Manipulator for grabbing and placing wireless electronic detonator

Abstract

The invention discloses a mechanical arm for grabbing and placing wireless electronic detonators in the technical field of mechanical arms. The mechanical arm comprises a mechanical arm and a conveying unit which is installed at the end of the mechanical arm and used for grabbing and placing the wireless electronic detonators. The conveying unit comprises a placing cylinder which is installed at the free end of the mechanical arm and is of a cylindrical structure with one end open; the placing cylinder is a transportation carrier of the wireless electronic detonator; the protective sleeve is fixedly mounted in the placing cylinder and is in an incomplete circular ring shape with a notch in the top end; the push plate is arranged in the placing cylinder and is in sliding connection with the placing cylinder in the axial direction; the diameter of the push plate is between the outer diameter and the inner diameter of the protective sleeve; the driving unit is arranged on the inner side of the placing barrel and used for driving the push plate to move in the placing barrel in the axial direction; the clamping unit is arranged on the push plate and is used for clamping the end part of the wireless electronic detonator when the placing barrel is used for transporting and putting the wireless electronic detonator; according to the invention, the putting efficiency of the wireless electronic detonator can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and specifically to a manipulator for grasping and placing wireless electronic detonators. Background Technique

[0002] The wireless electronic detonator is a new type of initiation device based on the upgrade of traditional electronic detonator technology. It realizes remote networking control and initiation through wireless communication technology, and has higher safety and flexibility.

[0003] The arrangement of wireless electronic detonators is usually completed by a manipulator; in blasting engineering, whether it is a vertical blasting hole or a horizontal blasting hole, since the wireless electronic detonator has no physical lead wire, the manipulator cannot use the lead wire to drop the detonator into the blasting hole; at the same time, it is difficult for the manipulator to extend into the blasting hole. When facing a vertically arranged blasting hole, the wireless electronic detonator can only be transported to the opening of the blasting hole and then dropped into the blasting hole. During the falling process, the wireless electronic detonator is likely to collide with the inner wall and bottom of the blasting hole (especially when the blasting hole is opened in hard rock, the collision will be more severe), which may cause safety accidents. When transporting the wireless electronic detonator into a horizontal blasting hole, the manipulator needs to intermittently and slowly push the wireless electronic detonator into the blasting hole, with low efficiency and prone to rigid friction or collision with the inner wall of the blasting hole, thus causing the temperature of the detonator body to rise and triggering safety accidents. Summary of the Invention

[0004] The purpose of the present invention is to provide a manipulator for grasping and placing wireless electronic detonators to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A manipulator for grasping and placing wireless electronic detonators, including a robotic arm and a conveying unit; the conveying unit includes: a placement cylinder, installed at the free end of the robotic arm and set as a cylindrical structure with one end open; the placement cylinder is used to carry and transport wireless electronic detonators; a protective sleeve, fixedly installed inside the placement cylinder and set as an incomplete circular ring with a notch at the top; a push plate, arranged inside the placement cylinder and slidably connected to the placement cylinder along the axial direction of the placement cylinder; the push plate is set as a circular plate and its diameter is between the outer diameter and the inner diameter of the protective sleeve; a driving unit, arranged inside the placement cylinder and used to drive the push plate to move along the axial direction of the placement cylinder inside the placement cylinder; a clamping unit, arranged on the push plate and used to clamp the end of the wireless electronic detonator when the placement cylinder transports and drops the wireless electronic detonator.

[0006] As a further solution of the present invention, the protective sleeve is made of a flexible material.

[0007] As a further aspect of the present invention, the clamping unit includes: a clamping hoop made of an elastic steel sheet and provided with an opening, the clamping hoop being capable of clamping the end of the wireless electronic detonator when the opening of the clamping hoop is tightened; the two ends of the top of the clamping hoop are fixedly connected to a push plate; two sliding columns, symmetrically arranged and both slidably connected to the push plate, the two sliding columns being respectively located inside the two ends of the top of the clamping hoop; a push block, slidably connected to the push plate, two connecting rods being rotatably connected to the push block, the bottom ends of the two connecting rods being respectively rotatably connected to the two sliding columns; a clamping groove being formed on the push block; when the push block moves away from the axis of the push plate, the two sliding columns are driven to move towards each other through the connecting rods; a wedge-shaped push rod, fixedly installed on the inner wall of the placement cylinder and located on the moving path of the push block; when the push plate moves towards the inside of the placement cylinder, the wedge-shaped push rod can drive the push block to move away from the axis of the push plate; a clamping block, elastically slidably connected to the push plate; the bottom end of the clamping block is provided with an inclined surface and can be inserted into the clamping groove; a driving part, used for adjusting the position where the clamping block is disengaged from the clamping groove according to the state of the blasting hole, and canceling the locking of the push block.

[0008] As a further aspect of the present invention, the clamping unit further includes a plurality of mounting blocks, the plurality of mounting blocks being fixedly arranged on the outer circumferential side wall of the clamping hoop and distributed at equal angles, and the mounting blocks being elastically slidably connected to the push plate along the radial direction of the push plate.

[0009] As a further aspect of the present invention, a clamping sleeve is fixedly connected to the inner wall of the clamping hoop, and the clamping sleeve is made of a flexible material.

[0010] As a further aspect of the present invention, the driving unit includes: a driving head fixedly installed at the end of the placement cylinder far away from the opening; a telescopic rod located inside the placement cylinder and coaxially arranged with the placement cylinder and the push plate; the fixed end of the telescopic rod is fixedly connected to the placement cylinder, and the telescopic end is fixedly connected to the push plate; a compression spring, one end of which is fixedly connected to the inner wall of the placement cylinder and the other end of which abuts against the push plate; a first steel wire rope, one end of which is fixedly connected to the push plate and the other end of which passes through the placement cylinder and is fixedly connected to a winding roller; the winding roller is rotatably connected to the driving head; and a motor for driving the winding roller to rotate.

[0011] As a further solution of the present invention, the driving part includes: a hydraulic cylinder fixedly installed inside the free end of the telescopic rod and communicated with an oil passage opened inside the free end of the telescopic rod; a ball valve rotatably installed inside the free end of the telescopic rod and used to control the opening and closing of the oil passage; a cylinder body fixedly connected to the push plate and communicated with the oil passage through a conduction pipe; a piston slidably connected to the cylinder body and located below the end of the conduction pipe; a first traction rope, one end of which is fixedly connected to the piston and the other end is fixedly connected to the clamping block; an incomplete gear arranged outside the free end of the telescopic rod and fixedly installed on the rotating shaft of the ball valve; a rack elastically slidably connected to the push plate and capable of meshing with the incomplete gear; a second counterweight elastically slidably connected to the outer side wall of the placement cylinder; a third traction rope, one end of which is fixedly connected to the second counterweight and the other end passes through a sliding sleeve arranged on the placement cylinder and is fixedly connected to the rack; a rotating seat fixedly installed at the top of the opening end of the placement cylinder; a blocking block rotatably connected to the rotating seat and located on the moving path of the clamping block; a limiting block slidably connected to the rotating seat in the vertical direction and located outside the blocking block for restricting the rotation direction of the blocking block; a first counterweight elastically slidably connected to the top of the placement cylinder; a second traction rope, one end of which is fixedly connected to the first counterweight and the other end passes through a sliding sleeve arranged on the placement cylinder and is fixedly connected to the limiting block.

[0012] As a further solution of the present invention, ball bearings are installed on the inner wall of the placement cylinder below both the first counterweight and the second counterweight.

[0013] As a further solution of the present invention, a cushion block is fixedly connected to the side wall of the push plate close to the opening of the placement cylinder, and the cushion block is made of a flexible material.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: Through the settings of the robotic arm and the conveying unit in the present invention, when the wireless electronic detonator enters the conveying unit, through the slow movement of the protective sleeve and the push plate, the collision between the wireless electronic detonator and the conveying unit is greatly reduced; at the same time, when the conveying unit drops the wireless electronic detonator into the blasting hole, the axis of the wireless electronic detonator coincides with or is close to the axis of the blasting hole, and the wireless electronic detonator can be smoothly dropped into the blasting hole. After the wireless electronic detonator enters the blasting hole, it does not contact the side wall of the blasting hole, avoiding the risk of collision and greatly reducing the accidental explosion of the wireless electronic detonator caused by collision during transportation and dropping; and the present invention can be applied to dropping wireless electronic detonators into vertical and horizontal blasting holes, which can improve the dropping efficiency of wireless electronic detonators. Description of the Drawings

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the conveying unit of the present invention; Figure 3Schematic cross-sectional view of the first working state of the conveying unit of the present invention; Figure 4 Schematic cross-sectional view of the second working state of the conveying unit of the present invention; Figure 5 is Figure 4 Partial enlarged view of part A in Figure 6 Schematic cross-sectional view of the third working state of the conveying unit of the present invention; Figure 7 Schematic diagram of the clamping hoop and its related structure of the present invention; Figure 8 Schematic diagram of the working state of the clamping hoop of the present invention (left view); Figure 9 Schematic diagram of the structure of the driving unit of the present invention; Figure 10 Schematic cross-sectional view of the structure of the telescopic rod of the present invention; Figure 11 Schematic cross-sectional view of part of the structure of the present invention; Figure 12 Schematic diagram of the working state of the second counterweight of the present invention; Figure 13 Schematic diagram of the rack and the incomplete gear structure of the present invention.

[0016] The reference numerals are as follows: 1 - robotic arm, 2 - conveying unit, 3 - placement cylinder, 4 - protective sleeve, 5 - push plate, 6 - clamping hoop, 7 - mounting block, 8 - sliding column, 9 - push block, 10 - clamping sleeve, 11 - card slot, 12 - card block, 13 - driving head, 14 - telescopic rod, 15 - first steel cable, 16 - pressure spring, 17 - winding roller, 18 - first gear, 19 - motor, 20 - hydraulic cylinder, 21 - ball valve, 22 - conduction pipe, 23 - cylinder block, 24 - piston, 25 - first towing rope, 26 - stop block, 27 - rotating seat, 28 - limiting block, 29 - first counterweight, 30 - second towing rope, 31 - second counterweight, 32 - third towing rope, 33 - rack, 34 - incomplete gear, 35 - wedge-shaped push rod, 36 - connecting rod, 37 - cushion block, 38 - oil circuit. Detailed implementation manners

[0017] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0018] Please refer to Figures 1 - 13, in the attached drawing, x represents a wireless electronic detonator and y represents a vertical blasting hole; the present invention provides a technical solution: a manipulator for grasping and placing a wireless electronic detonator, comprising a robotic arm 1 and a conveying unit 2 installed at the end of the robotic arm 1 and used for grasping and placing the wireless electronic detonator; the robotic arm 1 is a multi-degree-of-freedom robotic arm in the prior art that can be adapted to a complex control system, and the conveying unit 2 includes a placement cylinder 3, a protective sleeve 4, a push plate 5, a driving unit and a clamping unit; the placement cylinder 3 is installed at the free end of the robotic arm 1 and is arranged in a cylindrical structure with one end open; the placement cylinder 3 is used to carry and transport the wireless electronic detonator; the protective sleeve 4 is fixedly installed inside the placement cylinder 3 and is arranged in an incomplete circular ring shape with a notch at the top; the protective sleeve 4 is made of a flexible material such as sponge or rubber; when the placement cylinder 3 transports and drops the wireless electronic detonator, the protective sleeve 4 can absorb the energy generated when the wireless electronic detonator shakes, avoiding rigid collision of the wireless electronic detonator; the push plate 5 is arranged inside the placement cylinder 3 and is slidably connected to the placement cylinder 3 along the axial direction of the placement cylinder 3; the push plate 5 is arranged in a circular plate shape and its diameter is between the outer diameter and the inner diameter of the protective sleeve 4 in the free state; the side wall of the push plate 5 close to the open end of the placement cylinder 3 and the protective sleeve 4 can form a chamber for accommodating the wireless electronic detonator, and the end of the wireless electronic detonator located in the chamber is in contact with the push plate 5; the driving unit is arranged inside the placement cylinder 3 and is used to drive the push plate 5 to move axially inside the placement cylinder 3; the clamping unit is arranged on the push plate 5 and is used to clamp the end of the wireless electronic detonator when the placement cylinder 3 transports and drops the wireless electronic detonator, so that the wireless electronic detonator inside the placement cylinder 3 remains stable during transportation and dropping.

[0019] As Figure 1 shown, the robotic arm 1 can be attached to an intelligent charging trolley. The bin inside the intelligent charging trolley is loaded with wireless electronic detonators. The robotic arm 1 and the conveying unit 2 are combined with a vision recognition system to realize the automatic grasping and dropping of the wireless electronic detonators; among them, the vision recognition system is a mature prior art that integrates image acquisition, processing algorithms and automation control technologies. Combining with the robotic arm to control the precise movement of the robotic arm is a commonly used technical means in the industry. Therefore, the integration of the robotic arm 1 and the vision recognition system is prior art, and the specific combination will not be elaborated; As Figure 3As shown in the figure, when the wireless electronic detonator is conveyed into the placement cylinder 3, the robotic arm 1 drives the placement cylinder 3 to rotate to an inclined state with the opening facing upward. The inclination angle of the placement cylinder 3 is 15°-20°. The push plate 5 is located near the opening of the placement cylinder 3. The silo is opened, and the wireless electronic detonators slide into the placement cylinder 3 along the conveying pipeline of the silo. After the wireless electronic detonators enter the placement cylinder 3, they fit against the inner side of the protective sleeve 4 and slide downward to fit against the push plate 5. Then the driving unit drives the push plate 5 to move inward toward the placement cylinder 3, and the wireless electronic detonators slide inward along the inner wall of the placement cylinder 3 that fits against the protective sleeve 4. The protective sleeve 4 is made of a flexible material, which can absorb the energy generated by vibration during the sliding process of the wireless electronic detonators and prevent the wireless electronic detonators from having a rigid collision with the placement cylinder 3. It should be noted that when the push plate 5 moves along the axial direction of the placement cylinder 3, the part of the protective sleeve 4 squeezed by the push plate 5 is in a sunken state. Until the wireless electronic detonators are completely placed into the placement cylinder 3, at this time the clamping unit works to clamp the end of the wireless electronic detonator that fits against the push plate 5. The diameter of the wireless electronic detonator is usually in the range of φ7mm-φ17mm, and the length is usually between 78mm and 95mm. The volume is small. After the clamping unit clamps the end of the wireless electronic detonator, the wireless electronic detonator can be kept stable with the push plate 5, preventing the wireless electronic detonator from shaking during the conveyance to the blasting hole and better protecting the wireless electronic detonator. Then the robotic arm 1 carries the wireless electronic detonator to the outside of the blasting hole through the conveying unit 2, as Figure 4 shown in the figure. During the process of the conveying unit 2 conveying the wireless electronic detonator toward the blasting hole side, the placement cylinder 3 is in a horizontal state. When the conveying unit 2 approaches the blasting hole, the robotic arm 1 adjusts the state of the placement cylinder 3 according to the layout of the blasting holes and aligns the opening of the placement cylinder 3 with the blasting hole, and the axis of the placement cylinder 3 coincides with the axis of the blasting hole as much as possible. When it is necessary to convey the wireless electronic detonator into a horizontally arranged blasting hole, the placement cylinder 3 is in a horizontal state. When it is necessary to convey the wireless electronic detonator into a vertically arranged blasting hole, the placement cylinder 3 is in a vertical state (during this process, the clamping unit keeps the wireless electronic detonator and the push plate 5 relatively stationary). Then the driving unit drives the push plate 5 to move outward toward the placement cylinder 3, and the push plate 5 drives the wireless electronic detonator to move outward along the axis of the placement cylinder 3 through the clamping unit. Since the outer diameter of the placement cylinder 3 is close to the inner diameter of the blasting hole, the diameter of the wireless electronic detonator is smaller than the inner diameter of the placement cylinder 3, and when the placement cylinder 3 is aligned with the blasting hole, the axes coincide or are close. After the wireless electronic detonator enters the blasting hole, it cannot directly contact the side wall of the blasting hole. The push plate 5 and the clamping unit can convey the wireless electronic detonator to the deepest part of the vertical blasting hole, preventing the end of the wireless electronic detonator from having a violent collision with the hard rock and greatly reducing the accidental explosion of the wireless electronic detonator caused by collision during transportation and placement. After the wireless electronic detonator is completely pushed into the blasting hole, the clamping unit is released to place the wireless electronic detonator into the blasting hole, and then the driving unit drives the push plate 5 to retreat to the opening of the placement cylinder 3 again.

[0020] Specifically, as Figures 3 - 8 and Figure 11 shown, the clamping unit includes a clamping hoop 6, sliding columns 8, a push block 9, a wedge-shaped push rod 35, a clamping block 12 and a driving part; the clamping hoop 6 is made of an elastic steel sheet and is provided with an opening. When the opening of the clamping hoop 6 is tightened, it can clamp the end of the wireless electronic detonator; both ends of the top of the clamping hoop 6 are fixedly connected to a push plate 5; two sliding columns 8 are symmetrically arranged and slidably connected to the push plate 5, and the two sliding columns 8 are respectively located inside both ends of the top of the clamping hoop 6; when the two sliding columns 8 move towards each other, they can drive the clamping hoop 6 to tighten and clamp the wireless electronic detonator that fits against the push plate 5; the push block 9 is slidably connected to the push plate 5, and two connecting rods 36 are rotatably connected to the push block 9, and the bottom ends of the two connecting rods 36 are respectively rotatably connected to the two sliding columns 8; a clamping groove 11 is formed on the push block 9; when the push block 9 moves towards the side away from the axis of the push plate 5, it drives the two sliding columns 8 to move towards each other through the connecting rods 36; the wedge-shaped push rod 35 is fixedly installed on the inner wall of the placement cylinder 3 and is located on the path of the push block 9 moving along the axis of the placement cylinder 3; when the push plate 5 moves towards the inside of the placement cylinder 3, the wedge-shaped push rod 35 can drive the push block 9 to move towards the side away from the axis of the push plate 5; the clamping block 12 is elastically slidably connected to the push plate 5 along the push plate 5; the bottom end of the clamping block 12 is provided with an inclined surface and can be inserted into the clamping groove 11; the driving part is used to drive the clamping block 12 to disengage from the clamping groove 11 after the wireless electronic detonator is pushed into the blasting hole, canceling the locking of the push block 9.

[0021] When the wireless electronic detonator is conveyed into the placement cylinder 3 and the push plate 5 moves towards the inside of the placement cylinder 3, the end of the wireless electronic detonator always remains in contact with the push plate 5; as Figure 8 shown, the push plate 5 drives the push block 9 to move. When the push block 9 contacts the wedge-shaped push rod 35, the wedge-shaped push rod 35 drives the push block 9 to move upward in the v1 direction through the wedge surface. Under the action of the connecting rod 36, the two sliding columns 8 move towards each other in the v2 and v3 directions, causing the top of the clamping hoop 6 to tighten towards the middle; as Figure 11 shown, after the push block 9 moves upward to contact the inclined surface at the bottom end of the clamping block 12, the push block 9 drives the clamping block 12 to move outward by squeezing the inclined surface. When the clamping groove 11 moves to be directly opposite the bottom end of the clamping block 12, the clamping block 12 is inserted into the clamping groove 11 under the action of the spring force, playing a fixing role on the push block 9, and the clamping hoop 6 clamps the end of the wireless electronic detonator; after the wireless electronic detonator is conveyed into the blasting hole, the driving part drives the clamping block 12 to disengage from the clamping groove 11, canceling the locking of the push block 9, and the clamping hoop 6 cancels the clamping of the wireless electronic detonator, and the wireless electronic detonator is placed into the blasting hole.

[0022] Specifically, as Figure 7 and Figure 8 shown, the clamping unit further includes a plurality of mounting blocks 7. The plurality of mounting blocks 7 are all fixed on the outer circumferential side wall of the clamping hoop 6 and are evenly distributed at equal angles. The mounting blocks 7 are elastically slidably connected to the push plate 5 along the radial direction of the push plate 5.

[0023] As shown Figure 8 in the figure, in this embodiment, the mounting blocks 7 are arranged in three equiangularly distributed ones, which are respectively fixed at the bottom end and the front and rear sides of the clamping hoop 6, and are respectively used to support the bottom end and the front and rear ends of the clamping hoop 6; As shown Figure 8 in the figure Figure 7 in the figure, c1, c2, and c3 represent the mounting blocks 7 at different positions; when the two sliding columns 8 move towards each other in the v2 and v3 directions respectively, the top of the clamping hoop 6 tightens towards the middle, and c1, c2, and c3 move towards the axis direction of the push plate 5 in the v4, v6, and v5 directions respectively, and the clamping hoop 6 can be evenly tightened to Figure 7 the state shown on the right in the figure to clamp the end of the wireless electronic detonator, so that the axis of the wireless electronic detonator coincides with the axis of the push plate 5, and the wireless electronic detonator can be prevented from contacting the inner wall of the blasting hole when the wireless electronic detonator is conveyed into the blasting hole subsequently; at the same time, after the clamping hoop 6 cancels the clamping of the wireless electronic detonator, the clamping hoop 6 can evenly open outwards; when the wireless electronic detonator enters the end of the placement cylinder 3 and fits with the push plate 5, the end is located inside the clamping hoop 6.

[0024] Specifically, as shown Figure 7 and Figure 8 in the figure, a clamping sleeve 10 is fixedly connected to the inner wall of the clamping hoop 6, and the clamping sleeve 10 is made of a flexible material; when the clamping hoop 6 tightens, the clamping sleeve 10 replaces the clamping hoop 6 to clamp the end of the wireless electronic detonator. The clamping sleeve 10 is made of sponge or rubber material, which has a better clamping effect on the wireless electronic detonator and reduces the rigid collision of the wireless electronic detonator at the same time.

[0025] Specifically, as shown Figures 2 - 4 , Figure 9 and Figure 10 in the figure, the driving unit includes a driving head 13, a telescopic rod 14, a pressure spring 16, a first steel wire rope 15, and a motor 19; the driving head 13 is fixedly installed at the end of the placement cylinder 3 far away from the opening; the telescopic rod 14 is located inside the placement cylinder 3 and is coaxially arranged with the placement cylinder 3 and the push plate 5; the fixed end of the telescopic rod 14 is fixedly connected to the placement cylinder 3, and the telescopic end is fixedly connected to the push plate 5; when the push plate 5 slides inside the placement cylinder 3, the telescopic rod 14 guides the push plate 5; one end of the pressure spring 16 is fixedly connected to the inner wall of the placement cylinder 3, and the other end abuts against the push plate 5; one end of the first steel wire rope 15 is fixedly connected to the push plate 5, and the other end passes through a sliding sleeve arranged on the placement cylinder 3 and is fixedly connected to a winding roller 17; the winding roller 17 is rotatably connected to the driving head 13; the motor 19 is used to drive the winding roller 17 to rotate.

[0026] As shown Figure 3As shown, at this time, the pressure spring 16 is in a compressed state, and the length of the pressure spring 16 in the free state is equal to the length of the placement tube 3; when the wireless electronic detonator enters the placement tube 3, the motor 19 drives the winding roller 17 to rotate and wind up the first steel rope 15, and the end of the first steel rope 15 drives the push plate 5 to move into the placement tube 3, and the push plate 5 drives the pressure spring 16 to be further compressed; when the push plate 5 moves to the position shown in FIG. Figure 4 In the state shown, the push plate 5 moves to the deepest position in the placement tube 3, at which time the pressure spring 16 is compressed to the limit, and the telescopic rod 14 is retracted to the shortest state; when the mechanical arm 1 drives the placement tube 3 to move to align with the blasting hole and the wireless electronic detonator needs to be transported into the blasting hole, the motor 19 drives the winding roller 17 to rotate in the opposite direction, the tightened first steel rope 15 is slowly loosened, and the elastic force of the pressure spring 16 is slowly released, and the elastic force of the pressure spring 16 pushes the push plate 5 to slowly move to the outside of the placement tube 3; when the blasting hole is horizontal, when the pressure spring 16 stretches to a free state, the push plate 5 just moves out to the outside of the placement tube 3, and the push plate 5 pushes the wireless electronic detonator into the blasting hole, and the driving unit drives the clamping hoop 6 to loosen, and the wireless electronic detonator is placed in the horizontal blasting hole; Figure 6 As shown, when the blasting hole is in a vertical orientation, after the push plate 5 moves to the outside of the placement tube 3, the first steel rope 15 continues to be released, and the push plate 5 and the wireless electronic detonator slowly move toward the bottom of the blasting hole under the action of gravity until the telescopic rod 14 is extended to the longest state. At this time, the bottom end of the wireless electronic detonator is close to the bottom end of the blasting hole, the clamping hoop 6 is loosened, and the wireless electronic detonator is dropped into the vertical blasting hole. The wireless electronic detonator will not collide violently with the rock at the bottom of the blasting hole; it should be noted that a retractable guide member (not shown in the figure) needs to be provided on the inner side of the pressure spring 16 to ensure that the spring always moves in a state parallel to the axis of the placement tube 3 during compression and release, and will not bend; and the first steel rope 15 and the winding roller 17 are provided with two groups arranged symmetrically, the two first steel ropes 15 work synchronously, and the two winding rollers 17 are connected by two first gears 18 for transmission, which can make the movement of the push plate 5 smoother. Smooth; through the setting of the driving unit of the present invention, when the wireless electronic detonator is transported into the placement tube 3, the pressure spring 16 can absorb the energy generated by the vibration of the detonator and play a buffering role; when the wireless electronic detonator is transported into the horizontal blasting hole, the pressure spring 16 cooperates with the slow loosening of the first steel rope 15, and the push plate 5 can push the wireless electronic detonator to move slowly into the blasting hole. With the use of the clamping unit, the wireless electronic detonator can move in line with the axis of the blasting hole to avoid the collision between the wireless electronic detonator and the side wall of the blasting hole; when the wireless electronic detonator is transported into the vertical blasting hole, the first steel rope 15 is released to suspend the push plate 5 and move it downward for a farther distance, so that the wireless electronic detonator is close to the bottom end of the blasting hole and then separated from the clamping hoop 6. Under the guiding action of the telescopic rod 14, the wireless electronic detonator can be vertically transported downward to the bottom end of the blasting hole, which greatly reduces the collision of the wireless electronic detonator during the transportation process.

[0027] Specifically, as Figure 4 , Figure 5 , Figures 10 - 13 shown, the driving part includes a hydraulic cylinder 20, a ball valve 21, a cylinder block 23, a piston 24, a first towing rope 25, an incomplete gear 34, a rack 33, a second counterweight 31, a third towing rope 32, a swivel base 27, a stop block 26, a limit block 28, a first counterweight 29 and a second towing rope 30; the hydraulic cylinder 20 is fixedly installed inside the free end of the telescopic rod 14 and communicates with an oil passage 38 opened inside the free end of the telescopic rod 14; the ball valve 21 is rotatably installed inside the free end of the telescopic rod 14 and is used to control the opening and closing of the oil passage 38; the cylinder block 23 is fixedly connected to the push plate 5 and communicates with the oil passage 38 through a conduction pipe 22; the piston 24 is slidably connected to the cylinder block 23 and is located below the end of the conduction pipe 22; one end of the first towing rope 25 is fixedly connected to the piston 24, and the other end is fixedly connected to the latch 12; the incomplete gear 34 is arranged outside the free end of the telescopic rod 14 and is fixedly installed on the rotating shaft of the ball valve 21; the rack 33 is elastically slidably connected to the push plate 5 and can mesh with the incomplete gear 34; the second counterweight 31 is elastically slidably connected to the outer side wall of the placement cylinder 3; one end of the third towing rope 32 is fixedly connected to the second counterweight 31, and the other end passes through a sliding sleeve arranged on the placement cylinder 3 and is fixedly connected to the rack 33; the swivel base 27 is fixedly installed at the top of the opening end of the placement cylinder 3; the stop block 26 is rotatably connected to the swivel base 27 and is located on the moving path of the latch 12; the limit block 28 is slidably connected to the swivel base 28 in the vertical direction and is located outside the stop block 26 for restricting the rotation direction of the stop block 26; the first counterweight 29 is elastically slidably connected to the top of the placement cylinder 3; one end of the second towing rope 30 is fixedly connected to the first counterweight 29, and the other end passes through a sliding sleeve arranged on the placement cylinder 3 and is fixedly connected to the limit block 28.

[0028] When the blasting hole is horizontally oriented, when the wireless electronic detonator placement cylinder 3 is placed into the blasting hole and is in a horizontal state, as Figure 10 shown, at this time the ball valve 21 is in the state of the oil passage 38; as Figure 5 shown, the limit block 28 is in the state of restricting the counterclockwise rotation of the stop block 26; Figure 4 and Figure 5 In a1 in, when the push plate 5 pushes the wireless electronic detonator to move outward from the placement cylinder 3, it is the travel trajectory of the latch 12; when the top end of the latch 12 moves outward to contact the stop block 26, since the stop block 26 cannot rotate counterclockwise at this time, under the limit of the stop block 26, the latch 12 moves to the left relative to the push plate 5, the latch 12 moves out of the card slot 11, cancels the locking of the push block 9, and the clamping hoop 6 and the installation frame 7 open outward, and the wireless electronic detonator is placed into the horizontal blasting hole; as Figure 6 shown, when the blasting hole is vertically oriented, when the wireless electronic detonator placement cylinder 3 is placed into the blasting hole, it is in a vertical state; as Figure 5As shown in the figure, at this time, under the action of gravity, the first counterweight 29 moves towards the open end of the placement cylinder 3 in the direction of v7. The second tow rope 30 moves along the trajectory of v7-v8-v9. The limit block 28 moves synchronously in the direction of v9 away from one end of the first counterweight 29 and above the stop block 26. At this time, the limit block 28 no longer limits the stop block 26. When the clamping block 12 moves along the trajectory of a1, it drives the stop block 26 to rotate counterclockwise, and the push plate 5 can move out of the placement cylinder 3 and carry the wireless electronic detonator into the blasting hole; as Figure 12 shown in the figure, under the action of gravity, the first counterweight 29 moves towards the open end of the placement cylinder 3 in the direction of v10. The third tow rope 32 moves along the trajectory of v10-v11-v12. The rack 33 moves synchronously in the direction of v12 away from one end of the second counterweight 31 along with the third tow rope 32; as Figure 13 shown in the figure, the downward movement of the rack 33 drives the incomplete gear 34 to rotate clockwise. θ1 is the central angle corresponding to the meshing of the incomplete gear 34 and the rack 33 (that is, the rotatable angle of the incomplete gear 34 is equal to 90°). At this time, the incomplete gear 34 drives the ball valve 21 to rotate 90° synchronously, and the oil circuit 38 is in an open state; as Figure 10 shown in the figure, the telescopic rod 14 is a multi-stage telescopic rod; one end of each telescopic section of the telescopic rod 14 close to the fixed end of the telescopic rod 14 is in a free state, while one end close to the push plate 5 is limited by a step; when the telescopic rod 14 is in a vertical state, when the push plate 5 drives the innermost telescopic section of the telescopic rod 14 to move downward synchronously, the other telescopic sections except the fixed end will move downward under the action of gravity. Therefore, the telescopic rod 14 extends from the outside to the inside in turn, that is, after the outermost telescopic section moves to the limit, the second telescopic section will start to extend; and so on, until after the second-to-last telescopic section from the outside to the inside extends to the limit, the innermost telescopic section connected to the push plate 5 starts to move outward relative to the second-to-last telescopic section; after the free end of the hydraulic cylinder 20 contacts the second-to-last telescopic section, under the action of the gravity of the telescopic section, the push plate 5, etc., the free end of the hydraulic cylinder 20 will move a small distance relative to the inside of the hydraulic cylinder 20 (at this time, the bottom end of the wireless electronic detonator is close to the bottom end of the vertical blasting hole), and the squeezed hydraulic oil enters the oil circuit 38, passes through the ball valve 21 and the conduction pipe 22 and enters the cylinder block 23. The piston 24 moves downward under the hydraulic action. The piston 24 drives the clamping block 12 to move away from the push block 9 through the first tow rope 25. The clamping block 12 disengages from the card slot 11, and the locking of the clamping block 12 to the push block 9 is cancelled. The clamping hoop 6 opens, and the wireless electronic detonator is placed into the blasting hole; during the process of the push plate 5 moving upward and back into the placement cylinder 3, the telescopic section of the telescopic rod 14 fixedly connected to the push plate 5 starts to contract first, and the clamping block 12, the piston 24, the hydraulic oil and the free end of the hydraulic cylinder 20 will return to their initial positions; when the placement cylinder 3 is in a horizontal state, the first counterweight 29 and the second counterweight 31 will return under the action of the spring force to Figure 5 and Figure 11the position shown. At this time, the limit block 28 returns to the position that restricts the rotation of the stop block 26 under the action of gravity, and the rack 33 moves upward under the action of the spring elastic force to Figure 11 the position shown. The ball valve 21 closes the oil passage 38 again; the driving part of the present invention can automatically adjust the position where the clamping block 12 disengages from the clamping groove 11 according to the state of the blasting hole, and the wireless electronic detonator can be more safely placed into the blasting hole; compared with directly using devices such as cylinders to control the disengagement of the clamping block 12 from the clamping groove 11, the driving part does not require sensors for control, and the crushed stones in the blasting hole will not affect the operation of the driving part, greatly improving the safety when the wireless electronic detonator is placed into the blasting hole.

[0029] Specifically, as Figure 5 and Figure 12 shown, both the first counterweight 29 and the second counterweight 31 are provided with balls installed on the inner wall of the placement cylinder 3 below, and the balls are used to reduce the sliding friction of the first counterweight 29 and the second counterweight 31.

[0030] Specifically, as Figure 11 shown, a cushion block 37 is fixedly connected to the side wall of the push plate 5 close to the opening of the placement cylinder 3. The cushion block 37 is made of a flexible material and can play a certain buffering role for the wireless electronic detonator.

[0031] The elastic sliding connection (installation) in the above text refers to a structure in which a part can automatically reset after sliding, including using the spring structure shown in the figure, but not limited to the spring structure.

[0032] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0033] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator for grasping and placing wireless electronic detonators, comprising a robotic arm and a conveying unit; characterized in that: The conveying unit includes: A placement cylinder, which is installed at the free end of the robotic arm and is set as a cylindrical structure with one end open; the placement cylinder is used to carry and transport wireless electronic detonators. A protective sleeve, which is fixedly installed inside the placement cylinder and is set as an incomplete circular ring with a notch at the top. A push plate, which is arranged inside the placement cylinder and is slidably connected to the placement cylinder in the axial direction of the placement cylinder; the push plate is set as a circular plate and its diameter is between the outer diameter and the inner diameter of the protective sleeve. A driving unit, which is arranged inside the placement cylinder and is used to drive the push plate to move axially inside the placement cylinder. A clamping unit, which is arranged on the push plate and is used to clamp the end of the wireless electronic detonator when the placement cylinder transports and drops the wireless electronic detonator.

2. The manipulator for grasping and placing wireless electronic detonators according to claim 1, characterized in that: The protective sleeve is made of a flexible material.

3. The manipulator for grasping and placing wireless electronic detonators according to claim 1, characterized in that: The clamping unit includes: A clamping hoop, which is made of elastic steel sheets and is provided with an opening. When the opening of the clamping hoop is tightened, it can clamp the end of the wireless electronic detonator; the two ends of the top of the clamping hoop are fixedly connected to the push plate. Two sliding columns, which are symmetrically arranged and are both slidably connected to the push plate. The two sliding columns are respectively located inside the two ends of the top of the clamping hoop. A push block, which is slidably connected to the push plate. Two connecting rods are rotatably connected to the push block. The bottom ends of the two connecting rods are respectively rotatably connected to the two sliding columns; a card slot is opened on the push block; when the push block moves away from the axis of the push plate, the two sliding columns are driven to move towards each other through the connecting rods. A wedge-shaped push rod, which is fixedly installed on the inner wall of the placement cylinder and is located on the moving path of the push block; when the push plate moves towards the inside of the placement cylinder, the wedge-shaped push rod can drive the push block to move away from the axis of the push plate. A clamping block, which is elastically slidably connected to the push plate; the bottom end of the clamping block is provided with an inclined surface and can be inserted into the card slot. A driving part, which is used to adjust the position where the clamping block disengages from the card slot according to the state of the blasting hole and cancel the locking of the push block.

4. The manipulator for grasping and placing wireless electronic detonators according to claim 3, characterized in that: The clamping unit further includes a plurality of mounting blocks, and the plurality of mounting blocks are all fixedly arranged on the outer circumferential side wall of the clamping hoop and are distributed at equal angles. The mounting blocks are elastically slidably connected to the push plate along the radial direction of the push plate.

5. The manipulator for grasping and placing wireless electronic detonators according to claim 3, characterized in that: A clamping sleeve is fixedly connected to the inner wall of the clamping hoop, and the clamping sleeve is made of a flexible material.

6. The manipulator for grasping and placing wireless electronic detonators according to claim 5, characterized in that: The driving unit includes; A driving head, which is fixedly installed at the end of the placement cylinder far from the opening. A telescopic rod, which is located inside the placement cylinder and is coaxially arranged with the placement cylinder and the push plate; the fixed end of the telescopic rod is fixedly connected to the placement cylinder, and the telescopic end is fixedly connected to the push plate. A pressure spring, one end of which is fixedly connected to the inner wall of the placement cylinder, and the other end abuts against the push plate. A first steel rope, one end of which is fixedly connected to the push plate, and the other end passes through the placement cylinder and is fixedly connected to a winding roller; the winding roller is rotatably connected to the driving head. A motor, which is used to drive the winding roller to rotate.

7. The manipulator for grasping and placing wireless electronic detonators according to claim 6, characterized in that: The driving part includes: A hydraulic cylinder, which is fixedly installed inside the free end of the telescopic rod and is communicated with the oil path opened inside the free end of the telescopic rod. A ball valve, which is rotatably installed inside the free end of the telescopic rod and is used to control the opening and closing of the oil path. A cylinder block, which is fixedly connected to the push plate and is communicated with the oil path through a conduction pipe. A piston, which is slidably connected to the cylinder block and is located below the end of the conduction pipe. A first traction rope, one end of which is fixedly connected to the piston, and the other end is fixedly connected to the clamping block. An incomplete gear, which is arranged outside the free end of the telescopic rod and is fixedly installed on the rotating shaft of the ball valve. A rack, elastically and slidably connected to the push plate and capable of meshing with an incomplete gear; A second counterweight block, elastically and slidably connected to the outer side wall of the placement cylinder; A third towing rope, one end fixedly connected to the second counterweight block, and the other end passing through a sliding sleeve provided on the placement cylinder and fixedly connected to the rack; A swivel base, fixedly installed at the top of the open end of the placement cylinder; A stop block, rotatably connected to the swivel base and located on the moving path of the clamping block; A limiting block, slidably connected to the swivel base in the vertical direction and located outside the stop block for restricting the rotation direction of the stop block; A first counterweight block, elastically and slidably connected to the top of the placement cylinder; A second towing rope, one end fixedly connected to the first counterweight block, and the other end passing through a sliding sleeve provided on the placement cylinder and fixedly connected to the limiting block.

8. A manipulator for grasping and placing wireless electronic detonators according to claim 7, wherein: Balls are installed on the inner wall of the placement cylinder below both the first counterweight block and the second counterweight block.

9. A manipulator for grasping and placing wireless electronic detonators according to claim 1, wherein: A cushion block is fixedly connected to the side wall of the push plate close to the opening of the placement cylinder, and the cushion block is made of a flexible material.

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