Large strip mine detonating bomb carrying and automatic conveying device

Abstract

The utility model provides a large strip mine detonating bomb carrying and automatic conveying device, and belongs to the technical field of detonating bomb carrying. The problems that in the prior art, the initial state of a detonating bomb is uncertain, a grabbing device needs to recognize the position and state of the detonating bomb at first, then the direction of a clamping jaw is adjusted through the freedom degree of the grabbing device to clamp the detonating bomb, and consequently the complexity of the grabbing device is high are solved. The device comprises a material box and a push-out mechanism arranged at a material outlet of the material box. The detonating bomb in the material box automatically falls into the push-out mechanism, the push-out mechanism comprises a storage area and a push-out power source, the storage area is U-shaped, a top opening of the storage area corresponds to a discharging port of the material box, the position and posture of the detonating bomb are fixed after the detonating bomb falls into the storage area, a front opening of the storage area corresponds to a clamping area of the mechanical arm, and a rear opening of the storage area serves as the push-out power source. In the pushing-out and clamping process, the mechanical arm does not need complex positioning precision, rich freedom degrees and posture control, and the mechanical arm has the advantages of being reliable in operation and refined in structure.

Description

Technical Field

[0001] The utility model belongs to the technical field of explosive bomb carrying, in particular to an explosive bomb carrying and automatic conveying device for large open-pit mines. Background Art

[0002] Open-pit mines are usually mined using drilling and blasting techniques. The process includes drilling blastholes, filling them with powder, and placing explosive bombs. The explosive bombs are connected to detonators, and the wire at the tail of the detonator serves as the detonation control wire. Due to the large area of ​​open-pit mines, a large number of detonation points need to be arranged during the mining process.

[0003] In the prior art, after the blasthole drilling is completed, explosive bombs and detonators are generally carried to each blasthole for installation by humans. However, open-pit mines have a large area, a large number of blastholes, and a relatively harsh environment, so mechanized operations are gradually being carried out. In mechanized operations, the mechanical device needs to complete steps such as grabbing the explosive bomb, loading the detonator into the explosive bomb, and placing the explosive bomb and detonator into the blasthole. These steps increase the complexity of the mechanical device for grabbing the explosive bomb. In particular, in the step of grabbing the explosive bomb, the initial state of the explosive bomb is uncertain, and the grabbing device needs to first identify the position and state of the explosive bomb, and then use its own degree of freedom to adjust the direction of the clamp to clamp the explosive bomb. Utility Model Content

[0004] In view of the shortcomings of the prior art mentioned above, the purpose of the utility model is to provide a large-scale open-pit mine explosive bomb carrying and automatic conveying device, which is used to solve the problem in the prior art that the initial state of the explosive bomb is uncertain, and the grasping device needs to first identify the position and state of the explosive bomb, and then use its own freedom to adjust the direction of the clamp to clamp the explosive bomb, resulting in high complexity of the grasping device.

[0005] In order to achieve the above-mentioned purpose and other related purposes, the utility model provides a large-scale open-pit mine explosive bomb carrying and automatic conveying device, which is used to input the explosive bomb into the clamping area of ​​the mechanical arm, including a material box and a pushing mechanism provided at the material box outlet;

[0006] The explosive bomb in the material box automatically falls into the ejection mechanism, which includes a storage area and an ejection power source. The storage area is "U"-shaped, and the top opening of the storage area corresponds to the material box discharge port, the front opening of the storage area corresponds to the clamping area of ​​the robot arm, and the rear opening is the ejection power source.

[0007] Optionally, the ejection power source comprises a body and an ejection shaft, and the ejection shaft can be retracted into the body or extended to the storage area.

[0008] Optionally, a limiting area matching the shape of the explosive bomb is provided at the bottom of the storage area.

[0009] Optionally, the bottom shape of the ejection shaft matches the shape of the limiting area.

[0010] Optionally, a protrusion is provided on the upper side of the end of the ejection shaft, and the inner ring wall surface of the protrusion is a conical guide surface.

[0011] Optionally, the rear side of the protrusion and the body are wrapped by a telescopic bag.

[0012] Optionally, the material box includes a shell and a guide plate arranged in the shell, the guide plate is inclined relative to a horizontal plane, and the upper and lower adjacent guide plates divide the interior of the shell into a path for the explosive bomb to pass through.

[0013] Optionally, a limit plate is provided at the discharge port of the material box, and the limit plate is provided above the storage area of ​​the ejection mechanism. When the ejection shaft is located in the storage area, the space above the ejection shaft and the limit plate can only accommodate one layer of detonating bombs.

[0014] Optionally, it is characterized in that a buffer pad is provided at the end of the ejection shaft.

[0015] Optionally, the ejection mechanism includes two ejection stations.

[0016] As described above, the large-scale open-pit mine detonating bomb carrying and automatic conveying device of the utility model has at least the following beneficial effects:

[0017] The complexity of the explosive bomb clamping device can be simplified, and when the explosive bomb is clamped, there is no need to identify the position and state of the explosive bomb, and there is no need for the clamping device to perform complex posture control. Specifically, the device includes a material box and a push-out mechanism arranged at the discharge port of the material box; the explosive bomb in the material box automatically falls into the push-out mechanism, and the push-out mechanism includes a storage area and a push-out power source. The storage area is "U"-shaped, and the top opening of the storage area corresponds to the discharge port of the material box. After falling into the storage area, the position and posture of the explosive bomb are fixed, the front opening of the storage area corresponds to the clamping area of ​​the mechanical arm, and the rear opening is the push-out power source. The explosive bomb falls into the storage area, the clamping area of ​​the mechanical arm on the front side of the storage area opens, and the push-out power source on the rear side of the storage area can push the explosive bomb into the clamping area of ​​the mechanical arm, and the mechanical arm can clamp and carry the explosive bomb. In the above process, the mechanical arm does not need complex positioning accuracy, does not need rich degrees of freedom and posture control, and does not need to identify the state of the explosive bomb, and has the characteristics of reliable operation and refined structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Shown is an overall schematic diagram of the utility model.

[0019] Figure 2 Shown is a schematic diagram of the ejection mechanism of the utility model.

[0020] Figure 3 Shown is a schematic diagram of the telescopic bag of the ejection mechanism of the utility model.

[0021] Figure 4 Shown is a schematic diagram of the interior of the material box of the utility model.

[0022] Among them: material box 71, guide plate 710, limit plate 711, ejection mechanism 72, storage area 720, limit area 7201, ejection shaft 721, protrusion 7210, telescopic bag 722. DETAILED DESCRIPTION

[0023] The following is a description of the implementation of the present invention by means of specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0024] See also Figures 1 to 4 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the utility model, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects and purposes that can be achieved by the utility model, should still fall within the scope of the technical content disclosed by the utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the utility model. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the utility model without substantially changing the technical content.

[0025] The following embodiments are only for illustration purposes and can be combined with each other, and are not limited to the contents presented in the following single embodiments.

[0026] For this example, please refer to Figure 1-4 The utility model provides an embodiment of a large-scale open-pit mine explosive bomb carrying and automatic conveying device, which is used to input the explosive bomb into the clamping area of ​​the robot arm, including a material box 71 and a push-out mechanism 72 arranged at the discharge port of the material box 71; the explosive bomb in the material box 71 automatically falls into the push-out mechanism 72, and the push-out mechanism 72 includes a storage area 720 and a push-out power source. The storage area 720 is "U"-shaped, and the top opening of the storage area 720 corresponds to the discharge port of the material box 71, the front opening of the storage area 720 corresponds to the clamping area of ​​the robot arm, and the rear opening is the push-out power source.

[0027] In the above embodiment, the explosive bomb is stored in the material box 71 in advance by utilizing the cylindrical shape of the explosive bomb, and the outlet of the material box 71 corresponds to the storage area 720 of the ejection mechanism 72. After the ejection mechanism of the ejection mechanism ejects the explosive bomb in the storage area 720, it also retracts into the ejection power source body accordingly to empty the storage area 720, and the explosive bomb in the material box 71 automatically falls into the storage area 720 for the next action. The mechanical arm for receiving the explosive bomb is arranged on the outside of the storage area 720, just to receive the explosive bomb ejected by the ejection mechanism 72. The above device includes two advantages. One is to simplify manual operation to realize mechanized operation, and the other is to have low requirements on the mechanical arm, which does not require a high-precision visual recognition system, nor does it require complex freedom of movement. In general, the above device has high operation stability, simple implementation and low cost.

[0028] Furthermore, if Figure 2 The ejection power source includes a body and an ejection shaft 721, and the ejection shaft 721 can be retracted into the body or extended into the storage area 720. When it is extended, the detonating bomb in the storage area 720 can be pushed out to the robot arm and the storage area 720 can be filled at the same time. When it is retracted, the detonating bomb in the material box 71 can automatically fill the storage area 720 for the next ejection.

[0029] Furthermore, Figure 2 In the embodiment, a limiting area 7201 matching the shape of the explosive bomb is provided at the bottom of the storage area 720. By matching the shapes, the explosive bomb can be positioned more accurately. After the explosive bomb falls into the storage area 720, the end is aligned with the ejection mechanism, and the axis coincides with the clamping axis of the ejection mechanism and the mechanical arm, thereby ensuring the accuracy of the ejection and the accuracy of the clamping position and state of the mechanical arm.

[0030] Further, the bottom shape of the ejection shaft 721 matches the shape of the limiting area 7201. As a more preferred embodiment, the shapes of the ejection shaft 721, the limiting area 7201 and the detonating bomb can match each other, thereby improving the ejection effect.

[0031] For this example, please refer to Figure 3 A protrusion 7210 is provided on the upper side of the end of the push shaft 721, and the inner wall of the protrusion 7210 is a conical guide surface. When the explosive bomb falls into the storage area 720, the conical guide surface can further position and adjust the end and axis of the explosive bomb during the process of the push shaft 721 approaching and abutting against the explosive bomb, so as to ensure that the push direction and angle of the explosive bomb are accurate.

[0032] Furthermore, the rear side of the protrusion 7210 and the body are wrapped by the telescopic bag 722. The rear side of the protrusion 7210 is the ejection shaft, and its surface may have lubricating oil and other substances. When the ejection shaft is located in the storage area 720, its top will contact the next batch of explosive bombs, and the protrusion 7210 may get stuck in the explosive bomb. When the protrusion shaft is retracted, the explosive bomb is axially squeezed. Once the telescopic bag 722 is set, the explosive bomb can only be located on the upper side of the telescopic bag 722, and will not fall into the rear side of the protrusion 7210 and will not contact the ejection shaft, which can increase the protection of the explosive bomb and improve the stability and safety of the overall operation.

[0033] For this example, please refer to Figure 4 The material box 71 includes a shell and a guide plate 710 disposed in the shell. The guide plate 710 is arranged obliquely relative to the horizontal plane. The upper and lower adjacent guide plates 710 divide the interior of the shell into a rolling route for the explosive bomb to pass through. The inclination and alternating arrangement of the guide plates 710 enable the cylindrical explosive bomb to be automatically unloaded in a rolling manner without the need for external power.

[0034] Furthermore, a limiting plate 711 is provided at the discharge port of the material box 71, and the limiting plate 711 is provided above the storage area 720 of the ejection mechanism 72. When the ejection shaft 721 is located in the storage area 720, the space above the ejection shaft 721 and the limiting plate 711 can only accommodate one layer of explosive bombs. The limiting plate 711 ensures that only a single layer of explosive bombs enters the ejection area each time, thereby ensuring the stability and reliability of the ejection function.

[0035] Furthermore, a buffer pad is provided at the end of the push shaft 721. When the push shaft 721 pushes the detonating bomb, the end of the buffer pad contacts the end of the detonating bomb, and the metal or hard end surface squeezes the end of the detonating bomb, thereby improving safety.

[0036] For this example, please refer to Figure 1-4 The ejection mechanism 72 includes two ejection stations, which can eject two explosive bombs at a time. In a specific scenario, the number of explosive bombs required for a blast hole is not necessarily one. Setting two or more ejection stations can improve work efficiency and increase the application scenarios of the device.

[0037] In summary, the utility model effectively overcomes various shortcomings in the prior art, can produce beneficial technical effects, and has significant progress.

[0038] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed in the present invention shall still be covered by the claims of the present invention.

Claims

1. A large-scale open-pit mine explosive bomb carrying and automatic conveying device, used to input the explosive bomb into the clamping area of ​​the mechanical arm, characterized by: It comprises a material box (71) and a pushing mechanism (72) arranged at a material outlet of the material box (71); The explosive bomb in the material box (71) automatically falls into the ejection mechanism (72), and the ejection mechanism (72) includes a storage area (720) and an ejection power source. The storage area (720) is "U"-shaped, and the top opening of the storage area (720) corresponds to the discharge port of the material box (71), the front opening of the storage area (720) corresponds to the clamping area of ​​the robot arm, and the rear opening is the ejection power source.

2. A large-scale open-pit mine explosive bomb carrying and automatic conveying device as claimed in claim 1, characterized in that: The ejection power source comprises a body and an ejection shaft (721), and the ejection shaft (721) can be retracted into the body or extended into the storage area (720).

3. A large-scale open-pit mine explosive bomb carrying and automatic conveying device as claimed in claim 2, characterized in that: A limiting area (7201) matching the shape of the detonating bomb is provided at the bottom of the storage area (720).

4. A large-scale open-pit mine explosive bomb carrying and automatic conveying device as claimed in claim 3, characterized in that: The shape of the bottom of the ejection shaft (721) matches the shape of the limiting area (7201).

5. A large-scale open-pit mine explosive bomb carrying and automatic conveying device as claimed in claim 4, characterized in that: A protrusion (7210) is provided on the upper side of the end of the ejection shaft (721), and the inner wall surface of the protrusion (7210) is a conical guide surface.

6. A large-scale open-pit mine detonating bomb carrying and automatic conveying device as claimed in claim 5, characterized in that: The rear side of the protruding portion (7210) and the body are wrapped by a telescopic bag (722).

7. A large-scale open-pit mine explosive bomb carrying and automatic conveying device as claimed in claim 1, characterized in that: The material box (71) comprises a shell and a guide plate (710) arranged in the shell, wherein the guide plate (710) is arranged obliquely relative to a horizontal plane, and the upper and lower adjacent guide plates (710) divide the interior of the shell into a path for the explosive bomb to pass through.

8. A large-scale open-pit mine explosive bomb carrying and automatic conveying device as claimed in claim 2, characterized in that: A limiting plate (711) is provided at the discharge port of the material box (71), and the limiting plate (711) is provided above the storage area (720) of the ejection mechanism (72). When the ejection shaft (721) is located in the storage area (720), the space above the ejection shaft (721) and the limiting plate (711) can only accommodate one layer of detonating bombs.

9. A large-scale open-pit mine explosive bomb carrying and automatic conveying device as claimed in claim 8, characterized in that: A buffer pad is provided at the end of the ejection shaft (721).

10. A large-scale open-pit mine explosive bomb carrying and automatic conveying device as claimed in claim 9, characterized in that: The ejection mechanism (72) comprises two ejection stations.

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