Explosive charging robot for bench blasting in strip mine

Abstract

The invention discloses an explosive loading robot for bench blasting of a strip mine, and relates to the field of blasting equipment. According to the explosive loading robot for step blasting of the strip mine, the transferring frame, the grabbing assembly, the bearing and placing assembly and the camera are arranged on the vehicle frame, when blasting explosive columns are arranged, the vehicle frame can be controlled to run to the positions of blasting holes, the positions of explosive placing holes and the positions of the blasting holes are determined through the camera, and the transferring frame drives the grabbing assembly to move; the explosive column stored in the loading box is moved into the bearing and placing assembly through the grabbing assembly, the contact area of the pressure relieving piece and the explosive column is large, the clamping pressure can be effectively dispersed, and the damage risk and the error explosion risk of the explosive column are reduced; and the bearing and placing assembly can slowly place the grain in the middle to the proper position of the blast hole, vibration borne by the grain can also be reduced, and the charging safety is further improved.

Description

Technical Field

[0001] This invention relates to blasting equipment technology, specifically to a charging robot for bench blasting in open-pit mines. Background Technology

[0002] Bench blasting in open-pit mines is a core component of open-pit mining. Essentially, it involves breaking up the overlying rock or ore body according to pre-defined geometric parameters and throwing it to a designated location. Bench elements mainly include bench height (typically 10-15 meters), borehole diameter (90-310 mm), base resistance line, borehole spacing, and row spacing. These parameters need to be dynamically matched based on the rock's physical and mechanical properties and production capacity requirements.

[0003] The hole layout typically employs a quincunx or rectangular pattern. The detonation sequence is achieved through in-hole delay and surface delay, detonating hole by hole or row by row to control blasting vibration and fragmentation distribution. The charge structure generally uses a continuous cylindrical charge, with high-powered explosive at the bottom to overcome the chassis resistance line, and low-density explosive or filling material at the top to prolong the duration of the blasting gases. The filling length is generally not less than 0.7 times the chassis resistance line to prevent bursting and improve energy efficiency.

[0004] Manually loading explosives into cylindrical containers carries inherent risks. These risks primarily stem from the fact that workers must be in close proximity to the explosives and enter the borehole area. During handling, loading, and sealing, accidental detonation is highly likely due to operational errors, mechanical friction, static electricity buildup, or stray currents. Furthermore, the risk of collapse at the edge of the platform, impacts from flying rocks, misfires, and prolonged exposure to toxic fumes and noise all pose direct threats to personal safety. While using robots to replace manual explosive loading allows for the complete evacuation of personnel from high-risk areas via remote control, the robot's grippers have limited gripping points and apply significant pressure during loading, increasing the risk of damage and explosion. Therefore, improvements to the existing explosive loading robot structure are necessary. Summary of the Invention

[0005] The purpose of this invention is to provide a charging robot for bench blasting in open-pit mines, in order to solve the problem that the gripper of the charging robot in the prior art exerts too much pressure on the explosive charge, which increases the risk of damage and explosion of the charge.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a charging robot for bench blasting in open-pit mines, comprising:

[0007] A vehicle frame, on which control components and a loading box are mounted, and a medicine dispensing hole is provided in the middle of the vehicle frame;

[0008] A transfer frame is mounted on the vehicle frame, and a first electric lifting rod is mounted on the transfer frame;

[0009] The gripping assembly is located at the telescopic end of the first electric lifting rod and includes a third motor connected to the first electric lifting rod, a worm gear fixedly installed on the rotating shaft of the third motor, and a worm wheel rotatably connected to the third motor through a clamping plate. The worm gear meshes with the worm wheel, a rotating rod is connected to the worm wheel, and a pressure-relieving component is provided at the end of the rotating rod.

[0010] A receiving and placement component is mounted on the frame to receive the pharmacopoeia delivered by the gripping component;

[0011] A camera is mounted on the vehicle frame.

[0012] Preferably, the pressure-relieving component includes a mounting rod connected to the end of the rotating rod and two hinged rods respectively hinged to the end of the mounting rod. An inner rod is hinged to the end of the hinged rod, and an outer sleeve is fitted onto the end of the inner rod. A first spring is provided inside the outer sleeve and fitted onto the inner rod. A telescopic cylinder is connected between the mounting rod and the outer sleeve, and a second spring is fitted onto the telescopic cylinder. A pull bar is connected to the inner rod.

[0013] Preferably, one end of the first spring abuts against the inner wall of the outer sleeve and the other end abuts against the side wall of the inner rod, and one end of the second spring abuts against the side wall of the mounting rod and the other end abuts against the side wall of the outer sleeve.

[0014] Preferably, the pull bar is made of deformable rubber material.

[0015] Preferably, the receiving and placing assembly includes a second electric lifting rod fixedly mounted on the vehicle frame, a mounting plate fixedly mounted on the second electric lifting rod, and a spiral wire reel rotatably connected to the center of the mounting plate. The spiral wire reel is engraved with spiral wire grooves, and a toothed ring is connected to the outer wall of the spiral wire reel. A fourth motor is connected to the spiral wire reel, and a gear meshing with the toothed ring is connected to the output shaft of the fourth motor. A sliding frame is connected to the spiral wire reel, and a sliding plate is slidably connected inside the sliding frame. The sliding plate engages with the spiral wire reel through the spiral wire grooves. A side plate is connected to the end of the sliding plate, and an inclined rotating plate is connected to the lower end of the side plate. The rotating plate is made of a deformable material.

[0016] Preferably, an extension plate is connected to the end of the rotating plate.

[0017] Preferably, an anti-detachment strip is connected between adjacent side panels, and the anti-detachment strip is made of rubber.

[0018] Preferably, the transfer frame includes a mounting bracket fixedly mounted on the vehicle frame. A first lead screw is rotatably connected to the mounting bracket. A first motor with an output shaft connected to the first lead screw is connected to the mounting bracket. A slider is threaded onto the first lead screw. A second motor is connected to the slider. A second lead screw is rotatably connected to the slider. An anti-rotation rod parallel to the second lead screw is also connected to the slider. A movable disk is threaded onto the second lead screw, and the movable disk is slidably connected to the anti-rotation rod. A first electric lifting rod is connected to the movable disk.

[0019] Compared with existing technologies, the charging robot for open-pit mine bench blasting provided by this invention, by setting up a transfer frame, a gripping component, a receiving and placing component, and a camera on the chassis, can control the chassis to travel to the blast hole when placing explosive charges. The camera determines the position of the discharge hole and the blast hole. The transfer frame drives the gripping component to move, and the gripping component moves the explosive charge stored in the loading box to the receiving and placing component. The pressure-reducing component has a large contact area with the explosive charge, which can effectively disperse the gripping pressure and reduce the risk of damage to the charge and accidental detonation. The receiving and placing component can slowly place the middle part of the charge to the appropriate position in the blast hole, which can also reduce the vibration of the charge and further improve the safety of charging. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0021] Figure 1 This is a schematic diagram of the overall structure provided in an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the receiving and placement component structure provided in an embodiment of the present invention;

[0023] Figure 3 This is a schematic cross-sectional view of the receiving and placement component provided in an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the grabbing component structure provided in an embodiment of the present invention;

[0025] Figure 5 This is a schematic cross-sectional view of the gripping component provided in an embodiment of the present invention.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Frame; 2. Control unit; 3. Loading box; 4. Mounting bracket; 5. First lead screw; 6. First motor; 7. Slider; 8. Second motor; 9. Second lead screw; 10. Anti-rotation rod; 11. Moving plate; 12. First electric lifting rod; 13. Gripping assembly; 131. Third motor; 132. Worm gear; 133. Worm wheel; 134. Rotating rod; 135. Mounting rod; 136. Hinge rod; 137. Inner rod 138. Outer casing; 139. First spring; 1310. Telescopic cylinder; 1311. Second spring; 1312. Pull bar; 14. Second electric lifting rod; 15. Mounting plate; 16. Spiral coil; 17. Gear ring; 18. Fourth motor; 19. Gear; 20. Sliding frame; 21. Slide plate; 22. Side plate; 23. Turning plate; 24. Extension plate; 25. Anti-detachment strip; 26. Medicine dispensing hole; 27. Camera. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0029] As attached Figure 1 To be continued Figure 5 As shown:

[0030] Example:

[0031] This invention provides a charging robot for bench blasting in open-pit mines, comprising:

[0032] The frame 1 is equipped with a control unit 2 and a loading box 3. The control unit 2 contains a remote control component for controlling the automatic movement of the frame 1, which allows the user to remotely control the automatic movement of the frame 1. A medicine release hole 26 is provided in the middle of the frame 1.

[0033] A transfer frame is mounted on the vehicle frame 1, and a first electric lifting rod 12 is mounted on the transfer frame;

[0034] The gripping assembly 13 is located at the telescopic end of the first electric lifting rod 12, and includes a third motor 131 connected to the first electric lifting rod 12, a worm gear 132 fixedly installed on the rotating shaft of the third motor 131, and a worm wheel 133 rotatably connected to the third motor 131 through a clamping plate. The worm gear 132 meshes with the worm wheel 133, and a rotating rod 134 is connected to the worm wheel 133. A pressure-relieving element is provided at the end of the rotating rod 134.

[0035] A receiving and placement component is mounted on the frame 1 to receive the medicinal column transmitted by the gripping component 13;

[0036] Camera 27 is mounted on the vehicle frame 1.

[0037] As can be seen from the above, by setting a transfer frame, a gripping component 13, a receiving and placing component, and a camera 27 on the vehicle frame 1, when laying explosive charges, the vehicle frame 1 can be controlled to travel to the blast hole. The camera 27 determines the position of the discharge hole 26 and the blast hole. The transfer frame drives the gripping component 13 to move, and the gripping component 13 moves the explosive charge stored in the loading box 3 to the receiving and placing component. The pressure relief component has a large contact area with the explosive charge, which can effectively disperse the gripping pressure and reduce the risk of damage to the charge and the risk of accidental detonation. The receiving and placing component can slowly place the middle charge to the appropriate position in the blast hole, which can also reduce the vibration of the charge and further improve the safety of loading.

[0038] The transfer frame includes a mounting frame 4 fixedly mounted on the vehicle frame 1. A first lead screw 5 is rotatably connected to the mounting frame 4. A first motor 6 with an output shaft connected to the first lead screw 5 is connected to the mounting frame 4. A slider 7 is threadedly connected to the first lead screw 5. A second motor 8 is connected to the slider 7. A second lead screw 9 is rotatably connected to the slider 7. An anti-rotation rod 10 is also connected to the slider 7 and arranged parallel to the second lead screw 9. A movable disk 11 is threadedly connected to the second lead screw 9, and the movable disk 11 is slidably connected to the anti-rotation rod 10. A first electric lifting rod 12 is connected to the movable disk 11.

[0039] When the gripping component 13 grips the medicine column in the loading box 3, the operator can control the first motor 6 to drive the first lead screw 5 to rotate, thereby adjusting the slider 7 to a suitable position. Then, the operator can control the output shaft of the second motor 8 to drive the second lead screw 9 to rotate, thereby moving the moving plate 11 to a suitable position, thereby adjusting the position of the first electric lifting rod 12. Afterwards, the operator can control the extension and retraction of the first electric lifting rod 12 to drive the third motor 131 to move up and down. After inserting the rotating rod 134 and the pressure-relieving component into the gap between the medicine columns, the operator controls the third motor 131 to drive the worm gear 132 to rotate. The worm gear 132 drives the meshing worm wheel 133 to rotate. The rotating worm wheel 133 drives the pressure-relieving component to clamp the medicine column, and then the medicine column is transferred to the receiving and placing component through the transfer frame.

[0040] The pressure-relieving component includes a mounting rod 135 connected to the end of the rotating rod 134 and two hinge rods 136 respectively hinged to the end of the mounting rod 135. An inner rod 137 is hinged to the end of the hinge rod 136. An outer sleeve 138 is fitted onto the end of the inner rod 137. A first spring 139 is provided inside the outer sleeve 138 and fitted onto the inner rod 137. A telescopic cylinder 1310 is connected between the mounting rod 135 and the outer sleeve 138. A second spring 1311 is fitted onto the telescopic cylinder 1310. One end of the first spring 139 abuts against the inner wall of the outer sleeve 138 and the other end abuts against the side wall of the inner rod 137. One end of the second spring 1311 abuts against the side wall of the mounting rod 135 and the other end abuts against the side wall of the outer sleeve 138. A pull bar 1312 is connected to the inner rod 137. The pull bar 1312 is made of deformable rubber material.

[0041] When the rotating rod 134 drives the pressure-relieving component to contact the drug cartridge, the pull bar 1312 contacts the drug cartridge first. During the process of the rotating rod 134 applying pressure to the telescopic cylinder 1310, the second spring 1311 is gradually compressed. At this time, the hinge rod 136 opens outward and stretches the inner rod 137. During the process of the inner rod 137 extending out of the outer sleeve 138, it will compress the first spring 139. At this time, the inner rod 137 drives the pull bar 1312 to stretch its side length. The pull bar 1312 with its stretched side length clamps the drug cartridge. Since the area of ​​the pull bar 1312 becomes larger after it opens, the contact area between the pull bar 1312 and the drug cartridge is larger, which can better wrap the drug cartridge and avoid excessive local pressure on the surface of the drug cartridge.

[0042] The receiving and placement assembly includes a second electric lifting rod 14 fixedly mounted on the vehicle frame 1, a mounting plate 15 fixedly mounted on the second electric lifting rod 14, and a spiral wire reel 16 rotatably connected to the center of the mounting plate 15. The spiral wire reel 16 has spiral wire grooves engraved on it. A gear ring 17 is connected to the outer wall of the spiral wire reel 16. A fourth motor 18 is connected to the spiral wire reel 16. A gear 19 that meshes with the gear ring 17 is connected to the output shaft of the fourth motor 18. A sliding frame 20 is connected to the spiral coil 16. A sliding plate 21 is slidably connected inside the sliding frame 20, and the sliding plate 21 engages with the spiral coil 16 through the spiral groove. A side plate 22 is connected to the end of the sliding plate 21. An inclined rotating plate 23 is connected to the lower end of the side plate 22. The rotating plate 23 is made of deformable material. An extension plate 24 is connected to the end of the rotating plate 23. An anti-detachment strip 25 is connected between adjacent side plates 22. The anti-detachment strip 25 is made of rubber.

[0043] When the gripping component 13 places the medication cartridge between the multiple side plates 22, the rotating plates 23 at the bottom of the multiple side plates 22 will receive the medication cartridge. The anti-dislodgement strip 25 is made of plasticized and elastic rubber. The anti-dislodgement strip 25 prevents the medication cartridge from leaking out from the gaps between the side plates 22. The user can control the fourth motor 18 to drive the gear 19 to rotate. The rotating gear 19 drives the spiral coil 16 to rotate through the gear ring 17. The spiral coil 16 drives the interlocking slide plate 21 to slide inside the slide frame 20. The spacing of the side plates 22 can be adjusted by sliding the slide plate 21. 2. Securely clamp the explosive charge, then control the second electric lifting rod 14 to descend, extending the rotating plate 23 into the blast hole. When the rotating plate 23 passes the discharge hole 26, the rotating plate 23 contacts the frame 1. The frame 1 forces the end of the rotating plate 23 near the extension plate 24 to rotate. The rotating end of the rotating plate 23 rotates outward from the bottom of the explosive charge. After losing the support of the rotating plate 23, the explosive charge slides downward and gradually slides into the blast hole, completing the placement of the explosive charge. At this time, the side of the extension plate 24 is still in contact with the inner wall of the discharge hole 26 of the frame 1. It is only necessary to extend the second electric lifting rod 14 to drive the rotating plate 23 to reset.

[0044] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A charging robot for bench blasting in open-pit mines, characterized in that, include: The frame (1) is equipped with a control unit (2) and a loading box (3), and a medicine dispensing hole (26) is provided in the middle of the frame (1). A transfer frame is mounted on the vehicle frame (1), and a first electric lifting rod (12) is mounted on the transfer frame. The gripping assembly (13) is located at the telescopic end of the first electric lifting rod (12), including a third motor (131) connected to the first electric lifting rod (12), a worm gear (132) fixedly installed on the rotating shaft of the third motor (131), and a worm wheel (133) rotatably connected to the third motor (131) through a clamping plate. The worm gear (132) meshes with the worm wheel (133), and a rotating rod (134) is connected to the worm wheel (133). A pressure-relieving component is provided at the end of the rotating rod (134). A receiving and placement component is provided on the frame (1) for receiving the drug cartridges transferred by the gripping component (13); A camera (27) is mounted on the frame (1).

2. The charging robot for open-pit mine bench blasting according to claim 1, characterized in that, The pressure-relieving component includes a mounting rod (135) connected to the end of the rotating rod (134) and two hinge rods (136) respectively hinged to the end of the mounting rod (135). The end of the hinge rod (136) is hinged to an inner rod (137). The end of the inner rod (137) is fitted with an outer sleeve (138). The outer sleeve (138) is provided with a first spring (139) fitted on the inner rod (137). A telescopic cylinder (1310) is connected between the mounting rod (135) and the outer sleeve (138). A second spring (1311) is fitted on the telescopic cylinder (1310). A pull bar (1312) is connected to the inner rod (137).

3. The charging robot for open-pit mine bench blasting according to claim 2, characterized in that, One end of the first spring (139) abuts against the inner wall of the outer sleeve (138), and the other end abuts against the side wall of the inner rod (137). One end of the second spring (1311) abuts against the side wall of the mounting rod (135), and the other end abuts against the side wall of the outer sleeve (138).

4. The charging robot for open-pit mine bench blasting according to claim 2, characterized in that, The pull bar (1312) is made of deformable rubber material.

5. The charging robot for open-pit mine bench blasting according to claim 1, characterized in that, The receiving and placement assembly includes a second electric lifting rod (14) fixedly mounted on the frame (1), a mounting plate (15) fixedly mounted on the second electric lifting rod (14), and a spiral wire reel (16) rotatably connected to the middle of the mounting plate (15). The spiral wire reel (16) is engraved with spiral wire grooves, and a toothed ring (17) is connected to the outer wall of the spiral wire reel (16). A fourth motor (18) is connected to the spiral wire reel (16). The output shaft is connected to a gear (19) that meshes with the gear ring (17). The spiral coil (16) is connected to a slide frame (20). The slide frame (20) is slidably connected to a slide plate (21). The slide plate (21) meshes with the spiral coil (16) through the spiral groove. The end of the slide plate (21) is connected to a side plate (22). The lower end of the side plate (22) is connected to an inclined rotating plate (23). The rotating plate (23) is made of deformable material.

6. The charging robot for open-pit mine bench blasting according to claim 5, characterized in that, An extension plate (24) is connected to the end of the rotating plate (23).

7. The charging robot for open-pit mine bench blasting according to claim 5, characterized in that, An anti-slip strip (25) is connected between adjacent side panels (22), and the anti-slip strip (25) is made of rubber.

8. The charging robot for open-pit mine bench blasting according to claim 1, characterized in that, The transfer frame includes a mounting frame (4) fixedly mounted on the vehicle frame (1). A first lead screw (5) is rotatably connected to the mounting frame (4). A first motor (6) with an output shaft connected to the first lead screw (5) is connected to the mounting frame (4). A slider (7) is threadedly connected to the first lead screw (5). A second motor (8) is connected to the slider (7). A second lead screw (9) is rotatably connected to the slider (7). An anti-rotation rod (10) is also connected to the slider (7) and arranged parallel to the second lead screw (9). A movable disk (11) is threadedly connected to the second lead screw (9), and the movable disk (11) is slidably connected to the anti-rotation rod (10). A first electric lifting rod (12) is connected to the movable disk (11).

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