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CN-122015601-A - Charging robot for open pit step blasting

CN122015601ACN 122015601 ACN122015601 ACN 122015601ACN-122015601-A

Abstract

The invention discloses a charging robot for strip mine step blasting, and relates to the field of blasting equipment; the charging robot for the strip mine step blasting comprises a transfer frame, a grabbing component, a receiving and placing component and a camera, wherein the transfer frame is arranged on a frame, the grabbing component is arranged on the frame, the frame can be controlled to travel to a blasting hole when blasting grains are distributed, the position of the explosive placing hole and the position of the blasting hole are determined through the camera, the grabbing component is driven to move through the transfer frame, the explosive grains stored in a loading box are moved to the receiving and placing component through the grabbing component, the contact area of a buffering piece and the explosive grains is large, the clamping pressure can be effectively dispersed, the damage risk and the false explosion risk of the explosive grains are reduced, the receiving and placing component can slowly place the explosive grains in the middle to a proper position of the blasting hole, vibration of the explosive grains can be reduced, and the charging safety is further improved.

Inventors

  • CHANG YUAN
  • CHANG JIE

Assignees

  • 常渊

Dates

Publication Date
20260512
Application Date
20260409

Claims (8)

  1. 1. Charging robot that strip mine step was exploded, its characterized in that includes: the drug delivery device comprises a frame (1), wherein a control piece (2) and a loading box (3) are arranged on the frame (1), and a drug delivery hole (26) is formed in the middle of the frame (1); The transfer frame is arranged on the frame (1), and a first electric lifting rod (12) is arranged on the transfer frame; The grabbing assembly (13) is arranged at the telescopic end part of the first electric lifting rod (12) and comprises a third motor (131) connected to the first electric lifting rod (12), a worm (132) fixedly installed on the rotating shaft of the third motor (131) and a worm wheel (133) rotatably connected to the third motor (131) through a clamping plate, the worm (132) is meshed with the worm wheel (133), a rotating rod (134) is connected to the worm wheel (133), and a buffer piece is arranged at the end part of the rotating rod (134); The receiving and placing assembly is arranged on the frame (1) and is used for receiving the medicine column transmitted by the grabbing assembly (13); And the camera (27) is arranged on the frame (1).
  2. 2. The charging robot for the strip mine step blasting according to claim 1, wherein the buffering piece comprises a mounting rod (135) connected with the end part of the rotating rod (134) and two hinging rods (136) hinged with the end parts of the mounting rod (135), an inner rod (137) is hinged with the end parts of the hinging rods (136), an outer sleeve (138) is sleeved at the end parts of the inner rod (137), a first spring (139) sleeved on the inner rod (137) is arranged inside the outer sleeve (138), a telescopic cylinder (1310) is connected between the mounting rod (135) and the outer sleeve (138), a second spring (1311) is sleeved on the telescopic cylinder (1310), and a brace (1312) is connected to the inner rod (137).
  3. 3. The open pit bench blasting charging robot of claim 2, wherein the first spring (139) has one end abutting against the inner wall of the jacket (138) and the other end abutting against the inner rod (137) side wall, and the second spring (1311) has one end abutting against the mounting rod (135) side wall and the other end abutting against the jacket (138) side wall.
  4. 4. The strip mine step blasting charging robot of claim 2, wherein the braces (1312) are made of a deformable rubber material.
  5. 5. The charging robot for the strip mine step blasting according to claim 1, wherein the carrying and placing assembly comprises a second electric lifting rod (14) fixedly installed on the frame (1), a mounting disc (15) fixedly installed on the second electric lifting rod (14) and a vortex wire disc (16) rotatably connected with the middle part of the mounting disc (15), vortex wire grooves are engraved on the vortex wire disc (16), a toothed ring (17) is connected to the outer wall of the vortex wire disc (16), a fourth motor (18) is connected to the vortex wire disc (16), a gear (19) meshed with the toothed ring (17) is connected to an output shaft of the fourth motor (18), a sliding frame (20) is connected to the vortex wire disc (16), a sliding plate (21) is connected to the sliding frame (20) in a sliding mode, the sliding plate (21) is meshed with the vortex wire disc (16) through the vortex wire grooves, a side plate (22) is connected to the end portion of the sliding plate (21), a side plate (22) is connected to the lower end of the side plate (22), and the sliding plate (23) is obliquely arranged and can be made of a deformable material.
  6. 6. The charging robot for strip mine step blasting according to claim 5, wherein the swivel plate (23) is connected at its end with an extension plate (24).
  7. 7. The charging robot for the step blasting of the strip mine according to claim 5, wherein an anti-falling bar (25) is connected between adjacent side plates (22), and the anti-falling bar (25) is made of rubber.
  8. 8. The charging robot for the strip mine step blasting according to claim 1, wherein the transfer frame comprises a mounting frame (4) fixedly mounted on the frame (1), a first lead screw (5) is rotationally connected to the mounting frame (4), a first motor (6) with an output shaft connected with the first lead screw (5) is connected to the mounting frame (4), a sliding block (7) is connected to the first lead screw (5) in a threaded manner, a second motor (8) is connected to the sliding block (7), a second lead screw (9) is rotationally connected to the sliding block (7), a rotation preventing rod (10) which is parallel to the second lead screw (9) is further connected to the sliding block (7), a moving disc (11) is connected to the second lead screw (9) in a threaded manner, the moving disc (11) is slidably connected with the rotation preventing rod (10), and the first electric lifting rod (12) is connected to the moving disc (11).

Description

Charging robot for open pit step blasting Technical Field The invention relates to the technology of blasting equipment, in particular to a charging robot for strip mine step blasting. Background The surface mine step blasting is a core link of surface mining, and is essentially to crush and throw overburden rock or ore body to a specified position according to preset geometric parameters. The step elements mainly comprise step height (usually 10-15 m), drilling diameter (90-310 mm), chassis resistance line, hole pitch and row pitch, and the parameters need to be dynamically matched according to the physical and mechanical properties of rock and the productivity requirement. The hole distribution mode is usually quincuncial or rectangular, and the hole-by-hole or row-by-row detonation is realized by the delay in the holes and the delay on the ground surface in the detonation sequence so as to control the blasting vibration and the block distribution. The charging structure generally adopts continuous columnar charging, high-power explosive is placed at the bottom to overcome the chassis resistance line, and low-density explosive or filling material is used at the upper part to prolong the action time of explosive gas. The packing length is generally not less than 0.7 times of the chassis resistance line, so as to prevent the gun from being punched and improve the energy utilization rate. The manual columnar explosive charge has a certain danger, is mainly characterized in that operators need to contact with explosive in a close range and go deep into a blast hole area, is extremely easy to cause accidental detonation due to misoperation, mechanical friction, static accumulation or stray current in the process of carrying, filling and blocking, and directly threatens personal safety due to collapse risk of step edges, flying stone impact, false touch of blind guns and long-time exposure to toxic smoke dust and noise environment. The robot is used for replacing manual laying of explosive, people can be completely evacuated from a high risk area through remote control, but in the charging process, the clamping jaw of the robot is used for scraping explosive grains, the clamping point position of the clamping jaw to the explosive grains is few, the clamping pressure is high, the explosive risk of the explosive grains damage can be increased, and therefore the existing charging robot structure needs to be improved. Disclosure of Invention The invention aims to provide a charging robot for the step blasting of an open pit mine, which aims to solve the problem that the gripping pressure of a clamping jaw of the charging robot on explosive grains in the prior art is large, and the risk of damaging the explosive grains is increased. In order to achieve the purpose, the invention provides the following technical scheme that the charging robot for the strip mine step blasting comprises: The vehicle frame is provided with a control piece and a loading box, and the middle part of the vehicle frame is provided with a medicine placing hole; The transfer frame is arranged on the frame and is provided with a first electric lifting rod; The grabbing assembly is arranged at the telescopic end part of the first electric lifting rod and comprises a third motor connected to the first electric lifting rod, a worm fixedly arranged on a rotating shaft of the third motor and a worm wheel connected to the third motor through a clamping plate in a rotating mode, the worm is meshed with the worm wheel, a rotating rod is connected to the worm wheel, and a buffer piece is arranged at the end part of the rotating rod; the receiving and placing assembly is arranged on the frame and used for receiving the medicine column transmitted by the grabbing assembly; And the camera is arranged on the frame. Preferably, the pressure relieving piece comprises a mounting rod connected with the end part of the rotating rod and two hinging rods hinged with the end part of the mounting rod respectively, the end part of the hinging rod is hinged with an inner rod, an outer sleeve is sleeved at the end part of the inner rod, a first spring sleeved on the inner rod is arranged inside the outer sleeve, a telescopic cylinder is connected between the mounting rod and the outer sleeve, a second spring is sleeved on the telescopic cylinder, and a brace is connected to the inner rod. Preferably, one end of the first spring is abutted against the inner wall of the outer sleeve, the other end of the first spring is abutted against the side wall of the inner rod, one end of the second spring is abutted against the side wall of the mounting rod, and the other end of the second spring is abutted against the side wall of the outer sleeve. Preferably, the braces are made of a deformable rubber material. Preferably, the bearing and placing assembly comprises a second electric lifting rod fixedly installed on the frame, a mounting disc fixedly installed on the second elect