Automatic charging robot for outdoor mixed charging of ammonium nitrate fuel oil explosives

Abstract

The utility model relates to the technical field of open-air blast hole explosive charging, in particular to an automatic charging robot for open-air mixed charging of ammonium nitrate fuel oil explosives. The automatic explosive loading robot comprises a movable carrier and a material box arranged on the movable carrier, and further comprises an intelligent terminal, a spiral conveyor, a discharging pipe, a signal receiving and transmitting module, a Beidou locator and a weighing sensor. The screw conveyor is arranged on the movable carrier and communicates with the material box, the discharging pipe vertically communicates with the screw conveyor, the intelligent terminal is in communication connection with the movable carrier, the screw conveyor, the signal receiving and transmitting module, the Beidou locator and the weighing sensor, and the intelligent terminal, the signal receiving and transmitting module and the Beidou locator are arranged on the movable carrier. Automatic charging of outdoor mixed ammonium nitrate fuel oil explosives can be achieved, and the precision of blast hole positioning is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of open -air blasthole explosive charging, specifically related to a kind of automatic charging robot for open -air mixed charging ammonium oil explosive. BACKGROUND

[0002] In the technical field of open -air blasthole explosive charging, ammonium oil explosive has strong hygroscopicity and caking property. When explosive contacts with water, it is easy to absorb moisture and cause explosive deterioration, affecting its explosive performance, so it is often used for dry hole charging.

[0003] The charging of open -air mixed charging ammonium oil explosive often uses artificial traction spiral charging arm tip medicine delivery tube to aim at blasthole;Or by installing positioning terminal near mixed charging vehicle spiral charging arm discharge port to realize positioning, and by artificial remote control spiral charging arm on the top of mixed charging ammonium oil explosive vehicle to aim at blasthole. In the process of mixed charging ammonium oil explosive vehicle charging, since spiral charging arm uses hydraulic control, it is difficult to accurately control the swing speed and amplitude during spiral charging arm swing and telescopic process, resulting in low accuracy of blasthole positioning. At the same time, since mixed charging ammonium oil explosive vehicle does not have detection device, currently mainly through artificial manual measurement to detect blasthole depth, water depth and hole temperature parameters. UTILITY MODEL CONTENT

[0004] The utility model solves the technical problems to provide a kind of automatic charging robot for open -air mixed charging ammonium oil explosive, it can realize the automatic charging of open -air mixed charging ammonium oil explosive, and improve the accuracy of blasthole positioning and charging quality.

[0005] To solve the above technical problems, the utility model provides the following technical solutions:

[0006] The utility model provides a kind of automatic charging robot for open -air mixed charging ammonium oil explosive, including mobile carrier and setting on the mobile carrier material box, still include: intelligent terminal, spiral conveyor, downcomer, signal transceiver module, big dipper positioner and weighing sensor;The spiral conveyor is set on mobile carrier and is communicated with material box, the downcomer is vertically communicated on spiral conveyor, the intelligent terminal is respectively with mobile carrier, spiral conveyor, signal transceiver module, big dipper positioner, weighing sensor communication connection, the intelligent terminal, signal transceiver module, big dipper positioner are set on mobile carrier.

[0007] By adopting the technical scheme, when the automatic charging robot charges the mixed ammonium nitrate fuel oil explosive, the mobile carrier can move to the blast hole based on the positioning of the Beidou locator, so that the feeding pipe is aligned with the blast hole, then the screw conveyor works and charges the mixed ammonium nitrate fuel oil explosive in the box into the blast hole, and after the automatic charging is completed, the robot moves to the next blast hole. The signal transceiver module can receive and send external signals to realize interaction with external devices, and the weighing sensor can monitor the remaining amount of the mixed ammonium nitrate fuel oil explosive in real time to ensure the remaining amount of the charging. In the above process, the automatic charging robot can realize automatic charging, avoid the problem that the accuracy of the blast hole positioning is not high, automatically calibrate the position of the mobile carrier through positioning, so that the feeding pipe can be automatically aligned with the blast hole, thereby ensuring the rapid and accurate alignment of the blast hole, and further improving the charging efficiency.

[0008] Optionally, the automatic charging robot for open mixed ammonium nitrate fuel oil explosive also comprises a blast hole detection device, which is in communication connection with the intelligent terminal and is arranged on the mobile carrier.

[0009] By adopting the technical scheme, when the mobile carrier moves to the blast hole, the control terminal can control the blast hole detection device to detect the blast hole.

[0010] Optionally, the blast hole detection device comprises a motor, a measuring rope, a float, a counterweight and a tension sensor, the motor is installed on the mobile carrier, one end of the measuring rope is connected to the driving end of the motor, the float is movably connected to the measuring rope, the counterweight is connected to the other end of the measuring rope, and the two ends of the tension sensor are respectively connected to the measuring rope, and the motor and the tension sensor are respectively in communication connection with the intelligent terminal.

[0011] By adopting the technical scheme, when the automatic charging robot measures the hole depth and water depth of the blast hole, the intelligent terminal can control the driving end of the motor to rotate, and the measuring rope, the float, the counterweight and the tension sensor are lowered into the blast hole together, and the tension sensor can continuously measure the tension of the measuring rope. At this time, the tension on the measuring rope is the weight of the float and the counterweight. When the float and the counterweight reach the water surface, the float floats on the water surface due to the buoyancy of the water, and the counterweight continues to be lowered. At this time, the tension of the measuring rope is only the weight of the counterweight, and the length of the measuring rope at this place can be recorded through the encoder on the motor to obtain the distance from the blast hole to the water surface. If there is no water, the float continues to be lowered, and when the counterweight reaches the bottom of the hole, the tension on the measuring rope is only the weight of the measuring rope, and the length of the measuring rope at this place can be recorded to obtain the hole depth. Through the measurement of the water depth, it can be determined whether the blast hole is suitable for filling the mixed ammonium nitrate fuel oil explosive, so as to avoid the influence of water accumulation on the charging, and further improve the automatic charging quality of the open mixed ammonium nitrate fuel oil explosive.

[0012] Optionally, the intelligent terminal includes a controller, a memory and a display panel, the display panel is installed on a mobile vehicle, the controller and memory are built into the display panel, and the controller is respectively communicated with the memory, display panel, mobile vehicle, screw conveyor, signal transceiver module, Beidou locator, motor, and tension sensor.

[0013] By adopting the above technical solution, the controller can control each module, the memory can store each generated data, and the display panel can display each data.

[0014] Optionally, the blasthole detection device further includes a temperature sensor disposed on the counterweight block, and the temperature sensor is communicatively connected to the controller.

[0015] By adopting the above technical solution, a temperature sensor is provided to measure the hole temperature of the blasthole.

[0016] Optionally, the automated charging robot for open-air mixed loading of ammonium nitrate explosives further includes a plurality of weighing sensors communicatively connected to the controller, wherein the weighing sensors are arranged on a mobile carrier, and the material box is arranged on the mobile carrier through the weighing sensors.

[0017] By adopting the above technical solution, the weighing sensor can weigh the remaining material in the material box, and then calculate the weight of the ammonium nitrate oil explosive currently loaded in the blast hole; at the same time, it is also convenient for re-adding the material box, thereby ensuring the continuity of the mixed ammonium nitrate oil explosive.

[0018] Optionally, the counterweight is a lead sinker.

[0019] Optionally, the temperature sensor is a thermistor temperature sensor.

[0020] In summary, the present invention has at least the following beneficial technical effects:

[0021] 1. When the automated charging robot is operating, the swing of the spiral charging arm is avoided, and the discharge tube can be quickly and accurately aligned with the blasthole through the movement of the carrier and the positioning of the Beidou locator, thereby effectively improving the accuracy of blasthole positioning.

[0022] 2. When the automated charging robot is operating, by measuring the hole depth, water depth and hole temperature of the blasthole, it can effectively determine whether the blasthole is suitable for loading mixed ammonium nitrate explosives, thereby ensuring the charging quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of the automated charging robot.

[0024] Figure 2 This is the control principle diagram of the automated charging robot.

[0025] Explanation of the accompanying symbols: 1. Smart terminal; 2. Mobile carrier; 3. Material box; 4. Screw conveyor; 5. Discharge pipe; 6. Signal transceiver module; 7. Beidou locator; 8. Weighing sensor; 9. Controller; 10. Memory; 11. Display panel; 12. Motor; 13. Tension sensor; 14. Temperature sensor. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0027] The terms used in the following embodiments of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, the singular expressions "a", "an", "said", "above", "the", and "this" are intended to include plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in the present invention refers to and includes any or all possible combinations of one or more of the listed items. The term "exemplary" means "serving as an example, embodiment, or illustration", and any embodiment described herein as "exemplary" is not necessarily to be construed as superior to or better than other embodiments. The terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or to implicitly indicate the number of the indicated technical features. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, unless otherwise specified, "multiple" means two or more.

[0028] This embodiment provides an automated charging robot for outdoor mixed charging of ammonium nitrate oil explosives.

[0029] refer to Figure 1 and Figure 2 An automated charging robot for open-air mixed loading of ammonium nitrate explosives includes: an intelligent terminal 1, a mobile carrier 2, a material box 3, a screw conveyor 4, a discharge pipe 5, a signal transceiver module 6, a Beidou locator 7, a weighing sensor 8, and a blasthole detection device.

[0030] The intelligent terminal 1, the screw conveyor 4, the signal transceiver module 6, the Beidou locator 7, the weighing sensor 8, and the blast hole detection device are all installed on the mobile carrier 2. There are multiple weighing sensors 8, and the material box 3 is installed on multiple weighing sensors 8, thereby realizing installation on the mobile carrier 1. The feed end of the screw conveyor 4 is connected to the bottom of the material box 3, and the screw conveyor 4 is horizontally arranged and oriented in the same direction as the length of the mobile carrier 2. One end of the feed pipe 5 is connected to the discharge end of the screw conveyor 4, and the other end faces the ground, and the feed pipe 5 is located directly below the mobile carrier 2. The intelligent terminal 1 is respectively communicatively connected with the mobile carrier 2, the screw conveyor 4, the signal transceiver module 6, the Beidou locator 7, the weighing sensor 8 and the blast hole detection device.

[0031] The mobile vehicle 2, as the mobile carrier of the automated charging robot, includes a power and walking mechanism and is capable of rapid movement in an open field. Since the mobile vehicle 2 is a prior art and is not the focus of the utility model of this application, the specific structure of the mobile vehicle 2 will not be described in detail in the embodiments of this application. It should be understood that the mobile vehicle 2 can be a manned mobile carrier or an unmanned mobile carrier.

[0032] The material box 3 is used for charging, the screw conveyor 4 is used to transport the mixed ammonium nitrate oil explosive in the material box 3, the feeding pipe 5 is used to achieve alignment with the blasthole, the signal transceiver module 6 is used to enable the robot to achieve communication connection with the outside, the Beidou locator 7 is used for positioning, and the weighing sensor 8 is used to monitor the remaining amount of the mixed ammonium nitrate oil explosive in the material box 3 in real time.

[0033] refer to Figure 1 and Figure 2 The intelligent terminal 1 includes a controller 9, a memory 10, and a display panel 11. The display panel 11 is mounted on the mobile vehicle 2, and the controller 9 and memory 10 are both built into the display panel 11. The display panel 11 is used to display various data, and the memory 10 is used to store various data. The controller 9 is communicatively connected to the memory 10, display panel 11, mobile vehicle 2, screw conveyor 4, signal transceiver module 6, Beidou locator 7, weighing sensor 8, and blasthole detection device.

[0034] Wherein, controller 9 can control memory 10, display panel 11, mobile vehicle 2, screw conveyor 4, and realizes communication with the outside world by signal transceiver module 6, to realize automatically accepting charging instruction.Controller 9 can also accept the positioning signal that Beidou locator 7 obtains, to realize the accurate positioning to robot, thereby ensure the accurate docking of feed pipe 5 and blasthole.Controller 9 can also determine the surplus and the current blasthole charge of mixed ammonium nitrate oil explosive in the material box 3 by obtaining the electrical signal of load cell 8, and determines blasthole hole depth, water depth and hole temperature by blasthole detection device.

[0035] refer to Figure 1 and Figure 2 The blasthole detection device includes a motor 12, a measuring rope, a buoy, a counterweight, a tension sensor 13, and a temperature sensor 14. The controller 9 is in communication with each of the motor 12, the tension sensor 13, and the temperature sensor 14. The motor 12 is mounted on the mobile vehicle 2. One end of the measuring rope is fixedly connected to the drive end of the motor 12, the counterweight is fixedly connected to the other end of the measuring rope, the tension sensor 13 is connected to the measuring rope at both ends, the buoy is movably connected to the measuring rope, and the temperature sensor 14 is mounted on the counterweight.

[0036] When measuring the borehole depth, water depth, and borehole temperature, controller 9 controls the drive end of motor 12 to rotate, and the measuring rope, buoy, counterweight, tension sensor 13, and temperature sensor 14 are lowered into the borehole. Tension sensor 13 continuously measures the tension in the measuring rope, which is the sum of the weight of the buoy, counterweight, and temperature sensor 14. When the buoy and counterweight reach the surface of the water, the buoy floats on the surface due to the buoyancy of the water, and the counterweight continues to be lowered. The tension in the measuring rope is now only the weight of the counterweight plus the temperature sensor 14. Recording the length of the lowered measuring rope provides the distance from the muzzle to the water surface. If there is no water, the buoy continues to descend. When the counterweight reaches the bottom of the hole, the tension in the measuring rope is only the weight of the measuring rope. The tension will not change thereafter. Recording the length of the measuring rope provides the hole depth. The hole temperature is then measured by the temperature sensor 14 on the counterweight. By measuring the hole depth and temperature, it can be determined whether the blasthole meets the loading requirements; by measuring the water depth, it can be determined whether the blasthole is suitable for loading mixed ammonium nitrate explosives, thereby avoiding the impact of water accumulation on loading, and thus effectively improving the quality of automated loading of open-air mixed ammonium nitrate explosives.

[0037] In an optional embodiment of the present application, the counterweight may be a lead ball, and the temperature sensor 14 may be a thermistor temperature sensor.

[0038] A kind of implementation principle of the automatic charging robot for the open-air mixed ammonium nitrate oil-fuel mixture of the present application embodiment is: when the automatic charging robot is operated, mobile vehicle 2 moves to the blasthole place based on Big Dipper locator 7, and measures the hole depth, water depth and the hole temperature of blasthole by the blasthole detection device.If blasthole is a dry hole, mobile vehicle 2 moves again under the positioning of Big Dipper locator 7 afterwards, and feed pipe 5 is aligned with blasthole, and screw conveyor 4 works and the mixed ammonium nitrate oil-fuel mixture in the feed box 3 is transported to feed pipe 5 afterwards, and mixed ammonium nitrate oil-fuel mixture can be dropped in the blasthole by feed pipe 5 afterwards, and after automatic charging is finished, robot moves to next blasthole.In the above process, because feed pipe 5 is shorter, and mobile vehicle 2 can not swing, therefore can effectively improve the degree of accuracy blasthole is positioned, thereby improve charging efficiency.

[0039] The above embodiments are merely a detailed description of the technical solutions of the present invention. However, the description of the above embodiments is intended only to facilitate understanding of the present invention and should not be construed as limiting the present invention. Any changes or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed in the present invention are intended to fall within the scope of protection of the present invention.

Claims

1. An automated charging robot for mixing ammonium nitrate oil explosives in the open air, comprising a mobile carrier (2) and a material box (3) arranged on the mobile carrier (2), characterized in that: Also includes: An intelligent terminal (1), a screw conveyor (4), a feeding pipe (5), a signal transceiver module (6), a Beidou locator (7) and a weighing sensor (8); the screw conveyor (4) is arranged on a mobile carrier (2) and is connected to a material box (3); the feeding pipe (5) is vertically connected to the screw conveyor (4); the intelligent terminal (1) is respectively connected to the mobile carrier (2), the screw conveyor (4), the signal transceiver module (6), the Beidou locator (7) and the weighing sensor (8); the intelligent terminal (1), the signal transceiver module (6) and the Beidou locator (7) are arranged on the mobile carrier (2).

2. the automated charging robot for open-air mixed ammonium nitrate oil explosive as claimed in claim 1, is characterized in that, Also includes: A blasthole detection device is communicatively connected to an intelligent terminal (1) and is arranged on a mobile vehicle (2).

3. the automated charging robot for open air mixed ammonium nitrate oil explosive as claimed in claim 2, is characterized in that, The blasthole detection device includes a motor (12), a measuring rope, a buoy, a counterweight, and a tension sensor (13). The motor (12) is installed on a mobile carrier (2), one end of the measuring rope is connected to the driving end of the motor (12), the buoy is movably connected to the measuring rope, the counterweight is connected to the other end of the measuring rope, and both ends of the tension sensor (13) are respectively connected to the measuring rope, and the motor (12) and the tension sensor (13) are respectively connected to the intelligent terminal (1) for communication.

4. the automated charging robot for open-air mixed ammonium nitrate oil explosive as claimed in claim 3, is characterized in that, The intelligent terminal (1) comprises a controller (9), a memory (10) and a display panel (11), wherein the display panel (11) is mounted on a mobile vehicle (2), the controller (9) and the memory (10) are built into the display panel (11), and the controller (9) is respectively connected to the memory (10), the display panel (11), the mobile vehicle (2), the screw conveyor (4), the signal transceiver module (6), the Beidou positioner (7), the motor (12), and the tension sensor (13).

5. the automated charging robot for open-air mixed ammonium nitrate oil explosive as claimed in claim 4, is characterized in that, The blasthole detection device further comprises a temperature sensor (14) arranged on the counterweight block, and the temperature sensor (14) is communicatively connected to the controller (9).

6. the automated charging robot for open-air mixed ammonium nitrate oil explosive as claimed in claim 4, is characterized in that, It also includes a plurality of weighing sensors (8) communicatively connected to the controller (9), wherein the weighing sensors are arranged on the mobile carrier (2), and the material box (3) is arranged on the mobile carrier (2) through the weighing sensors (8).

7. the automated charging robot for open-air mixed ammonium nitrate oil explosive as claimed in claim 3, is characterized in that, The counterweight is a lead sinker.

8. the automated charging robot for open-air mixed ammonium nitrate oil explosive as claimed in claim 5, is characterized in that, The temperature sensor (14) is a thermistor temperature sensor.

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