Multi-degree of freedom explosive delivery mechanism

Abstract

The utility model relates to a kind of multi-degree-of-freedom explosive conveying mechanical device, including vehicle body, main arm, big arm, small arm and manipulator, the main arm bottom end is hinged with vehicle body;Main arm oil cylinder is hinged on the vehicle body;The end of main arm oil cylinder away from vehicle body is hinged with main arm;One end of the big arm is hinged with main arm top end, and other end is hinged with small arm;First big arm oil cylinder is hinged with one end of the big arm middle part close to main arm;The end of first big arm oil cylinder away from big arm is hinged with main arm;Second big arm oil cylinder is hinged with one end of the big arm middle part close to small arm;The end of second big arm oil cylinder away from big arm is hinged with small arm;The manipulator is hinged with small arm. By main arm, big arm and small arm cooperation, it can increase the extension distance, and it is convenient to deliver explosive to specified position of ore groove.

Description

Technical Field

[0001] This utility model belongs to the field of mining equipment technology, and specifically relates to a multi-degree-of-freedom explosive conveying mechanical device. Background Technology

[0002] Natural caving, as an advanced and low-cost mining technique, suffers from a high proportion of large ore blocks in the ore accumulation trenches. These blocks easily accumulate in the trenches, causing blockages at mid-to-high levels, hindering mine safety management, production stability, and continuous, balanced production. Conventional secondary crushing measures are ineffective in addressing these blockages. Currently, vibratory blasting is used for mid-level blockages, requiring the manual installation of a chute and the use of a long blasting boom to deliver explosive charges to the designated location for blasting. However, this method carries significant safety risks, as ore slippage in the accumulation trenches can easily cause injuries or fatalities to workers. Utility Model Content

[0003] The purpose of this invention is to provide a multi-degree-of-freedom explosive conveying mechanical device that can realize mechanized explosive conveying operations and reduce operational risks.

[0004] To achieve the above objectives, the present invention employs a multi-degree-of-freedom explosive conveying mechanical device, comprising a vehicle body, a main boom, a large boom, a small boom, and a robotic arm.

[0005] The bottom end of the main boom is hinged to the vehicle body; a main boom cylinder is hinged to the vehicle body; the end of the main boom cylinder away from the vehicle body is hinged to the main boom; one end of the upper boom is hinged to the top of the main boom, and the other end is hinged to the forearm; a first upper boom cylinder is hinged to the middle of the upper boom near the main boom; the end of the first upper boom cylinder away from the upper boom is hinged to the main boom; a second upper boom cylinder is hinged to the middle of the upper boom near the forearm; the end of the second upper boom cylinder away from the upper boom is hinged to the forearm; the robotic arm is hinged to the forearm and is used to grasp explosives.

[0006] Preferably, a forearm cylinder is provided on one side of the forearm; one end of the forearm cylinder is hinged to the end of the forearm near the upper arm, and the other end is hinged to a connecting frame; one end of the connecting frame is hinged to the forearm, and the other end is hinged to a connecting rod; the connecting rod is hinged to the robot arm.

[0007] Preferably, the robotic arm includes a base, a telescopic cylinder, and grippers, wherein the telescopic cylinder is fixed on the base; the telescopic cylinder drives the grippers to move.

[0008] Preferably, the manipulator further includes a hinge frame, a drive base, and a rotary cylinder. The piston rod of the telescopic cylinder is fixed to the hinge frame. A pitch drive component and a swing drive component are fixed inside the drive base. The output shafts at both ends of the pitch drive component pass laterally through the drive base and are fixed to the hinge frame. The output shafts at both ends of the swing drive component pass vertically through the drive base and are fixed to the rotary cylinder. The output shaft of the rotary cylinder is fixed to the gripper.

[0009] Preferably, the base is equipped with lighting fixtures and a camera.

[0010] Preferably, the vehicle body is fixed to the frame; tracked walking mechanisms are installed on both sides of the frame.

[0011] This utility model discloses a multi-degree-of-freedom explosive conveying mechanical device, which has the following advantages compared with the prior art:

[0012] (1) By coordinating the main arm, upper arm and lower arm, the extension distance can be increased, making it easier to transport explosives to the designated location in the mining ditch; by using the pitch drive component, swing drive component and rotary cylinder, the gripper can move and rotate with multiple degrees of freedom, making the operation flexible and the working range large.

[0013] (2) Lighting fixtures and cameras facilitate observation of the situation inside the mining ditch and enable remote operation to ensure operational safety;

[0014] (3) The design is simple, easy to use, and has low manufacturing cost. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Figure 2 A schematic diagram of the main boom cylinder structure;

[0017] Figure 3 This is a schematic diagram of the drive seat structure. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0019] like Figure 1-2 As shown, a multi-degree-of-freedom explosives conveying machine includes a vehicle body 1, a main boom 3.1, a large boom 3.3, a small boom 3.5, and a robotic arm 5.

[0020] The bottom end of the main boom 3.1 is hinged to the vehicle body 1; a main boom cylinder 3.2 is hinged to the vehicle body 1; the end of the main boom cylinder 3.2 away from the vehicle body 1 is hinged to the main boom 3.1, wherein the piston rod of the main boom cylinder 3.2 is hinged to the main boom 3.1, and during the extension of the piston rod of the main boom cylinder 3.2, the main boom 3.1 can rotate above the vehicle body 1 around the hinge point with the vehicle body 1;

[0021] One end of the boom 3.3 is hinged to the top of the main boom 3.1, and the other end is hinged to the forearm 3.5. A first boom cylinder 3.4 is hinged to the middle of the boom 3.3 near the main boom 3.1. The end of the first boom cylinder 3.4 away from the boom 3.3 is hinged to the main boom 3.1. During the extension of the piston rod of the first boom cylinder 3.4, the boom 3.3 can rotate upwards around the hinge point with the main boom 3.1. A second boom cylinder 3.6 is hinged to the middle of the boom 3.3 near the forearm 3.5. The second boom cylinder 3.6 is hinged to the forearm 3.5. The end is hinged to the forearm 3.5. During the extension of the piston rod of the second boom cylinder 3.6, the forearm 3.5 can rotate upward around the hinge point with the boom 3.3. Through the cooperation of the main boom 3.1, the boom 3.3 and the forearm 3.5, the extension distance can be increased, which facilitates the delivery of explosives to the designated location in the mining ditch. The boom 3.3 has a hinge part at the lower middle part. The cylinders of the first boom cylinder 3.4 and the second boom cylinder 3.6 are hinged to the hinge part. The piston rod of the first boom cylinder 3.4 is hinged to the main boom 3.1, and the piston rod of the second boom cylinder 3.6 is hinged to the forearm 3.5.

[0022] The robotic arm 5 is hinged to the forearm 3.5, and the robotic arm 5 is used to grasp explosives.

[0023] In this embodiment, a forearm cylinder 3.7 is provided on one side of the forearm 3.5; one end of the forearm cylinder 3.7 is hinged to the end of the forearm 3.5 near the upper arm 3.3, and the other end is hinged to a connecting frame 4.1, wherein the piston rod of the forearm cylinder 3.7 is hinged to the middle of the connecting frame 4.1; one end of the connecting frame 4.1 is hinged to the forearm 3.5, and the other end is hinged to a connecting rod 4.2; the connecting rod 4.2 is hinged to the robot arm 5, and the connecting rod 4.2 and the forearm 3.5 are hinged together to one end of the robot arm 5. During the extension of the piston rod of the forearm cylinder 3.7, the connecting rod 4.2 will move toward the robot arm 5, thereby allowing the robot arm 5 to rotate around the hinge point with the forearm 3.5, which facilitates the adjustment of the vertical pitch angle of the robot arm 5.

[0024] In this embodiment, the robotic arm 5 includes a base 5.1, a telescopic cylinder 5.2, and a gripper 5.6. The telescopic cylinder 5.2 is fixed on the base 5.1, wherein the top and bottom of the base 5.1 are hinged to the connecting rod 4.2 and the forearm 3.5, respectively. The telescopic cylinder 5.2 drives the gripper 5.6 to move, thereby gripping the explosive. The telescopic cylinder 5.2 facilitates the further extension of the gripper 5.6, increasing the extension distance of the robotic arm 5.

[0025] Furthermore, such as Figure 1 and Figure 3 As shown, the robotic arm 5 also includes a hinge frame 5.3, a drive base 5.4, and a rotary cylinder 5.5. The piston rod of the telescopic cylinder 5.2 is fixed to the hinge frame 5.3. The drive base 5.4 houses a pitch drive component and a swing drive component, both of which are double-outlet rotary cylinders or double-axis drive motors. The output shafts of the double-outlet rotary cylinders or double-axis drive motors pass through the rotary cylinders or drive motors. The output shafts at both ends of the pitch drive component pass laterally through the drive base 5.4 and are fixed to the hinge frame 5.3. The output shafts at both ends of the swing drive component pass vertically through the drive base 5.5. 4. Fixed to the rotary cylinder 5.5; the output shaft of the rotary cylinder 5.5 is fixed to the gripper 5.6. During the rotation of the output shafts at both ends of the pitch drive component, the drive seat 5.4 can rotate up and down around the output shaft of the pitch drive component. During the rotation of the output shafts at both ends of the swing drive component, the rotary cylinder 5.5 can rotate left and right around the output shafts at both ends of the swing drive component. During the rotation of the output shaft of the rotary cylinder 5.5, the gripper 5.6 can rotate around the output shaft of the rotary cylinder 5.5. Through the pitch drive component, the swing drive component, and the rotary cylinder 5.5, the gripper 5.6 can move and rotate with multiple degrees of freedom, making the operation flexible.

[0026] In this embodiment, a lighting fixture 5.7 and a camera are installed on the base 5.1. The lighting fixture 5.7 and the camera are used to observe the situation inside the mining ditch, which facilitates remote control operation and ensures operational safety.

[0027] In this embodiment, the vehicle body 1 is fixed on the frame; tracked walking mechanisms 2 are installed on both sides of the frame, and the vehicle body 1 and the frame are moved by the tracked walking mechanisms 2. The tracked walking mechanism 2 is existing technology. In addition, a slewing mechanism can be installed on the vehicle body 1, and the main boom 3.1 is hinged to the slewing mechanism. The main boom 3.1 can be rotated 360° by the slewing mechanism, which increases the working range of the explosive conveying mechanical device.

Claims

1. A multi-degree-of-freedom explosive conveying mechanical device, characterized in that, It includes the vehicle body (1), main boom (3.1), upper boom (3.3), lower boom (3.5) and robotic arm (5). The bottom end of the main boom (3.1) is hinged to the vehicle body (1); a main boom cylinder (3.2) is hinged to the vehicle body (1); the end of the main boom cylinder (3.2) away from the vehicle body (1) is hinged to the main boom (3.1); one end of the upper boom (3.3) is hinged to the top end of the main boom (3.1), and the other end is hinged to the forearm (3.5); the middle part of the upper boom (3.3) near the main boom (3.1) is hinged to... The first boom cylinder (3.4) is hinged to the main boom (3.1) at the end away from the boom (3.3); the second boom cylinder (3.6) is hinged to the middle of the boom (3.3) near the forearm (3.5); the second boom cylinder (3.6) is hinged to the forearm (3.5) at the end away from the boom (3.3); the robotic arm (5) is hinged to the forearm (3.5).

2. The multi-degree-of-freedom explosive conveying mechanical device according to claim 1, characterized in that, A forearm cylinder (3.7) is provided on one side of the forearm (3.5); one end of the forearm cylinder (3.7) is hinged to the end of the forearm (3.5) near the upper arm (3.3), and the other end is hinged to a connecting frame (4.1); one end of the connecting frame (4.1) is hinged to the forearm (3.5), and the other end is hinged to a connecting rod (4.2); the connecting rod (4.2) is hinged to the robot (5).

3. The multi-degree-of-freedom explosive conveying mechanical device according to claim 1, characterized in that, The robotic arm (5) includes a base (5.1), a telescopic cylinder (5.2), and a gripper (5.6). The telescopic cylinder (5.2) is fixed on the base (5.1). The telescopic cylinder (5.2) drives the gripper (5.6) to move.

4. The multi-degree-of-freedom explosive conveying mechanical device according to claim 3, characterized in that, The robotic arm (5) also includes a hinge frame (5.3), a drive seat (5.4), and a rotary cylinder (5.5). The piston rod of the telescopic cylinder (5.2) is fixed to the hinge frame (5.3). The drive seat (5.4) contains a pitch drive component and a swing drive component. The output shafts at both ends of the pitch drive component pass laterally through the drive seat (5.4) and are fixed to the hinge frame (5.3). The output shafts at both ends of the swing drive component pass vertically through the drive seat (5.4) and are fixed to the rotary cylinder (5.5). The output shaft of the rotary cylinder (5.5) is fixed to the gripper (5.6).

5. The multi-degree-of-freedom explosive conveying mechanical device according to claim 3, characterized in that, The base (5.1) is equipped with a lighting fixture (5.7) and a camera.

6. The multi-degree-of-freedom explosive conveying mechanical device according to claim 1, characterized in that, The vehicle body (1) is fixed on the frame; tracked walking mechanisms (2) are installed on both sides of the frame.

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