Mine blasting robot

Abstract

The mine blasting robot comprises a base, a camera support and an installation platform are installed on the upper end face of the base, and a chassis base is installed on the lower end face of the base. A depth camera is installed on the front end face of the camera support. A grabbing mechanism is fixedly mounted at the front end of the mounting platform, a detonator is arranged in the middle, and a laser radar and a control mechanism are mounted at the rear end; explosive is placed in the detonator. The chassis base comprises a chassis support, the front end of the chassis support is connected with the front cross beam, the rear end of the chassis support is connected with the rear cross beam, wheel mechanisms are installed at the four corners of the chassis support, and each wheel mechanism is connected with the chassis support through a damping rotating mechanism; the control mechanism is used for judging whether a target position is reached or not according to an image shot by the depth camera and information acquired by the laser radar, and controlling the grabbing mechanism to grab the detonator after determining that the target position is reached; and the control module is used for controlling the damping rotating mechanism according to an image shot by the depth camera, so that the chassis base is lifted or lowered.

Description

Technical Field

[0001] The utility model relates to the field of mechanical engineering, and particularly relates to a mine blasting robot. Background Art

[0002] Mine blasting is one of the common operations in mine exploitation. Blasting is a technology that uses the compression, loosening, destruction, throwing and killing effects generated by the explosion of explosives in air, water, soil-rock medium or objects to achieve the expected purpose. It includes the phenomena of compression, deformation, destruction, loosening and throwing of the soil-rock medium or structure when the charge or explosive charge explodes in the soil-rock medium or structure, and is mainly used for earthwork projects, as well as the demolition of metal buildings and structures, etc.

[0003] Traditional mine blasting operations mainly rely on manual labor. For example, workers use a measuring rod to measure the depth of the blast hole, calculate the amount of explosive charge according to the rock and soil strength data recorded during drilling, and then charge the blast hole, that is, put the explosive package. This method has safety risks and low operation efficiency. Content of the Utility Model

[0004] The technical problem to be solved by the utility model is to provide a mine blasting robot that can safely and smoothly perform blasting operations automatically at the mine blasting site.

[0005] To solve the above problems, the technical solutions adopted by the utility model are as follows:

[0006] A mine blasting robot, which includes a base. A camera bracket and an installation platform are installed on the upper end surface of the base, and a chassis seat is installed on the lower end surface.

[0007] Among them, a depth camera is installed on the front end surface of the camera bracket; a grasping mechanism is fixedly installed at the front end of the installation platform, a detonator is arranged in the middle, and a lidar and a control mechanism are installed at the rear end; explosives are placed in the detonator.

[0008] The chassis seat includes a chassis bracket. The front end of the chassis bracket is connected to the front cross beam, and the rear end is connected to the rear cross beam. Wheel mechanisms are installed at the four corners of the chassis bracket, and each wheel mechanism is connected to the chassis bracket through a shock-absorbing rotation mechanism.

[0009] The control mechanism is used to judge whether the target position is reached according to the image captured by the depth camera and the information obtained by the lidar, and control the grasping mechanism to grasp the detonator after determining that the target position is reached; and, it is used to control the shock-absorbing rotation mechanism according to the image captured by the depth camera to raise or lower the chassis seat.

[0010] As an implementation manner of the utility model, the wheel mechanism includes a wheel and a motor. Among them, the outer shell of the motor is fixedly connected to one side of the hub of the wheel, and the output shaft of the motor is connected to the central hole of the hub, which is used to drive the hub to rotate when rotating.

[0011] As an implementation manner of the utility model, the shock-absorbing rotation mechanism includes: a shock-absorbing rotating member and a rotation control member;

[0012] The shock-absorbing rotating member includes a spring member, a suspension shock-absorbing sleeve, a first roller connection group, a roller, and a second roller connection group connected in sequence. Among them, both ends of the spring member are fixedly connected to the chassis bracket and the suspension shock-absorbing sleeve respectively. The suspension shock-absorbing sleeve is sleeved on the outer wall of the motor. The first roller connection group is connected to the suspension shock-absorbing sleeve, and the second roller connection group is connected to the chassis seat;

[0013] The rotation control member includes a telescopic cylinder, and both ends of the telescopic cylinder are connected to the chassis seat and the motor respectively.

[0014] As an implementation manner of the utility model, connection shafts are provided at both ends of the front cross beam and the rear cross beam, and each connection shaft is located between the chassis bracket and the corresponding wheel;

[0015] Relatively arranged first and second tripods are fixedly provided on the outer wall of the motor, and both the first and second tripods are located outside the corresponding suspension shock-absorbing sleeve. One end of the cylinder is installed on the connection shaft, and the other end is installed on the first and second tripods.

[0016] As an implementation manner of the utility model, the first roller connection group includes relatively arranged first and second roller connection pieces; the second roller connection group includes relatively arranged third and fourth roller connection pieces;

[0017] One end of each of the first and second roller connection pieces is provided on the suspension shock-absorbing sleeve, and the other end is connected to the outer wall of the roller;

[0018] One end of the third roller connection piece is installed on the connection shaft, and a first hinge hole is provided at the other end; one end of the fourth roller connection piece is fixedly installed on the front cross beam or the rear cross beam, and a second hinge hole is provided at the other end;

[0019] The roller passes through the first hinge hole and the second hinge hole in sequence.

[0020] As an implementation manner of the utility model, the spring member includes: a spring upper cover and a spring;

[0021] Among them, the upper spring cover is installed on the lower end face of the chassis bracket, and the lower end face of the upper spring cover is connected to the upper end of the spring, and the lower end of the spring is fixedly installed on the suspension shock-absorbing sleeve.

[0022] As an implementation manner of the utility model, the grasping mechanism includes a five-degree-of-freedom robotic arm installed at the front end of the installation platform, and a robotic claw is installed at the top of the five-degree-of-freedom robotic arm.

[0023] As an implementation manner of the utility model, the control mechanism is an industrial control computer, and the industrial control computer is arranged at the rear end of the installation platform through an industrial control computer mounting bracket. A touch screen is arranged on the housing of the industrial control computer, and a control module is arranged inside the housing.

[0024] As an implementation manner of the utility model, a radar bracket is fixedly installed at the rear end of the installation platform, a lidar is fixedly installed at the upper end of the radar bracket, and a battery is arranged below the radar bracket.

[0025] The beneficial effects produced by adopting the above technical solutions are as follows:

[0026] The mine blasting robot provided by the embodiment of the utility model is applicable to mine blasting operations. During blasting operations, the depth camera completes the recognition and positioning of the target holes, provides the target points for the navigation of the robot, and at the same time provides the three-dimensional coordinate information of the target points for the subsequent tasks of the robotic arm. Combining the terrain information fed back by the lidar, the robot completes the mapping of the working environment, its own positioning, and the execution of the task of navigating to install detonators. After the robot body moves to near the target hole, the robotic arm grabs the detonator and puts it into the hole. There is explosive in the detonator, and the blasting task can be realized, and its safety is high;

[0027] In addition, during the traveling process, the control mechanism can control the shock-absorbing rotating mechanism to raise or lower the base to adapt to different terrains. For example, when encountering a complex road surface with uneven height at the mine blasting site, the chassis base can be controlled to be raised; when the road is flat, the base is lowered to increase the traveling speed. Its traveling ability, obstacle-crossing ability are strong and the working range is large, and it can automatically perform blasting operations safely and smoothly at the mine blasting site. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of the overall structure of a mine blasting robot in an embodiment of the utility model;

[0029] Figure 2 is a schematic diagram of the structure of a chassis base in an embodiment of the utility model;

[0030] Figure 3 is a schematic diagram of the structure of a wheel mechanism in an embodiment of the utility model;

[0031] Figure 4 Schematic diagram of the bottom structure of a mine blasting robot in an embodiment of the present invention;

[0032] Figure 5 Schematic diagram of the inner structure of the left front wheel of a mine blasting robot in an embodiment of the present invention;

[0033] Figure 6 Schematic diagram of the outer structure of the left front wheel of a mine blasting robot in an embodiment of the present invention.

[0034] Wherein: 100, base; 110, mounting platform; 120, camera bracket; 130, robotic arm; 140, robotic claw; 111, detonator box; 112, detonator; 113, battery; 114, radar bracket; 115, lidar; 116, industrial computer mounting bracket; 117, control mechanism; 200, chassis base; 201, chassis bracket; 202, front crossbeam; 203, rear crossbeam; 204, connecting shaft; 207, first tripod; 208, second tripod;

[0035] 300, wheel mechanism; 301, front wheel; 302, motor;

[0036] 400, shock-absorbing rotating mechanism, 401, spring component; 401-1, spring upper cover; 401-2, spring; 402, suspension shock-absorbing sleeve; 403, first roller connection group; 403-1, first roller connection piece; 403-2, second roller connection piece; 404, roller; 405, second roller connection group; 405-1, third roller connection piece; 405-2, fourth roller connection piece; 406, telescopic cylinder. Detailed implementation manners

[0037] To make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be clearly and completely described below in conjunction with specific embodiments.

[0038] An embodiment of the present invention provides a mine blasting robot, as Figures 1 - 4 shown, which includes a base 100, and a camera bracket 120 and a mounting platform 110 are installed on the upper end surface of the base 100, and a chassis base 200 is installed on the lower end surface;

[0039] Wherein, a depth camera is installed on the front end surface of the camera bracket 120; a grasping mechanism is fixedly installed at the front end of the mounting platform 110, detonators 112 (explosives are placed inside the detonators) are arranged in the middle, and a lidar 115 and a control mechanism 117 are installed at the rear end; as Figure 1As shown in the figure, a detonator box 111 is fixedly installed in the middle end of the installation platform 110, and detonators 112 are placed in the detonator box 111 (the number of detonators 112 can be any value that meets the requirements. Exemplarily, it is set to 6); a radar bracket 114 is fixedly installed at the rear end of the installation platform 110, and the lidar 115 is fixedly installed at the upper end of the radar bracket 114, and a battery 113 is arranged below the radar bracket 114; the grasping mechanism includes a five-degree-of-freedom robotic arm 130 installed at the front end of the installation platform 110, and a mechanical claw 140 is installed at the top of the five-degree-of-freedom robotic arm;

[0040] As Figure 2 shown, the chassis base 200 includes a chassis bracket 201, the front end of the chassis bracket 201 is connected to the front cross beam 202, and the rear end is connected to the rear cross beam 203. As Figure 1 shown, wheel mechanisms 300 are installed at the four corners of the chassis bracket 201, and each wheel mechanism 300 is connected to the chassis bracket 201 through a shock-absorbing rotation mechanism 400;

[0041] The control mechanism 117 is used to judge whether the target position is reached according to the image captured by the depth camera and the information obtained by the lidar 115, and control the grasping mechanism to grasp the detonator 112 after determining that the target position is reached; and, it is used to control the shock-absorbing rotation mechanism 400 according to the image captured by the depth camera, so that the chassis base 200 is raised or lowered.

[0042] The mine blasting robot provided by the embodiment of the present invention is applicable to mine blasting operations. During blasting operations, the depth camera completes the recognition and positioning of the target hole, provides the target point for the robot's navigation, and at the same time provides the three-dimensional coordinate information of the target point for the subsequent tasks of the robotic arm. Combining the terrain information fed back by the lidar 115, the robot completes the mapping of the working environment, its own positioning, and the navigation task of installing the detonator 112. After the robot body moves to near the target hole, the robotic arm grabs the detonator 112 and puts it into the hole. Explosives are placed in the detonator, and the blasting task can be realized, and its safety is high.

[0043] In addition, during the traveling process, the control mechanism 117 can control the shock-absorbing rotation mechanism 400 according to the image captured by the depth camera to raise or lower the chassis bracket 201 to adapt to different terrains. For example, when encountering a complex road surface with uneven height at the mine blasting site, the chassis base 200 can be controlled to be raised; when the road is flat, the chassis is lowered to increase the walking speed.

[0044] In a possible implementation manner, as Figure 1As shown, the control mechanism 117 is an industrial control computer, which is arranged at the rear end of the installation platform 110 through the industrial control computer mounting bracket 116. A touch screen is arranged on the shell of the industrial control computer, and a control module is arranged inside the shell. Staff can input parameters through the touch screen, and display images or working parameter information through the touch screen; the control module is used to control the grabbing mechanism to grab the detonator 112, and to raise or lower the chassis seat 200.

[0045] Next, the present invention further describes the structure of the shock-absorbing rotating mechanism 400.

[0046] First, the structure of the wheel mechanism 300 will be described. In a possible implementation manner, as Figure 3 shown, the wheel mechanism 300 includes a wheel 301 and a motor 302. Among them, the outer shell of the motor 302 is fixedly connected to one side of the hub of the wheel, and the output shaft of the motor 302 is connected to the central hole of the hub, and it is used to drive the hub to rotate when rotating.

[0047] The shock-absorbing rotating mechanism 400 includes: a shock-absorbing rotating member and a rotation control member;

[0048] As Figure 4 and Figure 5 shown, the shock-absorbing rotating member includes a spring member 401, a suspension shock-absorbing sleeve 402, a first roller connection group 403, a roller 404, and a second roller connection group 405 connected in sequence. Among them, both ends of the spring member 401 are fixedly connected to the chassis bracket 201 and the suspension shock-absorbing sleeve 402 respectively. The suspension shock-absorbing sleeve 402 is sleeved and fixed on the outer wall of the motor 302. The first roller connection group 403 is connected to the suspension shock-absorbing sleeve 402, and the second roller connection group 405 is connected to the chassis seat 200; and the connection point of the second roller connection group 405 and the chassis seat 200 (such as Figure 2 point A in) is located below the connection point of the spring member 401 and the chassis bracket 201 (such as Figure 2 point B in);

[0049] In a possible implementation manner, as Figure 5 shown, the spring member 401 includes: a spring upper cover 401-1 and a spring 401-2; among them, the spring upper cover 401-1 is installed on the lower end surface of the chassis bracket 201, and the lower end surface of the spring upper cover 401-1 is connected to the upper end of the spring 401-2, and the lower end of the spring 401-2 is fixedly installed on the suspension shock-absorbing sleeve 402.

[0050] As Figures 4 - 6As shown, the rotation control member includes a telescopic air cylinder 406, and both ends of the telescopic air cylinder 406 are respectively connected to the chassis base 200 and the motor 302.

[0051] Further, as Figure 2 and Figure 6 shown, connecting shafts 204 are provided at both ends of the front cross beam 202 and the rear cross beam 203, and each connecting shaft is located between the chassis bracket 201 and the corresponding wheel; as Figure 6 shown, the connecting shaft of the left front wheel is located between the chassis bracket 201 and the left front wheel;

[0052] As shown in the figure, a first tripod 207 and a second tripod 208 which are oppositely arranged are fixedly provided on the outer wall of the motor 302, and both the first tripod 207 and the second tripod 208 are located outside the corresponding suspension shock absorption sleeve 402. One end of the telescopic air cylinder 406 is installed on the connecting shaft 204 (that is, connected to the chassis base 200 through the connecting shaft 204), and the other end is installed between the first tripod 207 and the second tripod 208.

[0053] The telescopic air cylinder 406 is used to drive the motor 302 to rotate when extending or shortening, and the motor 302 is used to drive the suspension shock absorption sleeve 402 to rotate when rotating, so that the spring 401-2 extends or contracts while driving the chassis bracket 201 to rise or fall.

[0054] Regarding the structure of the first drum connection group 403 and the second drum connection group 405, in a possible implementation manner, as Figure 5 shown, the first drum connection group 403 includes a first drum connection piece 403-1 and a second drum connection piece 403-2 which are oppositely arranged; the second drum connection group 405 includes a third drum connection piece 405-1 and a fourth drum connection piece 405-2 which are oppositely arranged;

[0055] One ends of the first drum connection piece 403-1 and the second drum connection piece 403-2 are both arranged on the suspension shock absorption sleeve 402, and the other ends are both connected to the outer wall of the drum 404;

[0056] One end of the third drum connection piece 405-1 is installed on the connecting shaft 204, and the other end is provided with a first hinge hole; one end of the fourth drum connection piece 405-2 is fixedly installed on the front cross beam 202 or the rear cross beam 203, and the other end is provided with a second hinge hole;

[0057] The drum 404 sequentially passes through the first hinge hole and the second hinge hole.

[0058] For the mine blasting robot provided by the embodiment of the present utility model, when encountering a complex road surface with uneven height at the mine blasting site, the piston rod of the telescopic cylinder 406 is elongated, the first roller connecting piece 403-1 and the second roller connecting piece 403-2 rotate around the roller 404 as the central axis, the third roller connecting piece 405-1 and the fourth roller connecting piece 405-2 rotate around the roller 404 as the central axis, the spring 401-2 is elongated, and the lifting base 100 is raised to facilitate walking. When the road is flat, the chassis is lowered to increase the walking speed. In addition, the spring 401-2 can also buffer and shock-absorb when the robot is walking.

Claims

1. A mine blasting robot, characterized in that, It includes a base, on the upper end face of which a camera support and a mounting platform are installed, and on the lower end face of which a chassis base is installed; Among them, a depth camera is installed on the front end face of the camera support; a grasping mechanism is fixedly installed at the front end of the mounting platform, detonators are arranged in the middle, and a lidar and a control mechanism are installed at the rear end; explosives are placed in the detonators; The chassis base includes a chassis support, the front end of the chassis support is connected to the front cross beam, the rear end is connected to the rear cross beam, and wheel mechanisms are installed at the four corners of the chassis support, and each wheel mechanism is connected to the chassis support through a shock-absorbing rotating mechanism; The control mechanism is used to judge whether the target position is reached according to the image captured by the depth camera and the information obtained by the lidar, and control the grasping mechanism to grasp the detonator after determining that the target position is reached; and, to control the shock-absorbing rotating mechanism according to the image captured by the depth camera, so that the chassis base is raised or lowered.

2. The mine blasting robot according to claim 1, wherein The wheel mechanism includes a wheel and a motor. Among them, the outer shell of the motor is fixedly connected to one side of the hub of the wheel, and the output shaft of the motor is connected to the central hole of the hub, and it is used to drive the hub to rotate when rotating.

3. The mine blasting robot according to claim 2, characterized in that, The shock-absorbing rotating mechanism includes: a shock-absorbing rotating part and a rotation control part; The shock-absorbing rotating part includes a spring component, a suspension shock-absorbing sleeve, a first roller connection group, a roller and a second roller connection group connected in sequence. Among them, the two ends of the spring component are respectively fixedly connected to the chassis support and the suspension shock-absorbing sleeve, the suspension shock-absorbing sleeve is sleeved on the outer wall of the motor, the first roller connection group is connected to the suspension shock-absorbing sleeve, and the second roller connection group is connected to the chassis base; The rotation control part includes a telescopic cylinder, and the two ends of the telescopic cylinder are respectively connected to the chassis base and the motor.

4. The mine blasting robot according to claim 3, wherein, Connection shafts are arranged at both ends of the front cross beam and the rear cross beam, and each connection shaft is located between the chassis support and the corresponding wheel; Relatively arranged first and second tripods are fixedly arranged on the outer wall of the motor, and both the first and second tripods are located outside the corresponding suspension shock-absorbing sleeve. One end of the cylinder is installed on the connection shaft, and the other end is installed on the first and second tripods.

5. The mine blasting robot according to claim 4, characterized in that, The first roller connection group includes relatively arranged first and second roller connection pieces; the second roller connection group includes relatively arranged third and fourth roller connection pieces; One ends of the first roller connection piece and the second roller connection piece are both arranged on the suspension shock-absorbing sleeve, and the other ends are both connected to the outer wall of the roller; One end of the third roller connection piece is installed on the connection shaft, and the other end is provided with a first hinge hole; one end of the fourth roller connection piece is fixedly installed on the front cross beam or the rear cross beam, and the other end is provided with a second hinge hole; The roller passes through the first hinge hole and the second hinge hole in sequence.

6. The mine blasting robot according to claim 3, characterized in that, The spring component includes: a spring upper cover and a spring; Among them, the upper spring cover is installed on the lower end face of the chassis bracket, and the lower end face of the upper spring cover is connected to the upper end of the spring, and the lower end of the spring is fixedly installed on the suspension shock-absorbing sleeve.

7. A mine blasting robot according to claim 1, characterized in that, The grasping mechanism includes a five-degree-of-freedom robotic arm installed at the front end of the installation platform, and a robotic claw is installed at the top of the five-degree-of-freedom robotic arm.

8. A mine blasting robot according to claim 1, characterized in that, The control mechanism is an industrial computer, and the industrial computer is arranged at the rear end of the installation platform through an industrial computer mounting bracket. A touch screen is arranged on the shell of the industrial computer, and a control module is arranged inside the shell.

9. The mine blasting robot according to claim 1, characterized in that, A radar bracket is fixedly installed at the rear end of the installation platform, the lidar is fixedly installed at the upper end of the radar bracket, and a battery is arranged below the radar bracket.

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