Strip mine rock debris collecting and shaping mechanical arm

Abstract

The invention provides an open-pit mine rock debris collecting and shaping mechanical arm, belongs to the technical field of open-pit mine drilling rock debris, and can be mounted on drilling machine platforms or automobiles. Comprising a positioning shaft, an annular cover, a spatial position adjusting mechanism, a collecting mechanism and an extruding mechanism, one end of the positioning shaft is connected with the spatial position adjusting mechanism, the other end of the positioning shaft is connected with a blast hole, and the spatial position adjusting mechanism is used for adjusting the spatial position of the positioning shaft; the end, connected with the blast hole, of the positioning shaft is further fixedly connected with an annular cover, the annular cover and the positioning shaft jointly form a scrap containing cavity with the top end closed and the bottom end provided with an opening, and an extrusion mechanism connected with the positioning shaft is arranged in the scrap containing cavity and used for pushing rock debris to be away from the blast hole so that the rock debris can be compacted after making contact with the inner circumferential face of the annular cover. The collecting mechanism is rotationally connected to the positioning shaft and used for pushing the far-end rock debris to be gathered towards the center of the blast hole. The problems that in the prior art, in the blast hole rock debris treatment process, a large amount of manpower is consumed, and the labor cost is increased are solved.

Description

Technical Field

[0001] The invention relates to the technical field of open-pit mine drilling cuttings, in particular to an open-pit mine cuttings collection and shaping mechanical arm. Background Art

[0002] Open-pit drilling operation refers to the blasthole drilling work carried out in the open-pit mine. During the open-pit drilling operation, a large amount of rock cuttings will be generated when drilling the blasthole. These rock cuttings are discharged by the drilling rig around the top of the blasthole, or splashed at the far end of the top of the blasthole. At this time, it is necessary to push the rock cuttings around the top of the blasthole to a proper distance away from the blasthole to prevent these rock cuttings from falling back into the blasthole by themselves; at the same time, the rock cuttings splashed at the far end of the top of the blasthole are collected to facilitate the use of the rock cuttings as blasthole filling materials in subsequent operations.

[0003] In current technology, most of the methods for processing these rock cuttings rely on manual labor, which consumes a lot of manpower and increases labor costs.

[0004] To this end, the inventor proposes an open-pit mine cuttings collection and shaping mechanical arm. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide an open-pit mine cuttings collection and shaping robot arm to solve the problem of consuming a large amount of manpower and increasing labor costs in the blasthole cuttings processing process in the current technology.

[0006] To achieve the above-mentioned and other related purposes, the present invention provides an open-pit mine rock cuttings collection and shaping mechanical arm, comprising a positioning shaft, an annular cover, a spatial position adjustment mechanism, a collection mechanism and a squeezing mechanism; One end of the positioning shaft is connected to the spatial position adjustment mechanism, and the other end is connected to the blast hole, and the spatial position adjustment mechanism is used to adjust the spatial position of the positioning shaft; An annular cover is fixedly connected to one end of the positioning shaft connected to the blasthole. The annular cover and the positioning shaft together form a chip chamber with a closed top and an open bottom. An extrusion mechanism connected to the positioning shaft is provided in the chip chamber. The extrusion mechanism is used to push the rock chips away from the blasthole so that the rock chips are compacted after contacting the inner circumference of the annular cover. The collecting mechanism is rotatably connected to the positioning shaft, and is used to push the distal end rock cuttings to gather toward the center of the blast hole.

[0007] Optionally, the squeezing mechanism includes a flexible bag, a second spring, a flexible plate and a rigid plate; The flexible bag wraps the outer circumference of the positioning shaft, and the positioning shaft is provided with a pipeline connected to the flexible bag, and the pipeline is used to introduce gas / liquid, one end of the pipeline is connected to the flexible bag, and the other end extends to the top of the positioning shaft and is connected to an external gas / liquid injection device; At least two detachable rigid plates are sleeved on the outer peripheral surface of the flexible bag, the rigid plates are slidably connected to the top of the annular cover, the rigid plates are provided with an annular through groove, the flexible plates are embedded in the annular through groove and slidably connected to the rigid plates, and two adjacent flexible plates are connected by a plurality of second springs; When the flexible bag is expanded by passing gas / liquid, it abuts against the rigid plate and slides away from the center, and the flexible plate fills the gap between two adjacent rigid plates; When the flexible bag is deflated with gas / liquid and contracts, the elastic force of the second spring contracts the flexible plate to make the rigid plate slide toward the center.

[0008] Optionally, the spatial position adjustment mechanism includes a base, a rotating base, a first steering gear, a second steering gear, a third steering gear, a fourth steering gear, a first connecting arm, a second connecting arm and a third connecting arm; The rotating seat is horizontally rotatably connected to the base, and the rotating seat is driven to rotate horizontally by the first steering gear. The first connecting arm is rotatably connected to the rotating seat, and the first connecting arm is driven to rotate by the second steering gear. The second connecting arm is rotatably connected to the first connecting arm, and the second connecting arm is driven to rotate by the third steering gear. The third connecting arm is rotatably connected to the second connecting arm, and the third connecting arm is driven to rotate by the fourth steering gear. The third connecting arm is fixedly connected to the positioning shaft.

[0009] Optionally, the collecting mechanism comprises a second rotating frame, a fifth motor, a first gear, a second gear, a first collecting plate, a first connecting rod, a first rack, a second collecting plate, a second connecting rod, a second rack and a reciprocating drive assembly; The second rotating frame is rotatably mounted on the positioning shaft, the second rotating frame is fixedly connected to the first gear, the first gear is coaxial with the positioning shaft, the first gear is meshed with the second gear, the second gear is driven to rotate by a fifth motor, and the fifth motor is fixedly connected to the positioning shaft; The second collecting plate has the same structure as the first collecting plate and is centrally symmetrically arranged, the second connecting rod has the same structure as the first connecting rod and is centrally symmetrically arranged, and the second rack has the same structure as the first rack and is centrally symmetrically arranged; The first collecting plate is fixedly connected to one end of the first connecting rod, the other end of the first connecting rod is movably connected to the first rack, and the first rack is drivingly connected to the reciprocating drive assembly; The second collecting plate is fixedly connected to one end of the second connecting rod, the other end of the second connecting rod is movably connected to the second rack, and the second rack is drivingly connected to the same reciprocating drive assembly; The reciprocating drive assembly is connected to the second rotating frame and is used to drive the rack to reciprocate and extend. When the rack is retracted, the collecting plate is in contact with the ground; when the rack is extended, there is a gap between the collecting plate and the ground.

[0010] Optionally, the first collecting plate includes a curved plate and a baffle; One end of the arc plate is fixedly connected to the connecting rod, and the other end is in serrated contact with the ground. The center of the arc plate faces the central axis of the positioning shaft, and the baffle is connected to the side of the arc plate away from the axis of the positioning shaft. Optionally, the reciprocating drive assembly includes a sixth motor, a third gear, a fourth gear and a fifth gear; The fourth gear is fixedly connected to the fifth gear and is coaxially arranged. The fourth gear and the fifth gear are rotatably mounted on the positioning shaft. The fourth gear is meshed with the third gear. The third gear is driven to rotate by a sixth motor. The sixth motor is fixedly mounted on the second rotating frame. The fifth gear is meshed and connected with the first rack and the second rack at the same time, the first rack is slidably connected with the second rotating frame, and the second rack is slidably connected with the second rotating frame; One end of the first rack is rotatably connected to the first connecting rod, and one end of the second rack is rotatably connected to the second connecting rod. The rotation point between the first rack and the first connecting rod and the rotation point between the second rack and the second connecting rod are respectively provided with an electromagnet, an adsorption member and a first spring; The electromagnets are fixedly connected to the corresponding racks respectively, and the adsorption members are fixedly connected to the corresponding connecting rods respectively; A plurality of the first springs are also provided at the rotation points of each rack and the corresponding connecting rod; When the electromagnet is powered off, the elastic force of the first spring causes the collecting plate to contact the ground; When the electromagnet is energized, the electromagnet attracts the adsorption member, overcoming the elastic force of the first spring so that there is a gap between the collecting plate and the ground.

[0011] Optionally, it also includes a position detection mechanism for controlling the on and off of the electromagnet; The position detection mechanism includes a first photodetector, a second photodetector and a controller; The first photodetector and the second photodetector are connected to the controller by signal, the controller is electrically connected to the electromagnet, and the first photodetector, the second photodetector and the controller are fixedly mounted on the second rotating frame; When the first photoelectric detector detects that the rack has retracted to the limit position, the first photoelectric detector transmits a signal to the controller, and the controller controls the electromagnet to be attracted; When the second photoelectric detector detects that the rack is extended to the limit position, the second photoelectric detector transmits a signal to the controller, and the controller controls the electromagnet to be disconnected.

[0012] Optionally, a channel opening mechanism is further included, wherein the channel opening mechanism is connected to the positioning shaft, and the channel opening mechanism is used to form a channel for the rock cuttings in the peripheral area of ​​the annular cover.

[0013] Optionally, the canal opening mechanism includes a first rotating frame, a sixth gear, a seventh gear, a seventh motor, a scraper, a push plate and a telescopic cylinder; The first rotating frame is rotatably installed on the positioning shaft, the sixth gear is fixedly connected to the first rotating frame, the sixth gear is meshed with the seventh gear, the seventh gear is fixedly connected to the output shaft of the seventh motor, the body of the seventh motor is fixedly connected to the positioning shaft, the scraper is fixedly connected to the first rotating frame, the fixed end of the telescopic cylinder is fixedly connected to the first rotating frame, and the telescopic end of the telescopic cylinder is fixedly connected to the push plate.

[0014] Optionally, one end of the positioning shaft for inserting into the blast hole is tapered.

[0015] As described above, the present invention has the following beneficial effects: 1. This application can process rock debris generated during drilling operations in open-pit mines, greatly reducing the need for manual labor, improving operating efficiency, and significantly reducing labor costs.

[0016] 2. In the present application, through the spatial position adjustment mechanism, the robotic arm can accurately adjust the spatial position of the positioning axis, thereby ensuring that the positioning axis can be accurately inserted into the blasthole and sealed to prevent rock chips from the periphery of the blasthole from falling back into the blasthole and affecting subsequent operations.

[0017] 3. In the present application, the design of the extrusion mechanism enables the rock chips to be compacted after contacting the inner peripheral surface of the annular cover. After compaction, the rock chips form a wall of a certain strength, which can reduce the inflow of rainwater or prevent strong winds from blowing dust into the blasthole.

[0018] 4. In the present application, the collecting mechanism can rotate and push the distal rock cuttings toward the center of the blasthole, which helps to gather the rock cuttings scattered at the distal end of the top of the blasthole for easy use in subsequent operations.

[0019] 5. This application also improves the safety of the operation. Compared with manual handling of rock cuttings, the use of the robotic arm reduces the direct contact between personnel and rock cuttings, thereby reducing the damage of rock cuttings to on-site workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 It is a schematic structural diagram of the annular cover 2 of the present invention.

[0022] Figure 3 It is a schematic diagram of the cross-section internal structure of the extrusion mechanism 5 of the present invention.

[0023] Figure 4 It is a schematic diagram of the structure of the spatial position adjustment mechanism 3 of the present invention.

[0024] Figure 5 It is a schematic structural diagram of the second rotating frame 401 of the present invention in one direction.

[0025] Figure 6 It is a schematic structural diagram of the second rotating frame 401 of the present invention in one direction.

[0026] Figure 7 It is a schematic diagram of the connection structure of the first collecting plate 405, the first connecting rod 406 and the first rack 407 of the present invention.

[0027] Figure 8 It is a schematic structural diagram of the first rack 407 of the present invention.

[0028] Fig. 9 It is a schematic structural diagram of the first connecting rod 406 of the present invention.

[0029] Fig.10 It is a schematic structural diagram of the first collecting plate 405 of the present invention.

[0030] Fig.11 The diagram shows the positional relationship between the first photodetector 7 and the second photodetector 8 of the present invention.

[0031] Fig.12 It is a schematic diagram of the channel opening mechanism 6 of the present invention.

[0032] Fig.13 A schematic diagram showing the preparation of the present invention is shown.

[0033] Component number description Wherein: positioning shaft 1, annular cover 2, spatial position adjustment mechanism 3, base 301, rotating seat 302, second steering gear 304, third steering gear 305, fourth steering gear 306, first connecting arm 307, second connecting arm 308, third connecting arm 309, collecting mechanism 4, second rotating frame 401, T-shaped slide 4011, fifth motor 402, first gear 403, second gear 404, first collecting plate 405, arc plate 4051, baffle 4052, first Connecting rod 406, first rack 407, sixth motor 411, third gear 412, fourth gear 413, fifth gear 414, extrusion mechanism 5, flexible bag 501, second spring 502, rigid plate 503, annular through groove 5031, channel opening mechanism 6, first rotating frame 601, sixth gear 602, seventh gear 603, seventh motor 604, scraper 605, push plate 606, telescopic cylinder 607, first photoelectric detector 7, second photoelectric detector 8. DETAILED DESCRIPTION

[0034] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0035] See also Figures 1 to 13 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content. The following embodiments are only for illustration purposes and can be combined with each other, and are not limited to the contents presented in the following single embodiments.

[0036] See also Figure 1-Figure 13 , the present invention provides an open-pit mine rock cuttings collection and shaping mechanical arm, comprising a positioning shaft 1, an annular cover 2, a spatial position adjustment mechanism 3, a collection mechanism 4 and a squeezing mechanism 5; One end of the positioning shaft 1 is connected to the spatial position adjustment mechanism 3, and the other end is connected to the blast hole. The spatial position adjustment mechanism 3 is used to adjust the spatial position of the positioning shaft 1; The end of the positioning shaft 1 connected to the blasthole is also fixedly connected to an annular cover 2, and the annular cover 2 and the positioning shaft 1 together form a chip chamber with a closed top and an open bottom. The chip chamber is provided with an extrusion mechanism 5 connected to the positioning shaft 1, and the extrusion mechanism 5 is used to push the rock chips away from the blasthole so that the rock chips are compacted after contacting with the inner circumference of the annular cover 2; The collecting mechanism 4 is rotatably connected to the positioning shaft 1, and the collecting mechanism 4 is used to push the distal rock cuttings to gather toward the center of the blasthole.

[0037] In this embodiment, through this application, the rock cuttings generated in the drilling operation of the open-pit mine can be processed, which greatly reduces the demand for manual labor. It improves the work efficiency and can also significantly reduce the labor cost. Through the spatial position adjustment mechanism, the mechanical arm can accurately adjust the spatial position of the positioning axis, so as to ensure that the positioning axis can be accurately inserted into the blasthole, block it, and prevent the rock cuttings on the periphery of the blasthole from falling back into the blasthole, affecting subsequent operations. The design of the extrusion mechanism allows the rock cuttings to be compacted after contacting the inner peripheral surface of the annular cover. After compaction, the rock cuttings form a wall of a certain strength, which can reduce the inflow of rainwater or prevent strong winds from blowing dust into the blasthole. The collection mechanism can rotate and push the distal rock cuttings to gather toward the center of the blasthole, which helps to gather the rock cuttings scattered at the distal end of the top of the blasthole for use in subsequent operations. It also improves the safety of the operation. Compared with manual processing of rock cuttings, the use of the mechanical arm reduces the direct contact between personnel and rock cuttings, thereby reducing the damage of rock cuttings to on-site workers.

[0038] In this embodiment, Figure 3 , the squeezing mechanism 5 includes a flexible bag 501, a second spring 502, a flexible plate and a rigid plate 503; The flexible bag 501 wraps the outer circumference of the positioning shaft 1. The positioning shaft 1 is provided with a pipeline connected to the flexible bag 501. The pipeline is used to introduce gas / liquid. One end of the pipeline is connected to the flexible bag 501, and the other end extends to the top of the positioning shaft 1 and is connected to an external gas / liquid injection device. At least two detachable rigid plates 503 are sleeved on the outer peripheral surface of the flexible bag 501, the rigid plate 503 is slidably connected to the top of the annular cover 2, the rigid plate 503 is provided with an annular through groove 5031, the flexible plate is embedded in the annular through groove 5031 and is slidably connected to the rigid plate 503, and two adjacent flexible plates are connected by a plurality of second springs 502; When the flexible bag 501 is expanded by passing gas / liquid, it abuts against the rigid plate 503 and slides away from the center, and the flexible plate fills the gap between two adjacent rigid plates 503; When the flexible bag 501 releases gas / liquid and contracts, the elastic force of the second spring 502 causes the flexible plate to contract so that the rigid plate 503 slides toward the center. In this embodiment, the design of the extrusion mechanism allows the rock chips to be compacted after contacting the inner circumference of the annular cover. After compaction, the rock chips form a wall of a certain strength, which can reduce the inflow of rainwater or prevent strong winds from blowing dust into the blasthole. In this embodiment, the flexible bag 501 can be made of rubber material, the rigid plate 503 can be made of steel plate, and the flexible plate can be made of wear-resistant material or steel sheet. The purpose of using steel sheet is that the steel sheet can be deformed, and the steel plate is not easy to deform. When the steel plate moves radially outward, most of the rock chips are squeezed and shaped by the steel plate, and the remaining rock chips contact the flexible plate and are squeezed and shaped. Another purpose of setting the flexible plate is to protect the outer surface of the flexible bag 501.

[0039] In this embodiment, Figure 4 The spatial position adjustment mechanism 3 includes a base 301, a rotating base 302, a first steering gear, a second steering gear 304, a third steering gear 305, a fourth steering gear 306, a first connecting arm 307, a second connecting arm 308 and a third connecting arm 309; The rotating seat 302 is horizontally rotatably connected to the base 301, and the rotating seat 302 is driven to rotate horizontally by the first steering gear, the first connecting arm 307 is rotatably connected to the rotating seat 302, and the first connecting arm 307 is driven to rotate by the second steering gear 304, the second connecting arm 308 is rotatably connected to the first connecting arm 307, and the second connecting arm 308 is driven to rotate by the third steering gear 305, the third connecting arm 309 is rotatably connected to the second connecting arm 308, and the third connecting arm 309 is driven to rotate by the fourth steering gear 306, and the third connecting arm 309 is fixedly connected to the positioning shaft 1. In this embodiment, through the spatial position adjustment mechanism, the mechanical arm can accurately adjust the spatial position of the positioning shaft, so as to ensure that the positioning shaft can be accurately inserted into the blasthole, block it, and prevent the peripheral rock debris of the blasthole from falling back into the blasthole, affecting subsequent operations. In this embodiment, the steering gear is a mechatronic device that integrates functions such as motor, position feedback, speed control, and position control. This is a prior art and will not be repeated. In this embodiment, the base 301 can be installed on the external vehicle body for easy transportation. In this embodiment, the spatial position of the positioning shaft 1 is adjusted by the spatial position adjustment mechanism 3 so that the positioning shaft 1 can be accurately inserted into the blast hole.

[0040] In this embodiment, Figure 1 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.11, the collecting mechanism 4 includes a second rotating frame 401, a fifth motor 402, a first gear 403, a second gear 404, a first collecting plate 405, a first connecting rod 406, a first rack 407, a second collecting plate, a second connecting rod, a second rack and a reciprocating drive assembly; like Figure 1 and Figure 6 The second rotating frame 401 is rotatably mounted on the positioning shaft 1, the second rotating frame 401 is fixedly connected to the first gear 403, the first gear 403 is coaxial with the positioning shaft 1, the first gear 403 is meshedly connected with the second gear 404, the second gear 404 is driven to rotate by the fifth motor 402, and the fifth motor 402 is fixedly connected to the positioning shaft 1; The second collecting plate has the same structure as the first collecting plate 405 and is centrally symmetrically arranged, the second connecting rod has the same structure as the first connecting rod 406 and is centrally symmetrically arranged, and the second rack has the same structure as the first rack 407 and is centrally symmetrically arranged; like Figure 7-Figure 10 The first collecting plate 405 is fixedly connected to one end of the first connecting rod 406, the other end of the first connecting rod 406 is movably connected to the first rack 407, and the first rack 407 is transmission-connected to the reciprocating drive assembly; The second collecting plate is fixedly connected to one end of the second connecting rod, the other end of the second connecting rod is movably connected to the second rack, and the second rack is transmission-connected to the same reciprocating drive assembly; The reciprocating drive assembly is connected to the second rotating frame 401, and is used to drive the rack to reciprocate and retract. At the same time, when the rack is retracted, the collecting plate contacts the ground; when the rack is extended, there is a gap between the collecting plate and the ground. In this embodiment, the collecting mechanism can rotate and push the distal rock cuttings to gather toward the center of the blasthole, which helps to collect the rock cuttings scattered at the distal end of the top of the blasthole for subsequent use. In this embodiment, the fifth motor 402 can use a servo motor, and combined with the control software, the servo motor can control its rotation angle. When the second rotating frame 401 needs to rotate, the output shaft of the fifth motor 402 rotates to drive the second gear 404 to rotate, the second gear 404 rotates to drive the first gear 403 to rotate, and the first gear 403 rotates to drive the second rotating frame 401 to rotate, thereby realizing that the fifth motor 402 drives the second rotating frame 401 to rotate.

[0041] In this embodiment, Fig.10 , the first collecting plate 405 includes an arc-shaped plate 4051 and a baffle 4052; One end of the arc plate 4051 is fixedly connected to the connecting rod, and the other end is serrated and in contact with the ground. The center of the arc plate 4051 faces the central axis direction of the positioning shaft 1, and the side of the arc plate 4051 away from the axis of the positioning shaft 1 is connected with a baffle 4052. In this embodiment, the bottom edge of the arc plate 4051 has a serrated blade, which can easily cut into the scattered rock debris pile. The width of the arc plate 4051 is designed according to the range of rock debris scattering around common blast holes, and the general width is about 1.2-1.5 meters. The baffle 4052 is set at the rear edge of the arc plate 4051 to prevent the rock debris from leaking during the collection operation. In this embodiment, the connection method of the baffle 4052 and the arc plate 4051 can be a fixed connection, or it can be detachably connected by bolts and nuts.

[0042] In this embodiment, Figure 5 and Figure 6 , the reciprocating drive assembly includes a sixth motor 411, a third gear 412, a fourth gear 413 and a fifth gear 414; The fourth gear 413 is fixedly connected to the fifth gear 414 and is coaxially arranged. The fourth gear 413 and the fifth gear 414 are rotatably mounted on the positioning shaft 1. The fourth gear 413 is meshedly connected to the third gear 412. The third gear 412 is driven to rotate by the sixth motor 411. The sixth motor 411 is fixedly mounted on the second rotating frame 401. The fifth gear 414 is meshed with the first rack 407 and the second rack at the same time, the first rack 407 is slidably connected to the second rotating frame 401, and the second rack is slidably connected to the second rotating frame 401; in this embodiment, the bottom ends of the first rack 407 and the second rack are provided with a T-shaped slide, such as Figure 6 A T-shaped slide groove 4011 is provided on the second rotating frame 401, and the T-shaped slide slides in the T-shaped slide groove 4011; both ends of the T-shaped slide are closed to limit the extreme position of extension or retraction to prevent the rack from falling out during extension and retraction.

[0043] One end of the first rack 407 is rotatably connected to the first connecting rod 406, and one end of the second rack is rotatably connected to the second connecting rod. The rotation point between the first rack 407 and the first connecting rod 406 and the rotation point between the second rack and the second connecting rod are respectively provided with an electromagnet, an adsorption member and a first spring; The electromagnets are fixedly connected to the corresponding racks respectively, and the adsorption members are fixedly connected to the corresponding connecting rods respectively; A plurality of first springs are also provided at the rotation points of each rack and the corresponding connecting rod; When the electromagnet is de-energized, the elastic force of the first spring causes the collecting plate to contact the ground; When the electromagnet is energized, the electromagnet attracts the adsorption member, overcomes the elastic force of the first spring, and allows the collecting plate to have a gap with the ground. In this embodiment, the sixth motor 411 adopts a forward and reverse servo motor, combined with a PLC or a single-chip microcomputer, to control the sixth motor 411 to cycle back and forth, drive the rack to reciprocate, the rack drives the connecting rod to reciprocate, and the connecting rod drives the collecting plate to reciprocate. When the collecting plate moves back and forth in the left and right directions, after the rock debris within the left and right range of the far end of the blasthole is collected, it is necessary to rotate the collecting plate to the up and down direction. At this time, the servo control of the sixth motor 411 can be temporarily disconnected. After disconnecting the servo control, the output shaft of the sixth motor 411 can rotate freely, and then the fifth motor 402 is used. The fifth motor 402 drives the first gear 403 to rotate, the first gear 403 drives the second rotating frame 401 to rotate, and the second rotating frame 401 drives the sixth motor 411, the rack, the connecting rod and the collecting plate to rotate, thereby adjusting the orientation of the collecting plate. Another installation method of the sixth motor 411 is that the body of the sixth motor 411 can also be fixedly installed on the positioning shaft 1. Similarly, when the collecting plate needs to rotate, the servo control of the sixth motor 411 is temporarily disconnected.

[0044] In this embodiment, a position detection mechanism is also included for controlling the on and off of the electromagnet; like Fig.11 , the position detection mechanism includes a first photodetector 7, a second photodetector 8 and a controller; The first photodetector 7 and the second photodetector 8 are connected to the controller by signal, the controller is electrically connected to the electromagnet, and the first photodetector 7, the second photodetector 8 and the controller are fixedly mounted on the second rotating frame 401; When the first photoelectric detector 7 detects that the rack has retracted to the limit position, the first photoelectric detector 7 transmits a signal to the controller, and the controller controls the electromagnet to attract; When the second photodetector 8 detects that the rack is extended to the limit position, the second photodetector 8 transmits a signal to the controller, and the controller controls the electromagnet to disconnect. In this embodiment, the controller can be a PLC controller or a single-chip microcomputer. In this embodiment, an L-shaped shielding member is provided on the side of the rack. When the rack is retracted to the limit position, the L-shaped shielding member blocks the first photodetector 7. After the controller detects this signal, it energizes the electromagnet, so that the electromagnet attracts the adsorption member; when the rack is extended to the limit position, the L-shaped shielding member blocks the second photodetector 8. After the controller detects this signal, it de-energizes the electromagnet, so that the elastic force of the first spring makes the collecting plate contact with the ground; In this embodiment, a channel opening mechanism 6 is also included, which is connected to the positioning shaft 1 and is used to form a channel for the rock debris in the peripheral area of ​​the annular cover 2. In this embodiment, the channel opening mechanism is provided to open a channel for the collected rock debris, which is conducive to the discharge of rainwater.

[0045] In this embodiment, Fig.12 , the canal opening mechanism 6 includes a first rotating frame 601, a sixth gear 602, a seventh gear 603, a seventh motor 604, a scraper 605, a push plate 606 and a telescopic cylinder 607; The first rotating frame 601 is rotatably mounted on the positioning shaft 1, the sixth gear 602 is fixedly connected to the first rotating frame 601, the sixth gear 602 is meshed with the seventh gear 603, the seventh gear 603 is fixedly connected to the output shaft of the seventh motor 604, the body of the seventh motor 604 is fixedly connected to the positioning shaft 1, the scraper 605 is fixedly connected to the first rotating frame 601, the fixed end of the telescopic cylinder 607 is fixedly connected to the first rotating frame 601, and the telescopic end of the telescopic cylinder 607 is fixedly connected to the push plate 606. In this embodiment, the push plate 606 is arranged behind the rotation direction of the scraper 605. In this embodiment, the scraper 605 is arc-shaped, and the scraper 605 is located on the outer peripheral surface of the annular cover 2. In this embodiment, the output shaft of the seventh motor 604 rotates, driving the seventh gear 603 to rotate, the seventh gear 603 drives the sixth gear 602 to rotate, the first rotating frame 601 rotates with the sixth gear 602, the first rotating frame 601 drives the scraper 605 to dig a circular ditch for the rock cuttings, when the circular ditch is formed, the telescopic cylinder 607 is started, the telescopic cylinder 607 extends to drive the push plate 606 to move, the push plate 606 pushes the rock cuttings to form a "one" shaped ditch, the "one" shaped ditch is connected with the circular ditch, so as to facilitate the discharge of rainwater. In this embodiment, the push plate 606 can use a multi-stage telescopic cylinder.

[0046] In this embodiment, one end of the positioning shaft 1 for inserting into the blast hole is tapered. In this embodiment, one end of the positioning shaft 1 is tapered, which is more convenient for inserting into the blast hole.

[0047] Working principle of the present invention: First, the spatial position of the positioning shaft 1 is adjusted by the spatial position adjustment mechanism 3 so that it can be accurately inserted into the blasthole; then, the collecting mechanism 4 is used to collect and gather the rock chips splashed to the far end when drilling the blasthole; then, the squeezing mechanism 5 is used to compact and shape the rock chips around the blasthole; then, the ditch is dug by the channel opening mechanism 6, and after the ditch opening is completed, the device is removed.

[0048] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A cuttings collection and shaping robot arm for open-pit mines, characterized in that: It comprises a positioning shaft (1), an annular cover (2), a spatial position adjustment mechanism (3), a collecting mechanism (4) and an extrusion mechanism (5); One end of the positioning shaft (1) is connected to the spatial position adjustment mechanism (3), and the other end is connected to the blast hole, and the spatial position adjustment mechanism (3) is used to adjust the spatial position of the positioning shaft (1); The end of the positioning shaft (1) connected to the blasthole is also fixedly connected to an annular cover (2), the annular cover (2) and the positioning shaft (1) together form a chip chamber with a closed top and an open bottom, the chip chamber is provided with an extrusion mechanism (5) connected to the positioning shaft (1), the extrusion mechanism (5) is used to push the rock cuttings away from the blasthole, so that the rock cuttings are compacted after contacting the inner circumference of the annular cover (2); The collecting mechanism (4) is rotatably connected to the positioning shaft (1), and the collecting mechanism (4) is used to push the distal end rock cuttings to gather toward the center of the blast hole.

2. The open-pit mine rock cuttings collection and shaping mechanical arm according to claim 1, characterized in that: The squeezing mechanism (5) comprises a flexible bag (501), a second spring (502), a flexible plate and a rigid plate (503); The flexible bag (501) wraps around the outer peripheral surface of the positioning shaft (1); the positioning shaft (1) is provided with a pipeline connected to the flexible bag (501); the pipeline is used to introduce gas / liquid; one end of the pipeline is connected to the flexible bag (501), and the other end extends to the top end of the positioning shaft (1) and is connected to an external gas / liquid injection device; At least two detachable rigid plates (503) are sleeved on the outer peripheral surface of the flexible bag (501), the rigid plates (503) are slidably connected to the top end of the annular cover (2), the rigid plates (503) are provided with an annular through groove (5031), the flexible plates are embedded in the annular through groove (5031) and are slidably connected to the rigid plates (503), and two adjacent flexible plates are connected via a plurality of second springs (502); When the flexible bag (501) is expanded by the introduction of gas / liquid, it abuts against the rigid plate (503) and slides away from the center, and the flexible plate fills the gap between two adjacent rigid plates (503); When the flexible bag (501) releases gas / liquid and contracts, the elastic force of the second spring (502) causes the flexible plate to contract, so that the rigid plate (503) slides toward the center.

3. The open-pit mine rock cuttings collection and shaping mechanical arm according to claim 1, characterized in that: The spatial position adjustment mechanism (3) comprises a base (301), a rotating base (302), a first steering gear, a second steering gear (304), a third steering gear (305), a fourth steering gear (306), a first connecting arm (307), a second connecting arm (308) and a third connecting arm (309); The rotating seat (302) is connected to the base (301) for horizontal rotation, and the rotating seat (302) is driven to rotate horizontally by a first steering gear; the first connecting arm (307) is connected to the rotating seat (302) for rotation, and the first connecting arm (307) is driven to rotate by a second steering gear (304); the second connecting arm (308) is connected to the first connecting arm (307) for rotation, and the second connecting arm (308) is driven to rotate by a third steering gear (305); the third connecting arm (309) is connected to the second connecting arm (308) for rotation, and the third connecting arm (309) is driven to rotate by a fourth steering gear (306); and the third connecting arm (309) is fixedly connected to the positioning shaft (1).

4. The open-pit mine rock cuttings collection and shaping mechanical arm according to claim 1, characterized in that: The collecting mechanism (4) comprises a second rotating frame (401), a fifth motor (402), a first gear (403), a second gear (404), a first collecting plate (405), a first connecting rod (406), a first rack (407), a second collecting plate, a second connecting rod, a second rack and a reciprocating drive assembly; The second rotating frame (401) is rotatably mounted on the positioning shaft (1); the second rotating frame (401) is fixedly connected to the first gear (403); the first gear (403) is coaxial with the positioning shaft (1); the first gear (403) is meshingly connected to the second gear (404); the second gear (404) is driven to rotate by a fifth motor (402); and the fifth motor (402) is fixedly connected to the positioning shaft (1); The second collecting plate has the same structure as the first collecting plate (405) and is centrally symmetrically arranged; the second connecting rod has the same structure as the first connecting rod (406) and is centrally symmetrically arranged; the second rack has the same structure as the first rack (407) and is centrally symmetrically arranged; The first collecting plate (405) is fixedly connected to one end of the first connecting rod (406), the other end of the first connecting rod (406) is movably connected to the first rack (407), and the first rack (407) is transmission-connected to the reciprocating drive assembly; The second collecting plate is fixedly connected to one end of the second connecting rod, the other end of the second connecting rod is movably connected to the second rack, and the second rack is drivingly connected to the same reciprocating drive assembly; The reciprocating drive assembly is connected to the second rotating frame (401) and is used to drive the rack to reciprocate and retract. When the rack is retracted, the collecting plate is in contact with the ground; when the rack is extended, there is a gap between the collecting plate and the ground.

5. The open-pit mine rock cuttings collection and shaping mechanical arm according to claim 4, characterized in that: The first collecting plate (405) comprises a curved plate (4051) and a baffle (4052); One end of the arc plate (4051) is fixedly connected to the connecting rod, and the other end is in a sawtooth shape and in contact with the ground. The center of the arc plate (4051) faces the central axis of the positioning shaft (1), and the baffle (4052) is connected to the side of the arc plate (4051) away from the axis of the positioning shaft (1).

6. The open-pit mine rock cuttings collection and shaping mechanical arm according to claim 4, characterized in that: The reciprocating drive assembly comprises a sixth motor (411), a third gear (412), a fourth gear (413) and a fifth gear (414); The fourth gear (413) and the fifth gear (414) are fixedly connected and coaxially arranged; the fourth gear (413) and the fifth gear (414) are rotatably mounted on the positioning shaft (1); the fourth gear (413) is meshingly connected with the third gear (412); the third gear (412) is driven to rotate by a sixth motor (411); and the sixth motor (411) is fixedly mounted on the second rotating frame (401); The fifth gear (414) is meshedly connected with the first rack (407) and the second rack at the same time, the first rack (407) is slidably connected with the second rotating frame (401), and the second rack is slidably connected with the second rotating frame (401); One end of the first rack (407) is rotatably connected to the first connecting rod (406), and one end of the second rack is rotatably connected to the second connecting rod. The rotation point between the first rack (407) and the first connecting rod (406) and the rotation point between the second rack and the second connecting rod are respectively provided with an electromagnet, an adsorption member and a first spring; The electromagnets are fixedly connected to the corresponding racks respectively, and the adsorption members are fixedly connected to the corresponding connecting rods respectively; A plurality of the first springs are also provided at the rotation points of each rack and the corresponding connecting rod; When the electromagnet is powered off, the elastic force of the first spring causes the collecting plate to contact the ground; When the electromagnet is energized, the electromagnet attracts the adsorption member, overcoming the elastic force of the first spring so that there is a gap between the collecting plate and the ground.

7. The open-pit mine rock cuttings collection and shaping mechanical arm according to claim 6, characterized in that: It also includes a position detection mechanism for controlling the on and off of the electromagnet; The position detection mechanism comprises a first photoelectric detector (7), a second photoelectric detector (8) and a controller; The first photodetector (7) and the second photodetector (8) are signal-connected to the controller, the controller is electrically connected to the electromagnet, and the first photodetector (7), the second photodetector (8) and the controller are fixedly mounted on the second rotating frame (401); When the first photoelectric detector (7) detects that the rack has retracted to the limit position, the first photoelectric detector (7) transmits a signal to the controller, and the controller controls the electromagnet to engage; When the second photoelectric detector (8) detects that the rack has extended to the limit position, the second photoelectric detector (8) transmits a signal to the controller, and the controller controls the electromagnet to disconnect.

8. The open-pit mine rock cuttings collection and shaping mechanical arm according to claim 1, characterized in that: It also comprises a channel opening mechanism (6), the channel opening mechanism (6) being connected to the positioning shaft (1), and the channel opening mechanism (6) being used to form a channel with the rock cuttings in the peripheral area of ​​the annular cover (2).

9. The open-pit mine rock cuttings collection and shaping mechanical arm according to claim 8, characterized in that: The channel opening mechanism (6) comprises a first rotating frame (601), a sixth gear (602), a seventh gear (603), a seventh motor (604), a scraper (605), a push plate (606) and a telescopic cylinder (607); The first rotating frame (601) is rotatably mounted on the positioning shaft (1); the sixth gear (602) is fixedly connected to the first rotating frame (601); the sixth gear (602) is meshed with the seventh gear (603); the seventh gear (603) is fixedly connected to the output shaft of the seventh motor (604); the body of the seventh motor (604) is fixedly connected to the positioning shaft (1); the scraper (605) is fixedly connected to the first rotating frame (601); the fixed end of the telescopic cylinder (607) is fixedly connected to the first rotating frame (601); and the telescopic end of the telescopic cylinder (607) is fixedly connected to the push plate (606).

10. The open-pit mine rock cuttings collection and shaping mechanical arm according to claim 1, characterized in that: One end of the positioning shaft (1) for inserting into the blast hole is tapered.

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