a sliding groove and is fixedly installed on the support plate by bolts;

[0019] The two clamp sliding blocks are slidably installed in the sliding groove of the clamp base; the clamp sliding block and the corresponding ring-shaped clamp are fixedly connected by screws;

[0020] The inner side of the ring-shaped clamp is provided with an arc-shaped groove for shape cooperation with the ring-shaped hoop;

[0021] The clamping jaw base is used to drive the two clamping jaw sliders to translate, and the ring-shaped clamping jaw is moved by the two clamping jaw sliders, so that the clamping and loosening of the explosive object are realized.

[0022] Further, the electromagnet is fixed on the support plate through a screw, and the magnetic iron sheet is fixed on the explosive object through a screw.

[0023] Further, three support devices are uniformly distributed along the circumference of the explosive object.

[0024] Further, the support device comprises a connecting seat, a plug bolt, a rotating shaft, a coiled arc thin plate, a spiral roller shaft, a polygonal column and a wave bead screw.

[0025] The connecting seat is a " " shaped structure with an opening facing the outer side of the explosive object, the back surface of the connecting seat is matched with the outer circumferential surface of the explosive object and is fixedly connected, the top end of the connecting seat is provided with a first through hole, and the bottom end is provided with a polygonal blind hole matched with the polygonal column;

[0026] The rotating shaft is provided with a notch in the middle part and comprises an upper half shaft and a lower half shaft located on the upper side and the lower side of the notch; the top end of the upper half shaft is provided with a first threaded hole extending along the axial direction thereof; the lower half shaft is provided with a second through hole penetrating the axial direction thereof, and is provided with a second threaded hole penetrating the radial direction thereof at the bottom end;

[0027] The bolt head of the plug 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 coiled arc thin plate;

[0029] The spiral roller shaft is installed in the second through hole and is provided with a polygonal through hole extending along the axial direction thereof and matched with the polygonal column, and two spiral grooves are provided on the bottom end side surface;

[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 wave bead screws are oppositely arranged and threadedly connected in the second threaded hole, and the top end hemispherical surface of the wave bead screw is tangent to the spiral groove;

[0032] When the explosive object is put on the ground, under the driving of the gravity of the explosive object, the spiral roller shaft moves upward along the second through hole, and the wave bead screw drives the rotating shaft and the coiled arc thin plate to rotate through the sliding fit of the wave bead screw and the spiral groove.

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

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

[0035] A screw is screwed in the third threaded hole, and the polygonal column is fixedly installed in the connecting seat through the screw.

[0036] Further, the polygonal column is a hexagonal prism.

[0037] Further, the rotating shaft and the coiled arc thin plate are fixedly connected through a countersunk screw.

[0038] The connecting seat and the explosive are fixedly connected through a screw.

[0039] Further, the explosive is a cylindrical explosive structure, and the back surface of the connecting seat is an arc surface.

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

[0041] 1. Compact layout and strong carrying capacity: before deployment, the support device is folded and attached to the side of the explosive, effectively saving storage space during transportation; when delivering, the support device is unfolded by touching the ground to achieve stable support of the explosive; while increasing stability, the storage space is maximized, improving transportation efficiency.

[0042] 2. High stability during transportation and deployment: the release device firmly fixes the explosive on the vehicle body through magnetic force and limits the position of the explosive using electric clamps; compared with traditional fixing methods, it is more secure and reliable, effectively preventing the explosive from shaking and falling off during transportation, improving transportation safety.

[0043] 3. Simple operation and high reliability: the present application adopts an automatic design of electric push rods and release devices, which can realize quick delivery and release of the explosive through the control system, making operation simple and convenient, ensuring stability and reliability under various working conditions.

[0044] 4. Good versatility and wide applicability: the present application adopts modular design, and the components are connected in a standardized manner, which can be flexibly combined and adjusted according to different needs, and can be conveniently connected and installed with the outside world, making device maintenance and maintenance convenient, suitable for different specifications and models of unmanned vehicle explosive delivery and support tasks, with strong versatility and adaptability. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1This is a schematic diagram of the overall structure of the unmanned vehicle-mounted explosives delivery and support device of the present invention.

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

[0047] Figure 3 This is a schematic diagram of the electric gripper.

[0048] Figure 4 This is a schematic diagram of the gripper base of the electric gripper;

[0049] Figure 5 This is a schematic diagram of the supporting device.

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

[0051] Figure 7 for Figure 5 Sectional view of section BB;

[0052] Figure 8 This is a schematic diagram showing the fit between the ball screw and the spiral roller shaft.

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

[0054] 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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 deployment and support device, which includes an unmanned vehicle, an electric push rod 4, a release device, a support device 9, explosives 10, and a control system; the unmanned vehicle, as a mobile platform, can carry the explosives 10 to a designated location.

[0056] The unmanned vehicle comprises a track 1, a chassis 2 and a support plate 3; the support plate 3 is rotatably installed on the chassis 2 and used for supporting the explosive 10; the support plate 3 is movably installed on the chassis 2 through a connecting rod; during the movement of the unmanned vehicle, the support plate 3 is located on the top of the chassis 2; after the unmanned vehicle moves to a designated position, the support plate 3 is rotated to a vertical state and located on one side of the unmanned vehicle to realize the delivery of the explosive 10;

[0057] An electric push rod 4 is installed on the top of the chassis 2 and used for driving the support plate 3 to switch between the horizontal state on 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 for providing power for driving the support plate 3 to rotate and directly or indirectly acts on the support plate 3 through the connecting rod, so as to rotate the support plate 3 from the horizontal state on the top of the chassis 2 to the vertical state at the rear end of the chassis 2 to realize the delivery of the explosive 10;

[0058] A release device is fixedly installed on the support plate 3 and used for fixing and releasing the explosive 10 supported on the support plate 3; during the movement of the unmanned vehicle carrying the explosive 10, the release device is used for fixing the explosive 10 on the support plate 3; after the unmanned vehicle carrying the explosive 10 moves to a delivery site, the support plate 3 is driven to rotate to a vertical state by the electric push rod 4, the release device releases the explosive 10, and the explosive 10 is separated from the support plate 3 to realize the delivery;

[0059] A support device 9 is installed at the bottom end of the explosive 10, is folded and attached to the outside of the explosive 10 before the delivery of the explosive 10, and is unfolded to stably support the explosive 10 through the gravity driving of the explosive 10 after the delivery of the explosive 10;

[0060] A control system is used for controlling the electric push rod 4 and the release device.

[0061] As Figure 1 and Figure 2As shown, the release device includes a plurality of electromagnets 5 and electric clamps 7 fixedly installed on the support plate 3 by screws, and in this embodiment, four electromagnets 5 and four magnetic iron sheets 6 are provided as an example; the explosive 10 is fixedly installed with a magnetic iron sheet 6 corresponding to the electromagnet 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 iron sheet 6 are fixedly attached by magnetic attraction force in the state of power off, thereby realizing 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 generate magnetic force by power off, so that the corresponding electromagnet 5 and the magnetic iron sheet 6 are closely attached, the control system controls the electric clamp 7 to closely attach with the annular clamp 8 and clamps the annular clamp 8; when the release device releases the explosive 10, the control system controls the electromagnet 5 to demagnetize by power on, so that the corresponding electromagnet 5 and the magnetic iron sheet 6 are separated, and the control system controls the electric clamp 7 to open and separate from the annular clamp 8.

[0062] As shown in Figure 3 , Figure 4 , the electric clamp 7 includes a clamp base 71, two clamp sliding blocks 72, and an annular clamp 73 corresponding to the clamp sliding block 72; the clamp base 71 is provided with a threaded positioning hole and a sliding groove 711 and is fixedly installed on the support plate 3 by a bolt; the two clamp sliding blocks 72 are slidably installed in the sliding groove 711 of the clamp base 71; the clamp sliding block 72 is fixedly connected with the corresponding annular clamp 73 by a screw; the inner side of the annular clamp 73 is provided with an arc-shaped groove for shape matching with the annular clamp 8; the clamp base 71 is used to provide power and drive the two clamp sliding blocks 72 to translate, and the annular clamp 73 is moved by the two clamp sliding blocks 72, thereby realizing the clamping and loosening of the explosive 10. The control system sends a command to drive the clamp sliding block 72 to translate along the sliding groove 711, thereby driving the two annular clamps 73 to move towards the direction of moving away from each other and moving close to each other, thereby realizing the clamping and releasing of the explosive 10.

[0063] As shown in Figure 1 , Figure 2 , Figure 5 , Figure 6 , Figure 7 and Figure 8 , three support devices 9 are uniformly distributed along the circumference of the explosive 10, and the three support devices 9 are provided to balance the gravity of the explosive 10, and the three-point support is conducive to ensuring the safety and reliability in use.

[0064] The support device 9 comprises a connecting seat 91, a plug bolt 92, a rotating shaft 93, a rolling arc thin plate 94, a spiral roller shaft 95, a polygonal column and a wave bead screw 97; the connecting seat 91 is a "∅" shaped structure with an opening facing the outer side of the blasting object 10, the back surface of the connecting seat 91 is matched with the outer peripheral surface of the blasting object 10 and is fixedly connected by screws; the top end of the connecting seat 91 is provided with a first through hole, and the bottom end is provided with a polygonal blind hole matched with the polygonal column; when the blasting object 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 blasting object 10; the rotating shaft is provided with a notch in the middle part and comprises an upper half shaft on the upper side of the notch and a lower half shaft on the lower side of the notch; the upper half shaft is inserted into the opening of the connecting seat 91, and the top end of the upper half shaft is provided with a first threaded hole extending along the axial direction thereof; the lower half shaft is provided with a second through hole penetrating through the axial direction thereof, and is provided with a second threaded hole penetrating through the radial direction thereof at the bottom end; the bolt head of the plug bolt 92 is accommodated in the first through hole, and the threaded part is threadedly connected with the first threaded hole; the rotating shaft is fixedly connected with the rolling arc thin plate 94 by means of a countersunk screw; the spiral roller shaft 95 is installed in the second through hole and is provided with a polygonal through hole matched with the polygonal column in the axial direction thereof, and the bottom end side is provided with two spiral grooves; 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 95; the polygonal column is a hexagonal column 96; the two wave bead screws 97 are oppositely arranged and are threadedly connected in the second threaded hole, and the top end hemispherical surface of the wave bead screw 97 is tangent to the spiral groove; after the blasting object 10 is dropped to the ground, under the driving of the gravity of the blasting object 10, the spiral roller shaft 95 moves upward along the second through hole, and the wave bead screw 97 drives the rotating shaft and the rolling arc thin plate 94 to rotate through the sliding cooperation of the wave bead screw 97 and the spiral groove. The spiral direction of the spiral groove enables the rolling arc thin plate 94 to rotate from the state of being attached to the outer side surface of the blasting object 10 to the state of being opened outward.

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

[0066] On the basis of the above support device 9, the spiral roller shaft 95 is provided with a communicating straight groove at the top of the spiral groove; as Figure 7As shown, the side of the connecting seat 91 is provided with a third threaded hole communicating with the polygonal blind hole; a screw (not shown in the figure) is threaded into the third threaded hole, and the polygonal column is fixedly installed on the connecting seat 91 by the screw, so that the polygonal column and the connecting seat 91 are fixed as one unit. The spiral roller shaft 95 adopts a groove design with a spiral at the lower end and a straight line at the upper end. The spiral groove design allows the arc structure to be firmly fixed on the spiral roller shaft 95, while the straight groove design ensures that the structure will not slip 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 device 10 for launching and supporting explosives is as follows:

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

[0069] Next, the electric gripper 7 is closed, so that the annular gripper 73 fits tightly with the annular clamp 8 on the surface of the explosive 10, thus completing the loading and fixing of the explosive 10; in order to save transportation space, the support device 9 is attached to the bottom of the explosive 10.

[0070] Then, upon receiving the delivery mission instruction, the tracked unmanned vehicle 1 moves to the designated blasting location and activates the electric push rod 4 to convert the large-diameter explosive 10 from a horizontal to a vertical position. During the rotation, the spiral roller 95 of the support device 9 at the bottom of the explosive 10 first contacts the ground. Under the action of pressure, the spiral roller 95 moves upward along the hexagonal prism 96. The pressure is transmitted sequentially from the ball screw 97 to the rotating shaft and the curved thin plate 94, converting the vertical displacement of the spiral roller 95 into the rotational motion of the rotating shaft and the curved thin plate 94. After the support device 9 is fully deployed and the explosive 10 is stably vertical on the ground, the electromagnet 5 of the release device is energized, and the magnetic attraction between it and the magnetic attracting iron plate 6 disappears. Under the command of the control system, the electromagnetic gripper slider 72 moves to both sides along the slide groove 711, and the annular gripper 73 opens from the closed loop state, thereby disconnecting the connection between the support plate 3 and the explosive 10, completing the release operation.

[0071] Finally, the unmanned vehicle retreated, awaiting the detonation of explosive device 10.

[0072] The above-mentioned delivery and supporting device solves the difficulties and safety hazards in explosive delivery operation through unmanned vehicles, electric push rods 4, release devices and supporting devices 9, and can complete the transportation, delivery and supporting operation of explosives through remote control, which can significantly reduce the risk of personnel in blasting operation while improving work efficiency; the supporting plate 3 and the electromagnet 5 together provide uniform support force to ensure that the blasting material 10 is balanced; through the combination of the electromagnet 5 and the electric clamping jaw 7, the reliable fixation and release of the blasting material 10 can be realized, which effectively prevents the shaking and accidental falling of the explosive during transportation, improves the safety of the entire delivery process, and has high delivery stability; the electric clamping jaw 7 can limit the positional deviation between the electromagnet 5 and the magnetic iron sheet 6 during transportation, effectively reducing the unstable factors caused by vibration, and further ensuring the safe transportation of the blasting material 10; the supporting device 9 is installed at the bottom end of the blasting material 10, which can be folded and attached to the side of the explosive during transportation, thereby maximizing the storage space, and through the automatic unfolding by touching the ground, three-point stable support of the explosive is realized, the supporting device 9 can quickly and stably support the explosive, and the stability of the blasting operation is improved; moreover, through the design of different shapes of clamping jaws, it can adapt to blasting materials 10 of different sizes and shapes, improving the flexibility and efficiency of operation. Therefore, the delivery and supporting device adopts multiple supporting and fixing mechanisms, which enhances the stability and safety of the blasting material 10 during transportation, and has the characteristics of compact layout and strong carrying capacity.

[0073] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. An unmanned vehicle-mounted explosives delivery and support device, characterized in that, It includes an unmanned vehicle, an electric push rod, a release device, a support device, an explosive, and a control system; The unmanned vehicle includes crawlers, a chassis, and a support plate; the support plate is rotatably mounted on the chassis and is used to support the explosive; The electric push rod is mounted 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 mounted at the bottom end of the explosive, folds and adheres 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; Three of the support devices are evenly distributed along the circumference of the explosive; 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; The connecting seat is a "C" - shaped structure with an opening facing the outside of the explosive. The back surface of the connecting seat is shaped to fit and fixedly connected to 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; The middle part of the rotating shaft is provided with a notch and 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; a second through - hole penetrating its axial direction is provided in the lower half - shaft, 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 curved arc thin plate; The spiral roller shaft is installed in the second through - hole, and a polygonal through - hole shaped to fit the polygonal column and extending along its axial direction is provided, and two spiral grooves are provided on the bottom - end side surface; 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 top - end hemispherical surface of the ball screw is tangent to the spiral groove; After the explosive is dropped and lands, 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.

2. The delivery and support device as described in claim 1, characterized in that, The release device includes a plurality of electromagnets and electric grippers fixedly mounted on the support plate; Magnetic iron sheets corresponding to the electromagnets are fixedly installed on the outer side surface of the explosive, and an annular hoop corresponding to the electric grippers is provided on the outer peripheral surface; When the release device secures the explosive, the control system controls the electromagnet to de-energize and generate magnetic force, so that the corresponding electromagnet and the magnetic iron sheet are tightly attached. The control system then controls the electric gripper to be tightly attached to the annular clamp and clamp the annular clamp. When the release device releases the explosive, the control system controls the electromagnet to be energized and demagnetized, so that the corresponding electromagnet separates from the magnetic iron plate. The control system also controls the electric gripper to open and separate from the annular clamp.

3. The delivery and support device as described in claim 2, characterized in that, The electric gripper includes a gripper base, two gripper sliders, and annular grippers that correspond one-to-one with the gripper sliders; The gripper base is provided with threaded positioning holes and sliding grooves, and is fixedly installed on the support plate by bolts; The two gripper sliders are slidably mounted in the grooves of the gripper base; the gripper sliders and the corresponding annular grippers are fixedly connected by screws; The inner side of the annular gripper is provided with an arc-shaped groove for matching the shape of the annular clamp; The gripper base is used to drive the two gripper sliders to translate, and the two gripper sliders drive the annular gripper to move, thereby realizing the gripping and releasing of the explosive.

4. The delivery and support device as described in claim 2, characterized in that, The electromagnet is fixed to the support plate by screws; the magnetic iron sheet is fixed to the explosive by screws.

5. The launching and supporting device as described in claim 1, characterized in that, The spiral roller shaft has a communicating straight groove at the top of the spiral groove; The side of the connector is provided with a third threaded hole that communicates with the polygonal blind hole; A screw is threaded into the third threaded hole, and the polygonal column is fixedly installed on the connector by the screw.

6. The delivery and support device as described in claim 1, characterized in that, The polygonal prism is a hexagonal prism.

7. The delivery and support device as described in claim 1, characterized in that, The rotating shaft and the rolled thin plate are fixedly connected by countersunk screws; The connecting seat is fixedly connected to the explosive by screws.

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