Medicine receiving and changing device of medicine charging robot

Abstract

The utility model discloses a medicine receiving and changing device of a medicine loading robot, which comprises a U-shaped frame, a rotating frame is rotatably connected between the U-shaped frames through a rotating shaft, the tail end of the rotating shaft is connected with a rotating motor, the upper position and the lower position of the rotating frame are respectively and correspondingly provided with transfer material storage pipes, and the positions of the transfer material storage pipes at the upper position and the lower position can be replaced through rotation of the rotating frame. And one end of the transfer storage pipe on the upper path is in butt joint with the gun roller output pipeline, and the other end of the transfer storage pipe on the upper path is in butt joint with the charging pipe. According to the utility model, the strip-shaped explosive charge input from the explosive conveying pipeline connector is automatically switched to a gun roller pushing route, and is pushed to a specified position in a blasting hole through the gun roller.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent blasting blasthole charging equipment, in particular to a charging robot charging and changing device. Background Art

[0002] With the increasing requirements for building a modern economic system, the number and scale of tunnel construction are constantly developing around the world. In the process of tunnel construction, most highway, railway and other mountain tunnels are constructed by drilling and blasting due to the advantages of high construction efficiency and low cost. Drilling and blasting construction is mainly manual, and the loading and hole filling work requires manual insertion of strip-shaped explosive packs into the preset blasting holes, which consumes a lot of manpower and time, prolonging the construction period of the tunnel. At the same time, manual installation of explosive packs also threatens the safety of workers.

[0003] Therefore, it is urgent to develop a charging robot that can automatically load the required number of strip-shaped explosive packs into the blasting hole to replace manual work. In the process of developing the charging robot, the development of the charging device for the charging robot is an important part. It is necessary to switch the delivered strip-shaped explosive packs to the gun roller pushing route and push them to the designated position in the blasting hole through the gun roller. Utility Model Content

[0004] In order to solve the above technical problems, the utility model designs a medicine loading and changing device for a medicine loading robot.

[0005] The utility model adopts the following technical solutions:

[0006] A drug charging robot drug changing device comprises a U-shaped frame, a rotating frame is rotatably connected between the U-shaped frames via a rotating shaft, the end of the rotating shaft is connected to a rotating motor, and the upper and lower positions of the rotating frame are respectively provided with transfer storage tubes, and the transfer storage tubes at the upper and lower positions can be replaced by rotating the rotating frame. The lower transfer storage tube is arranged corresponding to the drug delivery pipeline connection port, and one end of the upper transfer storage tube is connected to the gun roller output pipeline, and the other end is connected to the charging tube.

[0007] Preferably, a visual window is provided on the outer side of the transfer storage tube, and an infrared sensor is provided on the U-shaped frame at the position of the visual window corresponding to the transfer storage tube of the lower path.

[0008] Preferably, a visual positioning camera is installed on the rotating frame, and the visual positioning camera can be aligned with the hole of the medicine-loading tube by rotating the rotating frame.

[0009] Preferably, the U-shaped frame comprises a bottom plate and two side plates, and the two side plates are fixedly connected to the bottom plate by screws.

[0010] Preferably, hollow grooves are respectively provided on the inner sides of the two side plates.

[0011] Preferably, the drug delivery pipeline connection port is connected to the output end of a drug delivery hose for delivering strip-shaped explosive packages.

[0012] Preferably, the rotating motor is a servo motor.

[0013] The beneficial effect of the utility model is that the utility model designs a charging robot connecting and changing device, which can automatically switch the strip-shaped explosive package input from the drug delivery pipeline connection port to the gun roller pushing route, and push it to the designated position in the blasting hole through the gun roller. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the utility model;

[0015] Figure 2 This is a structural schematic diagram of the dressing change structure in the utility model;

[0016] Figure 3 This is a front view of the dressing change structure in the utility model;

[0017] In the figure: 1. U-shaped frame, 2. rotating shaft, 3. rotating frame, 4. rotating motor, 5. adapter storage tube, 6. gun roller output pipeline, 7. charging tube, 8. infrared sensor, 9. visual positioning camera, 10. side panel, 11. bottom plate, 12. drug delivery pipeline connection port, 13. hollow groove. DETAILED DESCRIPTION

[0018] The technical solution of the present invention is further described in detail below through specific embodiments and in conjunction with the accompanying drawings:

[0019] Example: Figure 1-Figure 3 As shown, a drug charging robot drug changing device comprises a U-shaped frame 1, a rotating frame 3 is rotatably connected between the U-shaped frames via a rotating shaft 2, a rotating motor 4 is connected to the end of the rotating shaft, and adapter storage tubes 5 are respectively provided at the upper and lower positions of the rotating frame. The adapter storage tubes at the upper and lower positions can be replaced by rotating the rotating frame. The lower adapter storage tube is provided corresponding to the drug delivery pipeline connection port 12, and one end of the upper adapter storage tube is connected to the gun roller output pipeline 6, and the other end is connected to the charging tube 7.

[0020] A visual window is provided on the outer side of the transfer storage tube, and an infrared sensor 8 is provided on the U-shaped frame at the position of the visual window corresponding to the transfer storage tube of the lower path.

[0021] A visual positioning camera 9 is installed on the rotating frame. By rotating the rotating frame, the visual positioning camera can be directly facing the hole of the medicine-loading tube.

[0022] The U-shaped frame includes a bottom plate 11 and two side plates 10 , and the two side plates are fixedly connected to the bottom plate by screws.

[0023] The inner sides of the two side plates are respectively provided with hollow grooves 13. It is used to reduce the overall weight of the device and save materials.

[0024] The drug delivery pipeline connection port is connected to the output end of the drug delivery hose for outputting the strip explosive package. The rotating motor adopts a servo motor, which is convenient for accurately controlling the rotation of the rotating frame.

[0025] When the charging robot is connected to the charge changing device, the drug delivery hose outputs the strip-shaped explosive package to the lower transfer storage tube. After the infrared sensor senses it, the rotary motor starts, driving the rotating frame to rotate, completing the position replacement of the upper and lower transfer storage tubes, so that the transfer storage tube with the strip-shaped explosive package is aligned with the gun roller output pipeline and the charging tube, and then the strip-shaped explosive package is pushed through the gun roller to the output charging tube to the designated position in the corresponding blasting borehole. At the same time, the lower transfer storage tube continues to input the strip-shaped explosive package through the drug delivery hose, and after the gun roller returns to its position, it continues to be replaced to the upper transfer storage tube, and so on, to quickly achieve the installation of the strip-shaped explosive package in the blasting borehole.

[0026] The above-described embodiment is only a preferred solution of the present invention and does not limit the present invention in any form. There are other variations and modifications without exceeding the technical solution described in the claims.

Claims

1. A medicine loading robot receiving and changing medicine device, characterized in that: It includes a U-shaped frame, a rotating frame is rotatably connected between the U-shaped frames through a rotating shaft, the end of the rotating shaft is connected to a rotating motor, and the upper and lower positions of the rotating frame are respectively provided with transfer storage pipes, and the transfer storage pipes at the upper and lower positions can be replaced by rotating the rotating frame. The lower transfer storage pipe is arranged corresponding to the connection port of the drug delivery pipeline, and one end of the upper transfer storage pipe is connected to the gun roller output pipeline, and the other end is connected to the loading pipe.

2. The medicine loading robot medicine changing device according to claim 1 is characterized in that: A visual window is provided on the outer side of the transfer storage tube, and an infrared sensor is arranged at the position of the visual window of the transfer storage tube corresponding to the lower path on the U-shaped frame.

3. The medicine loading robot medicine changing device according to claim 1 is characterized in that: A visual positioning camera is installed on the rotating frame, and the visual positioning camera can be directly facing the hole of the medicine-loading tube through the rotation of the rotating frame.

4. The medicine loading robot medicine changing device according to claim 1 is characterized in that: The U-shaped frame comprises a bottom plate and two side plates, and the two side plates are fixedly connected to the bottom plate by screws.

5. The medicine loading robot medicine changing device according to claim 4 is characterized in that: The inner sides of the two side plates are respectively provided with hollow grooves.

6. The medicine loading robot medicine changing device according to claim 1 is characterized in that: The drug delivery pipeline connection port is connected to the output end of a drug delivery hose for outputting strip-shaped explosive packages.

7. The medicine loading robot medicine changing device according to claim 1 is characterized in that: The rotating motor is a servo motor.

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