Manipulator of automatic charging device

Abstract

The utility model belongs to the technical field of mechanical arms, and provides a mechanical arm of an automatic explosive loading device. The position adjusting unit is provided with a soft guide pipe; wherein the blast hole recognition unit is connected to the output end of the position adjusting unit, and after the blast hole recognition unit recognizes the position, depth and angle information of a to-be-charged blast hole in a tunnel face, the position adjusting unit can rapidly position a guide pipe to the to-be-charged blast hole through coarse adjustment and fine adjustment, and butt joint of the guide pipe and the to-be-charged blast hole is achieved. According to the utility model, the to-be-charged blast hole is identified by the blast hole identification unit, and the position adjusting unit is roughly and finely adjusted, so that the guide pipe can be quickly positioned to the to-be-charged blast hole and is accurately butted with the to-be-charged blast hole, a basic guarantee is provided for automatic filling of cartridges, and meanwhile, the filling efficiency of the cartridges is favorably improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a robotic arm for an automatic medicine dispenser. Background Technology

[0002] Drill-and-blast method (DBM) refers to the method of excavating rock by drilling, loading explosives, and blasting. As the name suggests, this method involves drilling holes of fixed depth and spacing on the rock face according to the design, inserting explosives into the holes, connecting detonators, and then detonating them. Utilizing the advantages of explosives not dissipating their force within the holes and fully exerting their power, this method can shatter large amounts of rock, allowing for rapid progress and easier control of the construction schedule. Therefore, it is used in most rail transit engineering tunnel construction and mining excavation.

[0003] Currently, in tunnel blasting construction, drilling of blast holes at the tunnel face has been mechanized. Furthermore, with the development of robotic arm technology, using robotic arms to replace manual labor for automated on-site explosive loading has become a key challenge for those skilled in the field. The primary prerequisite for automated explosive loading is that the robotic arm can accurately locate and dock with dozens to hundreds of blast holes at the tunnel face, each with unique position, depth, and angle information. However, existing robotic arm positioning processes are cumbersome and inaccurate, unable to quickly locate each blast hole, and have a small operating radius, failing to cover all blast holes and making them unsuitable for tunnels with large diameters. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a robotic arm for an automatic loader, which solves the problems of existing robotic arms having a cumbersome positioning process, poor accuracy, inability to quickly locate each blast hole, small operating radius, inability to cover all blast holes, and unsuitability for tunnels with large diameters.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A robotic arm for an automated drug delivery system includes:

[0007] Hole identification unit; and

[0008] The position adjustment unit has a flexible guide tube;

[0009] The borehole identification unit is connected to the output end of the position adjustment unit. After the borehole identification unit identifies the position, depth, and angle information of the borehole to be loaded on the tunnel face, the position adjustment unit can quickly position the guide tube to the borehole to be loaded and achieve docking between the two through coarse and fine adjustments.

[0010] In one embodiment disclosed in this application, the output end of the position adjustment unit is provided with a bracket, and the guide tube is detachably mounted on the bracket;

[0011] The borehole identification unit includes a binocular camera, which is mounted on the bracket and located directly below the guide tube, and is used to accurately identify the position, depth, and angle information of the borehole to be loaded with explosives.

[0012] In one embodiment disclosed in this application, the position adjustment unit includes a rotary mechanism, a lifting mechanism, and a three-axis positioning mechanism arranged sequentially.

[0013] The rotary mechanism is fixedly installed on a workbench;

[0014] One end of the lifting mechanism is rotatably connected to the rotary mechanism, and a first pitching mechanism is hinged between the two.

[0015] The three-axis positioning mechanism is rotatably connected to the other end of the lifting mechanism, and a second pitching mechanism is hinged between the two.

[0016] The bracket is fixedly connected to the three-axis positioning mechanism.

[0017] In one embodiment disclosed in this application, the rotary mechanism includes a base and a rotary table connected to each other. The base is fixedly connected to the worktable, and the rotary table can rotate 360° without dead angles around the base.

[0018] The lifting mechanism includes a telescopically connected cylinder and a movable arm, with one end of the cylinder away from the movable arm rotatably connected to the top of a support block provided on one side of the rotary table.

[0019] One end of the first pitch mechanism is hinged to the bottom of the support block, and the other end is hinged to the cylinder body;

[0020] The three-axis positioning mechanism includes a base plate, a three-axis rotating component and an output shaft connected in sequence, and the base plate is rotatably connected to the end of the movable arm away from the cylinder.

[0021] The second pitch mechanism is hinged at one end to the movable arm and at the other end to the base plate;

[0022] The bracket is fixedly connected to the output shaft.

[0023] In one embodiment disclosed in this application, the lifting mechanism is a two-stage telescopic structure.

[0024] In one embodiment disclosed in this application, the maximum extension range that the movable arm can achieve through the two-stage extension and retraction of the lifting mechanism is 6m.

[0025] In one embodiment disclosed in this application, the workbench is mounted on a loading vehicle to enable the overall movement of the robotic arm.

[0026] In one embodiment disclosed in this application, both the first pitch mechanism and the second pitch mechanism are telescopic rods.

[0027] In one embodiment disclosed in this application, the rotary mechanism, lifting mechanism, first pitch mechanism and second pitch mechanism are all hydraulically driven.

[0028] In one embodiment disclosed in this application, a wire-passing groove is formed on the guide tube along its axial direction for the passage of the lead wire of the explosive cartridge with electronic detonator.

[0029] Compared with the prior art, the beneficial effects of this utility model are:

[0030] 1. Through the identification of the borehole to be loaded by the borehole identification unit and the coarse and fine adjustment of the position adjustment unit, the guide tube can quickly position itself to the borehole to be loaded and accurately dock with it, providing a basic guarantee for the automatic loading of the propellant cartridge, and at the same time helping to improve the loading efficiency of the propellant cartridge.

[0031] 2. The three-axis rotating component allows the guide tube to fully adapt to the unevenness of the tunnel face and effectively avoid protruding rock obstacles around the blast hole to be charged, thereby ensuring the precise positioning between the guide tube and the blast hole to be charged.

[0032] 3. By using the 360° rotation of the slewing mechanism and the two-stage extension and retraction of the lifting mechanism, the working radius of this robotic arm can be expanded, thereby covering the corresponding area of ​​the blast holes to be loaded on the tunnel face.

[0033] 4. By moving the entire robotic arm along with the loading vehicle, the working radius of the robotic arm can be further expanded, enabling it to fully cover all blast holes on the tunnel face, thus making it suitable for tunnels with larger diameters. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0036] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0037] Figure 3 for Figure 2 A magnified schematic diagram of part A in the middle. Detailed Implementation

[0038] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0039] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0041] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0042] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0043] The following disclosure provides many different embodiments or examples for implementing various structures of this invention. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this invention.

[0044] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0045] See Figures 1-3 As shown, this utility model provides a robotic arm for an automatic drug delivery device, comprising:

[0046] 100 borehole identification unit; and

[0047] The position adjustment unit 200 has a flexible guide tube 261;

[0048] The borehole identification unit 100 is connected to the output end of the position adjustment unit 200. After the borehole identification unit 100 identifies the position, depth and angle information of the borehole to be loaded (not shown in the figure) on the tunnel face, the position adjustment unit 200 can quickly position the guide tube 261 to the borehole to be loaded and realize the docking of the two through coarse adjustment and fine adjustment.

[0049] Specifically, the output end of the position adjustment unit 200 is provided with a bracket 260, and the guide tube 261 is detachably installed on the bracket 260; the borehole recognition unit 100 includes a binocular camera 110, which is installed on the bracket 260 and located directly below the guide tube 261, and is used to accurately identify the position, depth and angle information of the borehole to be loaded (mainly by using the binocular camera 110 for three-dimensional vision detection combined with software algorithms to accurately locate and identify the information of the borehole to be loaded; since the technology is mature and belongs to the prior art, it will not be described in detail here). Based on the area division of the tunnel face, after the binocular camera 110 identifies the approximate location information of the blast hole to be loaded, the position adjustment unit 200 first performs coarse adjustment to move the blast hole identification unit 100 to the vicinity of the blast hole to be loaded, and then performs fine adjustment to continuously correct the spatial position of the binocular camera 110 so that it gradually moves closer to the blast hole to be loaded, thereby accurately identifying the specific location, depth and angle information of the blast hole to be loaded, so as to obtain the loading requirements of the blast hole to be loaded (such as the number of explosive cartridges, loading spacing, etc.). During the fine adjustment process, the blast hole identification unit 100 and the position adjustment unit 200 provide positive feedback to each other until the guide tube 261 is positioned to the blast hole to be loaded and precisely docked with it. At this time, according to the loading requirements of the blast hole to be loaded, the explosive cartridge is conveyed to the guide tube 261 and pushed into the blast hole to be loaded, thereby realizing the automatic loading of the explosive cartridge into the tunnel blast hole. In other words, through the identification of the gun hole to be loaded by the gun hole identification unit 100 and the coarse and fine adjustment of the position adjustment unit 200, the guide tube 261 can quickly locate the gun hole to be loaded and accurately dock with it, providing a basic guarantee for the automatic loading of the gun cartridge, and at the same time helping to improve the loading efficiency of the gun cartridge.

[0050] See Figure 1 and Figure 3As shown, the position adjustment unit 200 includes a rotary mechanism 210, a lifting mechanism 220 and a three-axis positioning mechanism 230 arranged in sequence. The rotary mechanism 210 is fixedly installed on a workbench (not shown in the figure). One end of the lifting mechanism 220 is rotatably connected to the rotary mechanism 210 and a first pitch mechanism 240 is hinged between the two. The three-axis positioning mechanism 230 is rotatably connected to the other end of the lifting mechanism 220 and a second pitch mechanism 250 is hinged between the two. The bracket 260 is fixedly connected to the three-axis positioning mechanism 230. Specifically, the rotary mechanism 210 includes a base 211 and a rotary table 212 connected to each other. The base 211 is fixedly connected to the worktable, and the rotary table 212 can rotate 360° without dead angles around the base 211. The lifting mechanism 220 includes a cylinder 221 and a movable arm 222 that are telescopically connected. The end of the cylinder 221 away from the movable arm 222 is rotatably connected to the top of a support block provided on one side of the rotary table 212. One end of the first pitch mechanism 240 is hinged to the bottom of the support block, and the other end is hinged to the cylinder 221. The three-axis positioning mechanism 230 includes a base plate 231, a three-axis rotating component 232, and an output shaft 233 connected in sequence. The base plate 231 is rotatably connected to the end of the movable arm 222 away from the cylinder 221. One end of the second pitch mechanism 250 is hinged to the movable arm 222, and the other end is hinged to the base plate 231. The bracket 260 is fixedly connected to the output shaft 233. The rotary table 212 of the rotary mechanism 210 drives the lifting mechanism 220 to rotate 360°. The lifting mechanism 220 drives the three-axis positioning mechanism 230 to move up and down in a telescopic manner. The first pitch mechanism 240 drives the lifting mechanism 220 to swing around the rotation point of its cylinder 221 and the rotary table 212 to adjust the tilt angle of the lifting mechanism 220 over a wide range. That is, the cooperation between the rotary mechanism 210, the lifting mechanism 220 and the first pitch mechanism 240 is used to coarsely adjust the spatial position of the binocular camera 110 and the guide tube 261, and move the borehole identification unit 100 and the bracket 260 to a general range near the borehole to be loaded, thereby achieving coarse positioning of the guide tube 261. Subsequently, the second pitch mechanism 250 drives the three-axis positioning mechanism 230 to swing around the rotation point of its base plate 231 and movable arm 222 to adjust the tilt angle of the binocular camera 110 and guide tube 261 within a small range. The three-axis rotating component 232 corrects the spatial position of the binocular camera 110 and guide tube 261 through three-axis rotation. That is, the cooperation between the second pitch mechanism 250 and the three-axis positioning mechanism 230 finely adjusts the spatial position of the binocular camera 110 and guide tube 261, thereby achieving precise positioning of the guide tube 261 to ensure its accurate docking with the gun hole to be loaded.The three-axis rotating component 232 (it should be noted that the three-axis rotating component 232 has three degrees of rotational freedom in three directions, and its structure is existing technology, so it will not be described in detail here) rotates in three axes, so that the guide tube 261 can fully adapt to the unevenness of the tunnel face and effectively avoid protruding rock obstacles around the blast hole to be charged, thereby ensuring the precise positioning between the guide tube 261 and the blast hole to be charged.

[0051] To expand the working radius of this robotic arm so that the automatic loader can cover more blast holes on the tunnel face, the lifting mechanism 220 is preferably a two-stage telescopic structure, and its movable arm 222 can achieve a maximum extension range of 6m through the two-stage telescopic mechanism. That is to say, through the 360° rotation of the rotary mechanism 210 and the two-stage telescopic mechanism 220, the working radius of this robotic arm can be expanded, thereby covering the corresponding area of ​​blast holes on the tunnel face.

[0052] The workbench is mounted on the charging vehicle (not shown in the figure) to enable the overall movement of the robotic arm. That is to say, by moving the robotic arm along with the charging vehicle, the working radius of the robotic arm can be further expanded, enabling it to fully cover all blast holes on the tunnel face, thus making it suitable for tunnels with larger diameters.

[0053] The first pitch mechanism 240 and the second pitch mechanism 250 are preferably telescopic rods. In this way, they can adjust the pitch angle of the lifting mechanism 220 and the three-axis positioning mechanism 230 respectively by telescopic movement.

[0054] In this embodiment, the slewing mechanism 210, the lifting mechanism 220, the first pitch mechanism 240, and the second pitch mechanism 250 are all hydraulically driven. Hydraulic drives offer high stability and reliability, high transmission efficiency, and are relatively easy to maintain.

[0055] To prevent the lead wire of the explosive cartridge with electronic detonator from being blocked and damaged during the loading process, a wire-passing groove is provided on the guide tube 261 along its axial direction for the wire of the explosive cartridge with electronic detonator to pass through.

[0056] The above embodiments are merely preferred embodiments of this utility model and are not intended to limit the technical solutions of this utility model. Any technical solution that can be implemented based on the above embodiments without creative effort should be considered to fall within the scope of protection of this utility model patent.

Claims

1. A mechanical hand of an automatic bullet loader, characterized by, The automatic charging device comprises a borehole identification unit and a position adjusting unit with a soft guide tube. The borehole identification unit is connected to the output end of the position adjusting unit.

2. The automatic charging device according to claim 1, wherein the output end of the position adjusting unit is provided with a bracket, and the guide tube is detachably mounted on the bracket.

3. The automatic charging device according to claim 2, wherein the position adjusting unit comprises a rotating mechanism, a lifting mechanism and a three-axis positioning mechanism arranged in sequence.

4. The automatic charging device according to claim 3, wherein the rotating mechanism comprises a base and a rotating table connected to each other, the base is fixedly connected to the workbench, and the rotating table can rotate 360° without dead angle with the base as the center.

5. The automatic charging device according to claim 3, wherein the lifting mechanism comprises a cylinder body and a movable arm connected in an extendable manner.

6. The automatic charging device according to claim 3, wherein the first tilting mechanism is hingedly connected to the bottom of the support block at one end and to the cylinder body at the other end.

7. The automatic charging device according to claim 3, wherein the three-axis positioning mechanism comprises a base plate, a three-axis rotating piece and an output shaft connected in sequence.

8. The automatic charging device according to claim 3, wherein the second tilting mechanism is hingedly connected to the movable arm at one end and to the base plate at the other end.

9. The automatic charging device according to claim 3, wherein the bracket is fixedly connected to the output shaft.

10. The automatic charging device according to claim 3, wherein the lifting mechanism is a two-stage extension structure.

11. The automatic charging device according to claim 3, wherein the maximum extension range of the movable arm through the two-stage extension of the lifting mechanism is 6m.

12. The automatic charging device according to claim 3, wherein the workbench is arranged on a charging vehicle to realize the overall movement of the mechanical arm.

13. The automatic charging device according to claim 3, wherein the first tilting mechanism and the second tilting mechanism are both telescopic rods.

14. The automatic charging device according to claim 3, wherein the rotating mechanism, the lifting mechanism, the first tilting mechanism and the second tilting mechanism are all driven by hydraulic pressure.

15. The automatic charging device according to claim 3, wherein a wire slot is formed in the guide tube along the axial direction of the guide tube for the wire of the cartridge with an electronic detonator. ​ ​ ​ ​ ​ 5. The robotic arm of the automatic bullet loader according to claim 4, characterized in that, ​ 6. The robotic arm of the automatic bullet loader according to claim 5, characterized in that ​ 7. The robotic arm of the automatic bullet loader according to claim 3, wherein ​ 8. The robotic arm of the automatic charger according to any one of claims 3 to 7, characterized in that, ​ 9. The robotic arm of the automatic bullet loader according to claim 8, characterized in that, ​ 10. The robotic arm of the automatic charger according to claim 1 or 2, characterized in that, ​

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