A carbon dioxide blasting tube installation manipulator with emergency explosion-proof function

Abstract

The present invention belongs to the technical field of carbon dioxide blasting tube installation manipulators, and specifically discloses a carbon dioxide blasting tube installation manipulator with an emergency explosion-proof function, comprising a mounting frame, a hydraulic push rod is arranged on the top of the mounting frame, an output shaft of the hydraulic push rod is fixedly connected with a mounting plate, a gripper structure is arranged on the bottom of the mounting plate, a gas injection structure is arranged on one side of the mounting frame, and a controller is arranged on the other side of the mounting frame; by arranging the gripper structure, the effect of stably placing the carbon dioxide blasting tube can be achieved, and the accidental protection caused by the blasting piece of the carbon dioxide blasting tube being placed inside the blast hole after being damaged can be avoided, and the released carbon dioxide gas can be quickly discharged through the upper end of the connecting pipe, so as to avoid the situation that the carbon dioxide gas is accumulated inside the blast hole and causes an accidental explosion, thereby realizing the emergency explosion-proof function, avoiding the occurrence of equipment damage, and improving safety.

Description

Technical Field

[0001] The invention belongs to the technical field of carbon dioxide bursting tube installation manipulators, and specifically discloses a carbon dioxide bursting tube installation manipulator with an emergency explosion-proof function. Background Art

[0002] Carbon dioxide blasting tubes are also called carbon dioxide fracturing tubes. Liquid carbon dioxide phase change fracturing technology is a blasting technology with advanced concepts, inherent safety, green environmental protection, and significant blasting effects. It is mainly developed for coal mining faces in high-gas mines to avoid explosion accidents caused by flames generated by explosive blasting. It can effectively improve the permeability of coal seams and enhance the gas extraction effect. Carbon dioxide fracturing tubes are now widely used in fracturing operations of rock and coal seams;

[0003] There are two main methods for installing carbon dioxide blasting tubes. One is manual operation, which can easily cause scratches and damage to the surface of the carbon dioxide blasting tubes, resulting in accidents. The other is installation using an excavator equipped with a manipulator. However, after this method places the carbon dioxide blasting tube in a preset blast hole, if an accidental explosion occurs, the carbon dioxide blasting tube will rebound and damage the equipment. Both of the above methods have great limitations. Therefore, a person skilled in the art proposes a carbon dioxide blasting tube installation manipulator with emergency explosion-proof function to solve the problems raised in the above background technology. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a carbon dioxide bursting tube installation manipulator with emergency explosion-proof function to solve the problem of poor explosion-proof performance of the prior art carbon dioxide bursting tube installation method.

[0005] To achieve the above purpose, the present invention provides a carbon dioxide blasting tube installation manipulator with emergency explosion-proof function, comprising a mounting frame, a hydraulic push rod is arranged on the top of the mounting frame, an output shaft of the hydraulic push rod is fixedly connected with a mounting plate, a gripper structure is arranged at the bottom of the mounting plate, a gas injection structure is arranged on one side of the mounting frame, and a controller is arranged on the other side of the mounting frame;

[0006] The gripper structure comprises a gripping assembly arranged at the bottom of the mounting plate, and an auxiliary assembly is arranged at the bottom of the gripping assembly;

[0007] Among them, the auxiliary component includes two second connecting half rings arranged at the bottom of the auxiliary component, and two second resistance-increasing capsules symmetrically distributed are embedded and installed on the inner side of the second connecting half ring. The two second connecting half rings are connected to form a second connecting ring, and a detection cavity is formed between the opposite sides of the two second resistance-increasing capsules and the second connecting half rings. The detection cavity is used for explosion-proof treatment of the detonating head of the carbon dioxide blasting tube.

[0008] In the above technical solution, preferably, a connecting cavity is opened inside the second connecting half ring, an air pressure sensor is arranged inside the connecting cavity, and a connecting hole connected with the detection cavity is opened inside the connecting cavity.

[0009] In the above technical solution, preferably, a surface of one of the second connecting half rings is provided with an inlet hole communicating with the interior of the connecting cavity.

[0010] In the above technical solution, preferably, two symmetrically distributed connecting pipes are fixedly connected to the top of the second connecting half ring, and a through hole for connecting the connecting pipe is opened on the inner top wall of the connecting cavity, and a solenoid valve is arranged inside the through hole.

[0011] In the above technical solution, preferably, the surface of the connecting pipe is provided with an external thread, and the surface thread of the connecting pipe is connected with a limiting nut.

[0012] In the above technical solution, preferably, the grabbing assembly includes two first connecting half rings arranged at the bottom of the mounting plate, the two first connecting half rings are butt-jointed to form a first connecting ring, the top of the first connecting half ring is fixedly connected with a top cover, the surface of the top cover is provided with threading holes, the top of the top cover is slidably connected to the bottom of the mounting plate, and the inner side of the first connecting half ring is embedded with two first drag-increasing bags that are symmetrically distributed.

[0013] In the above technical solution, preferably, a double-headed cylinder is provided on one side of the mounting plate, and both output shafts of the double-headed cylinder are fixedly connected with a connecting rod, and the other end of the connecting rod is fixedly connected to the surface of the adjacent top cover.

[0014] In the above technical solution, preferably, the upper end of the connecting pipe passes through the adjacent first connecting half ring, and the bottom of the limiting nut contacts the top of the first connecting half ring.

[0015] In the above technical solution, preferably, the gas injection structure includes a connecting box fixedly connected to one side of the mounting frame, a dustproof net is embedded in the surface of the connecting box, an air pump is arranged inside the connecting box, an air outlet end of the air pump is connected to a conduit, and the other end of the conduit is connected to the inlet hole.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. By setting up the gripper structure, the effect of stably placing the carbon dioxide blasting tube can be achieved, avoiding the accidental protection caused by the blasting piece of the carbon dioxide blasting tube being damaged and placed inside the blast hole. The released carbon dioxide gas can be quickly discharged through the upper end of the connecting pipe to avoid the accumulation inside the blast hole and causing accidental explosion, thus realizing the emergency explosion-proof function, avoiding the occurrence of equipment damage and improving safety.

[0018] 2. By setting up a gripper structure, it is possible to prevent the carbon dioxide blasting tube from being scratched against the inner wall of the blast hole during the placement of the carbon dioxide blasting tube, thereby causing damage and affecting its use, and reduce the heat generated by friction being transferred to the stored carbon dioxide, thereby reducing the expansion of carbon dioxide.

[0019] 3. Through the setting of the gas injection structure, after the carbon dioxide blasting tube is placed, gas can be actively injected into one of the connecting cavities. After standing for a period of time, two air pressure sensors are used to detect whether the air pressure on both sides is equal, so as to determine whether the air leakage hole of the blasting head is blocked, thereby improving the installation performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention from a first viewing angle;

[0021] Figure 2 It is a structural schematic diagram of the second viewing angle of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the gripper structure of the present invention;

[0023] Figure 4 It is a structural schematic diagram of the auxiliary components of the present invention;

[0024] Figure 5 It is a schematic diagram of the connection between the grab assembly and the mounting plate of the present invention;

[0025] Figure 6 It is a partial schematic diagram of the grabbing assembly of the present invention;

[0026] Figure 7 It is a structural schematic diagram of the gas injection structure of the present invention.

[0027] In the figure: 1. mounting frame; 101. controller; 2. hydraulic push rod; 201. mounting plate; 3. gripper structure; 31. grabbing assembly; 3101. double-headed cylinder; 3102. connecting rod; 3103. top cover; 3104. threading hole; 3105. first connecting half ring; 3106. first resistance-increasing capsule; 32. auxiliary assembly; 3201. second connecting half ring; 3202. connecting cavity; 3203. second resistance-increasing capsule; 3204. connecting hole; 3205. air pressure sensor; 3206. solenoid valve; 3207. connecting pipe; 3208. limiting nut; 4. gas injection structure; 401. connecting box; 402. dustproof net; 403. air pump; 404. catheter. DETAILED DESCRIPTION

[0028] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0030] like Figure 1-Figure 7 A carbon dioxide blasting tube installation manipulator with emergency explosion-proof function shown in the figure comprises a mounting frame 1, a hydraulic push rod 2 is arranged on the top of the mounting frame 1, an output shaft of the hydraulic push rod 2 is fixedly connected to a mounting plate 201, a gripper structure 3 is arranged at the bottom of the mounting plate 201, a gas injection structure 4 is arranged on one side of the mounting frame 1, and a controller 101 is arranged on the other side of the mounting frame 1;

[0031] The gripper structure 3 includes a gripping component 31 disposed at the bottom of the mounting plate 201, and an auxiliary component 32 is disposed at the bottom of the gripping component 31;

[0032] Among them, the auxiliary component 32 includes two second connecting semi-rings 3201 arranged at the bottom of the auxiliary component 32, and two second resistance-increasing capsules 3203 symmetrically distributed are embedded and installed on the inner side of the second connecting semi-rings 3201. The two second connecting semi-rings 3201 are connected to form a second connecting ring, and a detection cavity is formed between the opposite sides of the two second resistance-increasing capsules 3203 and the second connecting semi-rings 3201. The detection cavity is used for explosion-proof treatment of the detonating head of the carbon dioxide blasting tube.

[0033] The auxiliary component 32 is used to clamp one end of the carbon dioxide blasting tube detonator. The two second connecting half rings 3201 are brought close to each other to form a second connecting ring to clamp one end of the carbon dioxide blasting tube detonator. During the clamping process, the second resistance-increasing bag 3203 can increase the friction between the two and avoid damage to the detonator due to excessive squeezing.

[0034] like Figure 1-Figure 7 As shown, a connecting cavity 3202 is provided inside the second connecting half ring 3201 , an air pressure sensor 3205 is arranged inside the connecting cavity 3202 , and a connecting hole 3204 communicating with the detection cavity is provided inside the connecting cavity 3202 .

[0035] A lead-in hole communicating with the interior of the connecting cavity 3202 is formed on the surface of one of the second connecting half rings 3201 .

[0036] Two symmetrically distributed connecting pipes 3207 are fixedly connected to the top of the second connecting half ring 3201 , and a through hole for connecting the connecting pipe 3207 is formed on the inner top wall of the connecting cavity 3202 , and a solenoid valve 3206 is arranged inside the through hole.

[0037] The surface of the connecting pipe 3207 is provided with an external thread, and the surface of the connecting pipe 3207 is threadedly connected to a limiting nut 3208 .

[0038] The detection chamber is arranged to be connected with the air leakage hole of the detonating head, so that when carbon dioxide is placed inside the blasting hole and if the blasting piece of the carbon dioxide blasting tube is damaged, the released carbon dioxide gas can be introduced into the interior of the connecting chamber 3202 through the connecting hole 3204, so that the internal air pressure sensor 3205 can detect the air pressure change inside the connecting chamber 3202 in time, and can determine whether carbon dioxide gas leakage occurs. After the air pressure exceeds the preset value of the air pressure sensor 3205, the signal can be transmitted to the controller 101, and the controller 101 starts the solenoid valve 3206 to open, so that the released carbon dioxide gas can be quickly discharged through the upper end of the connecting tube 3207, so as to avoid accumulation inside the blasting hole and cause accidental explosion, thereby realizing the explosion-proof function.

[0039] like Figure 1-Figure 7 As shown, the grabbing assembly 31 includes two first connecting half rings 3105 arranged at the bottom of the mounting plate 201, and the two first connecting half rings 3105 are connected to form a first connecting ring. The top of the first connecting half ring 3105 is fixedly connected with a top cover 3103, and a threading hole 3104 is opened on the surface of the top cover 3103. The top of the top cover 3103 is slidably connected to the bottom of the mounting plate 201, and the inner side of the first connecting half ring 3105 is embedded with two first resistance-increasing capsules 3106 that are symmetrically distributed.

[0040] A double-headed cylinder 3101 is disposed on one side of the mounting plate 201 . Both output shafts of the double-headed cylinder 3101 are fixedly connected with a connecting rod 3102 . The other end of the connecting rod 3102 is fixedly connected to the surface of an adjacent top cover 3103 .

[0041] The upper end of the connecting tube 3207 passes through the adjacent first connecting half ring 3105 , and the bottom of the limiting nut 3208 contacts the top of the first connecting half ring 3105 .

[0042] By adjusting the position of the limit nut 3208, the length of the connecting tube 3207 passing through the first connecting half ring 3105 can be changed, thereby changing the distance between the first connecting half ring 3105 and the second connecting half ring 3201, thereby achieving the clamping of carbon dioxide blasting tubes of different lengths.

[0043] When clamping, the inflatable end of the carbon dioxide blasting tube is placed between the two first connecting semi-rings 3105 and the top cover 3103, and the two output shafts are contracted by starting the double-headed cylinder 3101. In this process, the two top covers 3103 can be driven to approach each other through the connecting rod 3102, thereby achieving the effect of driving the two first connecting semi-rings 3105 to dock. In this process, the second connecting semi-ring 3201 can be driven to dock synchronously through the connecting tube 3207, thereby completing the clamping of the inflatable end and the detonating head, and can be driven to move downward through the hydraulic push rod 2 to be placed in the pre-drilled blast hole. After the placement is completed, the double-headed cylinder 3101 drives the connecting rod 3102 to move away from each other to release the limit on the carbon dioxide blasting tube.

[0044] During this process, the first connecting half ring 3105 and the second connecting half ring 3201 can prevent the carbon dioxide blasting tube from scraping against the inner wall of the borehole and causing damage that affects its use, and reduce the heat generated by friction that is transferred to the stored carbon dioxide and causes carbon dioxide to expand.

[0045] like Figure 1-Figure 7 As shown, the gas injection structure 4 includes a connection box 401 fixedly connected to one side of the mounting frame 1, a dustproof net 402 is embedded in the surface of the connection box 401, an air pump 403 is arranged inside the connection box 401, the air outlet end of the air pump 403 is connected to a conduit 404, and the other end of the conduit 404 is connected to the inlet hole.

[0046] After placement, the air pump 403 can be actively started to inject gas into the interior of the conduit 404, and then injected into the interior of the connecting cavity 3202 connected thereto through the inlet hole, and then left to stand for a period of time to detect whether the air pressure on both sides is equal through the two air pressure sensors 3205, so as to determine whether the air leakage hole of the detonator head is blocked. If the air pressure on the side injected with gas is higher than the air pressure on the side not injected with gas, it indicates that the air leakage hole is blocked, which will affect the subsequent detonation and needs to be taken out for replacement, thereby avoiding abnormal explosion due to the blockage of the air leakage hole and improving the installation performance.

[0047] Working principle: when clamping, the inflatable end of the carbon dioxide blasting tube is placed between the two first connecting semi-rings 3105 and the top cover 3103, and the two output shafts are contracted by starting the double-headed cylinder 3101. In this process, the two top covers 3103 can be driven to approach each other through the connecting rod 3102, thereby achieving the effect of driving the two first connecting semi-rings 3105 to dock. In this process, the second connecting semi-ring 3201 can be driven to dock synchronously through the connecting tube 3207, thereby completing the clamping of the inflatable end and the detonating head, and the hydraulic push rod 2 can drive it to move down and place it in the pre-drilled blast hole. The setting of the detection cavity can be connected to the air vent of the detonating head, so that when the carbon dioxide is placed in the blast hole and if the blasting piece of the carbon dioxide blasting tube is damaged, the released carbon dioxide gas can The air is introduced into the interior of the connecting cavity 3202 through the connecting hole 3204 so that the internal air pressure sensor 3205 can detect the air pressure change inside the connecting cavity 3202 in time, and determine whether carbon dioxide gas leakage occurs. After the air pressure exceeds the preset value of the air pressure sensor 3205, the signal can be transmitted to the controller 101, and the controller 101 starts the solenoid valve 3206 to open, so that the released carbon dioxide gas can be quickly discharged through the upper end of the connecting pipe 3207 to avoid accumulation inside the blast hole and causing accidental explosion, thereby realizing the explosion-proof function. By setting up the gas injection structure 4, gas can be injected into the interior of one of the connecting cavities 3202. After standing for a period of time, the two air pressure sensors 3205 can detect whether the air pressure on both sides is equal, so as to determine whether the air leakage hole of the blasting head is blocked, thereby improving the installation performance.

[0048] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A carbon dioxide blasting tube installation manipulator with emergency explosion-proof function, comprising a mounting frame (1), characterized in that: A hydraulic push rod (2) is arranged on the top of the mounting frame (1); an output shaft of the hydraulic push rod (2) is fixedly connected to a mounting plate (201); a gripper structure (3) is arranged on the bottom of the mounting plate (201); an air injection structure (4) is arranged on one side of the mounting frame (1); and a controller (101) is arranged on the other side of the mounting frame (1); The gripper structure (3) comprises a gripping component (31) arranged at the bottom of the mounting plate (201), and an auxiliary component (32) is arranged at the bottom of the gripping component (31); The auxiliary component (32) comprises two second connecting half rings (3201) arranged at the bottom of the auxiliary component (32); two second resistance increasing capsules (3203) symmetrically distributed are embedded and installed on the inner side of the second connecting half rings (3201); the two second connecting half rings (3201) are butt-jointed to form a second connecting ring; a detection cavity is formed between the opposite sides of the two second resistance increasing capsules (3203) and the second connecting half rings (3201); the detection cavity is used for explosion-proof treatment of the detonating head of the carbon dioxide blasting tube; A connecting cavity (3202) is provided inside the second connecting half ring (3201), an air pressure sensor (3205) is provided inside the connecting cavity (3202), and a connecting hole (3204) connected to the detection cavity is provided inside the connecting cavity (3202); A surface of one of the second connecting half rings (3201) is provided with an introduction hole communicating with the interior of the connecting cavity (3202); The top of the second connecting half ring (3201) is fixedly connected to two symmetrically distributed connecting pipes (3207); the inner top wall of the connecting cavity (3202) is provided with a through hole for connecting the connecting pipe (3207); and a solenoid valve (3206) is arranged inside the through hole; The surface of the connecting pipe (3207) is provided with an external thread, and the surface of the connecting pipe (3207) is threadedly connected to a limiting nut (3208); The grab assembly (31) comprises two first connecting half rings (3105) arranged at the bottom of the mounting plate (201), the two first connecting half rings (3105) are butt-jointed to form a first connecting ring, the top of the first connecting half ring (3105) is fixedly connected to a top cover (3103), a threading hole (3104) is provided on the surface of the top cover (3103), the top of the top cover (3103) is slidably connected to the bottom of the mounting plate (201), and two first resistance-enhancing capsules (3106) symmetrically distributed are embedded and installed on the inner side of the first connecting half ring (3105); A double-headed cylinder (3101) is provided on one side of the mounting plate (201), and both output shafts of the double-headed cylinder (3101) are fixedly connected to a connecting rod (3102), and the other end of the connecting rod (3102) is fixedly connected to the surface of the adjacent top cover (3103); The upper end of the connecting tube (3207) passes through the adjacent first connecting half ring (3105), and the bottom of the limiting nut (3208) contacts the top of the first connecting half ring (3105).

2. A carbon dioxide blasting tube installation manipulator with emergency explosion-proof function according to claim 1, characterized in that: The gas injection structure (4) comprises a connection box (401) fixedly connected to one side of the mounting frame (1); a dust screen (402) is embedded and installed on the surface of the connection box (401); an air pump (403) is arranged inside the connection box (401); an air outlet end of the air pump (403) is connected to a conduit (404); and the other end of the conduit (404) is connected to the introduction hole.

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