Intelligent operation robot

Abstract

The invention provides an intelligent operation robot which can be used in the technical field of engineering construction and mining equipment. The intelligent operation robot comprises a mobile vehicle, and a control module, a cracking expansion bag assembly, at least one medium box, at least one putting device and a burying assembly matched with the putting device which are arranged on the mobile vehicle; the fracturing expansion bag assembly comprises an attachment piece and at least one fracturing expansion bag connected to the attachment piece. The throwing device bears the cracking expansion bag through the attachment piece and throws the cracking expansion bag into the blast hole; the cracking expansion bag is filled with an expansion cracking material, and the medium box is used for adding a combustion-supporting medium into the cracking expansion bag; the burying assembly is used for conveying a burying material into the blast hole and burying the cracking expansion bag put into the blast hole; the control module is in signal connection with the throwing device, the burying assembly and a controller of the mobile vehicle. Thus, the cracking expansion bag can be automatically put into the preset blast hole, an operator does not need to put traditional explosives into the blast hole in a manual putting mode on a blasting site, and the life and property safety of the blasting site is improved.

Description

Technical Field

[0001] This application relates to the fields of engineering construction and mining equipment technology, and in particular to an intelligent operation robot. Background Technology

[0002] In engineering construction, mining, and other operations, conventional explosives are typically used for blasting in mines. This involves using explosives to detonate in air, water, or soil to generate shock waves and thermal vibrations, thus achieving blasting. However, in the conventional blasting industry, workers need to manually fill the blast holes at close range on-site with conventional explosives. Because conventional explosives are flammable and explosive, this can easily lead to safety accidents. Summary of the Invention

[0003] This application provides an intelligent operation robot to solve the problem of safety accidents that are prone to occur when workers operate traditional explosives at blasting sites in existing engineering construction, mining and other operations.

[0004] This application provides an intelligent operating robot, comprising: a mobile vehicle and a control module, a fracturing expansion bag assembly, at least one medium tank, at least one delivery device, and a burial assembly cooperating with the delivery device, all mounted on the mobile vehicle; the fracturing expansion bag assembly includes an attachment and at least one fracturing expansion bag connected thereto; the delivery device carries the fracturing expansion bag through the attachment and delivers it into a blast hole; the fracturing expansion bag contains fracturing material, and the medium tank adds a combustion-supporting medium to the fracturing expansion bag; the burial assembly is used to convey the burial material into the blast hole and burial the fracturing expansion bag delivered into the blast hole; the control module is signal-connected to the controllers of the delivery device, the burial assembly, and the mobile vehicle.

[0005] Compared with the prior art, this application has the following beneficial effects: The intelligent robot provided in this application delivers fracturing bags containing fracturing material into blast holes via a delivery device. This delivery device is communicatively connected to a control module, allowing for automatic delivery of the fracturing bags into pre-set blast holes. This eliminates the need for manual delivery of traditional explosives at the blasting site, reducing the probability of accidents and improving the safety of life and property. Furthermore, the use of fracturing material instead of traditional explosives reduces the likelihood of accidents caused by the flammable and explosive nature of traditional explosives.

[0006] In one alternative embodiment, the delivery device includes a rotatable traction guide wheel; the rupture-inflating bag assembly includes a plurality of rupture-inflating bags, and the attachment is configured as a traction rope; the traction rope passes through both ends of each rupture-inflating bag along the extension direction of the rupture-inflating bag, and a gap is maintained between two adjacent rupture-inflating bags; one end of the traction rope extends out of the rupture-inflating bag and is connected to the traction guide wheel; the rotation path of the traction guide wheel mates with the burst hole, and rotates to at least one position where the rupture-inflating bag is opposite to the burst hole.

[0007] In one optional embodiment, the traction guide wheel includes two oppositely arranged support plates and a plurality of support columns, the plurality of support columns being spaced apart circumferentially between the two support plates; a winding space is formed between the two support plates and the plurality of support columns; the traction rope is located within the winding space, and one end of the traction rope is movably connected to one of the support columns.

[0008] In one alternative embodiment, the mobile vehicle includes a vehicle body; the vehicle body is provided with a mounting groove that mates with the traction guide wheel, the groove opening extending to the outside of the vehicle body; the traction guide wheel is rotatably disposed within the mounting groove and rotates relative to the vehicle body.

[0009] In one alternative embodiment, the delivery device further includes a positioning frame and a lifting device; the attachment is configured as a suspension rope, the positioning frame has positioning holes corresponding to the rupture hole, each positioning hole is connected to one end of the suspension rope, and at least one fracturing expansion bag is suspended at the other end of the suspension rope; the lifting device is connected to the positioning frame, and the lifting device is used to transfer the fracturing expansion bag from the medium tank to above the rupture hole.

[0010] In one alternative embodiment, the rupture-inflating bag assembly includes a plurality of rupture-inflating bags; along the extending direction of the rupture-inflating bags, the suspension rope passes through both ends of each rupture-inflating bag, and a gap is maintained between adjacent rupture-inflating bags.

[0011] In one optional embodiment, the positioning frame is equipped with an infrared alignment device, which is used to align the burst hole corresponding to the ruptured expansion bag to be deployed with the positioning hole in which it is located.

[0012] In one alternative embodiment, the delivery device further includes a freely rotatable robotic arm for transferring at least one of the rupture-inducing expansion bags from the media tank to above the rupture hole.

[0013] In one alternative embodiment, the sand box is provided with a discharge port; each of the burial components includes a sand box and a conveying device, one end of which engages with the discharge port and the other end extends above the corresponding blasting hole.

[0014] In one alternative embodiment, the intelligent operating robot includes a delivery device and a burial assembly; the delivery device is located at the front end of the vehicle body along the forward direction of the mobile vehicle; the sand box is located at the rear end of the mobile vehicle; the conveying device extends along the forward direction of the mobile vehicle, the front end of the conveying device cooperates with the blasting hole, and the rear end of the conveying device cooperates with the material discharge port.

[0015] In one alternative embodiment, the media container is positioned close to the dispensing device along the direction of travel of the mobile vehicle.

[0016] In one alternative embodiment, the medium tank contains a combustion-supporting medium for soaking the rupture-inducing expansion bag; and / or the medium tank is equipped with a spraying device, which is connected to the combustion-supporting medium and sprays the rupture-inducing expansion bag.

[0017] In one alternative embodiment, the conveying device is configured as the screw conveyor or conveyor belt.

[0018] In one alternative embodiment, the delivery device further includes at least one shearing component; the shearing component is disposed on the mobile vehicle and extends to the rupture hole to shear the attachment, causing at least one of the rupture-inducing expansion bags near the rupture hole to fall into the rupture hole. In another alternative embodiment, the shearing component includes a slide and scissors; the slide is slidably mounted on the front end of the mobile vehicle, and the scissors are disposed on the slide; the slide is configured to move the scissors toward or away from the rupture hole, and to position the scissors above the rupture hole.

[0019] In one optional embodiment, the intelligent operating robot further includes a detonation wire and at least one automatic ignition device connected in series with the detonation wire; the automatic ignition device is laid in each of the blast holes for detonating the fracturing expansion bag; the automatic ignition device is signal-connected to the control module through the detonation wire.

[0020] In one optional embodiment, the intelligent robot further includes a remote control center that is signal-connected to the control module; the remote control center is configured as a control platform and a control terminal.

[0021] In one optional embodiment, the rupture-inducing expansion bag includes an antistatic dustproof cloth bag; the rupture-inducing material includes carbon ash and fibrous material, and the rupture-inducing material is sealed inside the antistatic dustproof cloth bag.

[0022] In one alternative embodiment, the combustion-supporting medium includes at least one of combustion-supporting gas, combustion-supporting oil, and liquid oxygen.

[0023] In one alternative embodiment, the mobile robot further includes an anti-static device; one end of the anti-static device is electrically connected to the body of the mobile vehicle, and the other end of the anti-static device is grounded. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0025] Figure 1 This is a schematic diagram of the overall structure of the intelligent work robot provided in the embodiments of this application from one perspective; Figure 2 This is a schematic diagram of the overall structure of the intelligent work robot provided in an embodiment of this application from another perspective.

[0026] Figure label: 10-Mobile vehicle; 11-Car body; 12-Traversing mechanism; 20 - Dispensing device; 21-Positioning frame; 211-Positioning hole; 22-Lifting mechanism; 30-Rupture-inducing expansion bag; 40-Sand box; 100-Intelligent Operation Robot.

[0027] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0028] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses consistent with some aspects of this application as detailed in the appended claims.

[0029] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0030] Furthermore, in the embodiments of this application, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0031] In the embodiments of this application, unless otherwise explicitly specified and limited, the terms "installation", "connection", "linking", "fixing", etc., should be interpreted broadly. For example, they can be fixed connections, detachable connections, or integrated; they can be direct connections or indirect connections through an intermediate medium; they can be connections within two components or interactions between two components.

[0032] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, article, or apparatus that includes that element.

[0033] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0034] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0035] See Figure 1 and Figure 2 As shown, this application embodiment provides an intelligent operation robot 100, including a mobile vehicle 10 and a delivery device 20, a medium tank (not shown in the figure), a burial assembly, a control module, and a fracturing expansion bag assembly disposed on the mobile vehicle 10; the fracturing expansion bag assembly includes an attachment and at least one fracturing expansion bag connected thereto; along the forward direction of the mobile vehicle 10, the delivery device 20 is disposed at the front end of the mobile vehicle 10, and the delivery device 20 carries the fracturing expansion bag 30 through the attachment and delivers it to the blast hole; the fracturing expansion bag 30 contains fracturing material, and the medium tank adds a combustion-supporting medium to the fracturing material; the burial assembly includes a sand tank 40 and a conveying device, along the forward direction of the mobile vehicle 10, the sand tank 40 is disposed at the rear end of the mobile vehicle 10, the conveying device extends along the forward direction of the mobile vehicle, the front end of the conveying device cooperates with the ground blast hole, and the rear end of the conveying device cooperates with the blast hole. The sand and soil box 40 contains burial material, and the conveying device is configured to convey the burial material into the blast hole and bury the fracturing expansion bag 30. The control module is connected to the delivery device 20, the burial assembly, and the drive mechanism of the mobile vehicle 10. It is understood that this application does not limit the placement of the delivery device 20, the medium box, the sand and soil box, etc., on the mobile vehicle 10, and can be adjusted according to actual needs. In this application, the delivery device 20 is positioned at the front of the mobile vehicle for convenient delivery of the fracturing expansion assembly, and the sand and soil box is positioned at the rear of the mobile vehicle to increase the vehicle's counterweight and ensure the stability of the mobile vehicle during delivery.

[0036] Specifically, the intelligent operation robot 100 in this application embodiment is typically used in engineering construction and mining blasting operations, and can automatically place the fracturing expansion bag 30 for blasting into a preset blast hole. The mobile vehicle 10 is similar in structure to a car in the prior art, including a vehicle body 11, a drive mechanism, a walking mechanism 12, etc. The walking mechanism 12 is located at the bottom of the vehicle body 11. The walking mechanism 12 can be a wheeled walking mechanism or a tracked walking mechanism. To cope with the complex terrain at the blasting site, a tracked walking mechanism is preferred.

[0037] Understandably, the mobile vehicle 10 could be a fuel-powered vehicle. For example, the drive mechanism includes a fuel engine and a transmission connected to it, through which power is transmitted to the traveling mechanism to move the mobile vehicle 10. Similarly, the mobile vehicle 10 can move forward, backward, and turn to adjust its position, which will not be elaborated further here.

[0038] It is understood that the intelligent operation robot 100 provided in this application embodiment has a delivery device 20, a medium box, a burial component, and a rupture expansion bag component installed on the vehicle body 11, which are not limited to one, but can be multiple.

[0039] The fracturing expansion bag 30 provided in this application differs from traditional explosives. The fracturing expansion bag 30 contains an expanding fracturing material and requires a combustion-supporting medium to achieve its expanding fracturing effect. The fracturing expansion bag 30 includes an antistatic dustproof bag, inside which the expanding fracturing material is sealed. The expanding fracturing material includes soot and fibrous materials, and is sealed within the antistatic dustproof bag. The expanding fracturing material includes soot and fibrous materials. The combustion-supporting medium can be at least one or a combination of combustion-supporting gas, combustion-supporting oil, or liquid oxygen. This application does not limit this and can be adjusted according to implementation needs.

[0040] This configuration allows the fracturing expansion bag 30 and the combustion-supporting medium to be stored separately during transportation or storage, with the latter preferably added at the blasting site. Compared to traditional explosives, this improves the safety of transportation and storage.

[0041] Based on this, the mobile vehicle 10 is equipped with a medium tank (not shown in the figure), which adds a combustion-supporting medium to the rupture-inducing expansion bag 30. The medium tank contains a combustion-supporting medium, and the method of adding the combustion-supporting agent to the rupture-inducing expansion bag 30 according to actual needs includes, but is not limited to, soaking and spraying.

[0042] For example, in one embodiment, the medium tank contains liquid oxygen, and the rupture-inducing expansion bag 30 located within the medium tank is immersed in the liquid oxygen to ensure that the rupture-inducing expansion bag material is fully immersed in the liquid oxygen. For example, the medium tank is connected to a liquid oxygen source via a delivery pipeline, and the release of liquid oxygen is controlled by a control valve.

[0043] In another embodiment, the medium tank contains liquid oxygen and is equipped with a spraying device. The spraying device is connected to a combustion-supporting medium and can spray the crack-inducing expansion bag 30 located in the medium tank so that the liquid oxygen wets the crack-inducing expansion bag 30 and the crack-inducing expansion material therein.

[0044] For example, the spraying device is connected to a liquid oxygen source via a delivery pipeline. The latter has a medium tank containing liquid oxygen. The spraying device is connected to the liquid oxygen in the medium tank. That is, the medium tank can not only soak the rupture-inducing expansion bag 30, but also spray the rupture-inducing expansion bag 30 to meet different needs.

[0045] In this embodiment, the rupture-inflating bag assembly includes a rupture-inflating bag 30 and an attachment, wherein the attachment can be a rope, the rupture-inflating bag 30 can be connected to the rope, and the rope can be connected to the delivery device 20. Along the forward direction of the mobile vehicle 10 (X-axis direction in the figure), the delivery device 20 can be located at the front end of the mobile vehicle 10, and the delivery device 20 is connected to the rupture-inflating bag 30 via the rope. When there are multiple delivery devices 20, the delivery devices can be located at other positions on the mobile vehicle 10. For example, if there are three delivery devices, one can be located at the front end of the mobile vehicle 10, and the other two can be located at the two sides of the mobile vehicle.

[0046] For example, the delivery device can suspend the rupture-inducing expansion bag 30 by a rope. By operating the delivery device, the rupture-inducing expansion bag can be positioned above and opposite the rupture hole at the front end of the mobile vehicle 10. Then, the connection between the rope and the rupture-inducing expansion bag 30 can be released, and the rupture-inducing expansion bag 30 can be delivered into the rupture hole 30. That is, the delivery device can automatically deliver the rupture-inducing expansion bag into the rupture hole at the front end of the mobile vehicle 10.

[0047] Preferably, the medium tank is positioned close to the dispensing device 20 to facilitate the dispensing of the fracturing expansion bag 30 containing the added combustion-supporting medium from the medium tank into the rupture hole. For example, along the forward direction of the mobile vehicle 10, the medium tank is located behind the dispensing device 20. This embodiment of the application does not limit this, as long as it satisfies the requirement of dispensing the fracturing expansion bag 30 into the rupture hole located at the front end of the mobile vehicle 10. When there are multiple dispensing devices 20, the medium tank can be configured as one, and multiple fracturing expansion bag assemblies can be contained in the medium tank simultaneously; the number of medium tanks can also be set to the same number as the number of dispensing devices, and each fracturing expansion bag assembly adapted to the dispensing device 20 can be contained separately.

[0048] The burial assembly provides burial material for burying the fracturing expansion bag 30 that has been placed into the blast hole. This burial material can be sand or gravel. Further, a conveying device is provided between the sand box 40 and the blast hole. This conveying device conveys the burial material into the blast hole and buries the fracturing expansion bag 30. When multiple placement devices 20 are provided, the burial assembly can also be provided in the same number as the placement devices. For example, if there are three placement devices, there are also three conveying devices, located near the placement devices 20 at the end closest to the blast hole. Similarly, there can be three sand boxes 40, corresponding to the other end of the conveying devices. Alternatively, there can be one sand box 40, with three conveying devices corresponding to one sand box 40.

[0049] For example, the sand box 40 has a discharge port that cooperates with the conveying device. Along the forward direction of the mobile vehicle 10, the sand box 40 is located at the rear end of the mobile vehicle 10, and the conveying device extends along the forward direction of the mobile vehicle 10. The front end of the conveying device cooperates with the blasting hole, and the rear end of the conveying device cooperates with the discharge port of the sand box 40, so that the sand and gravel in the sand box 40 fall onto the conveying device.

[0050] It is understood that the conveying device is configured as a screw conveyor or a conveyor belt, and this application embodiment does not limit this. In one embodiment, the conveying device is a screw conveyor, the inlet of the screw conveyor is opposite to the outlet of the sand box 40, and the sand and gravel flowing out of the outlet can enter the inlet of the screw conveyor and fall into the blast hole through the outlet of the screw conveyor.

[0051] Furthermore, in another alternative embodiment, the conveying device is configured as a conveyor belt, which is opposite to the discharge port of the sand box 40, so that the sand and gravel flowing out of the sand box 40 can fall onto the conveyor belt. Further, the conveying device also includes a transmission power mechanism and a first steering wheel and a second steering wheel connected thereto. The first steering wheel and the second steering wheel are respectively located at the rear end and front end of the moving vehicle 10, and both ends of the conveyor belt are wound around the first steering wheel and the second steering wheel, respectively. The transmission power mechanism can be two synchronous motors that drive the first steering wheel and the second steering wheel, respectively. The synchronous motors can drive the conveyor belt to move, thereby conveying the sand and gravel into the blasting hole.

[0052] To achieve automated operation of the intelligent work robot 100, the intelligent work robot 100 also includes a control module. This control module is connected to the controllers of the delivery device 20, the burial assembly, the mobile vehicle 10, and the control valve controlling the delivery of the combustion-supporting medium, etc., to issue work instructions to the intelligent work robot 100. It is understood that the control module can be connected to a remote control center, serving as a communication module to receive instructions from the remote control center, which can be a control platform or control terminal.

[0053] Compared to existing blasting operations where workers manually fill blast holes with traditional explosives at close range on-site, the intelligent robot 100 provided in this application uses a delivery device 20 to automatically deliver fracturing expansion bags 30 containing fracturing material into the blast holes. The delivery device 20 is communicatively connected to a control module, eliminating the need for manual delivery of traditional explosives at the blast site. This reduces the probability of accidents and improves the safety of life and property at the blasting site. Furthermore, the intelligent robot also completes the processes of adding combustion-supporting media to the fracturing expansion material within the fracturing expansion bags 30 and burying the bags with sand after delivery into the blast holes, further enhancing the safety of the blasting site.

[0054] Meanwhile, this application uses an expansion-inducing fracturing material instead of traditional explosives, which reduces the probability of safety accidents due to the flammable and explosive nature of traditional explosives. Furthermore, the expansion-inducing bag 30 and the combustion-supporting medium can be stored separately during transportation or storage, with the combustion-supporting medium added to the expansion-inducing bag 30 at the blasting site. Compared to traditional explosives, this improves the safety of transportation and storage.

[0055] This application provides different dispensing devices 20 for different scenarios of dispensing the rupture-inducing expansion bag 30. The implementation methods of the dispensing device 20 are described in detail below: First implementation method: When multiple randomly ordered rupture holes need to be selectively deployed with fracturing expansion bags 30, the deployment device 20 includes a rotatable traction guide wheel. Correspondingly, the fracturing expansion bag assembly includes multiple fracturing expansion bags, and the attachment is configured as a traction rope adapted to the traction guide wheel. The multiple fracturing expansion bags 30 can be spaced apart on the traction rope, that is, the traction rope passes through one end of the fracturing expansion bag 30 and exits from the other end along the extension direction of the fracturing expansion bag 30 (which can be the length direction of the fracturing expansion bag), so that the multiple fracturing expansion bags 30 are connected in series on the same traction rope, and a certain interval is maintained between adjacent fracturing expansion bags 30. After the traction rope passes through the fracturing expansion bag, both ends of the fracturing expansion bag are sealed using binding devices such as cable ties. It is understood that the interval between adjacent fracturing expansion bags 30 within the medium tank can be set according to actual needs, and this embodiment does not limit this.

[0056] To ensure the stability of the traction rope pulling the rupture-inducing expansion bag 30, in this embodiment, the traction rope can be knotted inside the rupture-inducing expansion bag 30 before being passed out of the rupture-inducing expansion bag 30. Multiple rupture-inducing expansion bags connected together by the traction rope can be placed into the medium tank simultaneously and arranged in a zigzag pattern. After the multiple rupture-inducing expansion bags 30 are soaked in the combustion-supporting medium, they are transferred to their respective rupture holes by the delivery device 20.

[0057] During transfer, a locking device is provided at one end of the traction rope that exits the fracturing expansion bag 30, such as by tying a knot at its free end. The traction guide wheel has an opening groove corresponding to this locking device. When the traction guide wheel rotates, it drives the traction rope to move, thereby pulling the fracturing expansion bag 30 out of the medium tank. The rotation path of the traction guide wheel matches the rupture hole, and the traction guide wheel rotates to at least one position where the fracturing expansion bag 30 is opposite to the rupture hole. During the rotation of the traction guide wheel, at least part of the traction guide wheel is located on the outer front end of the moving vehicle 10. Under the action of gravity, when the free end of the traction rope leaves the traction guide wheel and remains vertical, the free end of the traction rope and at least one fracturing expansion bag 30 close to the free end of the traction rope must be opposite to the rupture hole.

[0058] It should be noted that in this embodiment, the rotatable traction guide wheel sequentially places multiple fracturing expansion bags 30 into multiple blast holes, with each blast hole corresponding to one or more fracturing expansion bags 30. The length and thickness of the fracturing expansion bags 30 are matched with the depth and diameter of the blast holes to ensure that the fracturing expansion bags 30 can be placed into the blast holes. The number of fracturing expansion bags 30 to be placed in each blast hole depends on the actual needs on site. After the required number of fracturing expansion bags 30 are placed in a blast hole, the traction rope at the corresponding position can be cut. Since the traction guide wheel is at a certain height from the ground or the blast hole, after the traction rope is cut, at least one fracturing expansion bag 30 will remain at the front end of the traction guide wheel, having passed the highest point of the traction guide wheel. This fracturing expansion bag 30 will be in a vertical state under the action of gravity. Since the rupture holes are arranged in a relatively scattered and unordered manner, each time a rupture hole is filled, it is necessary to move the mobile vehicle 10 to adjust the position of the delivery device 20 relative to the rupture hole so that the rupture expansion bag 30 is opposite to the corresponding rupture hole, that is, directly above it.

[0059] It should be noted that the other end of the traction rope needs to be fixed to the vehicle body 11. During deployment, the number of fracturing expansion bags 30 on the traction rope will gradually decrease. When only a few remain, if the other end of the traction rope is not fixed, the remaining fracturing expansion bags 30 will uncontrollably fall into a single burst hole due to gravity and inertia. To prevent this from happening, the other end of the traction rope needs to be fixed. At this point, the length from the fixed position of the traction rope to the end of the last fracturing expansion bag 30 furthest from the burst hole ensures that the last fracturing expansion bag 30 can completely pass the highest point of the traction guide wheel and remain in a vertical position.

[0060] For example, the traction guide wheel in this embodiment is generally triangular, and includes two oppositely arranged support plates and multiple support columns; in other words, the support plates can be triangular plates, with two triangular plates arranged opposite each other and supported by multiple support columns. The multiple support columns are spaced apart along the circumference of the triangular plates and located at the edges to form a winding space between the two support plates and each support column.

[0061] It is understood that the shape of the traction guide wheel is not limited to a triangle, but can be other shapes, and this embodiment does not limit this. Preferably, the traction guide wheel is triangular in shape so that part of the traction rope is located outside the traction guide wheel and remains vertical. The support column can be a hollow column with an opening groove on its outer circumferential surface. The snap-fit ​​structure at the end of the traction rope and the traction rope between the two fracturing expansion bags 30 can be snapped into the opening groove. When the traction guide wheel starts working, the end of the traction rope is wrapped around the support column of the traction guide wheel, and the snap-fit ​​structure at the end of the traction rope snaps into the opening groove of the support column to ensure that part of the traction rope is always located in the opening groove during the operation of the traction guide wheel, so as to ensure that the traction rope and the fracturing expansion bag 30 are located within the winding space. A rotating mechanism is provided at the center of the support plate, through which the traction guide wheel can be rotatably connected to the front end of the mobile vehicle 10.

[0062] Understandably, to ensure that the end of the traction rope is vertical after passing the highest point of the traction guide wheel when the traction guide wheel starts working, a counterweight structure can be set at the end of the traction rope to facilitate the alignment of the end of the traction rope with the blast hole.

[0063] Based on the above embodiments, the mobile vehicle 10 includes a vehicle body 11, and a mounting groove is provided at the front end of the vehicle body 11. The opening of the mounting groove extends to the outer side of the front end of the vehicle body 11. The traction guide wheel is rotatably connected to the mounting groove through a rotating structure and rotates relative to the vehicle body 11.

[0064] It is understood that the rotating mechanism may include a rotating component and a power drive component. For example, the rotating component may be a shaft and a gear, and the power drive component may be a common drive mechanism. A shaft is provided in the mounting slot, and the traction guide wheel is rotatably connected to the vehicle body 11 through the shaft. The motor drives the gear to rotate and drives the shaft to rotate.

[0065] Based on this embodiment, in another embodiment of this application, the number of traction guide wheels is three, respectively located at the front end, left end, and right end of the vehicle body 11; the number of medium boxes is also three, located near the traction guide wheels, respectively located at the rear end of the traction guide wheels along the traction direction of the fracturing expansion bag 30. For example, if the traction guide wheel is located on the left side of the vehicle body 11, the traction direction of the fracturing expansion bag 30 is a right-to-left direction perpendicular to the X-axis, and the medium box corresponding to the traction guide wheel on the left side is located at the rear end of the traction guide wheel along this traction direction. The conveying devices are also set to three, and the conveying devices are located at one end of the blast hole near the traction guide wheel; the sand boxes 40 can also be set to three, corresponding to the other end of the conveying devices, or there can be one sand box 40 with three discharge ports, simultaneously providing sand to the three conveying devices. Other structures in this embodiment are the same as in the above embodiment. Second implementation method In cases where the terrain at the mining site is complex or the blasting location is at a high altitude, making it inconvenient for the intelligent operation robot 100 to approach, the delivery device 20 also includes a lifting mechanism 22, which lifts the required fracturing expansion bag 30 to a high position by hoisting, overcoming obstacles, and delivering the fracturing expansion bag 30 into the blasting hole.

[0066] Accordingly, corresponding to this embodiment, the attachment in the rupture-inflatable bag assembly is configured as a lifting rope, and the rupture-inflatable bag assembly may include one or more rupture-inflatable bags. When the rupture-inflatable bag assembly includes one rupture-inflatable bag 30, one end of the lifting rope can be connected to the lifting mechanism 22, and the other end of the lifting rope can be connected to the rupture-inflatable bag 30, that is, the other end of the lifting rope suspends one rupture-inflatable bag 30.

[0067] When the rupture-inducing expansion bag assembly has multiple rupture-inducing expansion bags, the multiple rupture-inducing expansion bags are suspended on the same sling. This situation is the same as the implementation where multiple rupture-inducing expansion bags are threaded through the same traction rope. That is, along the extension direction of the rupture-inducing expansion bag, the sling is threaded through both ends of each rupture-inducing expansion bag, and a gap is maintained between two adjacent rupture-inducing expansion bags. This will not be described in detail here.

[0068] Exemplarily, the delivery device 20 includes a lifting mechanism 22, which can be a winch, a freely rotating robotic arm, an air balloon, a drone, etc. For example, a robotic arm, an air balloon, and a drone can all transfer at least one rupture-inducing expansion bag from inside the medium tank to above the rupture hole. This application embodiment uses a winch as an example for illustration. The winch is located at the front end of the mobile vehicle 10, and can be situated on one side of the traction guide wheel; that is, the mobile vehicle 10 can be equipped with a traction guide wheel and / or a winch.

[0069] The lifting mechanism 22 also includes a positioning frame 21 that cooperates with the winch. The positioning frame 21 is connected to the winch and can rise and fall with it under the action of the winch. The lifting mechanism 22 can also rotate circumferentially to adjust the deployment position. The positioning frame 21 includes an I-shaped frame with multiple positioning holes 211 on each side of the frame. Each positioning hole 211 corresponds to a hoisting rope, and each hoisting rope suspends at least one fracturing expansion bag 30, which can be pre-suspended on the frame. It is understood that the shape of the frame can be determined according to the shape of the pre-set blasting hole on the ground; it can be I-shaped or other shapes.

[0070] For example, when blasting operations are required, the necessary fracturing expansion bag 30 is filled with a combustion-supporting medium in the medium tank. The fracturing expansion bag 30 with the added combustion-supporting medium is then suspended by a rope to the positioning hole 211. Subsequently, a winch moves the positioning frame 21 above the blasting hole to be operated. Each positioning hole 211 corresponds to one blasting hole; the fracturing expansion bag 30 is positioned with its corresponding blasting hole by adjusting the position of the winch.

[0071] Alternatively, one or more fracturing expansion bags 30 can be suspended by ropes from each positioning hole 211. A winch can then transfer the fracturing expansion bags 30 from the positioning frame 21 to the medium tank, and add combustion-supporting medium to the fracturing expansion bags 30. Subsequently, the winch can move the positioning frame 21 above the blast hole to be operated. Each positioning hole 211 can correspond to one blast hole, and the fracturing expansion bag 30 can be positioned with its corresponding blast hole by adjusting the position of the winch.

[0072] Preferably, the multiple positioning holes 211 on the positioning frame 21 are arranged in a regular pattern, and the blasting holes in the working area are also arranged in a regular pattern. Based on the positioning of one positioning hole 211, the positioning of multiple rupture expansion bags 30 can be completed, which can improve the delivery efficiency.

[0073] Based on the above embodiments, the positioning frame 21 of this application embodiment is provided with an infrared alignment device, which is used to align the burst hole corresponding to the ruptured expansion bag 30 to be deployed with the positioning hole 211 in which it is located.

[0074] For example, the infrared alignment device includes a transmitter and a receiver, which are mounted on the positioning frame 21. The transmitter emits a detection beam toward the target position in the area to be worked, and the receiver determines the difference between the target position and the target position based on the reception. The position of the positioning frame 21 is adjusted by a winch to complete the alignment of the target positioning hole 211 with the target blasting hole.

[0075] The delivery device 20 provided in this embodiment further includes a shearing component. The shearing component is disposed at the front end of the mobile vehicle 10 and extends to the rupture hole to shear the attachments, causing at least one rupture-inducing expansion bag near the rupture hole to fall into the rupture hole. It is understood that regardless of the implementation of the delivery device 20, the shearing component must cut the suspension rope or traction rope containing the rupture-inducing expansion bag 30 to separate at least one rupture-inducing expansion bag 30 from the suspension rope or traction rope and allow it to fall into the corresponding rupture hole. The number of shearing components can be set according to the number of delivery devices 20.

[0076] For example, when multiple fracturing expansion bags are threaded onto the same traction rope, the bags to be deployed are positioned vertically above and opposite the blast hole under gravity. Assuming there are two fracturing expansion bags corresponding to the blast hole, the traction rope can be cut between the third and second fracturing expansion bags closest to the blast hole, allowing the two bags closest to the blast hole to fall into the hole.

[0077] Furthermore, in this embodiment, the shearing assembly includes a slide and scissors. The slide is slidably mounted on the front end of the mobile vehicle 10, and the scissors are disposed on the slide. The sliding direction of the slide can be set as needed to avoid interference with the traction guide wheel or positioning frame 21. The slide can drive the scissors to move towards or away from the blast hole, and position the scissors above the blast hole. That is, when the deployment operation is completed, the scissors can extend and cut the hoisting rope or traction rope. After cutting, the slide can move in the opposite direction and return to its original position. It is understood that the shearing assembly can be pneumatic scissors, and this embodiment does not limit this.

[0078] Based on the above embodiments, the intelligent operation robot 100 further includes a detonation wire and at least one automatic ignition device connected in series with the detonation wire. The automatic ignition device can be an electronic match. The automatic ignition device is installed in each blast hole to detonate the fracturing expansion bag placed in that blast hole. The automatic ignition device is signal-connected to the control module via the detonation wire. That is, a single signal from the control module initiates the ignition and detonation of the fracturing expansion bag 30 in each blast hole.

[0079] Understandably, the intelligent operation robot 100 is also equipped with a detonator, which is signal-connected to the control module and connected to an automatic ignition device via a detonation wire. Furthermore, the control module can communicate with a remote control center, allowing the remote control center to issue commands and activate the detonator. This enhances the safety of blasting operations.

[0080] It is important to note that before the intelligent operation robot 100 deploys the fracturing expansion bag 30, the automatic ignition device must be placed into the blast hole and the detonation wire connected. Since the detonation wire is generally long enough to allow the intelligent operation robot to move away from the work site, it can be connected to the detonator on the intelligent operation robot 100. After the fracturing expansion bag 30 is deployed and buried, and the intelligent operation robot 100 moves to a safe position, the remote control center can issue an ignition command. Alternatively, the detonation wire can be left unconnected to the intelligent operation robot, and ignition can be manually initiated using a separately located detonator away from the blasting site.

[0081] To further enhance operational safety, the mobile robot in this embodiment also includes an anti-static device. One end of the anti-static device is electrically connected to the vehicle body 11 of the mobile vehicle 10, and the other end is grounded. For example, a metal grounding wire is provided at the bottom of the vehicle body 11, with one end connected to the vehicle body 11 and the other end grounded. This allows the static electricity generated by the mobile robot to be grounded through the metal grounding wire, thereby improving operational safety.

[0082] The above technical description is illustrated with reference to the accompanying drawings, which form a part of this application, and which show implementations according to the described embodiments. While these embodiments are described in sufficient detail to enable those skilled in the art to implement them, these embodiments are not limiting; thus, other embodiments can be used, and variations can be made without departing from the scope of the described embodiments.

[0083] Furthermore, terminology is used in the above technical description to provide a thorough understanding of the described embodiments. However, excessive detail is not required to implement the described embodiments. Therefore, the above description of the embodiments is presented for illustrative and descriptive purposes. The embodiments presented in the above description, as well as the examples disclosed according to these embodiments, are provided separately to add context and aid in understanding the described embodiments. The above specification is not intended to be exhaustive or to limit the described embodiments to the precise form of this application. Based on the above teachings, several modifications, selections, and variations are possible. In some cases, well-known processing steps have not been described in detail to avoid unnecessarily affecting the described embodiments.

[0084] This application uses specific embodiments to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An intelligent work robot, characterized in that, include: The mobile vehicle and the control module, the rupture-inflating bag assembly, at least one media tank, at least one delivery device, and the burial assembly that cooperates with the delivery device are mounted on the mobile vehicle; The rupture-inflatable bag assembly includes an attachment and at least one rupture-inflatable bag connected thereto. The delivery device carries the rupture-inducing expansion bag through the attachment and delivers it to the rupture hole; The fracturing expansion bag contains fracturing material, and the medium tank adds a combustion-supporting medium to the fracturing expansion bag. The burial assembly is used to convey burial material into the blast hole and burial the fracturing expansion bag placed into the blast hole; The control module is connected to the controllers of the delivery device, the burial assembly, and the mobile vehicle, respectively.

2. The intelligent work robot according to claim 1, characterized in that, The delivery device includes a rotatable traction guide wheel; The rupture-inflatable bag assembly includes a plurality of rupture-inflatable bags, and the attachment is configured as a traction rope; along the extension direction of the rupture-inflatable bags, the traction rope passes through both ends of each rupture-inflatable bag, and a gap is maintained between two adjacent rupture-inflatable bags. One end of the traction rope extends out of the fracturing expansion bag and is connected to the traction guide wheel, while the other end of the traction rope is fixed to the mobile vehicle; the rotation path of the traction guide wheel is aligned with the rupture hole, and when it rotates to at least one position, the fracturing expansion bag is opposite to the rupture hole.

3. The intelligent work robot according to claim 2, characterized in that, The traction guide wheel is generally triangular in shape. The traction guide wheel includes two oppositely arranged support plates and a plurality of support columns, wherein the plurality of support columns are spaced apart between the two support plates along the circumferential direction of the traction guide wheel; A winding space is formed between the two bearing plates and the plurality of bearing columns, and the traction rope is located within the winding space, with one end of the traction rope being movably connected to one of the bearing columns.

4. The intelligent work robot according to claim 3, characterized in that, The mobile vehicle includes a vehicle body; The vehicle body is provided with a mounting groove that mates with the traction guide wheel, and the opening of the mounting groove extends to the outside of the vehicle body; The traction guide wheel is rotatably mounted in the mounting slot and rotates relative to the vehicle body.

5. The intelligent work robot according to claim 1, characterized in that, The delivery device also includes a positioning frame and a lifting device; The attachment is configured as a sling, the positioning frame has positioning holes corresponding to the blast holes, each positioning hole is connected to one end of the sling, and at least one of the rupture expansion bags is suspended at the other end of the sling; The lifting device is connected to the positioning frame, and the lifting device is used to transfer the rupture expansion bag from the medium tank to above the rupture hole.

6. The intelligent work robot according to claim 5, characterized in that, The rupture-inflatable bag assembly includes a plurality of the rupture-inflatable bags; Along the extending direction of the rupture-inducing expansion bag, the suspension rope passes through both ends of each rupture-inducing expansion bag, and a gap is maintained between two adjacent rupture-inducing expansion bags.

7. The intelligent work robot according to claim 5, characterized in that, The positioning frame is equipped with an infrared alignment device; The infrared alignment device is used to align the burst hole corresponding to the ruptured expansion bag to be deployed with the positioning hole in which it is located.

8. The intelligent work robot according to claim 1, characterized in that, The delivery device also includes a freely rotatable robotic arm for transferring at least one of the rupture-inducing expansion bags from the medium tank to above the rupture hole.

9. The intelligent work robot according to any one of claims 1 to 8, characterized in that, The sand box is equipped with a material discharge port; Each of the buried components includes a sand box and a conveying device, one end of which engages with the discharge port and the other end extends above the corresponding blast hole.

10. The intelligent work robot according to claim 9, characterized in that, The intelligent operation robot includes a delivery device and a burial component; Along the forward direction of the mobile vehicle, the delivery device is located at the front end of the vehicle body; The sand box is located at the rear end of the mobile vehicle, and the conveying device extends along the forward direction of the mobile vehicle. The front end of the conveying device is engaged with the blasting hole, and the rear end of the conveying device is engaged with the material discharge port.

11. The intelligent work robot according to claim 9, characterized in that, Along the direction of travel of the mobile vehicle, the media box is positioned close to the dispensing device.

12. The intelligent work robot according to claim 11, characterized in that, The medium tank contains a combustion-supporting medium to soak the rupture-inducing expansion bag; and / or The medium tank is equipped with a spraying device, which is connected to the combustion-supporting medium and sprays the rupture-inducing expansion bag.

13. The intelligent work robot according to claim 10, characterized in that, The conveying device is configured as a screw conveyor or a conveyor belt.

14. The intelligent work robot according to any one of claims 1 to 8, characterized in that, The dispensing device further includes at least one shearing component; The shearing assembly is mounted on the mobile vehicle and extends to the rupture hole to shear the attachment so that at least one of the rupture-inducing expansion bags near the rupture hole falls into the rupture hole.

15. The intelligent work robot according to claim 14, characterized in that, The shearing assembly includes a slide and scissors; The slide block is slidably mounted on the front end of the mobile vehicle, and the scissors are disposed on the slide block; The slide is configured to move the scissors toward or away from the blast hole, and to position the scissors above the blast hole.

16. The intelligent work robot according to claim 1, characterized in that, The intelligent operation robot also includes a detonation wire and at least one automatic ignition device connected in series with the detonation wire. The automatic ignition device is installed in each of the blast holes to detonate the rupture expansion bag; The automatic ignition device is connected to the control module via the detonation wire.

17. The intelligent work robot according to claim 1, characterized in that, It also includes a remote control center that is signal-connected to the control module; The remote control center is configured as a control platform and a control terminal.

18. The intelligent work robot according to claim 1, characterized in that, The rupture-inducing expansion bag includes an antistatic dustproof cloth bag; The expansion-inducing fracturing material includes carbon ash and fibrous material, and the expansion-inducing fracturing material is sealed in the antistatic dustproof bag.

19. The intelligent work robot according to claim 1, characterized in that, The combustion-supporting medium includes at least one of combustion-supporting gas, combustion-supporting oil, and liquid oxygen.

20. The intelligent work robot according to claim 1, characterized in that, The mobile robot also includes an anti-static device; One end of the antistatic device is electrically connected to the body of the mobile vehicle, and the other end of the antistatic device is grounded.

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