Initiating cartridge feeding bin for automatic hole searching mechanical arm

Abstract

The invention discloses an initiating explosive cartridge feeding bin for an automatic hole searching mechanical arm in the technical field of tunnel blasting, which comprises a bin body, a pneumatic charging machine and a material channel fixedly connected to the bottom end of the bin body, the pneumatic charging machine is fixedly connected to the bottom of the material channel, and the inner wall of the bin body is rotatably connected with a material disc; when the cartridges in the bin body are conveyed, a fulcrum is additionally arranged for descending of the cartridges through the guide plate, descending of the cartridges is guided, and the situation that the cartridges make contact with the inner wall of the material channel to form material clamping when falling due to different gravity of the two ends of the cartridges during free falling is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel blasting, and particularly to a detonator cartridge feeding bin for an automatic hole-searching robotic arm. Background Art

[0002] Automatic hole-searching and charging in tunnel blasting are usually completed by a robot. A hole recognition device is installed on the robot arm, and using the data of an automatic drilling and rock drilling machine (hole coordinates, quantity, angle, etc.), in cooperation with on-site vision or a camera, after being judged by the system, the robot arm is commanded to load detonator cartridges into a medicine tube at a fixed position first for a working face with a total of about 140 - 170 holes and a hole spacing of 0.2m - 0.85m, then search for holes and control the robot to send the medicine tube to the hole opening, and then the tube feeder starts to send the medicine tube to the bottom of the blast hole. Through the linkage of a pneumatic charging machine installed on the trolley with the robot and the bin, automatic charging and counting are achieved; When the bin is connected to the pneumatic charging machine, the cartridges inside the bin are transported to the inside of the pneumatic charging machine one by one, and then the cartridges are transported to the inside of the blast hole through the pneumatic charging machine. In order to meet the conveying efficiency of the pneumatic charging machine, the pneumatic charging machine is usually inclined (that is, the inlet end of the pneumatic charging machine is higher than the outlet end). Therefore, the cartridges inside the bin need to be kept at the same inclination as the pneumatic charging machine when being transported to the inlet end of the pneumatic charging machine. Therefore, the material channel under the bin is inclined to guide the cartridges before they enter the inside of the pneumatic charging machine. When the cartridges are being transported, the cartridges fall one by one from the inside of the bin into the material channel; Ideally, the left side of the material channel is closed. As Figure 1 shown, when the cartridge falls horizontally to contact the inner wall of the material channel at the end, it will rotate relative to the inner wall of the material channel around the rotation point O. When the cartridge rotates to fit the inner wall of the material channel, it can slide down along the guidance of the conveying wheel into the inside of the pneumatic charging machine. However, in actual use, the cartridge does not fall completely horizontally by itself, and the weights at both ends of the cartridge are different. As Figure 2 shown, this will cause the heavier end of the cartridge to contact the inner wall of the material channel and then slide along and overlap on the inner wall of the material channel, or directly overlap on the inner wall of the material bucket, thus forming material jams, as Figure 3 shown in Figures a and b of When the left side wall of the material channel is not closed, the possible material jamming phenomenon will cause the end of the cartridge to directly cross the material channel and the conveying wheel, thus resulting in the situation of cartridge leapfrogging, that is, as Figure 3 shown in c and d of

[0003] Based on this, the present invention designs a detonator cartridge feeding bin for an automatic hole-searching robotic arm to solve the above problems. Summary of the Invention

[0004] To achieve the above object, the present invention provides the following technical solution: a detonating charge roll feeding silo for an automatic hole-finding robot arm, comprising a silo body, a pneumatic charging machine and a material channel, wherein the silo body is rotatably connected to a material tray, and further comprising: Two support plates, both of which are slidably connected to the inner wall of the top end of the material channel; Two first cylinders, the two first cylinders are respectively fixedly connected between the two support plates and the inner wall of the material channel, the two support plates are used to receive the medicine rolls falling from the material tray, and after the two first cylinders drive the two support plates to move away from each other from the fitted state, the medicine rolls will fall into the material channel; A guide plate, located on the right side of the two support plates and rotatably connected to the inner wall of the guide plate; The torsion spring is sleeved on the rotating shaft of the guide plate. When the two support plates move away from each other, the guide plate rotates around the rotating shaft under the downward pressure of the medicine roll itself, and the guide plate guides the falling path of the medicine roll.

[0005] As a further solution of the present invention, the guide plate is rotatably connected with two give-way plates and two positioning rods, the two give-way plates are located between the two positioning rods, the give-way plate is rotatably connected with a pressure plate, the bottom of the pressure plate is rotatably connected with a push rod, the bottom end of the push rod is rotatably connected with a sliding rod, the sliding rod is slidably connected to the guide plate, the sliding rod and the inner wall of the guide plate are fixedly connected with a first spring, the front and rear side walls of the sliding rod are rotatably connected with a support rod, the two support rods are rotatably connected with a rack rod, the two rack rods are fixedly connected to the guide plate with a second spring, the two rack rods are meshed with gears, and the two gears are respectively fixedly connected to the rotating shafts of the two give-way plates, and the right side wall of the material channel is fixedly connected with two baffle rods, and the baffle rods are used to block the positioning rod after the guide plate rotates to the limit.

[0006] As a further solution of the present invention, a second cylinder is fixedly connected to the left inner wall of the material channel, the second cylinder is located on the left side of the support plate, and a top plate is provided at the telescopic end of the second cylinder.

[0007] As a further solution of the present invention, a connecting piece is fixedly connected to the telescopic end of the second cylinder, the top sheet is slidably connected to the connecting piece, and a third spring is fixedly connected between the connecting piece and the top sheet; The second cylinder is used to extend after the material roll falls onto the two support plates so as to push the material roll to the right on the support plates through the top plate and the connecting piece.

[0008] As a further solution of the present invention, the support plates are all arc-shaped.

[0009] As a further solution of the present invention, a plurality of balls are rotatably connected to the support plates, and the top end of the support plates is slightly higher than the guide plates.

[0010] As a further solution of the present invention, the support plates are slidably connected to guide rods, and the guide rods are fixedly connected to the inner wall of the material channel.

[0011] As a further solution of the present invention, the bottom end of the material channel is rotatably connected to a conveying wheel, a motor is fixedly connected to the rotating shaft of the conveying wheel, and the motor is fixedly connected to the side wall of the material channel.

[0012] Compared with the prior art, the present invention has the following beneficial effects: The present invention, when conveying the medicine roll inside the bin body, adds a fulcrum for the descent of the medicine roll through the guide plate, so that the free falling trend of the medicine roll is changed to follow the rotation of the guide plate while descending with an inclined trend, thereby providing guidance for the descent of the material roll, and preventing the medicine roll from falling freely and contacting the inner wall of the material channel due to the different gravity at both ends thereof, thereby preventing the material from getting stuck.

[0013] When the medicine roll is conveyed, the guide plate guides the medicine roll when it rotates, causing the medicine roll to tilt actively. At this time, the angle between the rotation axis of the guide plate and the inner wall of the material channel gradually decreases. When the guide plate rotates to the maximum angle, the tilted medicine roll is parallel to the inner wall of the material channel. At this time, when the medicine roll is in direct contact with the material channel, the collision between the medicine roll and the inner wall of the material channel can be greatly reduced, thereby avoiding the end of the medicine roll contacting the inner wall of the material channel first when it falls freely, resulting in a large collision force, causing damage to the internal structure of the medicine roll and uneven distribution of explosive particles, resulting in stability during subsequent blasting of the medicine roll.

[0014] The setting of the yield plate can complete the horizontal and vertical transformation according to the pressing and releasing of the tablet, and can meet the functions of adding a fulcrum, guiding and reducing collision for the medicine roll when the medicine roll is pressed down to form a tablet. When the medicine roll contacts the inner wall of the material channel, the end of the medicine roll is separated from the tablet as the medicine roll slides a short distance, so that the yield plate is transformed from horizontal to vertical, so that the guide plate can be quickly reset without the need for the medicine roll to completely separate from the yield plate, thereby reducing the return time and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the ideal falling state of the medicine roll; Figure 2 It is a schematic diagram of the medicine roll falling when the weight at the end is uneven; Figure 3 It is a schematic diagram of material jamming and medicine roll flying when the left wall of the material channel is closed or not closed; Figure 4 It is a schematic diagram of the overall structure of the present invention; Figure 5 It is a schematic diagram of the bin body and the material tray of the present invention; Figure 6 It is a schematic diagram of the medicine roll of the present invention being on the support plate and the guide plate; Figure 7 It is a schematic diagram of the guide plate and the medicine roll of the present invention after rotating to the maximum angle; Figure 8 It is a schematic diagram of the yield plate and the tablet when the tablet is not pressed down; Figure 9 It is a schematic diagram of the yield plate and the tablet when the tablet is not pressed down; Figure 10 It is a schematic diagram of the tablet and the slide bar when the tablet is not pressed down; Figure 11 for Figure 10 The enlarged view of point A in the middle; Figure 12 It is a schematic diagram of the pressing plate and the giving way plate after the pressing plate is pressed down; Figure 13 Schematic diagram of the tablet before and after being pressed down; Figure 14 It is a schematic diagram of the yield plate and the slide bar before and after the tablet is pressed down; Figure 15 It is a schematic diagram of the yield plate of the present invention before, during and after rotation; Figure 16 It is a schematic diagram of the present invention in which the yield plate rotates from a horizontal state to a vertical state after the tablet is not pressed down by the medicine roll; Figure 17 It is a schematic diagram of the reset of the tablet after the medicine roll is separated from the tablet of the present invention; Figure 18 is a schematic diagram of a connecting member and a top sheet of the present invention; Figure 19 Schematic diagram of the guide rod of the present invention.

[0016] The components represented by the reference numerals in the accompanying drawings are as follows: 1. Bin; 2. Material channel; 3. Pneumatic charging machine; 4. Material tray; 5. Support plate; 6. First cylinder; 7. Guide plate; 8. Torsion spring; 9. Give way plate; 10. Pressing plate; 11. Push rod; 12. Sliding rod; 13. First spring; 14. Support rod; 15. Rack rod; 16. Second spring; 17. Gear; 18. Positioning rod; 19. Stop rod; 20. Second cylinder; 21. Top plate; 22. Connector; 23. Third spring; 24. Guide rod; 25. Conveying wheel; 26. Motor. DETAILED DESCRIPTION

[0017] See also Figures 1 - 19The present invention provides a technical solution: a detonating cord feeding silo for an automatic hole-finding robot arm, comprising a silo body 1, a pneumatic charging machine 3, and a material channel 2 fixedly connected to the bottom end of the silo body 1, the pneumatic charging machine 3 is fixedly connected to the bottom of the material channel 2, the inner wall of the silo body 1 is rotatably connected with a material tray 4, and also comprises two support plates 5, two first cylinders 6, a guide plate 7 and a torsion spring 8, the two support plates 5 are both slidably connected to the inner wall of the top end of the material channel 2; the two first cylinders 6 are respectively fixedly connected between the two support plates 5 and the inner wall of the material channel 2, and the two support plates 5 are slidably connected to the inner wall of the top end of the material channel 2. The support plate 5 is used to receive the medicine roll falling from the material tray 4. After the two first cylinders 6 drive the two support plates 5 to move away from each other from the fitted state, the medicine roll will fall into the material channel 2; the guide plate 7 is located on the right side of the two support plates 5 and is rotatably connected to the inner wall of the guide plate 7; the torsion spring 8 is sleeved on the rotating shaft of the guide plate 7. When the two support plates 5 move away from each other, the guide plate 7 is pressed down by the gravity of the medicine roll itself, so that the guide plate 7 rotates around the rotating shaft, and the moving direction of the medicine roll is guided by the guide plate 7 to avoid the medicine roll from getting stuck on the inner wall of the material channel 2.

[0018] like Figures 4 - 7 as well as Figure 12 As shown: The silo 1 is installed on a trolley. When working inside the tunnel, the medicine rolls are stacked inside the silo 1. A material discharge port extending to the bottom is opened downward inside the silo 1. When discharging, the material tray 4 is driven to rotate intermittently (based on conventional settings, a driving element such as a motor can be installed to control the rotation of the material tray 4). The medicine rolls are temporarily stored through a number of storage holes opened on the material tray 4. When the medicine rolls are at the bottom, they will fall into the material channel 2 through the material discharge port at the bottom of the silo 1, completing intermittent discharging. The medicine roll dropped from the material tray 4 will directly fall on the two support plates 5 and the guide plate 7, so that the medicine roll remains in a horizontal state. At this time, the medicine roll will stay here and will not directly enter the material channel 2. Then the first cylinder 6 is shortened, driving the two support plates 5 to slide forward and backward along the material channel 2 respectively. At this time, after the material roll loses the support of the support plate 5, the material roll still remains in a state of being in contact with the guide plate 7. At this time, the material roll causes the guide plate 7 to rotate around the rotating axis toward the inside of the material channel 2 under its own gravity, and compresses the torsion spring 8. Figure 8As shown, at this time, the guide plate 7 will add a fulcrum for the descent of the cartridge roll, guiding the descent of the cartridge roll instead of allowing it to fall freely. At this time, the descent of the cartridge will gradually incline following the rotation of the guide plate 7 until the cartridge is guided to contact the inclined inner wall of the material channel 2. At this moment, the guide plate 7 will also rotate to the maximum extent, and the cartridge will be further guided by the inclined inner wall of the material channel 2 and slide towards the inlet end of the pneumatic charge loader 3. The above process completes the transportation of the cartridge to the pneumatic charge loader 3. After the cartridge enters the interior of the pneumatic charge loader 3, the pneumatic charge loader 3 transports the cartridge into the interior of the cartridge tube for subsequent charging of the blast hole. When the cartridge slides out of contact with the guide plate 7, the torsion spring 8 quickly drives the guide plate 7 to reset to its initial horizontal state, and then the first cylinder 6 drives the support plate 5 to reset for the next cartridge transfer; In the present invention, the intermittent rotation of the material tray 4 causes the cartridge to descend intermittently and be temporarily stored above the support plate 5 and the guide plate 7. Then, through the movement of the two support plates 5, they are separated from the cartridge. At this time, the guide plate 7 will add a fulcrum for the descent of the cartridge, changing the free-fall trend of the cartridge to a descent with an inclined trend while following the rotation of the guide plate 7, thereby providing guidance for the descent of the cartridge roll and avoiding the problem of jamming when the cartridge falls freely and contacts the inner wall of the material channel 2 due to different gravity at both ends of the cartridge itself. In the present invention, the left side wall of the material channel 2 is in a closed state, so jamming will occur, and it also avoids the situation where the cartridge jumps out during actual use when the left side of the material channel 2 is not closed.

[0019] Moreover, the rotation of the guide plate 7 guides the cartridge to actively incline. At this time, the angle between the rotation axis of the guide plate 7 and the inner wall of the material channel 2 gradually decreases. When the guide plate 7 rotates to the maximum angle, the inclined cartridge is parallel to the inner wall of the material channel 2. At this time, when the cartridge is in direct contact with the material channel 2, it can greatly reduce the collision generated between the cartridge and the inner wall of the material channel 2, thereby avoiding the problems that when the cartridge falls freely, the end contacts the inner wall of the material channel 2 first, resulting in a large collision force that damages the internal structure of the cartridge and uneven distribution of explosive particles, which affects the stability of the subsequent blasting of the cartridge.

[0020] Two release plates 9 and two positioning rods 18 are rotatably connected to the guiding plate 7. The two release plates 9 are located between the two positioning rods 18. A pressing piece 10 is rotatably connected to the release plate 9. A push rod 11 is rotatably connected to the bottom of the pressing piece 10. The bottom end of the push rod 11 is rotatably connected to a sliding rod 12. The sliding rod 12 is slidably connected to the guiding plate 7. A first spring 13 is fixedly connected between the sliding rod 12 and the inner wall of the guiding plate 7. Support rods 14 are rotatably connected to the front and rear side walls of the sliding rod 12. Two rack bars 15 are rotatably connected to the two support rods 14. Second springs 16 are fixedly connected between the two rack bars 15 and the guiding plate 7. Two rack bars 15 are each engaged with a gear 17. The two gears 17 are fixedly connected to the rotating shafts of the two release plates 9 respectively. Two stop bars 19 are fixedly connected to the right side wall of the material channel 2. The stop bars 19 are used to block the positioning rods 18 after the guiding plate 7 rotates to the extreme position.

[0021] As Figures 8 - 16 shown: In this solution, when the medicine roll does not fall from inside the material tray 4 onto the support plate 5 and the guiding plate 7, the pressing piece 10 is in the state shown as e1 in Figure 9 and Figure 13 . At this time, the two release plates 9 are in the vertical state shown as Figure 9 . At this time, the distance between the two release plates 9 is slightly larger than the diameter of the medicine roll, as shown in g1 in Figure 15 and h2 in Figure 16 . It can be understood that when the medicine roll does not press down the pressing piece 10, the two release plates 9 are in the vertical state; when the medicine roll falls onto the support plate 5 and the guiding plate 7, that is, when the medicine roll presses down the pressing piece 10, as shown in g3 in Figure 12 and Figure 15 , the two release plates 9 are in the horizontal state; When the medicine roll does not press down the pressing piece 10, the two release plates 9 are in the vertical state. When the medicine roll presses down the pressing piece 10, the two release plates 9 are in the horizontal state in contact with the positioning rods 18. That is, the pressing down and release of the pressing piece 10 can drive the release plates 9 to switch between the horizontal and vertical states. The switching process is as follows: As Figure 8 Figure 9 shown, when the medicine roll does not press down the pressing piece 10, the states of the pressing piece 10, the push rod 11, the sliding rod 12 and the first spring 13 are as shown in e1 in Figure 13 , while the states of the support rod 14, the rack bar 15, the second spring 16 and the gear 17 are as shown in f1 in Figure 14 . And at this time, the release plate 9 is in the vertical state. When the medicine roll falls onto the support plate 5 and the guiding plate 7, the medicine roll is on the support plate 5 and the position near the right end is in the middle of the two vertical release plates 9 (as shown in Figure 15As shown in g1 in the figure, when the medicine roll falls onto the guide plate 7, the tablet press 10 is pressed down by its own gravity. When the tablet press 10 is pressed down, it rotates around the rotation axis and pushes the slide bar 12 to slide along the inner wall of the guide plate 7 through the push rod 11 and stretches the first spring 13. When the slide bar 12 slides along the inner wall of the guide plate 7, it pulls the two rack rods 15 to slide along the guide plate 7 through the two support rods 14 and compresses the second spring 16. At this time, the rack rod 15 meshes with the gear 17 to transform the vertical yield plate 9 into a horizontal state (by Figure 15 The tablet press 10 is rotated from g1 to g2 and the final state g3, and is rotated below the medicine roll). When the tablet press 10 is pressed down to the maximum extent, the states of the tablet press 10, the push rod 11, the slide rod 12 and the first spring 13 are as follows: Figure 13 As shown in e2, the states of the support rod 14, the rack rod 15, the second spring 16 and the gear 17 are as shown in Figure 14 As shown in f2, when the yield plate 9 is horizontal, the top end will contact the medicine roll and then support the medicine roll together with the support plate 5. When the first cylinder 6 drives the support plate 5 to release the support for the medicine roll, the medicine roll will cause the guide plate 7 to rotate, while the medicine roll will keep in contact with the guide plate 7 and the yield plate 9 and follow the guide plate 7 to rotate and descend, and then provide a fulcrum and guide for the medicine roll through the guide plate 7. Before the guide plate 7 rotates to the maximum angle, the medicine roll will continue to press down on the tablet 10, and there will be static friction between the medicine roll itself and the yield plate 9 and the guide plate 7. The static friction can be increased by adding a rubber layer to the surface of the yield plate 9 and the guide plate 7, or the setting position of the tablet 10 is slightly to the left to avoid the medicine roll from quickly separating from the tablet 10 as the angle of rotation of the guide plate 7 increases during the rotation of the guide plate 7. like Figure 7 As shown in the figure, when the medicine roll and the guide plate 7 rotate to the maximum angle, the positioning rod 18 will contact the blocking rod 19, and the guide plate 7 will stop there. At this time, the medicine roll and the side wall of the material channel 2 are parallel, and then the medicine roll will keep the inclined state and slide down directly. When the top of the medicine roll slides down to separate from the tablet 10, the elastic reset of the first spring 13 will quickly drive the tablet 10 to move. Figure 13 The state shown in e2 is changed to the state shown in e1, and the support rod 14, the rack rod 15, the second spring 16 and the gear 17 are also changed. Figure 14 The state shown in f2 is changed to the state shown in f1, at this time, the yield plate 9 will be Figure 16 h1 rotates to h2, that is, changes from horizontal state to vertical state, which can be referred to Figure 17 , because the top of the yield plate 9 does not contact the medicine roll during its rotation, when the yield plate 9 turns vertical, it is located on both sides of the medicine roll and does not contact the medicine roll, thereby reducing the friction with the medicine roll, and the medicine roll will directly slide down in the material channel 2 while maintaining an inclined posture. When the yield plate 9 turns vertical and the top of the medicine roll is below the tablet press 10, refer toFigure 17 As shown, at this time, the torsion spring 8 will directly drive the guide plate 7 to reset to the initial position; Since the longer the length of the guide plate 7, the stronger the support and guiding effect on the medicine roll. However, the increase in the length of the guide plate 7 will result in a longer stroke of the guide plate 7, which is not conducive to fast and multi-batch work. By setting the relief plate 9, it can complete the horizontal and vertical transformation according to the pressing and releasing of the pressing plate 10. It can meet the functions of adding a fulcrum, guiding, and reducing collision to the medicine roll when pressing the pressing plate 10 of the medicine roll. After the medicine roll contacts the inner wall of the material channel 2, with the short-distance sliding of the medicine roll, the end of the medicine roll is separated from the pressing plate 10, and then the relief plate 9 changes from horizontal to vertical, so that the guide plate 7 can be quickly reset without the medicine roll completely separating from the relief plate 9, thereby reducing the return time.

[0022] A second cylinder 20 is fixedly connected to the left inner wall of the material channel 2. The second cylinder 20 is located on the left side of the support plate 5, and a top piece 21 is provided at the telescopic end of the second cylinder 20.

[0023] The telescopic end of the second cylinder 20 is fixedly connected with a connecting piece 22. The top piece 21 is slidably connected with the connecting piece 22, and a third spring 23 is fixedly connected between the connecting piece 22 and the top piece 21; The second cylinder 20 is used to extend after the material roll falls onto the two support plates 5 to push the material roll to the right on the support plate 5 through the top piece 21 and the connecting piece 22.

[0024] As Figure 18 shown: To facilitate the falling of the medicine roll, the storage holes inside the material tray 4 are longer than the medicine roll, which may cause the medicine roll to be more to the left after falling onto the support plate 5. When the medicine roll is too far to the left, it will cause the right end of the medicine roll not to contact the pressing plate 10, insufficient contact, or friction with the left inner wall of the material channel 2, affecting subsequent material feeding; By setting the second cylinder 20, when the medicine roll falls onto the support plate 5, the second cylinder 20 can drive the connecting piece 22 and the top piece 21 to extend to the right to push the medicine roll to the right, so that the medicine roll can fully contact and press the pressing plate 10. Since the pressing plate 10 itself is inclined, it will not block the medicine roll when the medicine roll moves from left to right; When the medicine roll cannot move to the right anymore, the relative sliding of the top piece 21 and the connecting piece 22 and the stretching of the third spring 23 can buffer the pushing of the medicine roll, avoiding large direct impact and deformation.

[0025] The support plates 5 are all arc-shaped.

[0026] As Figure 7 shown: The arc-shaped support plate 5 can fit more closely with the cartridge, and is beneficial for plastic deformation when contacting the cartridge.

[0027] A number of balls are rotatably connected to the support plate 5, and the height of the top end of the support plate 5 is slightly higher than that of the guide plate 7.

[0028] The balls are common knowledge and will not be specifically described here, and the set height of the support plate 5 and the set height of the guide plate 7 are easier to understand; The balls are used to reduce friction when the top sheet 21 pushes the cartridge to move inside the support plate 5, and the support plate 5 being slightly higher than the guide plate 7 is used to make the height of the cartridge slightly higher than the guide plate 7 when the support plate 5 has not released the support on the cartridge, so that the static friction between the cartridge and the guide plate 7 will not affect the pushing of the cartridge.

[0029] Guide rods 24 are slidably connected to the support plate 5, and the guide rods 24 are fixedly connected to the inner wall of the material channel 2.

[0030] As Figure 19 shown: The guide rods 24 are used to add guidance and support to the support plate 5.

[0031] Conveyor wheels 25 are rotatably connected to the bottom ends of the material channels 2, a motor 26 is fixedly connected to the rotating shaft of the conveyor wheels 25, and the motor 26 is fixedly connected to the side wall of the material channel 2.

[0032] As Figure 4 shown: The motor 26 drives the conveyor wheels 25 to rotate, so that when the end of the cartridge extends out from the inner wall of the material channel 2, it enters between the two conveyor wheels 25 and is conveyed by the conveyor wheels 25 into the internal part of the pneumatic charging machine 3, increasing the initial speed of the cartridge and improving the conveying efficiency.

Claims

1. A detonating charge coil feeding silo for an automatic hole-finding robot arm, comprising a silo body (1), a pneumatic charge loader (3) and a material channel (2), wherein the silo body (1) is rotatably connected to a material tray (4), and is characterized in that: Also includes: Two support plates (5), both of which are slidably connected to the inner wall of the top end of the material channel (2); Two first cylinders (6), the two first cylinders (6) are respectively fixedly connected between the two support plates (5) and the inner wall of the material channel (2), the two support plates (5) are used to receive the medicine rolls falling from the material tray (4), and after the two first cylinders (6) drive the two support plates (5) to move away from each other from the contact state, the medicine rolls will fall into the material channel (2); A guide plate (7) located on the right side of the two support plates (5) and rotatably connected to the inner wall of the guide plate (7); The torsion spring (8) is sleeved on the rotation axis of the guide plate (7). When the two support plates (5) move away from each other, the pressure guide plate (7) rotates around the rotation axis under the weight of the medicine roll itself, thereby guiding the falling path of the medicine roll through the guide plate (7).

2. The explosive cartridge feeding bin for an automatic hole-finding robot arm according to claim 1, characterized in that: The guide plate (7) is rotatably connected to two clearance plates (9) and two positioning rods (18), the two clearance plates (9) are located between the two positioning rods (18), the clearance plate (9) is rotatably connected to a pressing plate (10), the bottom of the pressing plate (10) is rotatably connected to a push rod (11), the bottom of the push rod (11) is rotatably connected to a sliding rod (12), the sliding rod (12) is slidably connected to the guide plate (7), a first spring (13) is fixedly connected between the sliding rod (12) and the inner wall of the guide plate (7), and the front and rear side walls of the sliding rod (12) are Both are rotatably connected to a support rod (14), and both the support rods (14) are rotatably connected to a rack rod (15). A second spring (16) is fixedly connected between the two rack rods (15) and the guide plate (7). Both the rack rods (15) are meshed with a gear (17), and the two gears (17) are respectively fixedly connected to the rotation shafts of the two clearance plates (9). Two blocking rods (19) are fixedly connected to the right side wall of the material channel (2), and the blocking rods (19) are used to block the positioning rod (18) after the guide plate (7) rotates to the limit.

3. The explosive cartridge feeding bin for the automatic hole-finding robot arm according to claim 2 is characterized in that: A second cylinder (20) is fixedly connected to the left inner wall of the material channel (2); the second cylinder (20) is located on the left side of the support plate (5); and a top plate (21) is provided at the telescopic end of the second cylinder (20).

4. The explosive cartridge feeding bin for the automatic hole-finding robot arm according to claim 3 is characterized in that: The telescopic end of the second cylinder (20) is fixedly connected to a connecting piece (22), the top sheet (21) is slidably connected to the connecting piece (22), and a third spring (23) is fixedly connected between the connecting piece (22) and the top sheet (21); The second cylinder (20) is used to extend after the material roll falls onto the two support plates (5) so as to push the material roll to the right on the support plates (5) through the top plate (21) and the connecting piece (22).

5. The explosive cartridge feeding bin for the automatic hole-finding robot arm according to claim 4 is characterized in that: The support plates (5) are all arc-shaped.

6. The explosive cartridge feeding bin for the automatic hole-finding robot arm according to claim 5, characterized in that: A plurality of balls are rotatably connected to the support plates (5), and the top end of the support plates (5) is slightly higher than the guide plates (7).

7. The explosive cartridge feeding bin for the automatic hole-finding robot arm according to claim 6, characterized in that: The support plates (5) are all slidably connected to guide rods (24), and the guide rods (24) are all fixedly connected to the inner wall of the material channel (2).

8. The explosive cartridge feeding bin for the automatic hole-finding robot arm according to claim 7, characterized in that: The bottom end of the material channel (2) is rotatably connected to a conveying wheel (25), a motor (26) is fixedly connected to the rotating shaft of the conveying wheel (25), and the motor (26) is fixedly connected to the side wall of the material channel (2).

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