A manipulator for grabbing and placing wireless electronic detonators

Abstract

The present invention discloses a manipulator for grabbing and placing wireless electronic detonators in the field of manipulator technology, comprising a manipulator arm and a conveying unit installed at the end of the manipulator arm and used for grabbing and placing wireless electronic detonators; the conveying unit comprises: a placing cylinder, which is installed at the free end of the manipulator arm and is configured as a cylindrical structure with one end open; the placing cylinder is a transportation carrier for the wireless electronic detonator; a protective sleeve, which is fixedly installed in the placing cylinder and is configured as an incomplete circular ring with a notch at the top; a push plate, which is arranged in the placing cylinder and is axially slidably connected to the placing cylinder; the push plate is configured as a circular plate and has a diameter between the outer diameter and the inner diameter of the protective sleeve; a driving unit, which is arranged on the inner side of the placing cylinder and is used for driving the push plate to move axially in the placing cylinder; a clamping unit, which is arranged on the push plate and is used for clamping the end of the wireless electronic detonator when the placing cylinder transports and releases the wireless electronic detonator; the present invention can improve the release efficiency of the wireless electronic detonator.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a manipulator for grabbing and placing wireless electronic detonators. Background Art

[0002] Wireless electronic detonators are a new type of initiating device based on the upgraded technology of traditional electronic detonators. They achieve remote networking control and initiation through wireless communication technology, and have higher safety and flexibility.

[0003] The arrangement of wireless electronic detonators is usually completed by a robot. In blasting projects, whether it is a vertical blasthole or a horizontal blasthole, since the wireless electronic detonators have no physical leads, the robot cannot use the leads to drop the detonators into the blastholes. At the same time, it is difficult for the robot to reach into the blastholes. When facing a vertically arranged blasthole, the wireless electronic detonators can only be transported to the opening of the blasthole and then dropped into the blasthole. During the falling process, the wireless electronic detonators are prone to collide with the inner wall and bottom of the blasthole (especially when the blasthole is opened on hard rock, the collision will be more severe), causing safety accidents. When transporting wireless electronic detonators into horizontal blastholes, the robot needs to intermittently push the wireless electronic detonators slowly into the blasthole, which is less efficient and is prone to rigid friction or collision with the inner wall of the blasthole, thereby causing the detonator tube body to heat up and cause safety accidents. Summary of the Invention

[0004] The object of the present invention is to provide a manipulator for grabbing and placing wireless electronic detonators, so as to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a manipulator for grabbing and placing wireless electronic detonators, comprising a manipulator arm and a conveying unit; the conveying unit comprises: a placing tube, which is installed at the free end of the manipulator arm and is configured as a cylindrical structure with one end open; the placing tube is used to carry and transport the wireless electronic detonator; a protective sleeve, which is fixedly installed in the placing tube and is configured as an incomplete circular ring with a notch at the top; a push plate, which is arranged in the placing tube and is slidably connected to the placing tube in the axial direction of the placing tube; the push plate is configured as a circular plate and has a diameter between the outer diameter and the inner diameter of the protective sleeve; a driving unit, which is arranged on the inner side of the placing tube and is used to drive the push plate to move in the placing tube along the axial direction of the placing tube; a clamping unit, which is arranged on the push plate and is used to clamp the end of the wireless electronic detonator when the placing tube transports and places the wireless electronic detonator.

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

[0007] As a further solution of the present invention, the clamping unit includes: a clamping hoop, which is made of an elastic steel sheet and is provided with an opening, and the clamping hoop opening can clamp the end of the wireless electronic detonator when it is tightened; the top two ends 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, and the two sliding columns are respectively located on the inner sides of the two ends of the top of the clamping hoop; a push block, which is slidably connected to the push plate, and the push block is rotatably connected to two connecting rods, and the bottom ends of the two connecting rods are rotatably connected to the two sliding columns; the push block A card slot is provided on the top; when the push block moves to the side away from the push plate axis, the two sliding columns are driven to move toward each other through the connecting rod; the wedge-shaped push rod is fixedly mounted on the inner wall of the placement tube and is located on the moving path of the push block; when the push plate moves toward the inside of the placement tube, the wedge-shaped push rod can drive the push block to move to the side away from the push plate axis; the card block is elastically slidably connected to the push plate; the bottom end of the card block is provided with a slope and can be plugged into the card slot; the driving part is used to adjust the position where the card block is disengaged from the card slot according to the state of the blasting hole, thereby canceling the locking of the push block.

[0008] As a further solution of the present invention, the clamping unit also includes multiple mounting blocks, which are all fixed on the outer circumferential side wall of the clamping hoop and distributed at equal angles. The mounting blocks are elastically slidably connected to the push plate along the radial direction of the push plate.

[0009] As a further solution 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 solution of the present invention, the driving unit includes: a driving head, fixedly mounted on the end of the placing cylinder away from the opening; a telescopic rod, located in the placing cylinder, and coaxially arranged with the placing cylinder and the push plate; the fixed end of the telescopic rod is fixedly connected to the placing 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 placing 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 placing cylinder and is fixedly connected to a winding roller; the winding roller is rotatably connected to the driving head; and a motor is used to drive the winding roller to rotate.

[0011] As a further solution of the present invention, the driving part includes: a hydraulic cylinder, fixedly mounted on the inner side of the free end of the telescopic rod and connected to the oil circuit opened on the inner side of the free end of the telescopic rod; a ball valve, rotatably mounted on the inner side of the free end of the telescopic rod and used to control the opening and closing of the oil circuit; a cylinder body, fixedly connected to the push plate and connected to the oil circuit through a conducting pipe; a piston, slidably connected to the cylinder body and located below the end of the conducting pipe; a first traction rope, one end of which is fixedly connected to the piston and the other end is fixedly connected to the card block; an incomplete gear, which is arranged on the outer side of the free end of the telescopic rod and fixedly mounted on the rotating shaft of the ball valve; a rack, elastically slidably connected to the push plate and capable of sliding with the incomplete gear. The gears are engaged; the second counterweight block is elastically and slidably connected to the outer wall of the placing cylinder; the third traction rope, one end of which is fixedly connected to the second counterweight block, and the other end passes through the sliding sleeve provided on the placing cylinder and is fixedly connected to the rack; the swivel seat is fixedly installed on the top of the open end of the placing cylinder; the stop block is rotatably connected to the swivel seat and is located on the moving path of the block; the limit block is slidably connected to the swivel seat in the vertical direction and is located outside the stop block for limiting the rotation direction of the stop block; the first counterweight block is elastically and slidably connected to the top of the placing cylinder; the second traction rope, one end of which is fixedly connected to the first counterweight block, and the other end passes through the sliding sleeve provided on the placing cylinder and is fixedly connected to the limit block.

[0012] As a further solution of the present invention, balls installed on the inner wall of the placement tube are provided below the first counterweight block and the second counterweight block.

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

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The present invention adopts the arrangement of a mechanical arm and a conveying unit, and when the wireless electronic detonator enters the conveying unit, the protective cover and the push plate move slowly, thereby greatly reducing the collision between the wireless electronic detonator and the conveying unit; 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, so the wireless electronic detonator can be smoothly dropped into the blasting hole. After entering the blasting hole, the wireless electronic detonator does not contact the side wall of the blasting hole, thereby 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 blasting holes in vertical and horizontal states, thereby improving the dropping efficiency of the wireless electronic detonator. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of the conveying unit of the present invention;

[0018] Figure 3 This is a cross-sectional schematic diagram of the conveying unit of the present invention in a first working state;

[0019] Figure 4 This is a cross-sectional schematic diagram of the conveying unit of the present invention in the second working state;

[0020] Figure 5 for Figure 4 A partial enlarged view of the middle part;

[0021] Figure 6 This is a cross-sectional schematic diagram of the conveying unit of the present invention in the third working state;

[0022] Figure 7 A schematic diagram of the clamping hoop and its related structures of the present invention;

[0023] Figure 8 Schematic diagram of the clamping hoop of the present invention in working state (left view);

[0024] Figure 9 This is a schematic diagram of the structure of the drive unit of the present invention;

[0025] Figure 10 This is a schematic cross-sectional view of the telescopic rod structure of the present invention;

[0026] Figure 11 It is a schematic cross-sectional view of part of the structure of the present invention;

[0027] Figure 12 This is a schematic diagram of the working state of the second counterweight of the present invention;

[0028] Figure 13 This is a schematic diagram of the rack and incomplete gear structure of the present invention.

[0029] The reference numerals are as follows:

[0030] 1-Robot arm, 2-Conveying unit, 3-Placing cylinder, 4-Protective cover, 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-Drive head, 14-Telescopic rod, 15-First steel rope, 16-Pressure spring, 17-Rewinding roller, 18-First gear, 19-Motor, 20-Hydraulic cylinder, 21-Ball valve, 22-Conducting pipe, 23-Cylinder body, 24-Piston, 25-First traction rope, 26-Block, 27-Swivel seat, 28-Limiting block, 29-First counterweight, 30-Second traction rope, 31-Second counterweight, 32-Third traction rope, 33-Rack, 34-Incomplete gear, 35-Wedge push rod, 36-Connecting rod, 37-Pad, 38-Oil circuit. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] See also Figures 1-13 In the accompanying drawings, x represents a wireless electronic detonator and y represents a vertical blasting hole. The present invention provides a technical solution: a manipulator for grabbing and placing wireless electronic detonators, comprising a manipulator arm 1 and a conveying unit 2 installed at the end of the manipulator arm 1 and used for grabbing and placing wireless electronic detonators. The manipulator arm 1 is a multi-degree-of-freedom manipulator arm that can adapt to complex control systems in the prior art. The conveying unit 2 comprises a placing cylinder 3, a protective cover 4, a push plate 5, a driving unit and a clamping unit. The placing cylinder 3 is installed at the free end of the manipulator arm 1 and is configured as a cylindrical structure with one end open. The placing cylinder 3 is used to carry and transport wireless electronic detonators. The protective cover 4 is fixedly installed in the placing cylinder 3 and is configured as an incomplete circular ring with a notch at the top. The protective cover 4 is made of flexible materials such as sponge or rubber. The placing cylinder 3 transports and places wireless electronic detonators. When the wireless electronic detonator is in the state of being pressed down, the protective cover 4 can absorb the energy generated when the wireless electronic detonator shakes, thereby avoiding the wireless electronic detonator from causing a rigid collision; the push plate 5 is arranged in the placing tube 3 and is connected to the placing tube 3 in an axial sliding manner; 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 cover 4 in the free state; the side wall of the push plate 5 close to the open end of the placing tube 3 and the protective cover 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 on the inner side of the placing tube 3, and is used to drive the push plate 5 to move in the axial direction of the placing tube 3 in the placing tube 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 placing tube 3 is transported and placed into the wireless electronic detonator, so that the wireless electronic detonator in the placing tube 3 remains stable during transportation and placement.

[0033] like Figure 1 As shown, the robot arm 1 can be attached to the intelligent charging trolley, and the material bin in the intelligent charging trolley is loaded with wireless electronic detonators. The robot arm 1 and the conveying unit 2 are combined with the visual recognition system to realize the automatic grasping and delivery of the wireless electronic detonators. Among them, the visual recognition system is a mature existing technology that integrates image acquisition, processing algorithms and automatic control technology. It is a commonly used technical means in industry to combine it with the robot arm to control the precise movement of the robot arm. Therefore, the integration of the robot arm 1 and the visual recognition system is an existing technology, and the specific combination will not be repeated. Figure 3As shown, when the wireless electronic detonator is transported into the placement tube 3, the mechanical arm 1 drives the placement tube 3 to rotate to an inclined state with the opening facing upward, the inclination angle of the placement tube 3 is 15°-20°, and the push plate 5 is located near the opening of the placement tube 3; the silo is opened, and the wireless electronic detonator slides into the placement tube 3 along the conveying pipe of the silo, and after entering the placement tube 3, the wireless electronic detonator fits into the inner side of the protective cover 4 and slides down to fit with the push plate 5; then the driving unit drives the push plate 5 to move toward the inside of the placement tube 3, and the wireless electronic detonator slides toward the inside of the placement tube 3 along the inner wall of the fitting side with the protective cover 4; the protective cover 4 is made of flexible material, which can absorb the energy generated by the vibration during the sliding of the wireless electronic detonator, and avoid the wireless electronic detonator and the placement tube 3 from generating a vibration. Rigid collision; it is worth noting that when the push plate 5 moves along the axial direction of the placement tube 3, the protective sleeve 4 squeezed by the push plate 5 is in a concave state; until the wireless electronic detonator is completely placed in the placement tube 3, the clamping unit works to clamp the end of the wireless electronic detonator that fits with the push plate 5; the diameter of the wireless electronic detonator is usually between φ7mm-φ17mm, and the length is usually between 78mm-95mm, which is relatively 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, avoiding shaking during the transportation of the wireless electronic detonator 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 transportation unit 2, as shown Figure 4 As shown, during the process of the conveying unit 2 conveying the wireless electronic detonator to the side of the blasting hole, the placement tube 3 is in a horizontal state; when the conveying unit 2 approaches the blasting hole, the mechanical arm 1 adjusts the state of the placement tube 3 according to the arrangement of the blasting hole, and makes the opening of the placement tube 3 align with the blasting hole, and the axis of the placement tube 3 coincides with the axis of the blasting hole as much as possible; when the wireless electronic detonator needs to be conveyed into the horizontally arranged blasting hole, the placement tube 3 is in a horizontal state, and when the wireless electronic detonator needs to be conveyed into the vertically arranged blasting hole, the placement tube 3 is in a vertical state (in this process, the wireless electronic detonator and the push plate 5 are kept relatively still by the clamping unit); then the driving unit drives the push plate 5 to move toward the outside of the placement tube 3, and the push plate 5 drives the wireless electronic detonator along the placement tube 3 through the clamping unit. The axis of the placing tube 3 moves outward; since the outer diameter of the placing tube 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 placing tube 3, and when the placing tube 3 is aligned with the blasting hole, the axes coincide or are close to each other, and the wireless electronic detonator cannot directly contact the side wall of the blasting hole after entering the blasting hole. The push plate 5 and the clamping unit can transport the wireless electronic detonator to the deepest part of the vertical blasting hole, avoiding the violent collision between the end of the wireless electronic detonator and 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 back to the opening of the placing tube 3.

[0034] Specifically, such as Figure 3-Figure 8 and Figure 11 As shown, the clamping unit includes a clamping hoop 6, a slide column 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 clamping hoop 6 opening is tightened, it can clamp the end of the wireless electronic detonator; the top two ends of the clamping hoop 6 are fixedly connected to the push plate 5; the two slide columns 8 are symmetrically arranged and slidably connected to the push plate 5, and the two slide columns 8 are respectively located on the inner sides of the top two ends of the clamping hoop 6; when the two slide columns 8 move toward each other, they can drive the clamping hoop 6 to tighten and clamp the wireless electronic detonator that fits with the push plate 5; the push block 9 is slidably connected to the push plate 5, and there are two connecting rods 36 rotatably connected to the push block 9, and the bottom ends of the two connecting rods 36 are respectively connected to the two The slide column 8 is rotatably connected; a card slot 11 is provided on the push block 9; when the push block 9 moves to the side away from the axis of the push plate 5, the two slide columns 8 are driven to move toward each other through the connecting rod 36; the wedge-shaped push rod 35 is fixedly mounted on the inner wall of the placement tube 3, and is located on the path of the push block 9 moving along the axis of the placement tube 3; when the push plate 5 moves toward the inside of the placement tube 3, the wedge-shaped push rod 35 can drive the push block 9 to move to the side away from the axis of the push plate 5; the card block 12 is elastically slidably connected to the push plate 5; the bottom end of the card block 12 is provided with a slope, and can be plugged into the card slot 11; the driving part is used to drive the card block 12 to disengage from the card slot 11 after the wireless electronic detonator is pushed into the blasting hole, thereby canceling the lock on the push block 9.

[0035] The wireless electronic detonator is transported into the placement tube 3, and when the push plate 5 moves into the placement tube 3, the end of the wireless electronic detonator always keeps in contact with the push plate 5; Figure 8 As shown, the push plate 5 drives the push block 9 to move. When the push block 9 contacts the wedge push rod 35, the wedge push rod 35 drives the push block 9 to move upward in the direction v1 through the wedge surface. Under the action of the connecting rod 36, the two sliding columns 8 move toward each other in the directions v2 and v3, so that the top of the clamping hoop 6 is tightened toward the middle; Figure 11 As shown, after the push block 9 moves upward and contacts the inclined surface at the bottom end of the card block 12, the push block 9 drives the card block 12 to move outward by squeezing the inclined surface. When the card slot 11 moves to the bottom end facing the card block 12, the card block 12 is inserted into the card slot 11 under the action of the spring force, which fixes the push block 9, and the clamping hoop 6 clamps the end of the wireless electronic detonator; after the wireless electronic detonator is transported into the blasting hole, the driving unit drives the card block 12 to disengage from the card slot 11, canceling the lock on the push block 9, and the clamping hoop 6 cancels the clamping of the wireless electronic detonator, and the wireless electronic detonator is placed in the blasting hole.

[0036] Specifically, such as Figure 7 and Figure 8 As shown, the clamping unit further includes a plurality of mounting blocks 7 , which are all fixed on the outer circumferential side wall of the clamping hoop 6 and are 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 .

[0037] like Figure 8 As shown, in this embodiment, the mounting blocks 7 are provided in three equal-angle distributions, which are fixed to the bottom end and the front and rear sides of the clamping hoop 6, respectively, for supporting the bottom end and the front and rear ends of the clamping hoop 6; Figure 8 As shown, Figure 7 c1, c2, c3 represent the installation blocks 7 at different positions; when the two slide columns 8 move toward each other in the directions of v2 and v3 respectively, the top of the clamping hoop 6 is tightened toward the middle, and c1, c2, c3 move toward the axis of the push plate 5 in the directions of v4, v6, v5 respectively, and the clamping hoop 6 can be tightened evenly to Figure 7 The state shown on the right side of the middle clamps 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. When the wireless electronic detonator is subsequently transported into the blasting hole, the wireless electronic detonator can be prevented from contacting the inner wall of the blasting hole; at the same time, after the clamping hoop 6 cancels the clamping of the wireless electronic detonator, the clamping hoop 6 can be evenly opened outward; when the end of the wireless electronic detonator enters the placement tube 3 and fits with the push plate 5, the end is located on the inner side of the clamping hoop 6.

[0038] Specifically, such as Figure 7 and Figure 8 As shown, 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 is tightened, 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.

[0039] Specifically, such as Figure 2-Figure 4 、 Figure 9 and Figure 10 As shown, the drive unit includes a drive head 13, a telescopic rod 14, a pressure spring 16, a first steel rope 15 and a motor 19; the drive head 13 is fixedly mounted on the end of the placing cylinder 3 away from the opening; the telescopic rod 14 is located in the placing cylinder 3, and is coaxially arranged with the placing cylinder 3 and the push plate 5; the fixed end of the telescopic rod 14 is fixedly connected to the placing cylinder 3, and the telescopic end is fixedly connected to the push plate 5; when the push plate 5 slides in the placing 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 placing cylinder 3, and the other end abuts against the push plate 5; one end of the first steel rope 15 is fixedly connected to the push plate 5, and the other end passes through the sliding sleeve provided on the placing cylinder 3 and is fixedly connected to the winding roller 17; the winding roller 17 is rotationally connected to the drive head 13; the motor 19 is used to drive the winding roller 17 to rotate.

[0040] like 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 cylinder 3; after the wireless electronic detonator enters the placement cylinder 3, the motor 19 drives the winding roller 17 to rotate and rewind the first steel rope 15, and the end of the first steel rope 15 drives the push plate 5 to move into the placement cylinder 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 When the blasting hole is in the horizontal direction and the pressure spring 16 is extended to the free state, the push plate 5 is just moved out of the placement tube 3, and the push plate 5 pushes the wireless electronic detonator into the blasting hole. The driving part 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 vertically oriented, 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 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, 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. In conjunction with the use of the clamping unit, the wireless electronic detonator can move along the axis of the blasting hole to avoid 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 release of the first steel rope 15 can suspend the push plate 5 and move it downward a farther distance, so that the wireless electronic detonator approaches the bottom end of the blasting hole and then disengages from the clamping hoop 6. Under the guiding action of the telescopic rod 14, the wireless electronic detonator can be transported vertically downward to the bottom end of the blasting hole, greatly reducing the collision during the transportation of the wireless electronic detonator.

[0041] Specifically, such as Figure 4 、 Figure 5 、 Figure 10-13 As shown, the driving part includes a hydraulic cylinder 20, a ball valve 21, a cylinder body 23, a piston 24, a first traction rope 25, an incomplete gear 34, a rack 33, a second counterweight 31, a third traction rope 32, a swivel seat 27, a stopper 26, a limit block 28, a first counterweight 29 and a second traction rope 30; the hydraulic cylinder 20 is fixedly mounted on the inner side of the free end of the telescopic rod 14 and is connected to the oil path 38 opened on the inner side of the free end of the telescopic rod 14; the ball valve 21 is rotatably mounted on the inner side of the free end of the telescopic rod 14 and is used to control the opening and closing of the oil path 38; the cylinder body 23 is fixedly connected to the push plate 5 and is connected to the oil path 38 through the guide pipe 22; the piston 24 is slidably connected to the cylinder body 23 and is located below the end of the guide pipe 22; one end of the first traction rope 25 is fixedly connected to the piston 24, and the other end is fixedly connected to the block 12; the incomplete gear 34 is provided on the telescopic rod 14. It is fixedly mounted on the rotating shaft of the ball valve 21 from the outside of the end; 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 wall of the placement cylinder 3; one end of the third traction rope 32 is fixedly connected to the second counterweight 31, and the other end passes through the sliding sleeve provided on the placement cylinder 3 and is fixedly connected to the rack 33; the swivel seat 27 is fixedly mounted on the top of the open end of the placement cylinder 3; the stopper 26 is rotatably connected to the swivel seat 27 and is located on the moving path of the block 12; the limit block 28 is slidably connected to the swivel seat 28 in the vertical direction and is located on the outside of the stopper 26 for limiting the rotation direction of the stopper 26; the first counterweight 29 is elastically slidably connected to the top of the placement cylinder 3; one end of the second traction rope 30 is fixedly connected to the first counterweight 29, and the other end passes through the sliding sleeve provided on the placement cylinder 3 and is fixedly connected to the limit block 28.

[0042] When the blast hole is horizontal, the wireless electronic detonator is placed in the blast hole and the tube 3 is in a horizontal state. Figure 10 As shown, at this time, the ball valve 21 is in the state of the oil circuit 38; Figure 5 As shown, the limit block 28 is in a state of limiting the counterclockwise rotation of the stop block 26; Figure 4 and Figure 5 In the figure a1 is the path of the block 12 when the push plate 5 pushes the wireless electronic detonator to move outward from the placement tube 3; when the top end of the block 12 moves outward to contact the stopper 26, since the stopper 26 cannot rotate counterclockwise at this time, the block 12 moves to the left relative to the push plate 5 under the limit of the stopper 26, and the block 12 moves out of the slot 11, canceling the lock on the push block 9, and the clamping hoop 6 and the mounting frame 7 open outward, and the wireless electronic detonator is placed in the horizontal blasting hole; Figure 6 As shown, when the blasting hole is vertically oriented, the wireless electronic detonator placement tube 3 is placed in the blasting hole in a vertical state; Figure 5As shown, at this time, under the action of gravity, the first counterweight block 29 moves toward the open end of the placement tube 3 in the direction of v7, and the second traction rope 30 moves in the track of v7-v8-v9. The limit block 28 follows the second traction rope 30 away from the first counterweight block 29 and moves synchronously in the direction of v9 to 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 in the track a1, it drives the stop block 26 to rotate counterclockwise, and the push plate 5 can be moved out of the placement tube 3 and carry the wireless electronic detonator into the blasting hole; as shown in FIG. Figure 12 As shown, under the action of gravity, the first counterweight 29 moves in the direction of v10 toward the open end of the placement cylinder 3, the third traction rope 32 moves in the track of v10-v11-v12, and the rack 33 follows the third traction rope 32 away from the end of the second counterweight 31 and moves synchronously in the direction of v12; Figure 13 As shown, the rack 33 moves downward to drive the incomplete gear 34 to rotate clockwise. θ1 is the central angle corresponding to the engagement of the incomplete gear 34 with the rack 33 (i.e., the rotation 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. Figure 10 As shown, the telescopic rod 14 is a multi-stage telescopic rod; the 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, and the end close to the push plate 5 is limited by the step; when the telescopic rod 14 is in a vertical state, the push plate 5 drives the innermost telescopic section of the telescopic rod 14 to move downward synchronously, and the other telescopic sections except the fixed end will move downward under the action of gravity. Therefore, the extension of the telescopic rod 14 is from the outside to the inside, that is, after the outermost telescopic section moves to the limit, the second telescopic section will start to extend; and so on, until the second-to-last telescopic section from the outside to the inside is extended 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 gravity of the telescopic section, push plate 5, etc. The push plate 5 moves a short distance toward 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), the squeezed hydraulic oil enters the oil circuit 38, and enters the cylinder body 23 through the ball valve 21 and the guide pipe 22. The piston 24 moves downward under the action of the hydraulic pressure, and the piston 24 drives the block 12 to move away from the push block 9 through the first traction rope 25. The block 12 disengages from the slot 11, and the lock of the block 12 on the push block 9 is cancelled. The clamping hoop 6 opens, and the wireless electronic detonator is placed in the blasting hole; in the process of the push plate 5 moving upward back into the placement tube 3, the telescopic joint fixedly connected to the telescopic rod 14 and the push plate 5 begins to contract first, and the block 12, piston 24, hydraulic oil and the free end of the hydraulic cylinder 20 will return to the initial position; when the placement tube 3 is in a horizontal state, the first counterweight block 29 and the second counterweight block 31 will return to the initial position under the action of the spring force Figure 5 and Figure 11The position shown in FIG. 2 is shown in FIG. 2 , at which time the limit block 28 returns to the position where the stop block 26 is limited to rotate under the action of gravity, and the rack 33 moves upward under the action of the spring force. Figure 11 In the position shown, the ball valve 21 closes the oil circuit 38 again; the driving unit of the present invention can automatically adjust the position where the block 12 is disengaged from the card slot 11 according to the state of the blasting hole, so that the wireless electronic detonator can be placed into the blasting hole more safely; compared with directly using a cylinder or other equipment to control the disengagement of the block 12 from the card slot 11, the driving unit does not require a sensor or the like for control, and the gravel in the blasting hole will not affect the operation of the driving unit, which greatly improves the safety of the wireless electronic detonator when being placed into the blasting hole.

[0043] Specifically, such as Figure 5 and Figure 12 As shown, balls mounted on the inner wall of the placement tube 3 are provided below the first counterweight 29 and the second counterweight 31 , and the balls are used to reduce the sliding friction between the first counterweight 29 and the second counterweight 31 .

[0044] Specifically, such as Figure 11 As shown, a pad 37 is fixedly connected to the side wall of the push plate 5 close to the opening of the placement tube 3. The pad 37 is made of flexible material and can play a certain buffering role for the wireless electronic detonator.

[0045] The elastic sliding connection (installation) mentioned above refers to a structure in which a part can automatically reset after sliding, including the use of a spring structure shown in the figure, but not limited to a spring structure.

[0046] It should be noted that, in this document, relational terms such as first and second, etc., are used only 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 "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0047] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator for grabbing and placing wireless electronic detonators, comprising a manipulator arm and a conveying unit; characterized in that: The conveying unit includes: The placement tube is installed at the free end of the robotic arm and is configured as a cylindrical structure with one end open; the placement tube is used to carry and transport the wireless electronic detonator; The protective cover is fixedly installed in the placement tube and is configured as an incomplete ring with a notch at the top; A push plate is disposed in the placement tube and is slidably connected to the placement tube in the axial direction of the placement tube; the push plate is configured in a circular plate shape and has a diameter between the outer diameter and the inner diameter of the protective sleeve; A driving unit is provided inside the placing cylinder and is used to drive the push plate to move along the axial direction of the placing cylinder in the placing cylinder; A clamping unit is provided on the push plate and is used to clamp the end of the wireless electronic detonator when the tube is placed for transportation or when the wireless electronic detonator is dropped; The clamping unit comprises: A clamping hoop is made of an elastic steel sheet and is provided with an opening. When the opening of the clamping hoop is tightened, the end of the wireless electronic detonator can be clamped. The top ends of the clamping hoop are fixedly connected to the push plate. Two sliding posts are symmetrically arranged and are both slidably connected to the push plate, and the two sliding posts are respectively located on the inner sides of the two ends of the top of the clamping hoop; A push block is slidably connected to the push plate, and two connecting rods are rotatably connected to the push block, and the bottom ends of the two connecting rods are rotatably connected to the two sliding posts respectively; a slot is provided on the push block; when the push block moves away from the axis of the push plate, the connecting rod drives the two sliding posts to move toward each other; The wedge-shaped push rod is fixedly mounted on the inner wall of the placement cylinder and is located on the moving path of the push block; when the push plate moves toward the inside of the placement cylinder, the wedge-shaped push rod can drive the push block to move away from the push plate axis; The card block is elastically and slidably connected to the push plate; the bottom end of the card block is provided with an inclined surface and can be plugged into the card slot; The driving part is used to adjust the position where the card block is disengaged from the card slot according to the state of the blasting hole, and cancel the locking of the push block.

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

3. The manipulator for grabbing and placing wireless electronic detonators according to claim 1, characterized in that: The clamping unit further comprises a plurality of mounting blocks, which are all fixed on the outer circumferential sidewall 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.

4. The manipulator for grabbing and placing wireless electronic detonators according to claim 1, 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.

5. The manipulator for grabbing and placing wireless electronic detonators according to claim 4, characterized in that: The driving unit comprises: The driving head is fixedly mounted on the end of the placement cylinder away from the opening; The telescopic rod is located in the placement tube and is coaxially arranged with the placement tube and the push plate; the fixed end of the telescopic rod is fixedly connected to the placement tube, 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 of which abuts against the push plate; A first steel rope, one end of which is fixedly connected to the push plate, and the other end of which passes through the placement drum and is fixedly connected to a winding roller; the winding roller is rotatably connected to the drive head; The motor is used to drive the winding roller to rotate.

6. The manipulator for grabbing and placing wireless electronic detonators according to claim 5, characterized in that: The driving unit includes: A hydraulic cylinder is fixedly mounted on the inner side of the free end of the telescopic rod and is connected to an oil passage opened on the inner side of the free end of the telescopic rod; A ball valve is rotatably mounted on the inner side of the free end of the telescopic rod and is used to control the opening and closing of the oil circuit; The cylinder body is fixedly connected to the push plate and communicates with the oil circuit through a conducting pipe; A piston is slidably connected to the cylinder and is located below the end of the guide tube; A first traction rope, one end of which is fixedly connected to the piston, and the other end of which is fixedly connected to the clamping block; An incomplete gear is arranged outside the free end of the telescopic rod and fixedly mounted on the rotating shaft of the ball valve; A rack is elastically slidably connected to the push plate and can mesh with the incomplete gear; A second counterweight block is elastically and slidably connected to the outer wall of the placement tube; A third traction rope, one end of which is fixedly connected to the second counterweight, and the other end of which passes through a sliding sleeve provided on the placement cylinder and is fixedly connected to the rack; The swivel seat is fixedly mounted on the top of the opening end of the placement tube; a stopper, rotatably connected to the swivel seat and located on the moving path of the clamping block; A limit block is slidably connected to the swivel seat in the vertical direction and is located outside the stop block to limit the rotation direction of the stop block; A first counterweight block is elastically and slidably connected to the top of the placement cylinder; The second traction rope has one end fixedly connected to the first counterweight block, and the other end passes through a sliding sleeve provided on the placement cylinder and is fixedly connected to the limit block.

7. The manipulator for grabbing and placing wireless electronic detonators according to claim 6, characterized in that: Balls installed on the inner wall of the placement tube are provided below the first counterweight block and the second counterweight block.

8. The manipulator for grabbing and placing wireless electronic detonators according to claim 1, characterized in that: The push plate is fixedly connected to a side wall of a side close to the opening of the placement cylinder, and the pad is made of a flexible material.

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