Underground large block secondary crushing device and crushing method based on robot platform

Abstract

The invention provides an underground large block secondary crushing device and method based on a robot platform. The device comprises a robot and an expansion cartridge, the robot comprises a robot seat, a drilling mechanical arm, a clamp mechanical arm, a depth camera and a container bin, a drill bit is installed at the tail end of the drilling mechanical arm, a clamp is installed at the tail end of the clamp mechanical arm, and the drilling mechanical arm, the clamp mechanical arm and the depth camera are all connected with a robot platform. The expansion cartridge is stored in the container bin. The mechanical arm is controlled through the robot platform, it is guaranteed that large rock is stably crushed in the complex and changeable underground environment, manual operation is reduced, production safety is guaranteed, and production efficiency is improved; a depth camera is used for accurately positioning the position of a large rock, the position of a blast hole is accurately positioned, and the accuracy of drilling and charging is guaranteed; rock breaking work is carried out through the expansion cartridge, and negative influences of blasting vibration and blasting shock waves on surrounding rock are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of mining, and in particular to an underground large-block secondary crushing device and a crushing method based on a robot platform. Background Art

[0002] In the process of underground mining, blasting is often used to break rocks for tunnel excavation and mine landing. Due to the complexity of the underground environment, blasting will inevitably produce large pieces, which will directly affect the subsequent transportation, crushing and other work, and secondary crushing is required underground. Commonly used secondary crushing methods include manual crushing, drilling and blasting, mechanical crushing, etc. These methods require workers to operate in places with high risk factors underground for a long time. The underground working environment is poor, and the traditional secondary crushing method is not only inefficient in this environment, but also has great safety hazards. At the same time, as the mining depth continues to increase, the underground environment will become more and more complex, and the conventional secondary crushing through blasting will produce blasting vibrations and air shock waves. It will have a negative impact on the surrounding rock. Expansion rock breaking technology is characterized by simple operation and low vibration, and is more suitable for the complex environment underground.

[0003] With the advancement of robotics technology, especially in computer vision, sensor technology and intelligent control, mining robots have gradually entered the field of research and application. In order to improve the efficiency of secondary crushing of large rocks underground, avoid workers being in dangerous environments for a long time, and improve safety, a more automated and intelligent secondary crushing device and method using robotics technology is needed. Summary of the invention

[0004] In response to the technical problems raised above, an underground bulk secondary crushing device and a crushing method based on a robot platform are provided.

[0005] The technical means adopted by the present invention are as follows:

[0006] A large-block secondary crushing device for underground use based on a robot platform comprises: a robot and an expansion medicine roll. The robot comprises a robot seat and a drilling robot arm, a clamp robot arm, a depth camera and a container bin mounted on the robot seat. A drill bit is mounted at the end of the drilling robot arm, a clamp is mounted at the end of the clamp robot arm, the drilling robot arm, the clamp robot arm and the depth camera are all connected to the robot platform, and the expansion medicine roll is stored in the container bin.

[0007] Furthermore, the drilling robot arm and the clamping robot arm are both six-axis robot arms.

[0008] Furthermore, the clamp is a three-finger clamp.

[0009] Furthermore, the container warehouse is provided with two, namely a medicine roll warehouse and a water storage warehouse. The medicine roll warehouse is used to store the opened expanded medicine rolls, and the water storage warehouse is used to store the water required to stimulate the expanded medicine rolls.

[0010] Furthermore, the expansion medicine roll comprises a water-absorbing structure and a swelling agent, wherein the water-absorbing structure is composed of kraft paper and medium-density sponge, the swelling agent is arranged inside the sponge, and the kraft paper is arranged outside the sponge.

[0011] Furthermore, the expansion agent is quicklime expansion agent.

[0012] The present invention also provides a crushing method of an underground bulk secondary crushing device based on a robot platform, comprising the following steps:

[0013] Step 1: After the robot enters the area that needs secondary crushing, it uses the depth camera equipped on the robot platform to collect data and obtain information about large rocks. The depth camera transmits the collected data to the robot platform to calculate the volume of the large rocks.

[0014] Step 2: The robot platform calculates the hole network parameters and the number of blastholes based on the information and volume of large rocks, combined with rock properties, expansion cartridge information and mine block requirements;

[0015] Step 3: The robot platform obtains the blasthole location based on the hole grid parameters and the number of blastholes combined with the information of the bulk rock;

[0016] Step 4: The robot platform drives the drilling robot arm to perform drilling operations according to the blasthole position. After the drilling is completed, the drilling robot arm returns to the initial position;

[0017] Step 5: The clamping mechanical arm puts the expanded medicine roll that has been opened in the medicine roll bin into the water storage bin for soaking, and loads the soaked expanded medicine roll into the blast hole. After the loading is completed, the clamping mechanical arm returns to the initial position;

[0018] Step 6: The expansion coil performs rock breaking: the expansion agent in the expansion coil undergoes a hydration reaction after absorbing water, generating expansion pressure to break large rocks;

[0019] Step 7: After the crushing is completed, the depth camera is used to identify and evaluate the crushing effect; if the rock has been fully crushed, the crushing operation is completed; if large pieces still exist, the secondary crushing operation is repeated until the rock meets the crushing requirements.

[0020] Furthermore, in step 1, the surrounding environment of the secondary crushing area is scanned by a depth camera to obtain three-dimensional point cloud data, and the data is transmitted to the robot platform. The robot platform processes the three-dimensional point cloud data to identify the outline, shape, size and position of the large rock, and calculates the volume of the large rock.

[0021] Furthermore, in step 2, the hole network parameters include hole depth, hole diameter and hole spacing, the hole depth is 2 / 3 of the height of the large rock, the hole diameter is determined by the drill bit size, and the hole spacing is 6-7 times the hole diameter; the number of blastholes satisfies the following formula:

[0022]

[0023] V h =a 2 ×h;

[0024] Where: N is the number of blastholes; V t is the total volume of the large rock; V h is the effective volume of a single blasthole; a is the hole distance; h is the hole depth.

[0025] Furthermore, in step 4, the drilling robot arm uses the robot platform's robot arm posture solving and trajectory planning functions according to the blasthole position, and controls the drilling robot arm to move to the specified position through the joint controller. After the drilling robot arm reaches the specified position, the robot platform starts the drill bit to perform drilling operations;

[0026] In step 5, according to the blasthole position and blasthole posture determined by the depth camera, the robot platform's mechanical arm posture solving and trajectory planning functions are utilized, and the clamp mechanical arm is controlled by the joint controller to place the expanded medicine roll after the water absorption structure is saturated with water into the blasthole.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] 1. The present invention uses the ROS2 platform to achieve precise control and adjustment of the movement of the robotic arm, ensuring stable crushing operations on large rocks in complex and changeable underground environments, reducing manual operations, ensuring production safety, and improving production efficiency.

[0029] 2. The present invention utilizes a depth camera to accurately locate the position of large rocks and the position of blastholes, thereby ensuring the accuracy of drilling and charging.

[0030] 3. The present invention uses expansion cartridges to break rocks, thus avoiding the negative impact of blasting vibration and blasting shock waves on surrounding rocks. The expansion agent in the expansion cartridge undergoes a hydration reaction after absorbing water, generating expansion pressure, thereby breaking large rocks.

[0031] Based on the above reasons, the present invention can be widely promoted in the fields of mining and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0033] Figure 1 The figure is a schematic flow chart of the main steps of a rock breaking method according to an embodiment of the present invention.

[0034] Figure 2 It is a schematic diagram of the robot structure of the present invention.

[0035] Figure 3 It is a schematic diagram of the structure of the expansion medicine roll of the present invention.

[0036] In the picture: 1. Robot seat; 2. Drilling robot arm; 3. Clamping robot arm; 4. Depth camera; 5. Medicine roll bin; 6. Water storage bin; 7. Kraft paper; 8. Sponge; 9. Expanding agent. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. 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.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0040] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be clear that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0041] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0042] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0043] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0044] Example 1

[0045] The present invention provides an underground bulk secondary crushing device based on a robot platform, comprising:

[0046] Robot structure: An underground large-block secondary crushing robot, including a robot seat 1, two independent six-axis robotic arms installed on the robot seat 1, one of which is a clamp robotic arm 3, and a clamp is installed at the end of the clamp robotic arm 3, and the other robotic arm is a drilling robotic arm 2, and a drill bit is installed at the end of the drilling robotic arm 2. The clamp is a three-finger clamp, and the drill bit has a diameter of 40 mm. The robot seat 1 is equipped with a depth camera 4 for rock identification, three-dimensional environment modeling and precise positioning. The robot seat 1 is also equipped with two container bins, one of which is a medicine roll bin 5 for storing opened expansion medicine rolls; the other container bin is a water storage bin 6 for storing water required to stimulate the expansion medicine rolls. The drilling robotic arm 2, the clamp robotic arm 3 and the depth camera 4 are all connected to the robot platform (the present invention adopts the ROS2 platform).

[0047] Expansion roll structure: The expansion roll mainly consists of a water-absorbing structure and an expansion agent 9: (1) The water-absorbing structure consists of kraft paper 7 and medium-density sponge 8. The expansion agent 9 is arranged inside the sponge 8, and the kraft paper 7 is arranged outside the sponge 8. After the expansion roll is opened, the expansion agent 9 absorbs water through the water-absorbing property of the sponge 8. (2) The expansion agent 9 is a quicklime expansion agent, which undergoes a hydration reaction after absorbing water, which is expressed in the form of expansion pressure.

[0048] Example 2

[0049] The present invention also provides a method for secondary crushing of large pieces of underground material based on a robot platform, which uses the above-mentioned secondary crushing device for large pieces of underground material based on a robot platform, and comprises the following steps:

[0050] Step 1: After the secondary crushing robot enters the area where secondary crushing is required, it uses the depth camera 4 equipped on the robot platform to scan the surrounding environment, obtain three-dimensional point cloud data, and transmit the data to the robot platform (system). The system processes the three-dimensional point cloud data and performs three-dimensional modeling of the underground environment to identify the information of large rocks (rock outline, shape, size and position), and calculate the volume of large rocks.

[0051] Step 2: Based on the information of the large rock blocks obtained by the depth camera 4, combined with the volume of the large rock blocks, known rock properties, expansion cartridge information and mine block size requirements, the system calculates reasonable hole network parameters and the number of blastholes. The hole network parameters include hole depth, hole diameter and hole spacing, where the hole depth is usually taken as 2 / 3 of the height of the large rock block; the hole diameter is determined according to the selected drill bit size. Generally, rocks with greater hardness and compressive strength require blastholes with larger diameters to accommodate more expansion cartridges and generate sufficient crushing force; the hole spacing is usually 6-7 times the hole diameter. The number of blastholes can be calculated according to formula (1):

[0052] (1)

[0053] Where: N is the number of blastholes; V t is the total volume of the large rock; V h It is the effective impact volume of a single blast hole.

[0054] V h =a 2 ×h (2)

[0055] Where: a is the hole distance; h is the hole depth.

[0056] Step 3: The system rationally plans the blasthole positions based on the calculated hole network parameters and the number of blastholes, combined with the rock contour information obtained by the depth camera 4, to ensure the crushing effect.

[0057] Step 4: The system drives the drilling robot 2 to perform drilling operations according to the obtained blasthole layout position. The drilling robot 2 uses the robot arm posture solving and trajectory planning functions of the ROS2 platform (the existing robot arm posture solving and trajectory planning functions can be used) according to the set blasthole position, and controls the drilling robot 2 to move to the specified position through the joint controller. After the drilling robot 2 reaches the specified position, the system starts the drill to perform drilling operations. After drilling is completed, the drilling robot 2 returns to the initial position.

[0058] Step 5: The clamp robot arm 3 immerses the expansion medicine roll in water: The clamp robot arm 3 puts the expanded medicine roll that has been opened in the medicine roll bin 5 into the water storage bin 6 and soaks it for 2 minutes, so that the water absorption structure can fully absorb water. According to the blasthole position and blasthole posture located by the depth camera 4, the robot arm posture solving and trajectory planning function of the ROS2 platform is used (the existing robot arm posture solving and trajectory planning function can be used), and the clamp robot arm 3 and the clamp are controlled by the joint controller to accurately place the expanded medicine roll after the water absorption structure is saturated with water into the blasthole. After the loading is completed, the clamp robot arm 3 returns to the initial position.

[0059] Step 6: The expansion roll performs rock breaking: the expansion agent 9 in the expansion roll undergoes a hydration reaction after absorbing water, generating expansion pressure, thereby achieving the breaking of large rocks.

[0060] Step 7: After the crushing is completed, the depth camera 4 is used to judge the crushing situation and identify and evaluate the crushing effect. If the rock has been fully crushed (the crushing size is appropriate), the system completes the crushing operation; if there are still large pieces, the large pieces will continue to be crushed, and the secondary crushing operation will be repeated until the rock meets the crushing requirements.

[0061] The present invention mainly utilizes robot technology, computer vision and intelligent control technology to realize accurate identification, drilling and loading of expansion cartridges of large rocks, thereby performing secondary crushing efficiently and safely.

[0062] The present invention uses the ROS2 platform to plan the path and control the motion of the robot arm, and realizes the precise control and adjustment of the robot arm's motion, ensuring the stable crushing operation of large rocks in the complex and changeable underground environment, reducing manual operations, ensuring production safety, and improving production efficiency. And using a depth camera to achieve three-dimensional modeling of the underground environment, it can accurately locate the position of large rocks and the position of the blastholes, ensuring the accuracy of drilling and charging. The over-expanded cartridge for rock breaking avoids the negative impact of blasting vibration and blasting shock waves on the surrounding rock.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An underground bulk secondary crushing device based on a robot platform, characterized in that: include: A robot and an expansion medicine roll, wherein the robot comprises a robot seat (1) and a drilling robot arm (2), a clamping robot arm (3), a depth camera (4) and a container warehouse installed on the robot seat (1); a drill bit is installed at the end of the drilling robot arm (2), a clamp is installed at the end of the clamping robot arm (3), the drilling robot arm (2), the clamping robot arm (3) and the depth camera (4) are all connected to the robot platform, and the expansion medicine roll is stored in the container warehouse.

2. The underground bulk secondary crushing device based on the robot platform according to claim 1 is characterized in that: The drilling robot arm (2) and the clamping robot arm (3) are both six-axis robot arms.

3. The underground bulk secondary crushing device based on the robot platform according to claim 1 is characterized in that: The clamp is a three-finger clamp.

4. The underground bulk secondary crushing device based on the robot platform according to claim 1 is characterized in that: The container warehouse is provided with two, namely a medicine roll warehouse (5) and a water storage warehouse (6). The medicine roll warehouse (5) is used to store opened expanded medicine rolls, and the water storage warehouse (6) is used to store water required to stimulate the expanded medicine rolls.

5. The underground bulk secondary crushing device based on the robot platform according to claim 1 is characterized in that: The expansion medicine roll comprises a water-absorbing structure and a swelling agent (9), wherein the water-absorbing structure is composed of kraft paper (7) and a medium-density sponge (8), the swelling agent (9) is arranged inside the sponge (8), and the kraft paper (7) is arranged outside the sponge (8).

6. The underground bulk secondary crushing device based on the robot platform according to claim 5 is characterized in that: The expansion agent (9) is quicklime expansion agent.

7. A crushing method for a downhole bulk secondary crushing device based on a robot platform according to any one of claims 1 to 6, characterized in that: The steps include: Step 1: After the robot enters the area requiring secondary crushing, the robot uses the depth camera (4) equipped on the robot platform to collect data and obtain information about large rocks; the depth camera (4) transmits the collected data to the robot platform to calculate the volume of the large rocks; Step 2: The robot platform calculates the hole network parameters and the number of blastholes based on the information and volume of large rocks, combined with rock properties, expansion cartridge information and mine block requirements; Step 3: The robot platform obtains the blasthole positions based on the hole grid parameters and the number of blastholes combined with the information of the bulk rock; Step 4: The robot platform drives the drilling robot arm (2) to perform drilling operations according to the blast hole position. After the drilling is completed, the drilling robot arm (2) returns to the initial position; Step 5: The clamping mechanical arm (3) places the expanded medicine roll that has been opened in the medicine roll bin (5) into the water storage bin (6) for soaking, and loads the soaked expanded medicine roll into the blast hole. After the loading is completed, the clamping mechanical arm (3) returns to the initial position; Step 6: The expansion coil performs rock breaking: the expansion agent (9) in the expansion coil undergoes a hydration reaction after absorbing water, generating expansion pressure to break up large rocks; Step 7: After the crushing is completed, the crushing effect is identified and evaluated using the depth camera (4); if the rock has been sufficiently crushed, the crushing operation is completed; if large pieces still exist, the secondary crushing operation is repeated until the rock meets the crushing requirements.

8. The crushing method of the underground bulk secondary crushing device based on the robot platform according to claim 7 is characterized in that: In step 1, the surrounding environment of the secondary crushing area is scanned by a depth camera (4) to obtain three-dimensional point cloud data, and the data is transmitted to the robot platform. The robot platform processes the three-dimensional point cloud data to identify the outline, shape, size and position of the large rock, and calculates the volume of the large rock.

9. The crushing method of the underground large-block secondary crushing device based on the robot platform according to claim 7 is characterized in that: In step 2, the hole network parameters include hole depth, hole diameter and hole spacing. The hole depth is 2 / 3 of the height of the large rock. The hole diameter is determined by the drill bit size. The hole spacing is 6-7 times the hole diameter. The number of blastholes satisfies the following formula: In h =a 2 ×h; Where: N is the number of blastholes; V t is the total volume of the large rock; V h is the effective volume of a single blasthole; a is the hole distance; h is the hole depth.

10. The crushing method of the underground large-block secondary crushing device based on the robot platform according to claim 7 is characterized in that: In step 4, the drilling robot arm (2) uses the robot platform's robot arm posture solving and trajectory planning functions according to the blasthole position, and controls the drilling robot arm (2) to move to the specified position through the joint controller. After the drilling robot arm (2) reaches the specified position, the robot platform starts the drill bit to perform the drilling operation; In step 5, based on the blasthole position and blasthole posture determined by the depth camera (4), the robot platform's mechanical arm posture solving and trajectory planning functions are utilized, and the clamp mechanical arm (3) is controlled by the joint controller to place the expanded medicine roll after the water absorption structure is saturated with water into the blasthole.

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