Rock drift blasting driving self-guiding movable mechanical device

Abstract

The invention relates to a rock drift blasting driving self-guiding movable mechanical device which comprises an automatic guiding vehicle, a loading and feeding mechanism arranged on the automatic guiding vehicle and used for loading a certain number of detonators and outputting the detonators one by one, and a pay-off mechanism used for providing leads. The automatic guide vehicle moves to a detonator detonation point after the detonator is placed in the target hole, the detonator loading and feeding mechanism is used for loading and feeding the detonator, the lead inserting mechanism is used for inserting a lead on the pay-off mechanism into the detonator output by the detonator loading and feeding mechanism, and the multi-axis mechanical arm is used for grabbing the detonator inserted with the lead and placing the detonator in the target hole. And in the moving process of the automatic guide vehicle, the pay-off mechanism releases the lead with the required length. According to the invention, the problem of automatic wiring after automatic placement of detonators can be well solved; after the automatic guide vehicle moves to the detonating point of the detonator, the lead is cut off, and the next detonator can be automatically arranged, so that the automatic arrangement of batch detonators is realized.

Description

Technical Field

[0001] The invention relates to a self-guiding movable mechanical device for rock tunnel blasting used for automatically arranging detonators. Background Art

[0002] In the mining process, blasting is a common and efficient method of rock crushing. Blasting requires placing detonators in the target holes. Generally, detonators are composed of leads and detonator bodies. Existing mining blasting robots lack wiring functions after placing detonators in designated locations. Wiring still needs to be done manually. In addition, existing blasting robots cannot meet the needs of large-scale detonator layout and are difficult to meet the needs of large-scale mining. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a self-guiding movable mechanical device for rock tunnel blasting which can automatically lay out wires and arrange detonators in batches.

[0004] To solve the above problems, the technical solution adopted by the present invention is: A self-guided movable mechanical device for rock tunnel blasting, comprising: An automated guided vehicle having a mounting platform; A detonator loading and feeding mechanism is arranged on the mounting platform and is used to load a certain number of detonators and output them one by one; A wire-releasing mechanism, arranged on the mounting platform, for providing a lead wire; A lead plugging mechanism is arranged on the mounting platform and plugs the lead on the wire-releasing mechanism into the detonator output by the detonator loading and feeding mechanism; A multi-axis mechanical arm is arranged on the mounting platform, and a detonator gripper is arranged on the multi-axis mechanical arm, which is used to grab a detonator with a lead inserted therein and place the detonator in a target hole; After the detonator is placed in the target hole, the automatic guided vehicle moves to the detonator detonation point. During the movement of the automatic guided vehicle, the wire-releasing mechanism releases the required length of fuse.

[0005] As an embodiment of the present invention, a lead connecting mechanism is provided on the detonator, and the lead connecting mechanism includes an external connecting tube fixedly arranged on the detonator and an internal connecting tube sleeved in the external connecting tube, a locking mechanism is provided between the internal connecting tube and the external connecting tube, and a lead clamping mechanism is provided on the inner wall of the root where the external connecting tube is connected to the detonator, and the internal connecting tube is locked with the external connecting tube after moving inward to a preset position, and the internal connecting tube supports the lead clamping mechanism so that it clamps the lead.

[0006] As an embodiment of the present invention, the locking mechanism includes a first boss arranged on the outside of the outer port of the inner connecting tube, a plurality of hooks arranged on the inner port of the inner connecting tube, and a second boss arranged at the root of the outer connecting tube and adapted to the hooks; the lead clamping mechanism includes a plurality of elastic clamps arranged on the inner wall of the root of the outer connecting tube, the elastic clamps are in a "<" shape, and the elastic clamps are staggered with the hooks.

[0007] As an embodiment of the present invention, a flaring ring is fixedly provided at the root of the external connecting tube, the flaring ring is fixedly connected to the detonator, and the second boss is formed between the flaring ring and the external connecting tube.

[0008] As an embodiment of the present invention, the lead wire plugging mechanism includes a fixed electric push rod and a lead wire clamping claw arranged at the piston end of the electric push rod, and the position of the lead wire clamping claw corresponds to the wire outlet of the wire release mechanism.

[0009] As an embodiment of the present invention, a mounting bracket is fixedly provided on the wire-releasing mechanism, and the electric push rod is fixedly provided on the mounting bracket; two sections of conduits are also provided on the mounting bracket, and the lead wire is output from the conduits, and a gap is formed between the two sections of conduits; the mounting bracket is also fixedly provided with electric pliers for cutting the lead wire, and the electric pliers correspond to the gap.

[0010] As an embodiment of the present invention, the wire-releasing mechanism is fixedly mounted on a mounting seat, and a first rotation damper is arranged between the mounting seat and the mounting platform of the automatic guided vehicle; Also included is a rotation assist mechanism; The rotation assist mechanism includes a fixed servo motor, a gear arranged on the output shaft of the servo motor, and a gear ring arranged on the outer periphery of the mounting seat, and the gear is meshed with the gear ring; when the lead wire drives the mounting seat to rotate beyond a preset angle, the servo motor starts and outputs corresponding torque to reduce or offset the rotational force of the first rotation damper.

[0011] As an embodiment of the present invention, the detonator loading and feeding mechanism includes a detonator storage bin, a conveying mechanism and a detonator receiving platform which are connected in sequence. The bottom of the detonator storage bin is a sloped surface, and a detonator discharge port is arranged at the lowest point of the sloped surface. The detonator discharge port corresponds to the feeding place of the conveying mechanism, and the detonator receiving platform is arranged corresponding to the discharge place of the conveying mechanism. The detonator receiving platform is provided with a photoelectric sensor for identifying the detonators, and the discharge place of the conveying mechanism is provided with a blocking mechanism for allowing the detonators to be discharged one by one.

[0012] As an embodiment of the present invention, the material blocking mechanism includes two blocking rods symmetrically arranged at the material discharge position of the conveying mechanism, and a second rotation damper is arranged between the blocking rods and the conveying mechanism.

[0013] As an embodiment of the present invention, a protective cover is arranged above the conveying mechanism, a material drop opening is opened on the protective cover, the material drop opening corresponds to the detonator discharge port, and a second baffle is arranged at the rear inner side of the material drop opening.

[0014] The beneficial effects of adopting the above technical solution are: The invention provides a self-guided movable mechanical device for rock tunnel blasting. The detonator loading and feeding mechanism can load multiple detonators and output them one by one. The wire-releasing mechanism can provide leads. The lead plugging mechanism can plug the leads into the detonators output by the detonator loading and feeding mechanism. The multi-axis mechanical arm is used to grab the detonators with plugged leads and place the detonators in target holes. The automatic guided vehicle moves to the detonator detonation point. During the movement of the automatic guided vehicle, the wire-releasing mechanism releases the leads of required length. Therefore, the invention can well solve the problem of automatic wiring after the detonators are automatically placed. After the automatic guided vehicle moves to the detonator detonation point, the lead is cut off and the next detonator can be automatically arranged, thereby realizing the automatic arrangement of batch detonators. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0016] Figure 2 It is a structural schematic diagram of the detonator dropping mechanism of the present invention.

[0017] Figure 3 It is a structural schematic diagram of a material blocking and damping mechanism provided at the end of a conveyor belt.

[0018] Figure 4 It is a schematic diagram of the connection structure between the wire-releasing mechanism and the detonator receiving platform.

[0019] Figure 5 yes Figure 4 Enlarged view of point A in the middle.

[0020] Figure 6 It is a structural schematic diagram of a wire-releasing mechanism and a wire-leading plug-in mechanism.

[0021] Figure 7 It is a structural schematic diagram of a detonator provided with a lead connection mechanism.

[0022] Figure 8 It is a structural schematic diagram of the lead connection mechanism.

[0023] Fig. 9 It is a structural schematic diagram of a line-releasing mechanism provided with an auxiliary mechanism.

[0024] Wherein: 1 automatic guided vehicle, 2 multi-axis mechanical arm, 3 detonator clamp, 4 detonator receiving platform, 5 detonator storage bin, 6 detonator discharge port, 7 protective cover, 8 conveying mechanism, 9 motor reducer, 10 pay-off mechanism, 11 mounting seat, 12 first rotary damper, 13 conveyor belt, 14 support seat, 15 blanking port, 16 first baffle, 17 second baffle, 18 second rotary damper, 19 baffle rod, 20 photoelectric sensor, 21 mounting bracket, 22 lead wire, 23 electric shears, 24 lead clamp, 25 catheter, 26 gap, 27 electric push rod, 28 servo motor, 29 gear, 30 gear ring, 31 third baffle, 32 first sensor, 33 second sensor; 100 detonator, 101 lead connection mechanism, 102 external connection tube, 103 internal connection tube, 104 first boss, 105 second boss, 106 expansion ring, 107 hook, 108 elastic clamp. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is clearly and completely described below in conjunction with specific embodiments.

[0026] like Figure 1 The self-guided movable mechanical device for rock tunnel blasting shown in the figure comprises an automatic guided vehicle 1, a detonator loading and feeding mechanism, a wire-releasing mechanism 10, a lead-wire plug-in mechanism and a multi-axis mechanical arm 2.

[0027] The automatic guided vehicle 1 has a mounting platform and is also equipped with a battery for providing power to the above-mentioned mechanism.

[0028] The detonator loading and feeding mechanism is arranged on the mounting platform of the automatic guided vehicle 1 , and is used to load a certain number of detonators 100 and output them one by one.

[0029] The wire-releasing mechanism 10 is disposed on the mounting platform of the automatic guided vehicle 1 , and a plurality of wires are wound around the wire-releasing mechanism 10 , which can automatically release the wires 22 to provide a suitable length.

[0030] The lead plug-in mechanism is arranged on the mounting platform of the automatic guided vehicle 1, and the lead plug-in mechanism can plug the lead 22 on the wire-releasing mechanism 10 into the detonator 100 output by the detonator loading and feeding mechanism.

[0031] The multi-axis robotic arm 2 is arranged on the mounting platform of the automatic guided vehicle 1. A detonator clamp 3 is arranged on the multi-axis robotic arm 2 for grabbing a detonator with a lead wire plugged in and placing the detonator 100 in a target hole. After the detonator 100 is placed in the target hole, the automatic guided vehicle 1 moves to the detonator detonation point. During the movement of the automatic guided vehicle 1, the wire-releasing mechanism 10 releases the lead wire 22 of the required length. After the automatic guided vehicle 1 moves to the detonator detonation point, the lead wire is cut off, and the next detonator can be automatically arranged.

[0032] like Figures 1 to 3 As shown, the detonator loading and feeding mechanism includes a detonator storage bin 5, a conveying mechanism 8 and a detonator receiving platform 4 which are connected in sequence. The detonator storage bin 5 is a rectangular box with a sloped surface at the bottom. A detonator discharge port 6 is provided at the lowest point of the sloped surface. The width and height of the detonator discharge port 6 are equivalent to the length and diameter of the detonator 100. Therefore, the detonator 100 is outputted continuously as a single piece in the detonator discharge port 6.

[0033] The conveying mechanism 8 is a conveying belt with baffles on both sides, and the conveying mechanism 8 also includes a motor reducer 9, which is powered by a battery and drives the conveying belt to run. A protective cover 7 is arranged above the conveying mechanism 8, and the height of the protective cover 7 is equivalent to the diameter of the detonator, so that only one layer of detonators can be accommodated between the conveying belt and the protective cover 7.

[0034] The protective cover 7 is provided with a material drop opening 15, which corresponds to the detonator discharge opening 6. A first baffle 16 is fixedly provided on the upper end surface of the protective cover 7 in front of the material drop opening 15. The first baffle 16 is used to block the detonator 100 rolling out of the detonator discharge opening 6, so that it falls from the material drop opening 15 to the conveyor belt. A second baffle 17 is fixedly provided at the rear of the inner side of the material drop opening 15. The second baffle 17 is used to limit the detonator 100 from moving backward, so that the conveying mechanism 8 has only one outlet in the front.

[0035] The detonator receiving platform 4 is arranged at the discharge of the conveying mechanism 8, and a photoelectric sensor 20 for identifying the detonator 100 is arranged on the detonator receiving platform 4. A circular arc groove matching the detonator 100 is arranged on the detonator receiving platform 4, and a baffle is arranged on one side of the circular arc groove, and the other side is an open structure. The photoelectric sensor 20 is arranged on the baffle on one side of the circular arc groove. A material blocking mechanism is arranged at the discharge of the conveying mechanism 8 to enable the detonators 100 to be output one by one. The function of the material blocking mechanism is to form an obstruction effect on the detonators 100 on the conveyor belt to prevent them from automatically falling on the detonator receiving platform 4 under uncontrolled conditions.

[0036] Specifically, if Figure 3As shown, in this embodiment, the blocking mechanism includes two blocking rods 19 symmetrically arranged at the discharge of the conveying mechanism 8, and a second rotary damper 18 is arranged between the blocking rod 19 and the conveying mechanism 8. The two blocking rods 19 respectively block the two ends of the detonator 100. When the conveyor belt is running, the blocking rod 19 rotates due to the squeezing of the detonator 100. When the detonator closest to the detonator receiving platform 4 falls onto the detonator receiving platform 4, the blocking rod 19 is reset under the action of the second rotary damper 18, forming an obstacle to the detonator behind. Since the detonator is immediately recognized by the photoelectric sensor 20 after falling onto the detonator receiving platform 4, the system will control the motor reducer 9 to stop working, and the conveyor belt will stop running. In this way, the detonators are output one by one.

[0037] like Figure 4 , Figure 5 , Figure 7 and Figure 8 As shown, the detonator 100 is provided with a lead connection mechanism, which is used to be fixedly connected with the end of the lead 22 output by the pay-off mechanism 10. The lead connection mechanism includes an external connection tube 102 fixedly arranged on the detonator 100 and an internal connection tube 103 sleeved in the external connection tube 102, a locking mechanism is arranged between the internal connection tube 103 and the external connection tube 102, and a lead clamping mechanism is arranged on the inner wall of the root where the external connection tube 102 and the detonator 100 are connected. After the internal connection tube 103 moves inward to a preset position, it is locked with the external connection tube 102 under the action of the locking mechanism. After locking, the internal connection tube 103 cannot move forward and backward. At this time, the internal connection tube 103 supports the lead clamping mechanism to clamp the lead 22. Under the support of the internal connection tube 103, the lead clamping mechanism has better clamping strength and reliability.

[0038] like Figure 8As shown, in this embodiment, the locking mechanism includes a first boss 104 arranged outside the outer port of the inner connecting tube 103, a plurality of hooks 107 arranged on the inner port of the inner connecting tube 103, and a second boss 105 arranged at the root of the outer connecting tube 102 and adapted to the hook 107. A flaring ring 106 is fixedly arranged at the root of the outer connecting tube 102, and the flaring ring 106 is fixedly connected to the detonator 100, and the second boss 104 is formed between the flaring ring 106 and the outer connecting tube 102. The inner connecting tube 103, the first boss 104 and the hook 107 are integrally formed, and can be made of plastic or stainless steel, so that the connecting arm of the hook 107 and the inner connecting tube 103 has a certain elasticity. There are several hooks 107 evenly distributed along the port of the inner connecting tube 103. The hooks 107 are retracted in the outer connecting tube 102. When the inner connecting tube 103 is forced to move inward until the first boss 104 abuts against the outer port of the outer connecting tube 102, the inner connecting tube 103 cannot continue to move inward. At this time, the end of the hook 107 extends out from the inner port of the outer connecting tube 102 and resets to hook the second boss 105 under the action of elasticity, so that the inner connecting tube 103 can no longer move outward.

[0039] like Figure 8 As shown, the lead clamping mechanism includes a plurality of elastic clamps 108 arranged on the inner wall of the root of the external connection tube 102, the elastic clamps 108 are in a "<" shape, and the elastic clamps 108 are staggered with the hooks 107, that is, the elastic clamps 108 do not interfere with the extension of the hooks 107, so as a preferred embodiment, it is necessary to set a limit mechanism for limiting the circumferential rotation of the internal connection tube 103 between the external connection tube 102 and the internal connection tube 103, which can be a slide groove and a convex ridge structure. The "<"-shaped elastic clamp 108 has its inflection point facing inward, and its inflection point is an arc-shaped structure, and a connection seat is provided at the connection between its lower end and the inner wall of the external connection tube 102. When the inner connecting tube 103 is pushed inward to a preset position, the inner port of the inner connecting tube 103 squeezes the inflection point of the "<"-shaped elastic clamp 108, reducing the inclination of the lower half of the elastic clamp 108, thereby making the elastic clamp 108 tend to stand upright, and the lead clamping mechanism surrounded by a plurality of elastic clamps 108 is in a contracted state, so that the lead can be clamped. The outer connecting tube 102, the elastic clamp 108 and the expansion ring 106 are integrally formed, and can be made of plastic or stainless steel, preferably stainless steel, so that the effective signal connection between the detonator and the lead can be increased.

[0040] As other implementations, the elastic clamping plate 108 may be “C”-shaped, “L”-shaped or arc-shaped.

[0041] like Figure 4 , Figure 5 and Figure 6As shown, the lead wire plugging mechanism includes a fixed electric push rod 27 and a lead wire clamping claw 24 arranged at the piston end of the electric push rod 27. The lead wire clamping claw 24 moves with the electric push rod 27, and the position of the lead wire clamping claw 24 corresponds to the wire outlet of the wire release mechanism 10. The electric push rod 27 and the lead wire clamping claw 24 are both powered by batteries.

[0042] The wire-releasing mechanism 10 adopts an electric winch, including a motor reduction mechanism and a wire drum for winding. The wire-releasing mechanism 10 is fixedly provided with a mounting bracket 21, and the electric push rod 27 is fixedly provided on the mounting bracket 21; the mounting bracket 21 is also provided with two sections of conduits 25, and the lead wire 22 is output from the conduits 25, and a gap 26 is formed between the two sections of conduits 25. The mounting bracket 21 is also fixedly provided with an electric pliers 23 for cutting the lead wire 22, and the electric pliers 23 corresponds to the gap 26. The wire-releasing mechanism 10 is fixedly provided on a mounting seat 11, and a first rotation damper 12 is provided between the mounting seat 11 and the mounting platform of the automatic guided vehicle 1.

[0043] When the detonator 100 falls onto the detonator receiving platform 4, it is immediately identified by the photoelectric sensor 20. The system controls the lead clamp 24 to clamp the end of the lead 22. Then the electric push rod 27 extends to send the end of the lead 22 into the inner connecting tube 103 of the lead connecting mechanism. When the lead clamp 24 contacts the outer port of the inner connecting tube 103, the inner connecting tube 103 is pushed by the lead clamp 24 to move inward synchronously until the inner connecting tube 103 is locked. At this time, the front end of the lead 22 is also clamped by the lead clamping mechanism surrounded by a plurality of elastic clamps 108 to achieve connection with the detonator.

[0044] Then the system controls the lead wire clamp 24 to release and reset the electric push rod 27. At this time, the multi-axis mechanical arm 2 moves, so that the detonator clamp 3 clamps the detonator 100 with the lead wire plugged in and places it in the target hole. After the detonator is placed in the target hole, the automatic guided vehicle 1 moves to the detonator detonation point. During the movement of the automatic guided vehicle 1, the wire release mechanism 10 releases the lead wire 22 of the required length. Since there is a certain angle between the placement point of the detonator 100 and the walking route of the automatic guided vehicle 1 and the detonator detonation point, there is a certain shear force between the wire release mechanism 10 and the lead wire 22 during the walking process of the automatic guided vehicle 1, especially at the outlet of the lead wire 22 and the conduit 25. In order to reduce the impact of this shear force on the smooth release of the wire and protect the lead wire from being broken, a first rotary damper 12 is provided between the mounting seat 11 of the wire release mechanism 10 and the mounting platform of the automatic guided vehicle 1. Under the action of the shear force, the wire release mechanism 10 rotates with the lead wire, so that the outlet of the conduit 25 remains facing the placement direction of the detonator, which can reduce the impact of the shear force. In the specific arrangement, in order to make the pay-off mechanism 10 rotate freely, it is necessary to make the pay-off mechanism 10 and its mounting seat 11 avoid interference from other mechanisms. The first rotation damper 12 can control the pay-off mechanism 10 to reset when the shear force disappears.

[0045] like Fig. 9 As shown, as a further improvement, this embodiment also includes a rotation auxiliary mechanism; the rotation auxiliary mechanism includes a servo motor 28 fixedly arranged on the automatic guided vehicle 1, a gear 29 arranged on the output shaft of the servo motor 28, and a gear ring 30 arranged on the outer periphery of the mounting seat 11, and the gear 29 is meshed with the gear ring 30. When the lead wire 22 drives the mounting seat 11 to rotate, the gear ring 30 drives the gear 29 to rotate. When its rotation angle does not exceed the set threshold, the servo motor 28 does not work and rotates completely passively; when the rotation exceeds the set threshold, the servo motor 28 starts and outputs the corresponding torque to reduce or offset the rotation force of the first rotation damper 12, so as to avoid the first rotation damper 12 generating a force on the lead wire 22, which causes the automatic guided vehicle 1 to move unsmoothly, and to avoid the catheter 25 from squeezing the lead wire, causing the lead wire 22 to break. When the rotation angle is lower than the set threshold again, the servo motor 28 stops working.

[0046] like Fig. 9As shown, the rotation auxiliary mechanism also includes a third baffle 31 fixedly arranged on the mounting seat 11, and a first sensor 32 and a second sensor 33 fixedly arranged on the outer wall of the first rotation damper 12. In the initial position, the third baffle 31 is located between the first sensor 32 and the second sensor 33. When the mounting seat 11 is rotated by the lead wire 22, when the third baffle 31 rotates to the top of the first sensor 32 or the second sensor 33, the system recognizes that the rotation of the mounting seat 11 reaches the set threshold, and the servo motor 28 starts and outputs the corresponding torque; when the mounting seat 11 is reset and recognized by the first sensor 32 or the second sensor 33 again, the system controls the servo motor 28 to stop working. When the third baffle 31 only moves between the first sensor 32 and the second sensor 33, the servo motor 28 does not work.

[0047] The installation positions of the first sensor 32 and the second sensor 33 depend on the amplitude of the rotation of the mounting seat 11 driven by the lead wire 22 during the operation of the automatic guided vehicle 1 and the magnitude of the rotation force (resistance) of the first rotary damper 12. In order to more accurately make the servo motor 28 output the corresponding torque to offset the rotation force of the first rotary damper 12, a plurality of corresponding sensors may be arranged at intervals on the side wall of the first rotary damper 12 to identify the rotation angle and control the servo motor 28 to output the corresponding torque.

[0048] When the automatic guided vehicle 1 moves to the detonation point of the detonator, the system controls the electric shears 23 to cut the lead wire 22 at the gap 26 .

[0049] When the lead wire 22 is cut, the wire-releasing mechanism 10 releases and outputs a section of the lead wire, so that the end of the lead wire passes through the outer guide tube 25 and can be clamped by the lead wire clamping claw 24, thus preparing for the arrangement of the next detonator.

[0050] By repeating the above operation process, large batches of detonators can be arranged.

[0051] In this embodiment, the first rotation resistor and the second selection resistor are both torsion spring rotation dampers, which are used to limit free rotation and automatically reset when the external force is removed. The first rotation resistor is a bidirectional rotation resistor.

[0052] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-guided movable mechanical device for rock tunnel blasting, characterized in that: It includes: An automatic guided vehicle (1) having a mounting platform; A detonator loading and feeding mechanism, arranged on the mounting platform, for loading a certain number of detonators (100) and outputting them one by one; A wire-releasing mechanism (10), arranged on the mounting platform and used for providing a lead wire (22); A lead plugging mechanism is arranged on the installation platform and plugs the lead (22) on the wire-releasing mechanism (10) into the detonator (100) output by the detonator loading and feeding mechanism; A multi-axis mechanical arm (2) is arranged on the mounting platform, and a detonator gripper (3) is arranged on the multi-axis mechanical arm (2) for grabbing a detonator with a lead inserted therein and placing the detonator in a target hole; After the detonator is placed in the target hole, the automatic guided vehicle (1) moves to the detonator detonation point, and the wire release mechanism (10) releases the fuse (22) of the required length during the movement of the automatic guided vehicle (1).

2. A self-guided movable mechanical device for rock tunnel blasting according to claim 1, characterized in that: The detonator (100) is provided with a lead connection mechanism, the lead connection mechanism comprising an external connection tube (102) fixedly arranged on the detonator (100) and an internal connection tube (103) sleeved inside the external connection tube (102), a locking mechanism is provided between the internal connection tube (103) and the external connection tube (102), a lead clamping mechanism is provided on the inner wall of the root where the external connection tube (102) and the detonator (100) are connected, the internal connection tube (103) is moved inward to a preset position and then locked with the external connection tube (102), and the internal connection tube (103) supports the lead clamping mechanism so that it clamps the lead (22).

3. A self-guided movable mechanical device for rock tunnel blasting according to claim 2, characterized in that: The locking mechanism comprises a first boss (104) arranged on the outside of the outer port of the inner connecting tube (103), a plurality of hooks (107) arranged on the inner port of the inner connecting tube (103), and a second boss (104) arranged at the root of the outer connecting tube (102) and adapted to the hooks (107); the lead wire clamping mechanism comprises a plurality of elastic clamps (108) arranged on the inner wall of the root of the outer connecting tube (102), the elastic clamps (108) being in a "<" shape, and the elastic clamps (108) and the hooks (107) being staggered.

4. A self-guided movable mechanical device for rock tunnel blasting according to claim 3, characterized in that: A flaring ring (106) is fixedly provided at the root of the external connection tube (102); the flaring ring (106) is fixedly connected to the detonator (100); and the second boss (104) is formed between the flaring ring (106) and the external connection tube (102).

5. The self-guided movable mechanical device for rock tunnel blasting according to claim 1, characterized in that: The lead wire plugging mechanism comprises a fixedly arranged electric push rod (27) and a lead wire clamping claw (24) arranged at the piston end of the electric push rod (27); the position of the lead wire clamping claw (24) corresponds to the wire outlet of the wire releasing mechanism (10).

6. A self-guided movable mechanical device for rock tunnel blasting according to claim 5, characterized in that: A mounting bracket (21) is fixedly arranged on the wire-releasing mechanism (10), and the electric push rod (27) is fixedly arranged on the mounting bracket (21); two sections of conduits (25) are also arranged on the mounting bracket (21), and the lead wire (22) is output from the conduits (25), and a gap (26) is formed between the two sections of conduits (25); the mounting bracket (21) is also fixedly arranged with electric shears (23) for cutting the lead wire (22), and the electric shears (23) correspond to the gap (26).

7. The self-guided movable mechanical device for rock tunnel blasting according to claim 5, characterized in that: The wire-releasing mechanism (10) is fixedly mounted on a mounting seat (11), and a first rotation damper (12) is arranged between the mounting seat (11) and a mounting platform of the automatic guided vehicle (1); Also included is a rotation assist mechanism; The rotation assist mechanism comprises a fixedly arranged servo motor (28), a gear (29) arranged on an output shaft of the servo motor (28), and a gear ring (30) arranged on the outer periphery of the mounting seat (11), the gear (29) being meshed with the gear ring (30); when the lead wire (22) drives the mounting seat (11) to rotate beyond a preset angle, the servo motor (28) is started and outputs a corresponding torque to reduce or offset the rotational force of the first rotation damper (12).

8. The self-guided movable mechanical device for rock tunnel blasting according to claim 1, characterized in that: The detonator loading and feeding mechanism comprises a detonator storage bin (5), a conveying mechanism (8) and a detonator receiving platform (4) which are connected in sequence. The bottom of the detonator storage bin (5) is a sloped surface. A detonator discharge port (6) is arranged at the lowest point of the sloped surface. The detonator discharge port (6) corresponds to a feeding position of the conveying mechanism (8). The detonator receiving platform (4) is arranged at the discharge position of the conveying mechanism (8). A photoelectric sensor (20) for identifying the detonators (100) is arranged on the detonator receiving platform (4). The discharge position of the conveying mechanism (8) is provided with a material blocking mechanism for allowing the detonators (100) to be discharged one by one.

9. A self-guided movable mechanical device for rock tunnel blasting according to claim 8, characterized in that: The material blocking mechanism comprises two blocking rods (19) symmetrically arranged at the material discharge position of the conveying mechanism (8), and a second rotation damper (18) is arranged between the blocking rods (19) and the conveying mechanism (8).

10. The self-guided movable mechanical device for rock tunnel blasting according to claim 8, characterized in that: A protective cover (7) is arranged above the conveying mechanism (8), a material drop opening (15) is provided on the protective cover (7), the material drop opening (15) corresponds to the detonator discharge opening (6), and a second baffle (17) is arranged at the rear inside of the material drop opening (15).

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