An initiating explosive cartridge feeding bin for an automatic hole-searching robotic arm

Abstract

The present invention discloses a detonator cartridge feeding bin for an automatic hole-finding robotic arm in the field of tunnel blasting technology, which includes 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 a material tray is rotatably connected to the inner wall of the bin body. When the detonator cartridges inside the bin body are conveyed in the present invention, a fulcrum is added for the descent of the detonator cartridges through a guiding plate to provide guidance for the descent of the detonator cartridges, so as to avoid jamming caused by contact with the inner wall of the material channel during the descent due to different gravity at both ends of the detonator cartridge when it freely falls.

Description

Technical Field

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

[0002] The automatic hole-finding 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 the primer cartridge into the cartridge tube at a fixed position first for about 140 - 170 holes in total on the entire working face, with a hole spacing of 0.2m - 0.85m. Then, it finds the holes and controls the robot to send the cartridge tube to the hole opening. After that, the tube feeder starts to send the cartridge 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 realized.

[0003] When the bin is connected to the pneumatic charging machine, the cartridges inside the bin are sent to the inside of the pneumatic charging machine one by one, and then the cartridges are sent 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 conveyed to the inlet end of the pneumatic charging machine. Thus, the material passage under the bin is inclined to guide the cartridges before they enter the inside of the pneumatic charging machine. When the cartridges are conveyed, the cartridges fall one by one from the inside of the bin into the material passage.

[0004] Ideally, the left side of the material passage is closed. As Figure 1 shown, when the primer cartridge falls horizontally to contact the inner wall of the material passage at the end, it will rotate around the rotation point O relative to the inner wall of the material passage. When the primer cartridge rotates to fit the inner wall of the material passage, it can slide down to the inside of the pneumatic charging machine along the guidance of the conveying wheel. However, in actual use, the primer cartridge does not fall completely horizontally by itself, and the weights of both ends of the primer cartridge are different. As Figure 2 shown, this will cause the heavier end of the primer cartridge to slide along the inner wall of the material passage after contacting the inner wall of the material passage and then lap on the inner wall of the material passage, or directly lap on the inner wall of the material bucket, thereby forming material jams, as shown in Figures a and b in Figure 3 ;

[0005] When the left side wall of the material passage is not closed, the possible material jamming phenomenon will cause the end of the primer cartridge to directly cross the material passage and the conveying wheel, resulting in the situation of primer cartridge flying, that is, as shown in c and d in Figure 3 .

[0006] Based on this, the present invention designs a primer cartridge feeding bin for an automatic hole-finding robotic arm to solve the above problems. Summary of the Invention

[0007] To achieve the above object, the present invention provides the following technical solution: A primer cartridge feeding bin for an automatic hole-finding robotic arm, comprising a bin body, a pneumatic charging machine, and a material channel. The bin body is rotatably connected with a material tray, and further includes:

[0008] Two support plates, both of the two support plates are slidably connected to the inner wall of the top end of the material channel;

[0009] 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 cartridges falling from the material tray. After the two first cylinders drive the two support plates to move away from each other from the fitting state, the cartridges will fall into the interior of the material channel;

[0010] A guiding plate, located on the right side of the two support plates and rotatably connected to the inner wall of the material channel;

[0011] A torsion spring, sleeved on the rotating shaft of the guiding plate. When the two support plates move away from each other, under the pressing action of the self-gravity of the cartridges, the guiding plate rotates around the rotating shaft, and the falling path of the cartridges is guided by the guiding plate.

[0012] As a further solution of the present invention, two relief plates and two positioning rods are rotatably connected to the guiding plate. The two relief plates are located between the two positioning rods. A pressing piece is rotatably connected to the relief plate. The bottom of the pressing piece is rotatably connected to a push rod. The bottom end of the push rod is rotatably connected to a sliding rod. The sliding rod is slidably connected to the guiding plate. A first spring is fixedly connected between the sliding rod and the inner wall of the guiding plate. Support rods are rotatably connected to the front and rear side walls of the sliding rod. Two rack bars are rotatably connected to the two support rods. Second springs are fixedly connected between the two rack bars and the guiding plate. The two rack bars are both engaged with gears. The two gears are respectively fixedly connected to the rotating shafts of the two relief plates. Two stop bars are fixedly connected to the right side wall of the material channel. The stop bars are used to block the positioning rods after the guiding plate rotates to the limit.

[0013] 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 piece is arranged at the telescopic end of the second cylinder.

[0014] As a further solution of the present invention, a connecting piece is fixedly connected to the telescopic end of the second cylinder. The top piece is slidably connected to the connecting piece, and a third spring is fixedly connected between the connecting piece and the top piece;

[0015] The second cylinder is used to extend after the cartridges fall onto the two support plates to push the cartridges on the support plates to the right through the top piece and the connecting piece.

[0016] As a further solution of the present invention, the support plates are all arc-shaped.

[0017] 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.

[0018] As a further solution of the present invention, the support plates are all slidably connected to guide rods, and the guide rods are all fixedly connected to the inner wall of the material channel.

[0019] As a further solution of the present invention, the bottom end of the material channel is rotatably connected to a conveying wheel, the rotating shaft of the conveying wheel is fixedly connected to a motor, and the motor is fixedly connected to the side wall of the material channel.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention provides a fulcrum for the descent of the medicine rolls by means of a guide plate when conveying the medicine rolls inside the bin, so that the free-falling trend of the medicine rolls is changed to a downward trend with an inclined trend while following the rotation of the guide plate, thereby providing guidance for the descent of the medicine rolls and preventing the medicine rolls from getting stuck when they come into contact with the inner wall of the material channel due to the different gravity at both ends of the medicine rolls during free fall.

[0022] 2. When the medicine roll is conveyed, the guide plate rotates to guide the medicine roll, causing it 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 is freely falling, resulting in a large collision force, which will damage the internal structure of the medicine roll and uneven distribution of explosive particles, resulting in stability during subsequent medicine roll blasting.

[0023] 3. The setting plate can complete the horizontal and vertical transformation according to the downward pressure and release of the tablet, and can meet the functions of adding a fulcrum, guiding and reducing collision of 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 slides a short distance to separate from the tablet, and the giving 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 giving plate, thereby reducing the return time and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the ideal falling state of the medicine roll;

[0025] Figure 2 This is a schematic diagram of the medicine roll falling when the weight at the end is uneven;

[0026] Figure 3 Schematic diagrams of material jamming and cartridge flying when the left side wall of the material channel is closed and not closed;

[0027] Figure 4 Schematic diagram of the overall structure of the present invention;

[0028] Figure 5 Schematic diagram of the bin body and the tray of the present invention;

[0029] Figure 6 Schematic diagram of the cartridge on the support plate and the guide plate of the present invention;

[0030] Figure 7 Schematic diagram of the guide plate and the cartridge after rotating to the maximum angle of the present invention;

[0031] Figure 8 Schematic diagram of the relief plate and the pressing plate when the pressing plate is not pressed down in the present invention;

[0032] Figure 9 Schematic diagram of the relief plate and the pressing plate when the pressing plate is not pressed down in the present invention;

[0033] Figure 10 Schematic diagram of the pressing plate and the slide bar when the pressing plate is not pressed down in the present invention;

[0034] Figure 11 For Figure 10 Enlarged view of location A in ;

[0035] Figure 12 Schematic diagram of the pressing plate and the relief plate after the pressing plate is pressed down in the present invention;

[0036] Figure 13 Schematic diagram of the pressing plate before and after being pressed down in the present invention;

[0037] Figure 14 Schematic diagram of the relief plate and the slide bar before and after the pressing plate is pressed down in the present invention;

[0038] Figure 15 Schematic diagrams of the relief plate before rotation, during rotation, and after rotation in the present invention;

[0039] Figure 16 Schematic diagram of the relief plate rotating from a horizontal state to a vertical state after the pressing plate is not pressed down by the cartridge in the present invention;

[0040] Figure 17 Schematic diagram of the pressing plate resetting after the cartridge is separated from the pressing plate in the present invention;

[0041] Figure 18 Schematic diagram of the connecting member and the top piece in the present invention;

[0042] Figure 19 Schematic diagram of the guide rod in the present invention.

[0043] The components represented by the reference numerals in the accompanying drawings are as follows:

[0044] 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. Slide 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. Conveyor wheel; 26. Motor. DETAILED DESCRIPTION

[0045] See also Figures 1 - 19 The present invention provides a technical solution: a detonating powder coil 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 being fixedly connected to the bottom of the material channel 2, a material tray 4 being rotatably connected to the inner wall of the silo body 1, and further comprising two support plates 5, two first cylinders 6, a guide plate 7, and a torsion spring 8, the two support plates 5 being slidably connected to the inner wall of the top end of the material channel 2; the two first cylinders 6 being fixedly connected between the two support plates 5 and the inner wall of the material channel 2 ... and the two support plates 5 being slidably connected to the inner wall 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 inside of 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 material channel 2; the torsion spring 8 is mounted 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, causing the guide plate 7 to rotate around the rotating shaft, and the moving direction of the medicine roll is guided by the guide plate 7 to avoid the medicine roll getting stuck on the inner wall of the material channel 2.

[0046] like Figures 4 - 7 as well as Figure 12 As shown:

[0047] The silo 1 is mounted on a trolley. When working inside the tunnel, medicine rolls are stacked inside the silo 1. A discharge port extending downward to the bottom of the silo 1 is provided. During discharge, the material tray 4 is driven to rotate intermittently (based on conventional settings, a drive 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 on the material tray 4. When the medicine rolls are at the bottom, they fall through the discharge port at the bottom of the silo 1 into the material channel 2, completing intermittent discharge.

[0048] The cartridges falling from the cartridge tray 4 will directly land above the two support plates 5 and the guide plate 7, keeping the cartridges in a horizontal state. At this time, the cartridges will stay here and will not directly enter the interior of the material channel 2. Then, the first cylinder 6 shortens, driving the two support plates 5 to slide along the material channel 2 in the front and rear directions respectively. At this time, after the cartridges lose the support of the support plates 5, the cartridges still remain in contact with the guide plate 7. At this time, under the action of its own gravity, the cartridges cause the guide plate 7 to rotate around the rotation axis into the interior of the material channel 2 and compress the torsion spring 8, as Figure 8 shown. At this time, the guide plate 7 will add a fulcrum for the descent of the cartridges, guiding the descent of the cartridges instead of allowing them to fall freely. At this time, the descent of the cartridges will gradually tilt following the rotation of the guide plate 7 until the cartridges are 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 cartridges will be further guided by the inclined inner wall of the material channel 2 and slide towards the inlet end of the pneumatic charging machine 3. The above completes the transportation of the cartridges to the pneumatic charging machine 3. After the cartridges enter the interior of the pneumatic charging machine 3, the pneumatic charging machine 3 transports the cartridges into the interior of the cartridge tube for subsequent charging of the blast holes. When the cartridges slide out of contact with the guide plate 7, the torsion spring 8 quickly drives the guide plate 7 to reset to the initial horizontal state, and then the first cylinder 6 drives the support plate 5 to reset for the next cartridge transportation;

[0049] In the present invention, through the intermittent rotation of the cartridge tray 4, the cartridges intermittently descend onto the support plates 5 and the guide plate 7 for temporary storage. Then, they are separated from the cartridges by the movement of the two support plates 5. At this time, the guide plate 7 will add a fulcrum for the descent of the cartridges, changing the free-fall trend of the cartridges into a downward trend while following the rotation of the guide plate 7 in an inclined manner, thereby providing guidance for the descent of the cartridges and avoiding the problem of jamming caused by different gravity at both ends of the cartridges when they freely fall and contact the inner wall of the material channel 2. In the present invention, the left side wall of the material channel 2 is in a closed state, so jamming will occur, and to avoid the situation where the cartridges fly out when the left side of the material channel 2 is not closed during actual use.

[0050] Moreover, through the guidance of the cartridges by the rotation of the guide plate 7, the cartridges actively tilt. 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 cartridges are parallel to the inner wall of the material channel 2. At this time, when the cartridges are in direct contact with the material channel 2, the collision between the cartridges and the inner wall of the material channel 2 can be greatly reduced, thereby avoiding the problem that the end of the cartridge contacts the inner wall of the material channel 2 first when the cartridge freely falls, 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 explosion of the cartridge.

[0051] There are two release plates 9 and two positioning rods 18 rotatably connected to the guide plate 7. The two release plates 9 are located between the two positioning rods 18. A pressing plate 10 is rotatably connected to the release plate 9. A push rod 11 is rotatably connected to the bottom of the pressing plate 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 guide plate 7. A first spring 13 is fixedly connected between the sliding rod 12 and the inner wall of the guide plate 7. Support rods 14 are rotatably connected to the front and rear side walls of the sliding rod 12. 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 guide plate 7. The 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 guide plate 7 rotates to the extreme extent.

[0052] As Figures 8 - 16 shown:

[0053] In this solution, when the cartridge does not fall from inside the material tray 4 onto the support plate 5 and the guide plate 7, the pressing plate 10 is in the state as shown in Figure 9 and Figure 13 e1 in, and at this time the two release plates 9 are in the vertical state as shown in Figure 9 . At this time, the distance between the two release plates 9 is slightly larger than the diameter of the cartridge, as shown in Figure 15 g1 in and Figure 16 h2 in, which can be understood as the two release plates 9 being in the vertical state when the cartridge does not press down the pressing plate 10; when the cartridge falls onto the support plate 5 and the guide plate 7, that is, when the cartridge presses down the pressing plate 10, as shown in Figure 12 and Figure 15 g3 in, the two release plates 9 are in the horizontal state;

[0054] When the cartridge does not press down the pressing plate 10, the two release plates 9 are in the vertical state. When the cartridge presses down the pressing plate 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 plate 10 can drive the release plates 9 to switch between the horizontal and vertical states. The switching process is as follows:

[0055] As Figure 8 Figure 9 shown, when the cartridge does not press down the pressing plate 10, the states of the pressing plate 10, the push rod 11, the sliding rod 12 and the first spring 13 are as shown in Figure 13 e1 in, and the states of the support rod 14, the rack bar 15, the second spring 16 and the gear 17 are as shown in Figure 14 f1 in, and at this time the release plate 9 is in the vertical state. When the cartridge falls onto the support plate 5 and the guide plate 7, the cartridge 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, it will press the tablet 10 downward under its own gravity. When the tablet 10 is pressed downward, it will rotate around the rotation axis and push the slide bar 12 to slide along the inner wall of the guide plate 7 through the push rod 11 and stretch the first spring 13. When the slide bar 12 slides along the inner wall of the guide plate 7, it will pull the two rack rods 15 to slide along the guide plate 7 through the two support rods 14 and compress the second spring 16. At this time, the rack rod 15 will engage with the gear 17 to make the vertical yield plate 9 turn into a horizontal state (by Figure 15 When the tablet 10 is pressed down to the maximum extent, the states of the tablet 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 maintain contact with the guide plate 7 and the yield plate 9 and follow the guide plate 7 to rotate and descend, thereby providing a fulcrum and guidance 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 tablet 10 can be set 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.

[0056] like Figure 7 As shown, 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 tilted posture 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 away. Figure 13 The state shown in e2 is transformed into the state shown in e1, and the support rod 14, the rack rod 15, the second spring 16 and the gear 17 are also 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 In the middle, h1 rotates to h2, that is, it changes from horizontal state to vertical state. Figure 17, because the top of the yield plate 9 is not in contact with the medicine roll during its rotation, when the yield plate 9 turns vertically, it is located on both sides of the medicine roll and is not in contact with the medicine roll, thereby reducing the friction with the medicine roll, and the medicine roll can directly slide down in an inclined position inside the material channel 2. When the yield plate 9 turns vertically and the top of the medicine roll is below the tablet press 10, refer to Figure 17 As shown, at this time, the torsion spring 8 will directly drive the guide plate 7 to reset to the initial position;

[0057] The longer the guide plate 7 is, the stronger the effect of supporting and guiding the medicine roll will be. However, the increase in the length of the guide plate 7 will cause the stroke of the guide plate 7 to become longer, which is not conducive to fast and multi-batch work. The set clearance plate 9 can complete the horizontal and vertical transformation according to the downward pressure and release of the tablet 10, and can meet the functions of adding a fulcrum, guiding and reducing collision for the medicine roll when the medicine roll presses the tablet 10. After the medicine roll contacts the inner wall of the material channel 2, the end of the medicine roll is separated from the tablet 10 as the medicine roll slides a short distance, and then the clearance plate 9 is transformed from horizontal to vertical, so that the guide plate 7 can be quickly reset without the medicine roll completely separating from the clearance plate 9, thereby reducing the return time.

[0058] 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 . A top plate 21 is provided at the telescopic end of the second cylinder 20 .

[0059] 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 ;

[0060] The second air cylinder 20 is used to extend after the medicine roll falls onto the two support plates 5 so as to push the medicine roll to the right on the support plates 5 through the top plate 21 and the connecting piece 22 .

[0061] like Figure 18 As shown:

[0062] To facilitate the falling of the medicine roll, the storage hole inside the material tray 4 is longer than the medicine roll. This will cause the medicine roll to fall further to the left after it falls on the support plate 5. When the medicine roll falls too far to the left, the right end of the medicine roll will not contact or the contact will be insufficient with the tablet press 10, or it will rub against the left side of the inner wall of the material channel 2, affecting the subsequent feeding.

[0063] When the medicine roll falls to the support plate 5, the second cylinder 20 extends, driving the connecting member 22 and the top plate 21 to extend rightward to push the medicine roll rightward, thereby enabling the medicine roll to fully contact the tablet press 10 and press downward. The tablet press 10 itself is inclined, so it does not block the medicine roll when it moves from left to right.

[0064] When the cartridge cannot continue to move to the right, the relative sliding between the top plate 21 and the connecting member 22 and the stretching of the third spring 23 can buffer the pushing of the cartridge, avoiding deformation caused by a large direct impact.

[0065] The support plates 5 are all arc-shaped.

[0066] As Figure 7 shown:

[0067] The arc-shaped support plates 5 can fit better with the cartridge, and are beneficial for plasticity when contacting the cartridge.

[0068] A number of balls are rotatably connected to each of the support plates 5, and the top height of the support plates 5 is slightly higher than that of the guiding plate 7.

[0069] The balls are common knowledge and will not be specifically described here, and the setting height of the support plates 5 and the setting height of the guiding plate 7 are easier to understand;

[0070] The balls are used to reduce friction when the top plate 21 pushes the cartridge to move inside the support plates 5, and the fact that the support plates 5 are slightly higher than the guiding plate 7 is used to make the height of the cartridge slightly higher than that of the guiding plate 7 when the support plates 5 do not release the support for the cartridge, so that the static friction between the cartridge and the guiding plate 7 will not affect the pushing of the cartridge.

[0071] The support plates 5 are all slidably connected with guide rods 24, and the guide rods 24 are all fixedly connected to the inner wall of the material passage 2.

[0072] As Figure 19 shown:

[0073] The guide rods 24 are used to add guidance and support to the support plates 5.

[0074] Conveyor wheels 25 are rotatably connected to the bottom ends of the material passage 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 passage 2.

[0075] As Figure 4 shown:

[0076] The motor 26 drives the conveyor wheels 25 to rotate, so that when the end of the cartridge extends from the inner wall of the material passage 2, it enters between the two conveyor wheels 25 and is conveyed by the conveyor wheels 25 into the interior of the pneumatic charging machine 3, increasing the initial speed of the cartridge and improving the conveying efficiency.

Claims

1. A detonator cartridge feeding bin for an automatic hole-seeking robotic arm, comprising a bin body (1), a pneumatic charging machine (3), and a material channel (2). The bin body (1) is rotatably connected to a material tray (4), and is characterized in that, It further includes: Two support plates (5), both of the two support plates (5) are slidably connected to the inner wall of the top 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), and the two support plates (5) are used to receive the medicine rolls falling from the tray (4). After the two first cylinders (6) drive the two support plates (5) to move away from each other from the fitting state, the medicine rolls will fall into the interior of the material channel (2); A guiding plate (7), located on the right side of the two support plates (5) and rotatably connected to the inner wall of the material channel (2); A torsion spring (8), sleeved on the rotating shaft of the guiding plate (7). When the two support plates (5) move away from each other, under the self-gravity of the medicine roll, the guiding plate (7) rotates around the rotating shaft, and the falling path of the medicine roll is guided by the guiding plate (7); 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). The bottom of the pressing piece (10) is rotatably connected to a push rod (11). 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). 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). The two rack bars (15) are both engaged with gears (17). The two gears (17) are respectively fixedly connected to the rotating shafts of the two release plates (9). 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; 2. The primer cartridge feeding bin for an automatic hole-seeking robotic arm according to claim 1, 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 piece (21) is provided at the telescopic end of the second cylinder (20); 3. The primer cartridge feeding bin for an automatic hole-seeking robotic arm according to claim 2, wherein: A connecting piece (22) is fixedly connected to the telescopic end of the second cylinder (20). The top piece (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 piece (21); The second cylinder (20) is used to extend after the medicine roll falls onto the two support plates (5) to push the medicine roll to the right on the support plates (5) through the top piece (21) and the connecting piece (22); 4. An initiating explosive cartridge feeding bin for an automatic hole-searching robotic arm according to claim 3, characterized in that: The support plates (5) are both arc-shaped; 5. An initiating explosive cartridge feeding bin for an automatic hole-seeking robotic arm according to claim 4, characterized in that: A number of rolling balls are rotatably connected to the support plates (5), and the top height of the support plates (5) is slightly higher than that of the guiding plate (7); 6. The primer cartridge feeding bin for an automatic hole-seeking robotic arm according to claim 5, characterized in that: Guide rods (24) are slidably connected to the support plates (5), and the guide rods (24) are fixedly connected to the inner wall of the material channel (2).

7. An initiating explosive cartridge feeding bin for an automatic hole-seeking robotic arm according to claim 6, characterized in that: The bottom ends of the material channels (2) are all rotatably connected with conveying wheels (25), and a motor (26) is fixedly connected to the rotating shaft of the conveying wheels (25), and the motor (26) is fixedly connected to the side wall of the material channel (2).

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