Auxiliary charge device delivery tube device

Abstract

The utility model belongs to the field of blasting construction technology especially to assist charging equipment delivery pipe device, including bottom plate, pedestal, first mechanical arm, second mechanical arm, first joint, second joint, third joint, mechanical claw and air compressor connection mouth, through setting up clamping subassembly and guide component cooperation, realized the accurate positioning and steady clamping of medicine pipe conveying process, clamping subassembly adopts two -way screw rod drive structure, cooperation V -shaped groove silica gel pad design, both can adapt to the clamping demand of different diameter medicine pipe, also avoid medicine pipe surface damage through elastic contact, guide component adjusts the roller spacing through screw rod, cooperation arc -shaped groove structure, reduce the conveying resistance while limiting medicine pipe radial deviation, this mechanical type positioning and flexible clamping combined mode, effectively solved the medicine pipe easy deviation, the problem of difficult fixation in the process of deep hole blasting charging, significantly improved the stability and safety of charging operation.

Description

Technical Field

[0001] This utility model belongs to the field of blasting construction technology, specifically relating to an auxiliary charging equipment delivery pipe device. Background Technology

[0002] In the mining industry, upward deep-hole blasting is a commonly used and efficient mining method in underground mines. One of its core components is the deep-hole blasting charging operation. However, the lack of manual support for the charging pipe has long constrained the charging quality and construction efficiency.

[0003] Specifically, when loading explosives for deep-hole blasting, the delivery pipe needs to be conveyed upwards along the axis of the deep hole and kept stable to ensure that the explosives are evenly filled into the hole. When the depth of the deep hole exceeds 3 meters (the upper limit of the height that can be stably supported by a conventional person), there are two major problems when a person holds and supports the delivery pipe: First, the human body has to bear the dual load of the weight of the delivery pipe and the explosives inside the pipe, which can easily lead to rapid exhaustion of physical strength and make it impossible to maintain the stability of the delivery pipe axis for a long time; Second, it is difficult to accurately control the force of manual support, and the delivery pipe is prone to falling or shifting due to insufficient support, which can lead to defects such as uneven loading and local loading breaks.

[0004] The aforementioned defects in the explosive charge will directly lead to an imbalance in the energy distribution of the explosive in the deep hole, which will not only reduce the blasting and breaking effect, but may also leave unexploded charges or form large pieces of ore, increasing the difficulty and safety risks of subsequent mining operations. In severe cases, it may even require secondary detonation, which will significantly affect the overall mining progress and economic benefits of the mine. In order to solve the above problems, this application proposes an auxiliary charging equipment pipeline device. Utility Model Content

[0005] To address the aforementioned problems in the existing technology, this utility model provides an auxiliary loading device for drug delivery, which is easy to operate and highly stable.

[0006] To achieve the above objectives, this utility model provides the following technical solution: an auxiliary loading device for a delivery pipe, comprising a base plate, a base, a first robotic arm, a second robotic arm, a first joint, a second joint, a third joint, a robotic claw, and an air compressor connection port. A base is rotatably connected to the base plate; The base is rotatably connected to a first robotic arm via a first joint, the first robotic arm is rotatably connected to a second robotic arm via a second joint, and the second robotic arm is rotatably connected to a robotic claw via a third joint. The mechanical claw has a through hole at its center through which a drug supply tube passes; The air compressor connection port is located on the base plate, and provides driving force to the first robotic arm, the second robotic arm, the first joint, the second joint, and the third joint by compressed air; A clamping assembly, located at the bottom of the mechanical claw, is used to clamp the medicine tube; The guide assembly consists of two sets of guide assemblies symmetrically arranged on the top of the mechanical claw, used to limit the radial displacement of the drug tube.

[0007] Preferably, the clamping assembly includes two sets of fixed plates symmetrically arranged at the bottom of the mechanical claw. Each set of fixed plates is rotatably connected to a bidirectional lead screw. The outer walls of the two bidirectional lead screws are threaded together with two clamping members. The two clamping members are provided with V-shaped grooves on opposite sides. Each set of fixed plates is provided with a motor that drives the corresponding bidirectional lead screw to rotate.

[0008] Preferably, the guide assembly includes a support frame fixed to the top of the mechanical claw, and a mounting rod and a fixing rod are fixed on the support frame; Two mounting brackets are rotatably connected to the mounting rod, and a roller is rotatably connected between the two mounting brackets. The bottom of the mounting frame is rotatably connected to a connecting rod, and a connecting cylinder is fixed to the end of the connecting rod; A screw is threaded onto the fixing rod, and one end of the screw is rotatably connected to the connecting cylinder.

[0009] Preferably, the roller is made of nylon.

[0010] Preferably, the inner side of the V-shaped groove of the two clamping members is provided with a silicone pad.

[0011] Preferably, the maximum distance between the two clamping members is greater than the diameter of the through hole.

[0012] Preferably, the outer wall of the roller is provided with an arc-shaped groove.

[0013] Compared with the prior art, the beneficial effects of this utility model are: In this invention, by setting up a clamping component and a guiding component to work together, precise positioning and stable clamping of the explosive tube during the delivery process are achieved. The clamping component adopts a bidirectional screw drive structure, combined with a V-groove silicone pad design, which can not only adapt to the clamping needs of explosive tubes of different diameters, but also avoid damage to the surface of the explosive tube through elastic contact. The guiding component adjusts the roller spacing through a screw, and with the help of an arc groove structure, it reduces the delivery resistance while limiting the radial deviation of the explosive tube. This combination of mechanical positioning and flexible clamping effectively solves the problem of explosive tubes being prone to deviation and difficult to fix during deep hole blasting loading, significantly improving the stability and safety of loading operations. Compared with traditional manual operation, this device uses an air compressor to drive a robotic arm, realizing automated control of explosive tube delivery. This not only reduces the labor intensity of operators, but also avoids loading deviations caused by human factors through precise mechanical positioning, providing reliable technical support for deep hole blasting projects.

[0014] Other additional advantages and benefits of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the installation structure of the mechanical claw in this utility model; Figure 3 This is a schematic diagram of the installation structure of the guide component in this utility model; Figure 4 This is a schematic diagram of the installation structure of the clamping component in this utility model; Figure 5 In this utility model Figure 1 A magnified structural diagram at point A.

[0016] In the diagram: 1. Base plate; 2. Base; 3. First robotic arm; 4. Second robotic arm; 5. First joint; 6. Second joint; 7. Third joint; 8. Mechanical claw; 9. Air compressor connection port; 10. Clamping assembly; 11. Fixing plate; 12. Bidirectional lead screw; 13. Motor; 14. Clamping component; 15. V-groove; 16. Through hole; 100. Guide assembly; 101. Support frame; 102. Mounting rod; 103. Mounting bracket; 104. Connecting rod; 105. Connecting cylinder; 106. Fixing rod; 107. Screw; 108. Roller; 109. Arc groove. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example

[0018] Please see Figures 1-5 This utility model provides the following technical solution: an auxiliary loading device for a drug delivery system, comprising a base plate 1, a base 2, a first robotic arm 3, a second robotic arm 4, a first joint 5, a second joint 6, a third joint 7, a robotic claw 8, and an air compressor connection port 9. A base 2 is rotatably connected to the base plate 1; The base 2 is rotatably connected to the first robotic arm 3 via the first joint 5, the first robotic arm 3 is rotatably connected to the second robotic arm 4 via the second joint 6, and the second robotic arm 4 is rotatably connected to the robotic claw 8 via the third joint 7. The mechanical claw 8 has a through hole 16 at its center through which the drug supply tube passes; The air compressor connection port 9 is located on the base plate 1, and provides driving force to the first robotic arm 3, the second robotic arm 4, the first joint 5, the second joint 6, and the third joint 7 by compressed air; The clamping assembly 10 is located at the bottom of the mechanical claw 8 and is used to clamp the medicine tube; The guide assembly 100 consists of two sets of guide assemblies 100 symmetrically arranged on the top of the mechanical claw 8 to limit the radial deviation of the explosive tube. In use, the entire device is first moved to the deep hole blasting operation area, and the base plate 1 is placed stably in a suitable position to ensure that the base 2 and the subsequent connected mechanical arm assembly can operate stably. The air compressor is tightly connected to the air compressor connection port 9 through a pipe, and the air compressor is turned on. Compressed air enters the device to provide driving force for the first mechanical arm 3, the second mechanical arm 4, the first joint 5, the second joint 6, and the third joint 7. At this time, the operator can flexibly adjust the rotation angle of the first mechanical arm 3 and the second mechanical arm 4 by controlling the flow rate and direction of the compressed air according to the position and angle of the deep hole, so that the mechanical claw 8 can accurately reach the top of the deep hole. Once the mechanical gripper 8 reaches the appropriate position, the delivery tube is passed through the through hole 16 in the center of the mechanical gripper 8. When one end of the delivery tube extends out of the through hole 16, the guide assembly 100 can be used to initially limit the radial position of the delivery tube to prevent it from shifting significantly to the left or right during delivery. Once the delivery tube has moved to the designated loading depth, the clamping assembly 10 can be activated to securely clamp the delivery tube, ensuring that the delivery tube will not shift due to the reaction force generated by the explosive filling during the loading process.

[0019] Preferably, by Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, in this embodiment, the clamping assembly 10 includes two sets of fixed plates 11 symmetrically arranged at the bottom of the mechanical claw 8. Each set of fixed plates 11 is rotatably connected to a bidirectional lead screw 12. The outer walls of the two bidirectional lead screws 12 are threadedly connected to two clamping members 14. The two clamping members 14 are provided with V-grooves 15 on opposite sides. Each set of fixed plates 11 is provided with a motor 13 that drives the corresponding bidirectional lead screw 12 to rotate. When the motor 13 is started, the motor 13 drives the bidirectional lead screw 12 to rotate. Since the outer walls of the two bidirectional lead screws 12 are threadedly connected... There are two clamping parts 14. Under the rotation of the bidirectional screw 12, the two clamping parts 14 will move closer to each other along the bidirectional screw 12. The drug delivery tube will enter the V-shaped groove 15 on the opposite side of the two clamping parts 14. As the two clamping parts 14 move closer, the V-shaped groove 15 will tightly clamp the drug delivery tube, thereby achieving a stable clamping of the drug delivery tube. In addition, the inner side of the V-shaped groove 15 of the two clamping parts 14 is provided with a silicone pad. The silicone pad has a certain elasticity and friction, which can better fix the drug delivery tube and avoid damage to the drug delivery tube.

[0020] Preferably, by Figure 1 , Figure 3 and Figure 5 As shown, in this embodiment, the guide assembly 100 includes a support frame 101 fixed to the top of the mechanical claw 8, and a mounting rod 102 and a fixing rod 106 are fixed on the support frame 101. Two mounting brackets 103 are rotatably connected to the mounting rod 102, and a roller 108 is rotatably connected between the two mounting brackets 103. The bottom of the mounting bracket 103 is rotatably connected to a connecting rod 104, and a connecting cylinder 105 is fixed to the end of the connecting rod 104. A screw 107 is threaded onto the fixing rod 106, and one end of the screw 107 is rotatably connected to the connecting cylinder 105. In use, first rotate the screw 107 on the fixing rod 106 according to the diameter of the medicine delivery tube. Since one end of the screw 107 is rotatably connected to the connecting cylinder 105, and the connecting cylinder 105 is rotatably connected to the bottom of the mounting bracket 103 through the connecting rod 104, the rotation of the screw 107 will drive the mounting bracket 103 to rotate around the mounting rod 102, thereby adjusting the angle between the two mounting brackets 103, and thus changing the distance between the two rollers 108, so that the distance is slightly larger than the diameter of the medicine delivery tube. In this way, when the medicine delivery tube passes between the two rollers 108, the rollers 108 can both limit the radial position of the medicine delivery tube to prevent it from shifting left and right, and ensure that the medicine delivery tube can move smoothly up and down between the rollers 108.

[0021] Preferably, by Figure 3 and Figure 5 As shown, in this embodiment, the roller 108 is made of nylon; the nylon roller 108 has the characteristics of wear resistance and corrosion resistance, and can maintain good performance during long-term use and is not easily damaged.

[0022] Preferably, by Figure 4 As shown, in this embodiment, silicone pads are provided inside the V-grooves 15 of the two clamping members 14. The silicone pads can increase the friction between the clamping members 14 and the drug delivery tube, ensuring the stability of the clamping. At the same time, the soft texture of the silicone pads can effectively prevent the drug delivery tube from being scratched or damaged during the clamping process, ensuring the smooth progress of the drug loading operation.

[0023] Preferably, by Figure 1 and Figure 4 As shown, in this embodiment, the maximum distance between the two clamping members 14 is greater than the diameter of the through hole 16. This design allows the drug delivery tube to pass smoothly through the through hole 16 and enter between the two clamping members 14, avoiding the situation where the drug delivery tube cannot be installed normally or is over-compressed due to the small distance. This improves the practicality and ease of operation of the device. Moreover, when it is necessary to replace the drug delivery tube with one of different diameters, this larger distance design also provides sufficient space for adjusting the clamping members 14.

[0024] Preferably, by Figure 3 and Figure 5 As shown, in this embodiment, the outer wall of the roller 108 is provided with an arc-shaped groove 109. The design of the arc-shaped groove 109 matches the shape of the drug delivery tube. When the drug delivery tube is placed between the two rollers 108, the arc-shaped groove 109 can better fit the surface of the drug delivery tube, further enhancing the radial restriction effect on the drug delivery tube, effectively preventing the drug delivery tube from slipping during the up and down movement, and improving the stability and reliability of the device during the drug loading operation.

[0025] Components not described in detail in this article are existing technologies.

[0026] The working principle and usage process of this utility model are as follows: When using it, first complete the basic deployment and debugging of the device: place the base plate 1 stably on the flat ground of the deep hole blasting operation area to ensure that the base 2 does not shake; seal and connect the external air compressor to the air compressor connection port 9 on the base plate 1 through the pipeline, turn on the air compressor, and after the compressed air pressure stabilizes, the operator adjusts the flow rate and direction of the compressed air through the control terminal to drive the first joint 5, the second joint 6, and the third joint 7 to rotate, thereby driving the first robotic arm 3 and the second robotic arm 4 to adjust the angle, so that the robotic claw 8 moves precisely to the top of the deep hole, and ensures that the through hole 16 in the center of the robotic claw 8 is aligned with the axis of the deep hole; Then, the medicine tube is installed and guided: According to the diameter of the medicine tube to be conveyed, the screw 107 on the fixed rod 106 in the guide assembly 100 is rotated. The screw 107 pushes the connecting cylinder 105 to move. The connecting cylinder 105 drives the mounting bracket 103 to rotate around the mounting rod 102 through the connecting rod 104 until the distance between the two rollers 108 is slightly larger than the diameter of the medicine tube, and the arc groove 109 on the outer wall of the roller 108 can fit with the outer wall of the medicine tube. One end of the medicine tube is inserted into the through hole 16 from the top of the mechanical claw 8. During the process, the medicine tube moves along the arc groove 109 of the roller 108. The roller 108 rotates synchronously with the medicine tube, which not only limits the radial deviation of the medicine tube, but also reduces the conveying friction, until the lower end of the medicine tube approaches the deep hole inlet. Next, the loading operation is initiated: the delivery tube is continuously pushed downwards. After the depth of the deep hole is determined by observing the deep hole depth mark or sensor feedback, the motor 13 of the clamping assembly 10 is started. The motor 13 drives the bidirectional lead screw 12 to rotate, and the two clamping parts 14 move closer to each other along the bidirectional lead screw 12. The delivery tube enters the V-groove 15 and is tightly wrapped by the silicone pad, achieving stable clamping and preventing the delivery tube from shifting due to the reaction force of the explosive filling during loading. At this time, the explosive can be delivered into the deep hole through the delivery tube. If the position of the delivery tube needs to be finely adjusted during the delivery process, the angle can be finely adjusted by controlling the joint of the robotic arm to ensure that the explosive is filled evenly. After loading the explosives, remove the device according to the following steps: Stop the explosives delivery, first turn off the motor 13 of the clamping assembly 10, the motor 13 drives the bidirectional lead screw 12 to rotate in the opposite direction, causing the two clamping parts 14 to separate from each other and release the clamp on the explosive tube; pull the delivery tube upward to pull it out from the through hole 16 and the guide assembly 100; adjust the compressed air through the control terminal to drive the robotic arm to move the robotic claw 8 away from the deep hole area to avoid interfering with subsequent operations; finally, turn off the air compressor, disconnect the pipe connected to the air compressor port 9, clean the dust on the surface of the device, check the wear and tear of vulnerable parts such as the roller 108 and the silicone pad of the V-groove 15, and replace them in time if there is wear to ensure the stable performance of the device in the next use.

[0027] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An auxiliary loading device for a delivery pipe, comprising a base plate (1), a base (2), a first robotic arm (3), a second robotic arm (4), a first joint (5), a second joint (6), a third joint (7), a robotic claw (8), and an air compressor connection port (9), characterized in that: A base (2) is rotatably connected to the base plate (1); The base (2) is rotatably connected to the first robotic arm (3) via the first joint (5), the first robotic arm (3) is rotatably connected to the second robotic arm (4) via the second joint (6), and the second robotic arm (4) is rotatably connected to the robotic claw (8) via the third joint (7). The mechanical claw (8) has a through hole (16) in the center through which the medicine supply tube passes. The air compressor connection port (9) is located on the base plate (1) and provides driving force to the first robotic arm (3), the second robotic arm (4), the first joint (5), the second joint (6), and the third joint (7) by compressed air; A clamping assembly (10) is located at the bottom of the mechanical claw (8) and is used to clamp the medicine tube; Guide components (100), two sets of guide components (100) are symmetrically arranged on the top of the mechanical claw (8) to limit the radial displacement of the drug tube.

2. The auxiliary loading equipment delivery pipe device according to claim 1, characterized in that: The clamping assembly (10) includes two sets of fixed plates (11) symmetrically arranged at the bottom of the mechanical claw (8). Each set of fixed plates (11) is rotatably connected to a bidirectional lead screw (12). The outer walls of the two bidirectional lead screws (12) are threadedly connected to two clamping members (14). The two clamping members (14) are provided with V-grooves (15) on opposite sides. Each set of fixed plates (11) is provided with a motor (13) that drives the corresponding bidirectional lead screw (12) to rotate.

3. The auxiliary loading equipment delivery pipe device according to claim 1, characterized in that: The guide assembly (100) includes a support frame (101) fixed to the top of the mechanical claw (8), and a mounting rod (102) and a fixing rod (106) are fixed on the support frame (101). Two mounting brackets (103) are rotatably connected to the mounting rod (102), and a roller (108) is rotatably connected between the two mounting brackets (103). The bottom of the mounting bracket (103) is rotatably connected to a connecting rod (104), and a connecting cylinder (105) is fixed to the end of the connecting rod (104). A screw (107) is threaded onto the fixing rod (106), and one end of the screw (107) is rotatably connected to the connecting cylinder (105).

4. The auxiliary loading equipment delivery pipe device according to claim 3, characterized in that: The roller (108) is made of nylon.

5. The auxiliary loading equipment delivery pipe device according to claim 2, characterized in that: Silicone pads are provided inside the V-grooves (15) of the two clamping members (14).

6. The auxiliary loading equipment delivery pipe device according to claim 2, characterized in that: The maximum distance between the two clamping members (14) is greater than the diameter of the through hole (16).

7. The auxiliary loading equipment delivery pipe device according to claim 3, characterized in that: The outer wall of the roller (108) is provided with an arc-shaped groove (109).

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