Intelligent robot for blasting charge

Abstract

This application relates to the field of intelligent blasting robots, and more particularly to an intelligent blasting loading robot. Its technical solution includes a centralizer, a detection system mounted on the bottom of the centralizer, and a traction frame. The centralizer is equipped with tracked support legs that can adaptively change aperture. The detection system is mounted on a conical mounting box via elastic connectors, which integrates a panoramic camera, a laser rangefinder, an ultrasonic transducer, a submersible level transmitter, a methane sensor, and a three-axis gyroscope. The elastic connectors employ an orthogonal double-layer slide rail structure with a reset spring, allowing the mounting box to laterally deflect and avoid obstacles. An active retraction system composed of Hall sensors and electromagnets is also provided between the centralizer and the mounting box, which can actively adjust the support force of each support leg according to the direction of the mounting box's deflection, achieving coordinated obstacle crossing.

Description

Technical Field

[0001] This invention relates to the field of intelligent blasting robots, and more particularly to an intelligent robot for blasting explosives. Background Technology

[0002] In mining, tunneling, and earthmoving blasting projects, it is necessary to drill numerous blast holes in the rock mass beforehand and fill them with explosives for blasting. The quality of these blast holes directly determines the blasting effect and construction safety. Currently, blast hole inspection mainly relies on manual visual inspection or the use of single-function instruments such as measuring tapes, water level gauges, and inclinometers to measure the holes in stages. Operators must work at close range around the hole opening, which is not only inefficient but also exposes them to multiple safety risks such as gas poisoning, collapse, and falling into the hole.

[0003] The borehole often contains obstacles such as residual rocks from the borehole, narrowed sections caused by the solidification of mud, and collapsed material from weak and broken zones. The existing probes and stabilizers are all fixed outer diameter structures, which have extremely poor passage capacity. When encountering obstacles, they are very prone to jamming or even breaking the cable. Summary of the Invention

[0004] The purpose of this application is to address the problems existing in the background technology by proposing an intelligent blasting charging robot that integrates multiple sensors and has active obstacle-crossing capabilities, fundamentally solving the problems of existing intelligent blasting charging robots that are prone to jamming, have incomplete parameter acquisition, and cannot adapt to complex hole conditions.

[0005] The technical solution of this application is: an intelligent robot for explosive loading, including a centralizer, a detection system installed at the bottom of the centralizer, a traction frame for pulling the centralizer, and a traction rope installed on the centralizer.

[0006] The straightener includes a base and multiple sets of independent support legs mounted on the base. The distance between the support legs and the base is adjustable and always bears outward expansion force.

[0007] The detection system includes a mounting box that is slidably mounted on the bottom of the base via an elastic connector. The mounting box is a tapered structure that gradually expands from bottom to top.

[0008] An active retraction system, comprising an offset detection structure installed between the mounting box and the base for detecting the offset direction of the mounting box, and an elastic force adjustment structure installed inside the support leg for controlling the magnitude of the elastic force borne by the support leg.

[0009] Optionally, the support leg includes a support plate fixedly mounted on the base, two swing arms rotatably mounted on the support plate, and a track assembly rotatably mounted on the two swing arms. A motor for driving the track assembly to rotate is mounted on the track assembly. A slider is slidably mounted on the support plate, and a connecting rod is rotatably mounted between the slider and the track assembly.

[0010] Optionally, the support leg further includes a support cylinder mounted on the support plate, a support rod slidably mounted inside the support cylinder, and a spring between the support rod and the support cylinder.

[0011] Optionally, the detection system may also include multiple laser rangefinders arranged in a circular array inside the mounting box, a three-axis gyroscope, a methane sensor, an immersion level transmitter, and an ultrasonic transducer fixedly installed inside the mounting box.

[0012] Optionally, a panoramic camera and a fill light are fixedly installed at the bottom of the mounting box, and a transparent cover is fixedly and sealed at the bottom of the mounting box, with the fill light and panoramic camera located inside the transparent cover.

[0013] Optionally, the traction frame includes a frame body and two rollers rotatably mounted on the frame body. The traction rope passes between the two rollers. A take-up motor is fixedly mounted on the frame body. The output shaft of the take-up motor is coaxially and fixedly connected to one of the rollers. An encoder is fixedly mounted on the frame body. The detection shaft of the encoder is coaxially and fixedly connected to the other roller.

[0014] Optionally, the elastic connector includes a first slide rail fixedly installed on the bottom of the base, a first slide plate slidably installed on the first slide rail, a second slide rail fixedly installed on the first slide plate, and a second slide plate slidably installed on the second slide rail. The sliding directions of the first slide plate and the first slide plate are perpendicular to each other, and the mounting box is fixedly connected to the second slide plate.

[0015] Optionally, multiple tension springs are fixedly installed between the base and the second slide plate to pull the second slide plate back to its original position.

[0016] Optionally, the offset detection structure includes a plurality of magnets arranged in a circumferential array on the top of the mounting box and a plurality of Hall sensors arranged in a circumferential array on the bottom of the base, wherein the plurality of Hall sensors surround the magnets.

[0017] Optionally, the elastic adjustment structure includes a first electromagnet fixedly installed inside the support cylinder and a second electromagnet fixedly installed on the support rod, used to control the magnitude of the repulsive force between the support cylinder and the support rod.

[0018] In summary, this application includes at least one of the following beneficial technical effects:

[0019] This application utilizes the coordinated operation of a conical mounting box and an orthogonal slide rail elastic connection structure to passively deflect and avoid obstacles encountered in the hole, transforming hard impact into sliding contact. This effectively prevents the probe from getting stuck or damaged. The offset detection structure, composed of a Hall sensor and a magnet, senses the deflection direction of the mounting box in real time and controls the excitation current of the electromagnet in the corresponding support leg. It actively adjusts the effective elastic force of the springs in each support leg, making it easy for the track assembly on the obstacle side to retract and avoid obstacles, while maintaining the support thrust on the obstacle-back side. This achieves attitude coordination between the straightener and the detection system and active obstacle crossing, significantly improving the equipment's passability and operational reliability in complex hole conditions such as reduced diameter, collapsed holes, and piled-up rocks.

[0020] Simultaneously, multiple sensors, including panoramic cameras, laser rangefinders, ultrasonic flaw detectors, water level sensors, gas detectors, and borehole inclination measurement, are integrated into the same mounting box. This allows for the simultaneous acquisition of all borehole parameters, such as borehole diameter, borehole depth, cracks, fracture zones, water accumulation depth, and combustible gas concentration, in a single borehole test. Compared to the traditional manual measurement method, the detection time is reduced from several hours to tens of minutes, significantly improving operational efficiency and eliminating safety hazards for personnel entering dangerous areas. Attached Figure Description

[0021] Figure 1 This is a structural diagram of an intelligent robot;

[0022] Figure 2 This is a schematic diagram of the traction frame structure;

[0023] Figure 3 for Figure 2 A magnified view of a section at point A in the middle;

[0024] Figure 4 This is a structural diagram of the supporting leg;

[0025] Figure 5 This is a schematic diagram of the offset detection structure;

[0026] Figure 6 This is a schematic diagram of the structure of the elastic connector;

[0027] Figure 7 for Figure 6 A magnified view of a section at point B.

[0028] Reference numerals: 1. Centralizer; 11. Base; 12. Support leg; 121. Support plate; 122. Swing arm; 123. Track assembly; 124. Slider; 125. Connecting rod; 126. Support cylinder; 127. Support rod; 128. Spring; 129. Motor; 2. Detection system; 21. Mounting box; 22. Laser rangefinder; 23. Methane sensor; 24. Submersible level transmitter; 25. Ultrasonic transducer; 2 6. Panoramic camera; 27. Fill light; 28. Transparent cover; 3. Traction frame; 31. Frame body; 32. Roller; 33. Take-up motor; 34. Encoder; 4. Traction rope; 5. Elastic connector; 51. First slide rail; 52. First slide plate; 53. Second slide rail; 54. Second slide plate; 55. Tension spring; 6. Active retraction system; 61. Magnet; 62. Hall sensor; 63. First electromagnet; 64. Second electromagnet. Detailed Implementation

[0029] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0030] Example: Figures 1 to 3 As shown, the intelligent robot for explosive loading proposed in this application includes a centralizer 1, a detection system 2 installed at the bottom of the centralizer 1, a traction frame 3 for pulling the centralizer 1, and a traction rope 4 installed on the centralizer 1. The traction frame 3 includes a frame 31 and two rollers 32 rotatably mounted on the frame 31. The traction rope 4 passes between the two rollers 32. A take-up motor 33 is fixedly installed on the frame 31. The output shaft of the take-up motor 33 is coaxially fixedly connected to one of the rollers 32. An encoder 34 is fixedly installed on the frame 31. The detection shaft of the encoder 34 is coaxially fixedly connected to the other roller 32. The traction rope 4 is a composite cable that integrates a power line, a signal transmission line, and an optical fiber, and undertakes the dual functions of powering the centralizer 1 and the detection system 2 and transmitting data bidirectionally.

[0031] When the stabilizer 1 is lowered into the hole under its own weight, it will pull the traction rope 4 to move synchronously, which will drive the two rollers 32 to rotate. Since the two rollers 32 form a clamping fit with the traction rope 4, the encoder 34 will rotate synchronously with the rollers 32. By measuring the number of pulses output by the encoder 34, the lowering length of the traction rope 4 can be accurately calculated, thereby obtaining the lowering depth of the stabilizer 1, i.e., the hole depth data. When the stabilizer 1 needs to be retrieved after the test is completed, the take-up motor 33 is powered on and drives the rollers 32 connected to it to rotate, applying a pulling force to the traction rope 4 to achieve automatic take-up.

[0032] like Figure 4As shown, in this embodiment, the centralizer 1 includes a base 11 and multiple sets of independent support legs 12 mounted on the base 11. The distance between the support legs 12 and the base 11 is adjustable and always bears an outward expansion force. Each support leg 12 includes a support plate 121 fixedly mounted on the base 11, two swing arms 122 rotatably mounted on the support plate 121, and a track assembly 123 rotatably mounted on the two swing arms 122. A drive track assembly 123 is mounted on the track assembly 123. The rotating motor 129 has a slider 124 slidably mounted on the support plate 121. A connecting rod 125 is rotatably mounted between the slider 124 and the track assembly 123. The track assembly 123 is an annular rubber track covering the drive wheel and the driven wheel. When the motor 129 drives the track to rotate, it can provide auxiliary travel power for the lowering and raising of the centralizer 1. The track assembly 123 is pressed against the borehole wall under the action of the outward expansion force, so that sufficient friction is generated between the track and the borehole wall.

[0033] When the borehole diameter changes from narrowing to widening, the track assembly 123 will shrink inward or expand outward along the radial contour of the borehole wall. This will cause the slider 124 to slide up or down along the groove on the support plate 121 via the connecting rod 125. Since the slider 124 is always subjected to a downward spring force, this spring force is converted into a driving force for the track assembly 123 to expand outward through the connecting rod 125. This ensures that the track assembly 123 can fit tightly against the borehole wall in different borehole diameter sections, thus achieving an adaptive diameter change function.

[0034] The support leg 12 also includes a support cylinder 126 mounted on the support plate 121, a support rod 127 slidably mounted in the support cylinder 126, and a spring 128 between the support rod 127 and the support cylinder 126. The spring 128 always applies a downward thrust to the support rod 127. The lower end of the support rod 127 is fixedly connected to the slider 124, thereby transmitting the elastic force of the spring 128 to the slider 124 through the support rod 127, and then acting on the track assembly 123 through the connecting rod 125, so that the track assembly 123 maintains continuous pressure on the hole wall.

[0035] like Figure 1 , Figure 2 and Figure 6 As shown, in this embodiment, the detection system 2 includes a mounting box 21 that is slidably mounted on the bottom of the base 11 via an elastic connector 5. The mounting box 21 is a tapered structure that gradually expands from bottom to top. When the straightener 1 carries the mounting box 21 downwards, if the tip or surface of the tapered structure first touches the protruding rock step, collapsed gravel, or the edge of the narrowed section in the hole, the obstacle will generate an oblique reaction force on the tapered surface. This reaction force can be decomposed into a sliding component along the tangential direction of the tapered surface, which pushes the mounting box 21 to shift to the side with a larger hole diameter to avoid the obstacle. At the same time, the inclined design of the tapered surface transforms the hard impact into a sliding contact, which greatly reduces the impact force of the collision.

[0036] The flexible connector 5 allows the mounting box 21 to deflect and laterally move relative to the base 11 to a certain extent, so that the mounting box 21 can avoid obstacles and avoid rigid jamming. The reset spring built into the flexible connector 5 will drive the mounting box 21 to automatically return to the center position after passing through the obstacle.

[0037] Specifically, the detection system 2 also includes multiple laser rangefinders 22 arranged in a circular array inside the mounting box 21, a three-axis gyroscope, a methane sensor 23, an immersion level transmitter 24, and an ultrasonic transducer 25 fixedly installed inside the mounting box 21. The multiple laser rangefinders 22 are evenly distributed around the circumference of the mounting box 21. By emitting laser beams towards the hole wall, the distance in each direction is measured. The hole diameter value at that depth can be obtained by calculation. When the hole diameter decreases or increases, the rangefinder value changes accordingly, thereby realizing continuous hole diameter detection.

[0038] The three-axis gyroscope can calculate the tilt and azimuth angles of the mounting box 21 in real time, thereby depicting the spatial trajectory of the borehole, i.e., borehole inclination data. The methane sensor 23 is used to detect the concentration of methane and combustible gas in the borehole to ensure operational safety. The submersible level transmitter 24 is based on the hydrostatic measurement principle and calculates the water depth by sensing water pressure. The ultrasonic transducer 25 can effectively identify the degree of development of cracks, fracture zones and joints inside the rock by measuring the speed change and waveform attenuation of sound waves propagating along the borehole wall.

[0039] Furthermore, a panoramic camera 26 and a supplementary light 27 are fixedly installed at the bottom of the mounting box 21. A transparent cover 28 is fixedly and sealed at the bottom of the mounting box 21. The supplementary light 27 and the panoramic camera 26 are located inside the transparent cover 28. The supplementary light 27 provides uniform illumination for the dark environment inside the hole. The transparent cover 28 can withstand the water pressure of the deep hole to prevent leakage. The panoramic camera 26 continuously captures images of the hole wall during the continuous lowering of the stabilizer 1. The images are transmitted in real time to the ground display terminal through the signal line inside the traction rope 4. The terminal software stitches the images of each frame into a hole wall unfolded diagram in depth order and displays it synchronously.

[0040] like Figures 6 to 7As shown, in this embodiment, the elastic connector 5 includes a first slide rail 51 fixedly installed at the bottom of the base 11, a first slide plate 52 slidably installed on the first slide rail 51, a second slide rail 53 fixedly installed on the first slide plate 52, and a second slide plate 54 slidably installed on the second slide rail 53. The sliding directions of the first slide plate 52 and the second slide plate 54 are perpendicular to each other. The mounting box 21 is fixedly connected to the second slide plate 54. Multiple tension springs 55 are fixedly installed between the base 11 and the second slide plate 54 for pulling the second slide plate 54 back to its original position. The first slide rail 51 and the second slide rail 53 form an orthogonal double-layer sliding mechanism, allowing the mounting box 21 to move freely in any direction in a plane perpendicular to the axis of the stabilizer 1. When the conical surface of the mounting box 21 is subjected to the lateral force of an obstacle, the lateral avoidance displacement is achieved through the corresponding sliding of the first slide plate 52 and the second slide plate 54.

[0041] The tension springs 55 are evenly distributed between the base 11 and the second slide plate 54. When the mounting box 21 is not subjected to external force, it is pulled back to the center position to ensure alignment. After passing through an obstacle, it provides a restoring force to restore the centered state.

[0042] like Figure 4 and Figure 5 As shown, in this embodiment, the intelligent robot also includes an active retraction system 6. The active retraction system 6 includes a deviation detection structure installed between the mounting box 21 and the base 11 for detecting the deviation direction of the mounting box 21, and an elastic force adjustment structure installed inside the support leg 12 for controlling the magnitude of the elastic force borne by the support leg 12. When the mounting box 21 encounters an obstacle and deflects, the deviation detection structure senses the deflection direction in real time and uploads the signal to the control terminal. After the terminal determines the location of the obstacle through an algorithm, it sends a command to the elastic force adjustment structure inside the support leg 12 in the corresponding direction to actively reduce the spring support force of the support leg 12 on that side, making it easier for the track assembly 123 on that side to retract inward to make room for obstacle avoidance. At the same time, it increases the support force of the support leg 12 on the opposite side to push the straightener 1 in the direction away from the obstacle, thereby realizing the coordinated adjustment of the attitude of the straightener 1 and the mounting box 21 and avoiding the hard back of the straightener 1 from causing increased obstruction.

[0043] Furthermore, the offset detection structure includes multiple magnets 61 arranged in a circumferential array on the top of the mounting box 21 and multiple Hall sensors 62 arranged in a circumferential array on the bottom of the base 11. The multiple Hall sensors 62 surround the magnets 61. The elastic adjustment structure includes a first electromagnet 63 fixedly installed inside the support cylinder 126 and a second electromagnet 64 fixedly installed on the support rod 127, used to control the magnitude of the repulsive force between the support cylinder 126 and the support rod 127. When the mounting box 21 shifts laterally, the multiple magnets 61 fixed to its top move synchronously with the mounting box 21, while the multiple Hall sensors 62 at the bottom of the base 11 remain stationary. The magnetic field strength detected by Hall sensor 62 changes accordingly. By comparing the differences in the output signals of each Hall sensor 62 on the circumference, the offset direction and offset amount of the mounting box 21 can be calculated. The first electromagnet 63 and the second electromagnet 64 are respectively fixed to the support cylinder 126 and the support rod 127. When the two are energized, they generate a repulsive force. The direction of the repulsive force is opposite to the direction of the elastic force of the spring 128, which is equivalent to canceling part of the spring force. By adjusting the magnitude of the excitation current of the first electromagnet 63 and the second electromagnet 64, the downward thrust on the support rod 127 can be continuously adjusted, thereby changing the pressing force of the track assembly 123 on the hole wall.

[0044] When a certain support leg 12 needs to retract to avoid an obstacle, increasing the current in the electromagnet inside that leg can reduce the effective spring force, making it easier for the track assembly 123 to retract inward, thus achieving active diameter change. Moreover, the electromagnet response speed can reach the millisecond level, which can form a fast closed-loop control with the detection signal of the Hall sensor 62.

[0045] Working principle: During operation, the centralizer 1 and the detection system 2 are suspended and lowered into the borehole by the traction rope 4. The length of the traction rope 4 is measured in real time by the encoder 34 to obtain the borehole depth data. The multiple support legs 12 of the centralizer 1 expand the track assembly 123 outward and press it against the borehole wall under the action of the spring 128. At the same time, the track assembly 123 can provide auxiliary moving power for lowering and retrieving under the drive of the motor 129.

[0046] The panoramic camera 26 and supplementary light 27 at the bottom of the mounting box 21 continuously capture 360° images of the borehole wall. The image data is transmitted to the ground display terminal in real time, allowing operators to intuitively view the borehole conditions such as cracks, fracture zones, rock blockages, and borehole collapses. The laser range sensor 22 acquires borehole diameter change data, the three-axis gyroscope measures borehole inclination, the submersible level transmitter 24 detects water depth, the methane sensor 23 monitors methane concentration, and the ultrasonic transducer 25 detects the development of internal rock cracks and fracture zones.

[0047] When the conical bottom of the mounting box 21 encounters an obstacle in the hole, the conical surface converts the impact force into a lateral sliding force, pushing the mounting box 21 to shift laterally through the orthogonal double-layer slide rail structure to avoid the obstacle. At the same time, multiple Hall sensors 62 detect changes in the position of the magnet 61 to determine the direction of the obstacle. The control system then increases the excitation current of the first electromagnet 63 and the second electromagnet 64 in the corresponding support leg 12, reduces the effective elastic force of the spring 128 on that side to make the track assembly 123 easier to retract, and reduces the current of the electromagnet on the opposite side to maintain or increase the support force on that side, pushing the centering device 1 as a whole in the direction away from the obstacle, so that the centering device 1 and the mounting box 21 coordinate their postures to achieve active obstacle avoidance and crossing. After crossing the obstacle, the tension spring 55 pulls the mounting box 21 back to center, the electromagnet current recovers to balance the elastic force of each support leg 12, and normal testing continues.

[0048] The above specific embodiments are merely several optional embodiments of the present invention. Based on the technical solutions of the present invention and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A smart robot for explosive loading, comprising a centralizer (1), a detection system (2) installed at the bottom of the centralizer (1), a traction frame (3) for pulling the centralizer (1), and a traction rope (4) installed on the centralizer (1), characterized in that: The straightener (1) includes a base (11) and multiple sets of independent support legs (12) installed on the base (11). The distance between the support legs (12) and the base (11) is adjustable and always bears outward expansion force. The detection system (2) includes a mounting box (21) that is slidably mounted on the bottom of the base (11) via an elastic connector (5). The mounting box (21) is a conical structure that gradually expands from bottom to top. The active contraction system (6) includes an offset detection structure installed between the mounting box (21) and the base (11) for detecting the offset direction of the mounting box (21) and an elastic force adjustment structure installed inside the support leg (12) for controlling the magnitude of the elastic force borne by the support leg (12).

2. The intelligent robot for blasting charge according to claim 1, characterized in that, The support leg (12) includes a support plate (121) fixedly mounted on the base (11), two swing arms (122) rotatably mounted on the support plate (121), and a track assembly (123) rotatably mounted on the two swing arms (122). A motor (129) for driving the track assembly (123) to rotate is mounted on the track assembly (123). A slider (124) is slidably mounted on the support plate (121), and a connecting rod (125) is rotatably mounted between the slider (124) and the track assembly (123).

3. The intelligent robot for explosive charging according to claim 2, characterized in that, The support leg (12) also includes a support cylinder (126) mounted on the support plate (121), a support rod (127) slidably mounted in the support cylinder (126), and a spring (128) between the support rod (127) and the support cylinder (126).

4. The intelligent robot for explosive charging according to claim 1, characterized in that, The detection system (2) also includes multiple laser rangefinders (22) arranged in a circular array inside the mounting box (21), a three-axis gyroscope, a methane sensor (23), an immersion level transmitter (24), and an ultrasonic transducer (25) fixedly installed inside the mounting box (21).

5. The intelligent robot for explosive charging according to claim 4, characterized in that, A panoramic camera (26) and a fill light (27) are fixedly installed at the bottom of the mounting box (21). A transparent cover (28) is fixedly and sealed at the bottom of the mounting box (21). The fill light (27) and the panoramic camera (26) are located inside the transparent cover (28).

6. The intelligent robot for explosive charging according to claim 1, characterized in that, The traction frame (3) includes a frame (31) and two rollers (32) rotatably mounted on the frame (31). The traction rope (4) passes between the two rollers (32). A take-up motor (33) is fixedly mounted on the frame (31). The output shaft of the take-up motor (33) is coaxially fixedly connected to one of the rollers (32). An encoder (34) is fixedly mounted on the frame (31). The detection shaft of the encoder (34) is coaxially fixedly connected to the other roller (32).

7. The intelligent robot for explosive charging according to claim 3, characterized in that, The elastic connector (5) includes a first slide rail (51) fixedly installed on the bottom of the base (11), a first slide plate (52) slidably installed on the first slide rail (51), a second slide rail (53) fixedly installed on the first slide plate (52), and a second slide plate (54) slidably installed on the second slide rail (53). The sliding directions of the first slide plate (52) and the first slide plate (52) are perpendicular to each other. The mounting box (21) is fixedly connected to the second slide plate (54).

8. The intelligent robot for explosive charging according to claim 7, characterized in that, Multiple tension springs (55) are fixedly installed between the base (11) and the second slide plate (54) for pulling the second slide plate (54) to reset.

9. The intelligent robot for explosive charging according to claim 7, characterized in that, The offset detection structure includes a plurality of magnets (61) arranged in a circumferential array on the top of the mounting box (21) and a plurality of Hall sensors (62) arranged in a circumferential array on the bottom of the base (11), wherein the plurality of Hall sensors (62) surround the magnets (61).

10. The intelligent robot for explosive charging according to claim 9, characterized in that, The elastic adjustment structure includes a first electromagnet (63) fixedly installed inside the support cylinder (126) and a second electromagnet (64) fixedly installed on the support rod (127), which are used to control the magnitude of the mutual repulsion force between the support cylinder (126) and the support rod (127).

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