A robotic arm for collecting and shaping open-pit mine cuttings

Abstract

The present invention provides an open-pit mine rock cuttings collection and shaping robotic arm, belonging to the technical field of open-pit mine drilling rock cuttings. The arm can be installed on various drilling rig platforms or vehicles and comprises 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 blasthole. The spatial position adjustment mechanism is used to adjust the spatial position of the positioning shaft. The end of the positioning shaft connected to the blasthole is also fixedly connected to the annular cover. The annular cover and the positioning shaft together form a chip chamber with a closed top and an open bottom. The chip chamber is provided with a squeezing mechanism connected to the positioning shaft. The squeezing mechanism is used to push the rock cuttings away from the blasthole so that the rock cuttings contact the inner circumference of the annular cover and are compacted. The collection mechanism is rotatably connected to the positioning shaft and is used to push the distal rock cuttings toward the center of the blasthole. The arm is used to solve the problem of large manpower consumption and increased labor costs in the current technology of blasthole rock cuttings processing.

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 refers to the blasthole drilling process performed in open-pit mines. During this process, a large amount of rock debris is generated. These debris are discharged by the drill rig around the top of the blasthole or splashed at the far end of the top. At this point, the debris around the top of the blasthole needs to be pushed an appropriate distance away from the blasthole to prevent it from falling back into the blasthole. At the same time, the debris splashed at the far end of the blasthole needs to be collected so that it can be used as blasthole filler in subsequent operations.

[0003] In current technology, most 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 inventors proposed a robotic arm for collecting and shaping open-pit mine cuttings. 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 rock cuttings collection and shaping robot arm to solve the problem of consuming a lot of manpower and increasing labor costs in the blasthole rock 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 robot arm, comprising a positioning shaft, an annular cover, a spatial position adjustment mechanism, a collection mechanism, and a squeezing mechanism;

[0007] One end of the positioning shaft is connected to the spatial position adjustment mechanism, and the other end is connected to the blasthole, and the spatial position adjustment mechanism is used to adjust the spatial position of the positioning shaft;

[0008] 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. A squeezing mechanism connected to the positioning shaft is provided in the chip chamber. The squeezing 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.

[0009] 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 blasthole.

[0010] Optionally, the squeezing mechanism includes a flexible bladder, a second spring, a flexible plate, and a rigid plate;

[0011] 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 end of the positioning shaft and is connected to an external gas / liquid injection device;

[0012] 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 end 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;

[0013] When the flexible bag is expanded by the introduction of gas / liquid, it abuts against the rigid plate and slides away from the center, and the flexible plate fills the gap between the two adjacent rigid plates;

[0014] When the flexible bag releases gas / liquid and contracts, the elastic force of the second spring contracts the flexible plate, so that the rigid plate slides toward the center.

[0015] 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;

[0016] The rotating seat is horizontally rotatably connected to the base and is driven to rotate horizontally by a first servo. The first connecting arm is rotatably connected to the rotating seat and is driven to rotate by a second servo. The second connecting arm is rotatably connected to the first connecting arm and is driven to rotate by a third servo. The third connecting arm is rotatably connected to the second connecting arm and is driven to rotate by a fourth servo. The third connecting arm is fixedly connected to the positioning shaft.

[0017] Optionally, the collection mechanism includes a second rotating frame, a fifth motor, a first gear, a second gear, a first collection plate, a first connecting rod, a first rack, a second collection plate, a second connecting rod, a second rack and a reciprocating drive assembly;

[0018] 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;

[0019] 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;

[0020] 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 transmission-connected to the reciprocating drive assembly;

[0021] 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;

[0022] 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 contacts the ground; when the rack is extended, there is a gap between the collecting plate and the ground.

[0023] Optionally, the first collecting plate includes a curved plate and a baffle;

[0024] 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.

[0025] Optionally, the reciprocating drive assembly includes a sixth motor, a third gear, a fourth gear and a fifth gear;

[0026] 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.

[0027] The fifth gear is meshed with the first rack and the second rack at the same time, the first rack is slidably connected to the second rotating frame, and the second rack is slidably connected to the second rotating frame;

[0028] 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.

[0029] 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;

[0030] The electromagnets are fixedly connected to their corresponding racks, and the adsorption members are fixedly connected to their corresponding connecting rods.

[0031] A plurality of the first springs are also provided at the rotation points of each rack and the corresponding connecting rod;

[0032] When the electromagnet is powered off, the elastic force of the first spring causes the collecting plate to contact the ground;

[0033] When the electromagnet is energized, the electromagnet attracts the adsorption component, overcoming the elastic force of the first spring so that a gap exists between the collecting plate and the ground.

[0034] Optionally, it further includes a position detection mechanism for controlling the on and off of the electromagnet;

[0035] The position detection mechanism includes a first photodetector, a second photodetector and a controller;

[0036] The first photodetector and the second photodetector are signal-connected to the controller, 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;

[0037] 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 engage;

[0038] When the second photoelectric detector detects that the rack has extended to the limit position, the second photoelectric detector transmits a signal to the controller, and the controller controls the electromagnet to be turned off.

[0039] Optionally, a channeling mechanism is further included, which is connected to the positioning shaft and is used to form channels for rock cuttings in the peripheral area of ​​the annular cover.

[0040] Optionally, the channel 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;

[0041] The first rotating frame is rotatably mounted 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.

[0042] Optionally, the end of the positioning shaft for inserting into the blast hole is tapered.

[0043] As described above, the present invention has the following beneficial effects:

[0044] 1. This application can process rock debris generated during open-pit mining operations, greatly reducing the need for manual labor, improving operational efficiency, and significantly reducing labor costs.

[0045] 2. In this 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.

[0046] 3. In this application, 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.

[0047] 4. In this 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 blasthole top for easy use in subsequent operations.

[0048] 5. This application also improves operational safety. Compared with manual rock cuttings handling, the use of a robotic arm reduces direct contact between personnel and rock cuttings, thereby reducing the risk of rock cuttings harming on-site workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0050] Figure 2 It is a schematic structural diagram of the annular cover 2 of the present invention.

[0051] Figure 3 It shows a schematic diagram of the cross-section internal structure of the extrusion mechanism 5 of the present invention.

[0052] Figure 4 It is a schematic structural diagram of the spatial position adjustment mechanism 3 of the present invention.

[0053] Figure 5 It is a schematic structural diagram of the second rotating frame 401 of the present invention in one direction.

[0054] Figure 6 It is a schematic structural diagram of the second rotating frame 401 of the present invention in one direction.

[0055] 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.

[0056] Figure 8 It is a schematic structural diagram of the first rack 407 of the present invention.

[0057] Figure 9 It is a schematic structural diagram of the first connecting rod 406 of the present invention.

[0058] Figure 10It is a schematic structural diagram of the first collecting plate 405 of the present invention.

[0059] Figure 11 It shows the positional relationship between the first photodetector 7 and the second photodetector 8 of the present invention.

[0060] Figure 12 Shown is a schematic diagram of the channel opening mechanism 6 of the present invention.

[0061] Figure 13 A schematic diagram showing the preparation of the present invention.

[0062] Component number description

[0063] Among them: 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

[0064] The following describes the implementation of the present invention through specific embodiments. People skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0065] 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. Therefore, they have no substantive 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 efficacy and purpose 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.

[0066] The following embodiments are for illustration only and can be combined with each other, and are not limited to the contents presented in the following single embodiments.

[0067] See also Figures 1-13 The present invention provides an open-pit mine rock debris collection and shaping robot 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;

[0068] One end of the positioning shaft 1 is connected to the spatial position adjustment mechanism 3, and the other end is connected to the blasthole. The spatial position adjustment mechanism 3 is used to adjust the spatial position of the positioning shaft 1;

[0069] An annular cover 2 is fixedly connected to the end of the positioning shaft 1 connected to the blasthole. The annular cover 2 and the positioning shaft 1 together form a chip chamber with a closed top and an open bottom. A squeezing mechanism 5 connected to the positioning shaft 1 is provided in the chip chamber. The squeezing mechanism 5 is used to push the rock chips away from the blasthole so that the rock chips come into contact with the inner circumference of the annular cover 2 and are compacted.

[0070] The collecting mechanism 4 is rotatably connected to the positioning shaft 1 , and is used to push the distal rock cuttings toward the center of the blasthole.

[0071] In this embodiment, the present invention can handle rock debris generated during open-pit mining operations, significantly reducing the need for manual labor. This improves operational efficiency and significantly reduces labor costs. Using a spatial position adjustment mechanism, the robotic arm can precisely adjust the spatial position of the positioning shaft, ensuring accurate insertion into the blasthole and sealing it, preventing rock debris from the outer periphery of the blasthole from falling back into the blasthole and impacting subsequent operations. The design of the extrusion mechanism compacts the rock debris upon contact with the inner circumference of the annular shield. This compaction forms a strong wall, reducing the inflow of rainwater and preventing strong winds from blowing dust into the blasthole. The collection mechanism rotates and pushes the distal rock debris toward the center of the blasthole, helping to collect scattered rock debris at the distal end of the blasthole for easier utilization in subsequent operations. This also improves operational safety. Compared to manual rock debris handling, the use of a robotic arm reduces direct contact between personnel and rock debris, thereby reducing the risk of damage to on-site workers.

[0072] 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;

[0073] The flexible bladder 501 wraps around the outer circumference of the positioning shaft 1. The positioning shaft 1 is provided with a pipeline connected to the flexible bladder 501. The pipeline is used to introduce gas / liquid. One end of the pipeline is connected to the flexible bladder 501, and the other end extends to the top of the positioning shaft 1 and is connected to an external gas / liquid injection device.

[0074] At least two detachable rigid plates 503 are sleeved on the outer circumference of the flexible bladder 501. The rigid plates 503 are slidably connected to the top 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 slidably connected to the rigid plates 503. Two adjacent flexible plates are connected by a plurality of second springs 502.

[0075] 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 the two adjacent rigid plates 503;

[0076] 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 providing the flexible plate is to protect the outer surface of the flexible bag 501.

[0077] 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;

[0078] The rotating base 302 is horizontally rotatably connected to the base 301 and driven for horizontal rotation by a first steering gear. The first connecting arm 307 is rotatably connected to the rotating base 302 and driven for rotation by a second steering gear 304. The second connecting arm 308 is rotatably connected to the first connecting arm 307 and driven for rotation by a third steering gear 305. The third connecting arm 309 is rotatably connected to the second connecting arm 308 and driven for rotation by a fourth steering gear 306. The third connecting arm 309 is fixedly connected to the positioning shaft 1. In this embodiment, the spatial position adjustment mechanism allows the robotic arm to precisely adjust the spatial position of the positioning shaft, ensuring that the positioning shaft can be accurately inserted into the blasthole, sealing it and preventing rock debris from falling back into the blasthole and affecting subsequent operations. In this embodiment, the steering gear is a mechatronic device that integrates a motor, position feedback, speed control, and position control functions. This is prior art and will not be further described. In this embodiment, the base 301 can be mounted on an external vehicle body for ease of 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.

[0079] In this embodiment, Figure 1 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 and Figure 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;

[0080] 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 meshed 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;

[0081] 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.

[0082] like Figure 7-10 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;

[0083] 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;

[0084] The reciprocating drive assembly is connected to the second rotatable frame 401 and is used to drive the rack to reciprocate and extend. When the rack is retracted, the collection plate contacts the ground; when the rack is extended, there is a gap between the collection plate and the ground. In this embodiment, the collection mechanism can rotate and push the distal rock debris toward the center of the blasthole. This helps to collect the rock debris scattered at the distal end of the blasthole top for easy use in subsequent operations. In this embodiment, the fifth motor 402 can be a servo motor. Combined with the control software, the servo motor can control its rotation angle. When the second rotatable frame 401 needs to rotate, the output shaft of the fifth motor 402 rotates, driving the second gear 404 to rotate. The rotation of the second gear 404 drives the first gear 403 to rotate. The rotation of the first gear 403 drives the second rotatable frame 401 to rotate, thereby achieving the fifth motor 402 driving the second rotatable frame 401 to rotate.

[0085] In this embodiment, Figure 10 , the first collecting plate 405 includes a curved plate 4051 and a baffle 4052;

[0086] 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 is facing the central axis 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. Baffle 4052 is set at the rear edge of the arc plate 4051 to prevent rock debris from escaping during the collection operation. In this embodiment, the connection method of baffle 4052 and arc plate 4051 can be a fixed connection or a detachable connection through bolts and nuts.

[0087] 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;

[0088] 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 meshed with 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.

[0089] 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 T-shaped slides, 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.

[0090] 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.

[0091] 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;

[0092] The electromagnets are fixedly connected to their corresponding racks, and the adsorption members are fixedly connected to their corresponding connecting rods;

[0093] A plurality of first springs are also provided at the rotation points of each rack and the corresponding connecting rod;

[0094] When the electromagnet is de-energized, the elastic force of the first spring causes the collecting plate to contact the ground;

[0095] When the electromagnet is energized, it attracts the suction element, overcoming the elastic force of the first spring to create a gap between the collection plate and the ground. In this embodiment, the sixth motor 411 utilizes a forward and reverse servo motor, combined with a PLC or single-chip microcomputer. This controls the reciprocating rotation of the sixth motor 411, driving the rack, which in turn drives the connecting rod, which in turn drives the collection plate. After the collection plate has moved back and forth, collecting the debris within the left and right range of the far end of the blasthole, it is necessary to rotate the collection plate vertically. To do this, the servo control of the sixth motor 411 can be temporarily disconnected. This allows the output shaft of the sixth motor 411 to rotate freely. The fifth motor 402 can then be used to rotate the first gear 403, which in turn drives the second turret 401. The second turret 401 then drives the sixth motor 411, the rack, the connecting rod, and the collection plate, thereby adjusting the collection plate's orientation. Alternatively, the sixth motor 411 can be fixedly mounted to the positioning shaft 1. Likewise, when the collecting plate needs to rotate, the servo control of the sixth motor 411 is temporarily disconnected.

[0096] In this embodiment, a position detection mechanism is also included for controlling the on and off of the electromagnet;

[0097] like Figure 11, the position detection mechanism includes a first photodetector 7, a second photodetector 8 and a controller;

[0098] 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;

[0099] 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;

[0100] 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 deenergizes the electromagnet, so that the elastic force of the first spring causes the collecting plate to contact the ground;

[0101] In this embodiment, a channeling mechanism 6 is further 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 channeling mechanism is provided to form a channel for the collected rock debris, which is conducive to the drainage of rainwater.

[0102] In this embodiment, Figure 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;

[0103] 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 meshes 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 located behind the scraper 605 in the direction of rotation. In this embodiment, the scraper 605 is arc-shaped and is located on the outer circumference 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 then drives the sixth gear 602 to rotate. The first turret 601 rotates along with the sixth gear 602. The first turret 601 drives the scraper 605 to excavate a circular ditch for the rock debris. Once the circular ditch is formed, the telescopic cylinder 607 is activated, extending the telescopic cylinder 607 and driving the push plate 606. The push plate 606 pushes the rock debris, forming a "straight" ditch. The "straight" ditch connects to the circular ditch, thereby facilitating the drainage of rainwater. In this embodiment, the push plate 606 can be a multi-stage telescopic cylinder.

[0104] 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 conducive to convenient insertion into the blast hole.

[0105] Working principle of the present invention:

[0106] First, the spatial position adjustment mechanism 3 is used to adjust the spatial position of the positioning shaft 1 so that it can be accurately inserted into the blasthole; then, the collection 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 using the channel opening mechanism 6. After the ditch is dug, the device is removed.

[0107] 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 skilled in 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 one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to 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. The spatial position adjustment mechanism (3) is used to adjust the spatial position of the positioning shaft (1); An annular cover (2) is fixedly connected to one end of the positioning shaft (1) connected to the blasthole. The annular cover (2) and the positioning shaft (1) together form a chip chamber with a closed top and an open bottom. An extrusion mechanism (5) connected to the positioning shaft (1) is provided in the chip chamber. The extrusion mechanism (5) 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 (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 toward the center of the blasthole; 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 the outer peripheral surface of the positioning shaft (1), and the positioning shaft (1) is provided with a pipeline connected to the flexible bag (501), and 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 introducing 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; 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 horizontally rotatably connected to the base (301), and the rotating seat (302) is driven to rotate horizontally by a 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 a 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 a 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 a fourth steering gear (306). The third connecting arm (309) is fixedly connected to the positioning shaft (1).

2. The open-pit mine rock cuttings collection and shaping robot 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 meshed with 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 and the first collecting plate (405) have the same structure and are centrally symmetrically arranged; the second connecting rod and the first connecting rod (406) have the same structure and are centrally symmetrically arranged; the second rack and the first rack (407) have the same structure and are 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 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, and 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.

3. The open-pit mine rock cuttings collection and shaping robot arm according to claim 2, 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 serrated 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).

4. The open-pit mine rock cuttings collection and shaping robot arm according to claim 2, characterized in that: 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) 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 meshedly connected with the third gear (412). The third gear (412) is driven to rotate by a sixth motor (411). The sixth motor (411) is fixedly mounted on the second rotating frame (401). The fifth gear (414) is simultaneously meshed with the first rack (407) and the second rack, 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); 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 their corresponding racks, and the adsorption members are fixedly connected to their corresponding connecting rods. 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 component, overcoming the elastic force of the first spring so that a gap exists between the collecting plate and the ground.

5. The open-pit mine rock cuttings collection and shaping robot arm according to claim 4, 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 be disconnected.

6. The open-pit mine rock cuttings collection and shaping robot arm according to claim 1, characterized in that: It also includes a channeling mechanism (6), which is connected to the positioning shaft (1) and is used to form a channel with the rock debris in the peripheral area of ​​the annular cover (2).

7. The open-pit mine rock cuttings collection and shaping robot arm according to claim 6, 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).

8. The open-pit mine rock cuttings collection and shaping robot 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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