Air blowing and soft shaft section-by-section pushing intelligent charging robot

Abstract

The application discloses a kind of air blowing and soft shaft section-by-section pushing intelligent charging robot, including the soft shaft pushing charging system and gas force medicine delivery system connected, gas force medicine delivery system is used to deliver medicine to soft shaft pushing charging system, wherein: soft shaft pushing charging system includes detonator and detonating cord clamping mechanism and detonator storage mechanism, wherein: stock bin support includes bottom plate, set up cuboid cavity on bottom plate, and the cavity is divided into two independent cabins left and right;Lifting tray is arranged on the bottom plate at right chamber, and supporting descending device is arranged on the bottom plate at left chamber;Pushing air cylinder is set to the upper end of cuboid cavity, for moving the detonator tray after unloading detonator from right chamber to left chamber;Detonator and detonating cord clamping mechanism are used to clamp the detonator in detonator tray.Charging robot automatic charging, reduce the number of personnel at working face charging operation, ensure that personnel do not directly contact medicine.

Description

Technical Field

[0001] This invention belongs to the technical field of underground space drilling and blasting construction equipment, specifically relating to an intelligent charging robot that uses air blowing and a flexible shaft to push the explosives section by section. Background Technology

[0002] Currently, except for the explosive loading stage, most processes in drill-and-blast tunnel construction have been largely mechanized, significantly improving construction efficiency and safety. The lagging development of intelligent explosive loading remains the final bottleneck in achieving full mechanization and intelligentization of drill-and-blast construction. Therefore, developing a explosive loading robot has significant research and application value.

[0003] Traditional manual explosive loading methods have many drawbacks, including high labor intensity, harsh working environments, and significant safety risks such as explosion accidents and hazardous gas hazards. With the development of industrial automation technology, explosive loading robots have emerged as an important alternative to manual loading. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent drug loading robot that uses air blowing and flexible shafts to push the drug section by section. This robot automates drug loading, reduces the number of personnel required for drug loading at the working face, and ensures that personnel do not directly contact the drug cartridges.

[0005] This invention adopts the following technical solution: an intelligent drug delivery robot with air blowing and flexible shaft segment-by-segment pushing, comprising a flexible shaft pushing drug delivery system and a pneumatic drug delivery system connected to each other, wherein the pneumatic drug delivery system is used to transport the drug roll to the flexible shaft pushing drug delivery system, wherein: The flexible shaft pushing and charging system includes a detonator and detonating cord clamping mechanism and a detonator storage mechanism. The detonator storage mechanism includes a pushing cylinder, a hopper support, a lifting tray, and multiple detonator pallets. The hopper support includes a base plate, on which a cubic cavity is set, which is divided into two independent compartments, left and right. A lifting material tray is set on the base plate in the right compartment, and a support descent device is set on the base plate in the left compartment. Multiple detonator trays are stacked vertically in sequence, with the lower detonator tray positioned on the lifting tray in the right chamber; The push cylinder is positioned flush with the top of the cubic cavity and is used to move the detonator tray, after the detonators have been unloaded, from the right chamber to the left chamber; the detonator and detonating cord clamping mechanism is used to clamp the detonators in the detonator tray.

[0006] Furthermore, the detonator and detonating cord clamping mechanism includes a rotating base and a cross slide. The rotating base includes a rotary cylinder and a rotating base plate. The rotary cylinder is mounted on the operating platform, and the rotating base plate is connected to the rotary cylinder. A cross slide is located in front of the rotating base and includes a horizontal slide and a vertical slide arranged perpendicularly to each other. The horizontal slide is connected to the rear side wall of the vertical slide and is arranged in the left-right direction. The horizontal slide is also connected to the rotating base plate at the rear end. The lower end of the front side wall of the vertical slide is also connected to the end rotary cylinder, which is also connected to the cylinder gripper. The rotating base is used to control the rotation of the cross slide, the end rotary cylinder, and the cylinder gripper; the cross slide is used to control the end rotary cylinder and the first cylinder gripper to move horizontally or vertically upward; the end rotary cylinder is used to control the rotation and movement of the first cylinder gripper.

[0007] Furthermore, the first cylinder gripper is provided with three grippers, which are arranged in a triangular pattern on the cylinder. Each gripper is a flat cuboid, and the two grippers that are positioned opposite each other are used to hold the electronic detonator. The end of the third gripper is an open U-shape, and the U-shaped opening is a channel for the electronic detonator and the wire.

[0008] Furthermore, a rubber ring gripper is provided to the right front of the first cylinder gripper. The rubber ring gripper is the second cylinder gripper, which is vertically set on the operating platform. The gripper of the rubber ring gripper is vertically upward, and the gripper is used to fit a rubber ring.

[0009] Furthermore, the flexible shaft delivery charging system also includes a flexible shaft delivery mechanism, which comprises a flexible shaft reel, a traversing platform, a flexible shaft feeder, a flexible shaft channel, and a charge delivery pipeline; wherein: The transverse platform is an L-shaped plate, and its horizontal plate is slidably connected to the base of the transverse platform. The medicine roll pushing pipe is a rigid pipe with open front and rear ends, horizontally mounted on the vertical plate of the transverse moving platform. Its upper wall has a receiving interface for receiving medicine rolls delivered by the pneumatic medicine delivery system. The flexible shaft channel is a curved tube that smoothly transitions from front to back. Its front end is connected to the lower wall of the drug roll pushing pipe near the rear end, and its rear end is mounted on the vertical plate of the transverse platform and located below the drug roll pushing pipe. The flexible shaft reel is located in the area behind the base of the transverse platform and is used to wind the flexible shaft. The front end of the flexible shaft passes through the flexible shaft channel. The flexible shaft is used to pass through the flexible shaft channel until it extends into the push tube to push the drug roll in the push tube. Furthermore, the flexible shaft pushing and loading system also includes a system base, which includes a bottom support, a rotating support, and a hopper carrying platform. The rotating support is a horizontally set plate connected to the end of the robotic arm. The bottom support is vertically set on the rotating support, and a horizontal transverse platform base is set at the upper end of the bottom support. A vertical pipe support plate is set at the front end of the transverse platform base. The direction of the pipe support plate is consistent with the width of the hopper carrying platform, and the upper end of the pipe support plate is used to support the drug cartridge pushing pipe.

[0010] Furthermore, the flexible shaft pushing charging system also includes a detonating cord lifting and cutting mechanism, which is located at the front end of the operating platform and includes a detonating cord reel, a cutting bracket, a cutting cylinder, and a linear bearing. The cutting support is an L-shaped plate, which is set at the front end of the operating platform. A cutting cylinder is installed on the rear side wall of the upper end of the vertical plate. A blade is set on the cutting cylinder, and the blade moves in position under the drive of the cutting cylinder. The detonating cord reel is located on the lower wall of the operating platform, and the detonating cord is wound on it; the blade is used to cut the detonating cord. The linear bearing is vertically mounted on the operating platform, and its interior serves as the upward channel for the detonating cord. The operating platform is also equipped with a lifting cylinder, which is equipped with a pneumatic clamping device. The pneumatic clamping device is used to clamp the detonating cord that passes through the linear bearing and drive the detonating cord to move upward.

[0011] Furthermore, a blade slot is provided on the operating platform, behind the linear bearing. The blade slot is an inverted L-shaped column. The vertical column is set on the operating platform, and the horizontal column faces the linear bearing. There are two horizontal columns, which are arranged alternately on the left and right. A three-dimensional column is connected between the two horizontal columns, near the front end of the horizontal columns, to form a holding groove at the front end of the two horizontal columns. When cutting the detonating cord, the holding groove is used to hold and support the detonating cord.

[0012] Furthermore, the pneumatic delivery system includes upper and lower delivery pipes arranged vertically. The front end of the upper delivery pipe is connected to the propellant cartridge channel, which is a rigid pipe with a closed front end. A cone with its pointed tip facing backward is connected to the front wall of the channel. The propellant cartridge channel is horizontally arranged, with a rectangular opening on its lower wall. The propellant cartridge channel and the propellant cartridge pushing pipe are stacked vertically and connected, with the rectangular opening communicating with the interface on the propellant cartridge pushing pipe. The front end of the lower delivery pipe passes through the propellant cartridge pushing pipe, pushing the propellant cartridge into the borehole.

[0013] This invention also discloses a method for loading drugs using an air-blown, flexible-shaft-driven segment-by-segment intelligent drug loading robot, comprising the following: Interval charging inside the borehole: Move to the center of the charging range; the pneumatic delivery system and the flexible shaft pushing charging system should be facing the working face; The location of the borehole is identified, and the flexible shaft pusher charging system moves to and aligns with the borehole location. The pneumatic delivery system blows the medicine rolls into the medicine roll channel, where they fall into the medicine roll pushing pipe through the rectangular opening at the bottom of the channel. When the first explosive charge is being prepared, the flexible shaft holds the charge in place through the flexible shaft channel. The detonator is then gripped by the detonator and detonating cord clamping mechanism and inserted into the explosive charge. The detonating cord lifting and cutting mechanism lifts the detonating cord, which is then gripped by the detonating cord clamping mechanism and inserted into the explosive charge. The detonating cord clamping mechanism uses a rubber band to bind the explosive charge, detonator, and detonating cord together. The flexible shaft pushes the explosive charge through the explosive charge pusher pipe into the borehole. The detonating cord lifting and cutting mechanism then cuts the detonating cord lock. When the charge is not the first section, it is blown into the charge channel and falls into the charge delivery pipe. The flexible shaft pushes the charge into the borehole. This process is repeated until the current borehole is loaded, then the next borehole is loaded. Continuous charging inside the borehole: Move to the center of the charging range; the pneumatic delivery system and the flexible shaft pushing charging system should be facing the working face; The location of the blast hole is identified by a vision camera, and the flexible shaft pusher charging system moves to the blast hole location and aligns with it. When loading the first section of explosive cartridge, the detonator and detonating lock are installed in the same way as the interval loading inside the blast hole, and the explosive cartridge is pushed into the blast hole through the explosive cartridge push pipe by a flexible shaft. When the charge is not the first section, the air blow pipe feeder inserts the lower delivery pipe into the bottom of the borehole, and the charge is blown into the borehole. The lower delivery pipe retracts the distance of one charge cartridge, and the charge cartridge is blown into the borehole through the lower delivery pipe. This step is repeated until the current borehole is loaded, and then the next borehole is loaded.

[0014] The beneficial effects of this invention are: 1. Before loading explosives into the borehole, the explosive cartridge is fed into the cartridge delivery pipe through a pneumatic delivery system. The grippers cut open the outer casing of the first section of the cartridge and complete the detonator installation. 2. For all cartridges in peripheral holes and other holes, the first section of the cartridge is blown into the cartridge delivery channel by the pneumatic blowing pipe, and then the cartridge is pushed into the borehole by a flexible shaft, which then retracts. 3. For non-peripheral holes, the second section and subsequent cartridges can be blown directly into the borehole through the pneumatic blowing pipe. 4. The cylinder grippers can complete the cutting of the cartridge casing, installation of the detonator, installation of the detonating cord, and rubber band binding. 5. The flexibility of the flexible shaft and the pneumatic blowing pipe enables radially decoupled loading of explosives into the borehole. Attached Figure Description

[0015] Figure 1 This is a structural diagram of an intelligent drug delivery robot that uses air blowing and a flexible shaft to push the drug segment by segment.

[0016] Figure 2 This is a schematic diagram of a flexible shaft push-loading system.

[0017] Figure 3 This is a partial enlarged view of the operating platform and the silo support platform.

[0018] Figure 4 This is a schematic diagram of a pneumatic drug delivery system.

[0019] Figure 5 This is a schematic diagram of the system base structure.

[0020] Figure 6 This is a schematic diagram of a flexible shaft pushing mechanism.

[0021] Figure 7 This is a schematic diagram of the detonator and detonating cord clamping mechanism.

[0022] Figure 8 This is a schematic diagram of the detonating cord lifting and cutting mechanism.

[0023] Figure 9 This is a schematic diagram of a detonator storage mechanism.

[0024] Figure 10 This is a schematic diagram of the detonator storage mechanism after all the detonators have been clamped.

[0025] Figure 11 This is a schematic diagram of how to handle a detonator.

[0026] Figure 12 This is a schematic diagram of inserting the detonator into the explosive cartridge.

[0027] The components include: 1. Robotic arm; 2. Pneumatic delivery system; 21. Upper conveying pipeline; 22. Medicated cartridge channel; 23. Lower conveying pipeline; 24. Pneumatic blowing tube feeder; 3. Flexible shaft pushing and loading system; 31. System base; 31a. Bottom support; 31b. Rotating support; 31c. Lateral platform base; 31d. Pipe support plate; 31e. Operating platform; 31f. Hopper support platform; 32. Flexible shaft pushing mechanism; 32a. Flexible shaft reel; 32b. Flexible shaft; 32c. Flexible shaft feeder; 32d. Lateral platform; 32e. Flexible shaft channel; 32f. Medicated cartridge pushing pipeline; 33. Detonator and detonating cord gripper. 33a. Rotating base; 33b. Cross slide; 33c. End-rotating cylinder; 33d. Cylinder gripper; 33e. Rubber ring gripper; 34. Detonating cord lifting and cutting mechanism; 34a. Detonating cord reel; 34b. Detonating cord; 34c. Linear bearing; 34d. Lifting cylinder; 34e. Pneumatic clamping device; 34f. Cutting bracket; 34g. Cutting cylinder; 34h. Blade; 34i. Blade slot; 35. Detonator storage mechanism; 35a. Push cylinder; 35b. Push plate; 35c. Hopper bracket; 35d. Lifting tray; 35e. Detonator tray; 35f. Detonator; 36. Vision camera. Detailed Implementation

[0028] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0029] This invention discloses an intelligent drug delivery robot that uses air blowing and a flexible shaft to deliver drugs segment by segment, such as... Figure 1As shown, it includes a flexible shaft push-loading system 3 and a pneumatic delivery system 2 connected to each other. The flexible shaft push-loading system 3 is connected to the end of the robotic arm 1, which is an industrial robot.

[0030] like Figure 2 and Figure 3 As shown, the flexible shaft pushing explosive system 3 includes a system base 31, a flexible shaft pushing mechanism 32, a detonator and detonating cord clamping mechanism 33, a detonating cord lifting and cutting mechanism 34, a detonator storage mechanism 35, and a vision camera 36; the flexible shaft pushing mechanism 32 is mounted on the system base 31 and is slidably connected to the system base 31, and can move back and forth; like Figure 4 As shown, the pneumatic drug delivery system 2 consists of an upper delivery pipe 21 and a lower delivery pipe 23 arranged vertically. The front end of the upper delivery pipe 21 is connected to a drug roll channel 22. The drug roll channel 22 is a rigid pipe with a closed front end and a cone-shaped protrusion pointing backwards connected to its inner front wall. The drug roll channel 22 is horizontally arranged, and a rectangular opening is formed in its lower wall. The drug roll channel 22 and the drug roll pushing pipe 32f are stacked vertically and connected. Gas can be input at the far end of the upper delivery pipe 21 to push the drug roll, and the gas must be sufficient to achieve drug roll migration.

[0031] The lower delivery pipeline 23 is clamped by the air blow pipe feeder 24, which is mounted on the flexible shaft feeder 32c. The lower delivery pipeline 23 can be conveyed forward through the air blow pipe feeder 24, with the front end inserted into the propellant cartridge push pipe 32f to push the propellant cartridge into the borehole.

[0032] The air-blowing pipe feeder 24 includes pulleys, a belt, and a motor. There are four pulleys, arranged in pairs, with two sets positioned vertically and spaced apart. The channel between the two sets of pulleys serves as the transmission channel for the lower delivery pipe 23. A belt is fitted around two pulleys in the same set. One pulley is the driving pulley, connected to the motor. The motor drives one pulley, causing the belt to drive the other three pulleys. Specifically, two sets of pulleys are mounted on a vertical plate.

[0033] like Figure 5 As shown, the system base 31 includes a bottom support 31a, a rotating support 31b, and a hopper carrying platform 31f. The rotating support 31b is a horizontally arranged plate connected to the end of the robotic arm 1. The bottom support 31a is vertically arranged on the rotating support 31b. A horizontal transverse platform base 31c is arranged at the upper end of the bottom support 31a. A vertical pipe support plate 31d is arranged at the front end of the transverse platform base 31c. The direction of the pipe support plate 31d is consistent with the width of the hopper carrying platform 31f. The upper end of the pipe support plate 31d is used to support the drug cartridge pushing pipe 32f.

[0034] A horizontal upper operating platform 31e and a lower hopper carrying platform 31f are arranged at intervals on the front end of the pipe support plate 31d. A detonating cord reel 34a is installed on the bottom wall of the operating platform 31e. A rectangular notch is provided on the left edge of the front end of the hopper carrying platform 31f. A vision camera 36 is installed below the operating platform 31e and on the right side of the front end of the hopper carrying platform 31f. The vision camera 36 is used to identify the location of the blast holes.

[0035] like Figure 6 As shown, the flexible shaft pushing mechanism 32 includes a flexible shaft reel 32a, a transverse platform 32d, a flexible shaft feeder 32c, a flexible shaft channel 32e, and a medicine roll pushing pipe 32f, wherein: The transverse platform 32d is an L-shaped plate with its vertical plate in front and its horizontal plate extending to the rear. The horizontal plate is set on the transverse platform base 31c and is connected to the transverse platform base 31c through a linear guide rail. The transverse platform 32d is driven to move back and forth by a closed linear motor. The drug roll pushing pipe 32f is a rigid pipe with a receiving interface on its upper wall. Both its front and rear ends are open. The drug roll pushing pipe 32f is horizontally positioned below and connected to the drug roll channel 22. Its receiving interface is the same size as the rectangular opening of the drug roll channel 22 and is connected to it. The rear end of the drug roll pushing pipe 32f is located at the upper end of the vertical plate of the transverse platform 32d, and the front end is located in the groove at the upper end of the pipe support plate 31d.

[0036] The rear end of the drug roll pushing pipe 32f is connected to the front end of the lower delivery pipe 23, serving as a channel for the lower delivery pipe 23 to move forward.

[0037] The lower wall near the rear end of the drug roll pushing pipe 32f is connected to a flexible shaft channel 32e. The flexible shaft channel 32e is a curved pipe that smoothly transitions from front to back. Its rear end passes through the vertical plate of the transverse platform 32d. Its rear end is open and connected to the flexible shaft 32b, serving as a channel for the flexible shaft 32b to move forward.

[0038] The rear end of the flexible shaft 32b is wound around the flexible shaft reel 32a, which is a cylinder and vertically positioned behind the base 31 of the transverse platform. A rotating shaft is located at the vertical center of the flexible shaft reel 32a, and a motor is connected to the rotating shaft.

[0039] A flexible shaft feeder 32c is located behind the flexible shaft channel 32e and on the left side of the transverse platform base 31c. The feeder 32c includes a vertical plate on the left side of the platform base 31c, arranged along a front-to-back direction. Four pulleys are arranged on the left side wall of the vertical plate, divided into two groups arranged vertically. The two pulleys in the upper group are spaced apart, as are the two pulleys in the lower group. The two pulleys in the upper and lower groups are spaced apart, with the front two pulleys and the rear two pulleys corresponding to each other. A flexible shaft power space exists between the two pulleys in the upper group and the two pulleys in the lower group. A belt connects two pulleys in the same row. One of the four pulleys is the drive pulley, connected to a motor. The motor drives the drive pulley to rotate, the flexible shaft passes through the power space, the flexible shaft 32b is clamped by the feeder 32c, moves forward under the drive of the belt, and is conveyed forward through the flexible shaft channel 32e.

[0040] The flexible shaft 32b is pushed by the flexible shaft feeder 32c. When the flexible shaft 32b needs to be retracted, the motor on the flexible shaft reel 32a drives the reel to rotate and retract the flexible shaft 32b.

[0041] like Figure 5 As shown, a detonating cord clamping mechanism 33 is provided on the upper part of the operating platform 31e and near the pipe support plate 31d. The detonating cord clamping mechanism 33 includes a rotating base 33a and a cross slide 33b. The rotating base 33a includes a rotary cylinder and a rotating base plate. The rotary cylinder is mounted on the operating platform 31e, and the rotating base plate is connected to the rotary cylinder.

[0042] A cross slide 33b is disposed in front of the rotating base 33a and includes a horizontal slide and a vertical slide arranged perpendicularly to each other. The horizontal slide is connected to the rear side wall of the vertical slide and is arranged in the left-right direction and located near the lower end of the vertical slide. The horizontal slide is also connected to the rotating base plate at the rear end. The lower end of the front sidewall of the vertical slide is also connected to the end rotary cylinder 33c, and the end rotary cylinder 33c is also connected to the cylinder gripper 33d. The rotating base 33a controls the rotation of the cross slide 33b, the end rotary cylinder 33c, and the cylinder gripper 33d; the cross slide 33b controls the horizontal or vertical movement of the end rotary cylinder 33c and the first cylinder gripper 33d; the end rotary cylinder 33c controls the rotation and movement of the first cylinder gripper 33d, whose gripper can be oriented vertically or horizontally. The first cylinder gripper 33d is used to cut the outer coating of the explosive cartridge; it is also used to grip the detonating cord 34b and the detonator 35f and install them onto the explosive cartridge; it is also used to support the rubber ring on the rubber ring gripper 33e to bind the explosive cartridge and the detonating cord 34b together. The rubber ring gripper 33e is located to the right front of the first cylinder gripper 33d.

[0043] The first cylinder gripper 33d is provided with three grippers, which are arranged in a triangular pattern on the cylinder. One of the grippers has an open U-shaped end, and the U-shaped opening is a channel for the electronic detonator and the wire.

[0044] The rubber band gripper 33e is a second cylinder gripper, which is vertically mounted on the operating platform 31e and located within the area where the first cylinder gripper 33d moves; the gripper of the rubber band gripper 33e is vertically upward and is used to fit a rubber band.

[0045] Driven by the rotating base 33a, the first cylinder gripper 33d rotates around the vertical axis to a position above the first cylinder gripper 33d. Driven by the end rotary cylinder 33c, the gripper of the first cylinder gripper 33d rotates 360° around the horizontal axis so that the gripper of the first cylinder gripper 33d is vertically downward. When it is directly above the rubber ring gripper 33e, the gripper of the first cylinder gripper 33d inserts into the lower rubber ring and the gripper expands outward. At the same time, the gripper of the rubber ring gripper 33e contracts towards the center, and the rubber ring is fitted onto the gripper of the first cylinder gripper 33d.

[0046] like Figure 9 and 10 As shown, the detonator storage mechanism 35 is disposed above the notch of the hopper support platform 31f. The detonator storage mechanism 35 includes a push cylinder 35a, a push plate 35b, a hopper support 35c, a lifting tray 35d, and multiple detonator trays 35e, wherein: The hopper support 35c includes a base plate on which three hopper barrier panels are mounted. These three panels are arranged along a front-to-back direction and spaced apart in a left-to-right direction, forming a cubic cavity with an open top. The cavity is divided into two independent compartments, left and right. A lifting tray 35d is mounted on the base plate in the right compartment. A support descent device is mounted on the base plate in the left compartment. The height of each panel is higher than the operating platform 31e. Vertical shielding plates (L-plates) are mounted at the four corners of the cubic cavity. A column is mounted at each of the four corners of the lower wall of the base plate, with the lower ends of the columns positioned at the four corners of the rectangular opening in the hopper support platform 31f.

[0047] Multiple detonator trays 35e are stacked vertically in sequence, with the lower detonator tray 35e positioned on the lifting tray 35d in the right chamber; when the lifting tray 35d rises or falls, it drives the multiple detonator trays 35e to rise or fall.

[0048] The support lowering device includes a vertically arranged lead screw, and a receiving plate is provided at the upper end of the lead screw for receiving an empty detonator tray 35e.

[0049] The pushing cylinder 35a is mounted on the operating platform 31e and is located between the detonating cord lifting and cutting mechanism 34 and the detonator and detonating cord clamping mechanism 33. The pushing cylinder 35a is arranged in a left-right direction, and a push plate 35b is connected to the left end of the pushing cylinder 35a for pushing the push plate 35b to move left and right. The push plate 35b is used to push the detonator tray 35e after unloading the detonator from the right chamber to the receiving plate in the left chamber.

[0050] The lifting tray 35d on the right is initially positioned at the bottom. After the cylinder gripper 33d has removed all the detonators 35f from the top detonator tray 35e, the pusher plate 35b pushes it to the left. The support lowering device on the left is initially positioned at the top and is used to receive the empty detonator tray 35e pushed over by the pusher plate 35b. The lifting tray 35d on the right gradually rises, and the support lowering device on the left gradually descends until all the detonators are gripped.

[0051] Each detonator tray 35e stores two detonators 35f. The cylinder gripper 33d picks up the detonator 35f from the detonator tray 35e and inserts it into the cartridge.

[0052] like Figure 11As shown, the rotating base 33a drives the cross slide 33b and the end rotary cylinder 33c to move upward around the vertical axis; the vertical slide of the cross slide 33b moves horizontally upward on the horizontal slide, and the horizontal slide moves up and down on the vertical slide; the end rotary cylinder 33c drives the cylinder jaws 33d to rotate to the downward position, and the two opposing jaws grip the detonator 35f. The front end of the detonator 35f passes through the U-shaped opening of the third jaw, and the rear end of the detonator 35f is inserted into the explosive cartridge; the end rotary cylinder 33c drives the jaws of the cylinder jaws 33d to the horizontal position, gripping the detonating cord 34b, and then rotates again to the downward position, inserting the end of the detonating cord 34b into the explosive cartridge, and the other end of the detonating cord 34b passes through the U-shaped opening of the third jaw.

[0053] like Figure 12 As shown, the cylinder gripper 33d clamps the detonator 35f and inserts it into the cartridge; the flexible shaft passes through the flexible shaft channel 32e into the cartridge push pipe 32f, and pushes the cartridge against the end of the cartridge push pipe 32f; the cylinder gripper 33d grips the lead end of the detonator 35f, clamping it on both sides, and pushing it on the lead side; the gripper on the lead side is U-shaped, which can push the detonator without interfering with the lead.

[0054] like Figure 8 As shown, a detonating cord lifting and cutting mechanism 34 is provided at the front end of the operating platform 31e, which includes a detonating cord reel 34a, a cutting bracket 34f, a cutting cylinder 34g, and a linear bearing 34c, wherein: The cutting bracket 34f is an L-shaped plate, which is set at the front end of the operating platform 31e, with the open side of the L-shaped plate facing the front end. A cutting cylinder 34g is installed on the rear side wall at the upper end of the vertical plate, and a blade 34h is set on the cutting cylinder 34g. The blade 34h moves in position under the drive of the cutting cylinder 34g. The detonating cord reel 34a is disposed on the lower wall of the operating platform 31e, and the detonating cord 34b is wound on it; The linear bearing 34c is vertically mounted on the operating platform 31e, and its interior serves as the upward channel for the detonating cord 34b. A lifting cylinder 34d is also provided on the operating platform 31e. The lifting cylinder 34d can move up and down. A pneumatic clamping device 34e is provided on the lifting cylinder 34d. The pneumatic clamping device 34e is a two-finger pneumatic gripper. The pneumatic clamping device 34e is used to clamp the detonating cord 34b passing through the linear bearing 34c. Under the action of the lifting cylinder 34d, it drives the detonating cord 34b to move upward.

[0055] A blade slot 34i is provided on the operating platform 31e, behind the linear bearing 34c. The blade slot 34i is an inverted L-shaped column. The vertical column is set on the operating platform 31e, and the horizontal column faces the linear bearing 34c. There are two horizontal columns, which are arranged alternately on the left and right. A three-dimensional column is connected between the two horizontal columns, near the front end, to form a retaining groove at the front end of the two horizontal columns. When cutting the detonating cord 34b, the retaining groove is used to retain and support the detonating cord 34b.

[0056] The cutting process of the detonating cord 34b is as follows: the pneumatic clamping device 34e clamps the detonating cord 34b; the lifting cylinder 34d, located below the pneumatic clamping device 34e, lifts the pneumatic clamping device 34e and the detonating cord 34b; the cylinder jaw 33d rotates above the pneumatic clamping device 34e, clamping the detonating cord 34b, and the pneumatic clamping device 34e releases the detonating cord 34b; the pneumatic clamping device 34e is equipped with two opposing U-shaped jaws, which ensures that when the detonating cord 34b is released, it is surrounded by the area of ​​the U-shaped jaws, so that the pneumatic clamping device 34e can clamp it again later; the cylinder jaw 33d clamps the detonating cord 34b and inserts the front end of the detonating cord 34b into the front end of the detonator. The cylinder gripper 33d releases the detonating cord 34b, and the pneumatic clamping device 34e clamps the detonating cord 34b. The detonating cord 34b is located in the clamping groove. The cutting cylinder 34g controls the blade 34h to cut the detonating cord 34b above the clamping groove.

[0057] The present invention also discloses a method for loading drugs using an air-blown and flexible shaft segment-by-segment push-type intelligent drug loading robot, comprising the following: Interval charging inside the borehole: Robotic arm 1 moves to the center of the loading range; pneumatic delivery system 2 and flexible shaft pushing loading system 3 face the working face; The location of the blast hole is identified by the vision camera 36, ​​and the flexible shaft pusher charging system 3 moves to the blast hole location and aligns with it. The pneumatic delivery system 2 blows the medicine roll into the medicine roll channel 22, and the medicine roll falls into the medicine roll pushing pipe 32f through the rectangular opening at the bottom of the medicine roll channel 22; When the first explosive charge is being prepared, the flexible shaft 32b holds the charge in place via the flexible shaft channel 32e. The detonator 35f is then held in place by the detonator and detonating cord clamping mechanism 33 and inserted into the explosive charge. The detonating cord lifting and cutting mechanism 34 lifts the detonating cord 34b, which is then held in place by the detonating cord clamping mechanism 33 and inserted into the explosive charge. The detonating cord clamping mechanism 33 uses a rubber band to bind the explosive charge, detonator 35f, and detonating cord 34b together. The flexible shaft 32b pushes the explosive charge through the explosive charge push pipe 32f into the borehole. The detonating cord lifting and cutting mechanism 34 then cuts off the detonating cord lock 34b. When the charge is not the first section, it is blown into the charge channel 22 and falls into the charge delivery pipe 32f. The flexible shaft 32b pushes the charge into the borehole through the charge delivery pipe 32f. This process is repeated until the charge is completed in the current borehole, and then the next borehole is charged. Continuous charging inside the borehole: Robotic arm 1 moves to the center of the loading range; pneumatic delivery system 2 and flexible shaft pushing loading system 3 face the working face; The visual camera 36 identifies the position of the blast hole, and the flexible shaft pusher charging system 3 moves to the position of the blast hole and aligns it; the visual camera 36 identifies the movement and alignment of the blast hole robotic arm, and the charging is automated.

[0058] When loading the first section of explosive cartridge, the detonator and detonating lock are installed in the same way as the interval loading inside the blast hole, and the explosive cartridge in the explosive cartridge push pipe 32f is pushed into the blast hole through the flexible shaft 32b. When the charge is not the first section, the air blow pipe feeder 24 sends the lower delivery pipe 23 into the bottom of the borehole, and the charge is blown into the borehole. The lower delivery pipe 23 retracts the distance of one charge cartridge, and the charge cartridge is blown into the borehole through the lower delivery pipe 23. This step is repeated until the current borehole is loaded, and then the next borehole is loaded.

Claims

1. A pneumatically operated and flexible shaft-driven segment-by-segment intelligent drug delivery robot, characterized in that, It includes a flexible shaft push-loading system (3) and a pneumatic delivery system (2) connected to each other, wherein the pneumatic delivery system (2) is used to transport the drug roll to the flexible shaft push-loading system (3), wherein: The flexible shaft pushing and charging system (3) includes a detonator and detonating cord clamping mechanism (33) and a detonator storage mechanism (35), wherein the detonator storage mechanism (35) includes a pushing cylinder (35a), a hopper support (35c), a lifting tray (35d), and multiple detonator trays (35e), wherein: The hopper support (35c) includes a base plate, on which a cubic cavity is provided, which is divided into two independent compartments, left and right. A lifting tray (35d) is provided on the base plate in the right compartment, and a support descent device is provided on the base plate in the left compartment. Multiple detonator trays (35e) are stacked vertically in sequence, with the lower detonator tray (35e) positioned on the lifting tray (35d) in the right chamber. The push cylinder (35a) is flush with the upper end of the cubic cavity and is used to move the detonator tray (35e) after unloading the detonator from the right chamber to the left chamber; the detonator and detonating cord clamping mechanism (33) is used to clamp the detonator in the detonator tray (35e); The detonator and detonating cord clamping mechanism (33) includes a rotating base (33a) and a cross slide (33b). The rotating base (33a) includes a rotary cylinder and a rotating base plate. The rotary cylinder is mounted on the operating platform (31e), and the rotating base plate is connected to the rotary cylinder. The cross slide (33b) is located in front of the rotating base (33a) and includes a horizontal slide and a vertical slide arranged perpendicularly. The horizontal slide is connected to the rear side wall of the vertical slide and is arranged in the left-right direction. The horizontal slide is also connected to the rotating base plate at the rear end. The lower end of the front sidewall of the vertical slide is also connected to the end rotary cylinder (33c), and the end rotary cylinder (33c) is also connected to the cylinder gripper (33d). The rotating base (33a) is used to control the rotation of the cross slide (33b), the end rotary cylinder (33c), and the cylinder gripper (33d). The cross slide (33b) is used to control the end rotary cylinder (33c) and the first cylinder gripper (33d) to move horizontally or vertically upward. The end rotary cylinder (33c) is used to control the rotation and movement of the cylinder gripper (33d). The flexible shaft pushing charge system (3) also includes a detonating cord lifting and cutting mechanism (34), which is located at the front end of the operating platform (31e) and includes a detonating cord reel (34a), a cutting bracket (34f), a cutting cylinder (34g), and a linear bearing (34c). The cutting bracket (34f) is an L-shaped plate, which is set at the front end of the operating platform (31e). The cutting cylinder (34g) is installed on the rear side wall at the upper end of the vertical plate. A blade (34h) is set on the cutting cylinder (34g). The blade (34h) moves in position under the drive of the cutting cylinder (34g). The detonating cord reel (34a) is disposed on the lower wall of the operating platform (31e), and the detonating cord (34b) is wound on it; the blade (34h) is used to cut the detonating cord (34b). The linear bearing (34c) is vertically mounted on the operating platform (31e), and its interior serves as the upward channel for the detonating cord (34b). A lifting cylinder (34d) is also provided on the operating platform (31e), and a pneumatic clamping device (34e) is provided on the lifting cylinder (34d). The pneumatic clamping device (34e) is used to clamp the detonating cord (34b) passing through the linear bearing (34c) and drive the detonating cord (34b) to move upward.

2. The air-blown and flexible shaft segment-by-segment pushing intelligent drug delivery robot as described in claim 1, characterized in that, The cylinder gripper (33d) is provided with three grippers, which are arranged in a triangular pattern on the cylinder. Each gripper is a flat cuboid. The two grippers that are positioned opposite each other are used to hold the electronic detonator. The end of the third gripper is an open U-shape, and the U-shaped opening is a channel for the electronic detonator and the wire.

3. The air-blown and flexible shaft segment-by-segment pushing intelligent drug delivery robot as described in claim 2, characterized in that, A rubber ring gripper (33e) is provided on the right front of the cylinder gripper (33d). The rubber ring gripper (33e) is the second cylinder gripper, which is vertically set on the operating platform (31e). The gripper of the rubber ring gripper (33e) is vertically upward, and the gripper is used to fit a rubber ring.

4. The air-blown and flexible shaft segment-by-segment pushing intelligent drug delivery robot as described in claim 3, characterized in that, The flexible shaft delivery system (3) further includes a flexible shaft delivery mechanism (32), which includes a flexible shaft reel (32a), a transverse platform (32d), a flexible shaft feeder (32c), a flexible shaft channel (32e), and a cartridge delivery pipe (32f); wherein: The transverse platform (32d) is an L-shaped plate, and its horizontal plate is slidably connected to the transverse platform base (31c); The drug roll pushing pipe (32f) is a rigid pipe with open front and rear ends, horizontally mounted on the vertical plate of the transverse platform (32d), and its upper wall is provided with a receiving interface for receiving the drug rolls delivered by the pneumatic drug delivery system (2). The flexible shaft channel (32e) is a curved tube that smoothly transitions from front to back. Its front end is connected to the lower wall of the drug roll pushing pipe (32f) near the rear end, and its rear end is mounted on the vertical plate of the transverse platform (32d) and located below the drug roll pushing pipe (32f). The flexible shaft reel (32a) is located in the area behind the transverse platform base (31c) and is used to wind the flexible shaft (32b). The front end of the flexible shaft (32b) passes through the flexible shaft channel (32e). The flexible shaft (32b) passes through the flexible shaft channel (32e) until it extends into the drug roll pushing pipe (32f) to push the drug roll in the drug roll pushing pipe (32f).

5. The air-blown and flexible shaft segment-by-segment delivery intelligent drug delivery robot as described in claim 4, characterized in that, The flexible shaft pushing and loading system (3) also includes a system base (31), which includes a bottom support (31a), a rotating support (31b), and a hopper carrying platform (31f). The rotating support (31b) is a horizontally arranged plate connected to the end of the robotic arm (1). The bottom support (31a) is vertically arranged on the rotating support (31b). A horizontal transverse platform base (31c) is arranged at the upper end of the bottom support (31a). A vertical pipe support plate (31d) is arranged at the front end of the transverse platform base (31c). The direction of the pipe support plate (31d) is consistent with the width of the hopper carrying platform (31f). The upper end of the pipe support plate (31d) is used to carry the drug cartridge pushing pipe (32f).

6. The air-blown and flexible shaft segment-by-segment pushing intelligent drug delivery robot as described in claim 5, characterized in that, On the operating platform (31e), and behind the linear bearing (34c), there is a blade slot (34i). The blade slot (34i) is an inverted L-shaped column. The vertical column is set on the operating platform (31e), and the horizontal column faces the linear bearing (34c) in front. There are two horizontal columns, which are arranged left and right at intervals. Between the two horizontal columns, and at the front end of the horizontal column, a three-dimensional column is connected to form a retaining groove at the front end of the two horizontal columns. When cutting the detonating cord (34b), the retaining groove is used to retain and support the detonating cord (34b).

7. The air-blown and flexible shaft segment-by-segment pushing intelligent drug delivery robot as described in claim 6, characterized in that, The pneumatic delivery system (2) includes an upper delivery pipe (21) and a lower delivery pipe (23) arranged vertically. The front end of the upper delivery pipe (21) is connected to the cartridge channel (22). The cartridge channel (22) is a rigid pipe with its front end closed. A cone with its tip pointing backward is connected to the front wall inside the tube. The cartridge channel (22) is arranged horizontally. A rectangular opening is provided on the lower wall of the cartridge channel (22). The cartridge channel (22) and the cartridge pushing pipe (32f) are stacked vertically and connected. The rectangular opening is connected to the receiving interface on the cartridge pushing pipe (32f). The front end of the lower delivery pipe (23) passes through the cartridge pushing pipe (32f) and pushes the cartridge until it is inside the borehole.

8. The method for loading a drug into a smart drug-loading robot that uses air blowing and a flexible shaft to push the drug segment by segment, as described in claim 7, is characterized in that... Including the following: Interval charging inside the borehole: Move to the center of the loading range; the pneumatic delivery system (2) and the flexible shaft pushing loading system (3) are facing the working face; Identify the borehole location, and the flexible shaft pusher charging system (3) moves to the borehole location and aligns; The pneumatic delivery system (2) blows the medicine roll into the medicine roll channel (22), and the medicine roll falls into the medicine roll push pipe (32f) through the rectangular opening at the bottom of the medicine roll channel (22). When the first section of the explosive cartridge is in use, the flexible shaft (32b) holds the cartridge in place through the flexible shaft channel (32e), and the detonator (35f) is clamped by the detonator and detonating cord clamping mechanism (33) and inserted into the explosive cartridge; the detonating cord lifting and cutting mechanism (34) lifts the detonating cord (34b), and the detonating cord clamping mechanism (33) clamps the detonating cord (34b) and inserts it into the explosive cartridge; the detonating cord clamping mechanism (33) uses a rubber band to bind the explosive cartridge, detonator (35f) and detonating cord (34b) together; the flexible shaft (32b) pushes the explosive cartridge in the explosive cartridge push pipe (32f) into the borehole; the detonating cord lifting and cutting mechanism (34) cuts the detonating cord (34b); When it is not the first charge, the charge is blown into the charge channel (22) and falls into the charge push pipe (32f). The flexible shaft (32b) pushes the charge in the charge push pipe (32f) into the borehole. Repeat this step until the current borehole is loaded and the next borehole is loaded. Continuous charging inside the borehole: Move to the center of the loading range; the pneumatic delivery system (2) and the flexible shaft pushing loading system (3) are facing the working face; The location of the borehole is identified by the vision camera (36), and the flexible shaft push-charge system (3) moves to the location of the borehole and aligns it; When loading the first section of explosive cartridge, the detonator and detonating cord are installed in the same way as the intermittent loading inside the borehole, and the explosive cartridge in the cartridge push pipe (32f) is pushed into the borehole through the flexible shaft (32b); When the charge is not the first section, the air blow pipe delivery device (24) sends the lower delivery pipe (23) into the bottom of the borehole, and the charge is blown into the borehole. The lower delivery pipe (23) is retracted by the distance of one charge roll. The charge roll is blown into the borehole through the lower delivery pipe (23). This step is repeated until the current borehole is loaded, and then the next borehole is loaded.

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