CN115218739B

CN115218739B - Intelligent hole alignment manipulator and working method thereof

Info

Publication number: CN115218739B
Application number: CN202210751039.1A
Authority: CN
Inventors: 李明杰; 唐秀永; 陈斌; 张凡华; 喻季红; 覃语佳; 陈义武; 谭炜琦
Original assignee: Hunan Jinshi Zhizao Technology Co ltd
Current assignee: Hunan Jinshi Zhizao Technology Co ltd
Priority date: 2022-06-29
Filing date: 2022-06-29
Publication date: 2023-10-10
Anticipated expiration: 2042-06-29
Also published as: CN115218739A

Abstract

The invention provides an intelligent hole aligning manipulator and a working method thereof. The intelligent hole alignment manipulator comprises a supporting arm, a rotating mechanism, a vision system and a charging hose connecting rod mechanism, wherein the vision system comprises a light source, an industrial camera and a control system; the connecting rod mechanism comprises a rear seat, a linear mechanism, an inclined connecting plate and a front seat, and the rear seat is connected with one end of the supporting arm; the linear mechanisms are oppositely arranged in two groups, and the linear mechanisms positioned at the edges of each group are respectively connected with the rear seat and the front seat; the linear mechanism drives the linkage mechanism to bend or straighten by extending or retracting. And the light source is used for shining, the industrial camera is used for shooting, identifying and positioning the position of the blasthole, feeding back the position to the control system, and driving the rotating mechanism and the linear mechanism to enable the hole aligning pipe to be aligned with the blasthole so as to realize automatic hole aligning operation. The invention improves the hole alignment efficiency, reduces the labor intensity of workers, improves the hole alignment precision and improves the automation degree of the whole hole alignment operation.

Description

Intelligent hole alignment manipulator and working method thereof

Technical Field

The invention relates to the technical field of hole alignment and charging of mine, tunnel and quarrying blasting engineering charging vehicles, in particular to an intelligent hole alignment manipulator and a working method thereof.

Background

In mining of metal and nonmetal mines, tunneling, and charging and blasting construction of tunnel engineering, the method of drilling, charging, blasting, slag discharging and the like is mainly used, and manual charging and blasting is still mainly used at present. The existing explosive loading vehicle is adopted to replace manual explosive loading and blasting operation. However, in the countermeasure operation of the existing charging vehicle, the remote controller is manually operated to perform hole alignment, so that the labor intensity is high, the hole alignment precision is poor, the efficiency is low, and the automation degree is low; some of the steel pipes cannot be reliably adjusted to the hole angle, or the bending part is a steel pipe, so that the abrasion of the charging pipe is serious.

In the prior art, for example, "industrial explosive underground on-site mixed loading process and equipment research" Deng Shengpu, mining and metallurgy engineering, 35 volume, 6 th period, 2015, 12 month disclose trunk type hole aligning mechanism, which is composed of 8 small hydraulic cylinders and a set of connecting rod mechanism, wherein the connecting rod mechanism adopts connecting blocks with rod type structures, and the connecting blocks are more in number, so that the mechanism is complex to install, inflexible to operate, has blocking phenomenon, large in accumulated error, cannot be ensured in precision, and is higher in manufacturing cost.

Disclosure of Invention

The invention aims to provide an intelligent hole aligning manipulator which is flexible to operate and a working method thereof.

The technical scheme of the invention is as follows: the intelligent hole aligning manipulator comprises a supporting arm, a charging hose and a connecting rod mechanism for driving the charging hose to bend, wherein the connecting rod mechanism comprises a rear seat, a linear mechanism, an inclined connecting plate and a front seat, and the rear seat is connected with one end of the supporting arm; two groups of linear mechanisms are oppositely arranged relative to the axial lead of the charging hose, each group is formed by sequentially connecting a plurality of linear mechanisms, and the linear mechanisms positioned at the edges of each group are respectively connected with the rear seat and the front seat;

the inclined connecting plate is triangular, and a connecting point A, a connecting point B, a connecting point C and a connecting point D are respectively formed, wherein the connecting point A, the connecting point B and the connecting point C are respectively positioned at corners of the triangle, and the connecting point D is positioned on a connecting line of the connecting point B and the connecting point C; the oblique connecting plates are connected between the rear seat and the front seat, the connecting point A of one oblique connecting plate is hinged with the connecting point D of the other oblique connecting plate, the connecting points B of the oblique connecting plates are hinged with one group of linear mechanisms, the connecting points C of the oblique connecting plates are hinged with the other group of linear mechanisms, the hinging point A of the oblique connecting plate adjacent to the rear seat is hinged with the rear seat, and the connecting point B, the connecting point C and the connecting point D of the oblique connecting plate adjacent to the front seat are all connected with the front seat;

the linear mechanism drives the linkage mechanism to bend or straighten by extending or retracting.

In the scheme, the connecting rod in the transmission connecting mechanism is designed into a plate-shaped structure, so that the parts are reduced, and the installation structure is simplified; in addition, the platy structure is optimized to be triangular, and the installation mode of the structure can well drive, avoid clamping stagnation and enable the manipulator to operate more flexibly.

In order to enlarge the range of the manipulator in hole alignment in a larger range, the connecting rod mechanism, the linear mechanism and the charging hose can rotate together by 0-360 degrees; realize the all-round reliable hole of registering, it is nimble convenient to register the hole.

In a specific technical scheme, the rear seat is connected with the supporting arm through a rotating mechanism, and the axis of rotation output by the rotating mechanism is consistent with the axis of the guide pipe.

Preferably, the connection point D is located at the center of the line connecting the connection point B and the connection point C. The inclined connecting plate is hinged to the middle of the other inclined connecting plate, so that the transmission is better when the manipulator is complete.

Preferably, the intelligent hole aligning manipulator further comprises a guide mechanism for guiding the charging hose, the guide mechanism comprises a guide pipe, a guide wheel assembly and a hole aligning pipe, the guide pipe is arranged at the side of the supporting arm and is communicated with the inside of the rear seat, the hole aligning pipe is arranged at one side of the front seat far away from the rear seat, and the hole aligning pipe is communicated with the inside of the front seat; the charging hose passes through the guide tube and the hole aligning tube; the guide wheel assemblies are arranged between the front seat and the rear seat, a plurality of guide wheel assemblies are arranged along the axial direction of the charging hose, and the guide wheel assemblies are respectively hinged with the inclined connecting plates at corresponding positions; the guide wheel assembly is in rolling contact with the pipe wall of the charging hose.

The guiding mechanism is designed to facilitate the introduction of the charging hose. Meanwhile, rolling friction is transmitted to the charging hose through rolling contact, abrasion of the charging hose is reduced, and service life of the charging hose is prolonged.

Preferably, the guide wheel assembly comprises two guide tube plates, small rollers and large rollers, wherein the two guide tube plates are oppositely arranged on the axis of the charging hose, a plurality of small rollers are hinged between the two guide tube plates, at least one large roller is arranged beside the small rollers, the small rollers and the large rollers are arranged at two ends of the axis of the charging hose, the axes of the small rollers and the large rollers are parallel to the axes of the holes hinged to the inclined connecting plate, and the guide tube plates are parallel to the inclined connecting plate.

In the same guide wheel assembly, the small idler wheel is arranged on one side close to the rear seat, the large idler wheel is arranged on one side close to the front seat, and the charging hose enters the large idler wheel from the small idler wheel and is output. The charging hose can realize stable displacement under the action of a plurality of small rollers, and can accurately enter the next guide wheel assembly or be output from the front seat under the action of a large roller. The connecting point B is like a joint, is a joint for bending the manipulator, and is provided with a large roller at a position close to the connecting point B, and when the connecting rod assembly is bent, the large roller of the guide wheel assembly can twist the charging hose to be bent adaptively, so that the integral bending degree meets the hole-aligning requirement.

Preferably, the guiding mechanism further comprises a catheter head and a front catheter, the catheter head is arranged in the rear seat and far away from the guiding catheter, the front catheter is arranged in the front seat and far away from the hole aligning tube, and the charging hose also passes through the catheter head and the front catheter at the same time.

The catheter head and the front catheter play a further guiding role in the displacement of the charging hose.

Preferably, two large rollers contacting with the tube wall roller of the charging hose are arranged on one side of the front guide tube adjacent to the guide wheel assembly, and the large rollers are positioned on two sides of the axial lead of the charging hose. Is beneficial to bending and forming.

Preferably, the same group of linear mechanisms in the two groups of linear mechanisms can act simultaneously or act separately.

Preferably, the intelligent hole aligning manipulator further comprises a vision system for identifying the position of the blasthole and outputting a hole aligning signal, and the vision system is connected with the intelligent hole aligning manipulator flashlight through a control system.

The invention also provides a working method of the intelligent hole alignment manipulator, which comprises the following steps:

providing a camera and a control system, photographing a mine stope, a roadway driving surface and a tunnel driving surface through the camera, transmitting the photographs to the control system, automatically identifying and positioning the position of a blasthole through a visual algorithm by the control system, converting a calculation result into a command by the control system, outputting the command to the intelligent hole alignment manipulator so as to drive the link mechanism to rotate and stretch, and aligning a hole alignment pipe to the blasthole; finally, the charging hose is extended into the bottom of the hole of the blast hole through the guiding mechanism.

Compared with the related art, the invention has the beneficial effects that:

1. the visual system is matched with the rotating mechanism, the linear mechanisms, the connecting rod mechanism assemblies and the guide mechanism assemblies, so that the visual camera is used for shooting the blasthole and then sending a graphic processing and control system, the position of the blasthole is automatically recognized and positioned through a visual algorithm, the rotating mechanism and the linear mechanisms are driven to act, the hole aligning pipe is aligned with the blasthole, and a charging hose can be sent to the hole aligning pipe through the guide mechanism assemblies in the intelligent hole aligning manipulator based on machine vision and finally sent to the bottom of the blasthole to finish charging operation; the accuracy of hole alignment is improved, the hole alignment efficiency is improved, the labor intensity is reduced, and the automation degree of hole alignment and charging is improved;

2. the rotation and bending angles of the connecting rod assembly are controlled through the rotation mechanism and the linear mechanisms, so that the holes can be aligned in an omnibearing and reliable way within the range of 0-360 degrees in front, and the holes are aligned flexibly and conveniently;

3. the medicine charging hose guide mechanism composed of the small roller, the large roller and the like is characterized in that after distortion, the medicine charging hose is in rolling friction with the small roller and the large roller which are made of antifriction materials, so that abrasion of the medicine charging tube is reduced, and the service life of the medicine charging hose is prolonged.

Drawings

FIG. 1 is a schematic diagram of the front view structure of an intelligent hole alignment manipulator provided by the invention;

fig. 2 is a schematic top view of the intelligent hole alignment manipulator provided by the invention;

FIG. 3 is a schematic diagram of the vertical bending range of the intelligent hole alignment manipulator provided by the invention;

FIG. 4 is a schematic diagram of the intelligent hole alignment manipulator according to the present invention in a left side view and a rotation range driven by a rotation mechanism;

fig. 5 is a schematic diagram of a spatial bending range of the intelligent hole alignment manipulator provided by the invention.

In the accompanying drawings: 1. a support arm; 2. a guide tube; 3. a camera protection cover; 4. a light source; 5. an industrial camera; 6. a rotation mechanism; 7. a catheter head; 8. a rear seat; 9. a linear mechanism; 10. a slant connecting plate; 11. a pin shaft; 12. a conduit plate; 13. a small roller; 14. a large roller; 15. a front seat; 16. a front duct; 17. a hole alignment tube; 18. and (5) a charging hose.

Detailed Description

The invention will be described in detail below with reference to the drawings in connection with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. For convenience of description, the words "upper", "lower", "left" and "right" are used hereinafter to denote only the directions corresponding to the upper, lower, left, and right directions of the drawings, and do not limit the structure.

As shown in fig. 1 and 2, the intelligent hole aligning manipulator provided in this embodiment includes a support arm 1, a charging hose 18, a link mechanism, a guiding mechanism, a rotating mechanism 6 and a vision system.

The link mechanism comprises a rear seat 8, a linear mechanism 9, a pin shaft 11 of a bevel connection plate 10 and a front seat 15. The guiding mechanism comprises a guiding tube 2, a guiding wheel assembly, a hole aligning tube 17, a guiding tube head 7 and a front guiding tube 16.

The guide tube 2 is arranged beside the support arm 1. The rear seat 8 is mounted on the underside of one end of the support arm 1 by a rotation mechanism 6. The rear seat 8 and the guide tube 2 are positioned on the same side and are communicated with each other, and a charging hose 18 passes through the rear seat. The front seat 15 is arranged at the far end of the rear seat 8, and the front seat and the rear seat are connected through a connecting rod mechanism.

Two groups of linear mechanisms 9 are oppositely arranged relative to the axial lead of the charging hose 18, each group is formed by sequentially connecting a plurality of linear mechanisms 9, and the linear mechanisms 9 positioned at the edges of each group are respectively connected with the rear seat 8 and the front seat 15.

As shown in fig. 3, the oblique connecting plate 10 is triangular, and forms a connection point a, a connection point B, a connection point C and a connection point D, where the connection point a, the connection point B and the connection point C are respectively located at corners of the triangle, and the connection point D is located at a center of a connection line between the connection point B and the connection point C. The inclined connecting plate 10 is connected between the rear seat 8 and the front seat 15. The connection point A of one inclined connecting plate 10 is hinged with the connection point D of the other inclined connecting plate 10 through a pin shaft 11. The connection points B of the plurality of inclined connecting plates 10 are hinged with one group of linear mechanisms 9 through pin shafts 11. The connection points C of the plurality of inclined connecting plates 10 are hinged with the other group of linear mechanisms 9 through pin shafts 11. The hinge point A of the inclined connecting plate 10 adjacent to the rear seat is hinged with the rear seat 8 through a pin shaft 11, and the connecting point B, the connecting point C and the connecting point D of the inclined connecting plate 10 adjacent to the front seat 15 are all connected with the front seat 15.

The linear mechanism 9 is any one of a servo electric cylinder, a servo oil cylinder, a ball screw mechanism, a linear module and the like. When the precision requirement is not high, a common cylinder or a common oil cylinder can be adopted. Each hinge point is a bendable joint point, and the bending or straightening of the hinge point is driven by the extension and contraction of the linear mechanism 9, so that an upper-lower 180-degree hole aligning angle can be realized during bending. The number of the inclined connecting plates 10 can be flexibly increased according to actual needs so as to obtain longer working radius and tighter bending angle.

In a specific operation, the same group of linear mechanisms 9 of the two groups of linear mechanisms 9 can be operated simultaneously or separately. If the upper-mounted linear mechanism 9 is retracted at the same time and the lower-mounted linear mechanism 9 is extended at the same time, the entire link mechanism may be bent upward, and conversely, downward. If the upper and lower linear mechanisms 9 are respectively extended and retracted according to the control requirement (i.e. the linear mechanisms in the same group are respectively extended or retracted), the s-shaped bending shape can be realized so as to avoid certain obstacles, and the flexible bending function of the bionic trunk or the snake-shaped manipulator is achieved.

As shown in fig. 1 and 2, the hole aligning pipe 17 is disposed at a side of the front seat 15 away from the rear seat 8, and the hole aligning pipe 17 is communicated with the inside of the front seat 15. The catheter head 7 is arranged in the rear seat 8 and is far away from the guide tube 2. The front guide tube 16 is arranged in the front seat 15 and far away from the hole aligning tube 17, and the charging hose 18 sequentially passes through the guide tube 2, the guide tube head 7, the guide wheel assembly, the front guide tube 16 and the hole aligning tube 17 and extends out of the hole aligning tube 17. The catheter head 7 and the counter-bore tube 17 are taper tubes, and the large-caliber end of each taper tube is arranged towards the rear seat 8, so that the charging hose 18 passes through unimpeded.

The guide wheel assembly is arranged between the front seat 15 and the rear seat 8 and is provided with a plurality of guide wheel assemblies along the axial direction of the charging hose 18.

The guide wheel assembly comprises a guide wheel plate 12, a small roller 13 and a large roller 14. Two guide tube plates 12 are oppositely arranged on the axis of the charging hose 18, and a plurality of small rollers 13 are hinged between the two guide tube plates 12. The large roller 14 is disposed beside the small roller 13. A plurality of small rollers 13 and one large roller 14 are provided at both ends of the axis of the charge hose 18. The axes of the small roller 13 and the large roller 14 are parallel to the axis of the hinged hole on the inclined connecting plate 10, and the conduit plate 12 is parallel to the inclined connecting plate 10. The "small" and "large" of the small roller 13 and the large roller 14 refer to the definition according to the relative size between the two rollers.

The charging hose 18 is in rolling friction with the small roller 13 and the large roller 14 in the guide mechanism, and the small roller 13 and the large roller 14 are made of nylon, polyurethane, polytetrafluoroethylene or other nonmetallic antifriction materials, so that the abrasion of the charging hose 18 can be reduced.

The rotation mechanism 6 is any one of a servo turntable, a rotary support and an electric turntable capable of outputting a tight rotation angle, and can output a rotation angle of 0-360 degrees, and the axis of a rotation shaft output by the rotation mechanism 6 is consistent with the axis of the guide tube 2, so that the connecting rod assembly and the opposite hole tube 17 positioned in front rotate by 0-360 degrees along the axis of the guide tube 2 (as shown in fig. 4).

The vision system comprises a camera protection cover 3, a light source 4 and an industrial camera 5. The industrial camera 5 and the light source 4 are mounted beside the support arm 1 above the guide tube 2. A camera protection cover 3 is arranged above the industrial camera 5.

the light source 4 and the industrial camera 5 are electrically connected to an image processing and control system (not shown) to form a vision system together. During working, the light source 4 and the industrial camera 5 take pictures of a mine stope, a tunnel driving face and a tunnel driving face, the pictures are transmitted to a graphic processing and control system, and the positions of blastholes are automatically identified and positioned through a system vision algorithm. Under the regulation and control of the image processing and control system, the output rotation angles and the telescopic distances of the rotating mechanism 6 and each linear mechanism 9 are controlled, so that the bending and straightening of the whole intelligent hole alignment manipulator based on machine vision and the angles in space are controlled (shown in fig. 5). The hole alignment tube 17 is aligned with the blast hole, so that hole alignment action is realized, and the distance from the uppermost dimension of the hole alignment tube 17 to the central line (namely the axial line of the guide tube 2) after bending to the central line is 0-360 degrees in front of the radius and the hemispherical range can be covered by taking the rotating surface of the rotating mechanism 6 as the circle center. Finally, the charging hose 18 is extended into the bottom of the hole of the blast hole through the guiding mechanism, and explosive is injected.

The invention adopts the vision system to photograph the blasthole, automatically identifies and positions the blasthole position, controls and drives the connecting rod mechanism to realize automatic hole alignment operation, so as to improve the hole alignment efficiency, reduce the labor intensity of workers, improve the hole alignment precision, improve the automation degree of the whole hole alignment operation, and ensure that the medicine loading hose and the large and small rollers in the bent hole alignment guide mechanism are in rolling friction so as to reduce the abrasion of the medicine loading tube and prolong the service life of the medicine loading tube.

The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.

Claims

1. The intelligent hole alignment manipulator comprises a supporting arm, a charging hose penetrating through the manipulator and a connecting rod mechanism for driving the charging hose to bend, and is characterized by comprising a rear seat, a linear mechanism, a diagonal connecting plate and a front seat, wherein the rear seat is connected to one end of the supporting arm; two groups of linear mechanisms are oppositely arranged relative to the axial lead of the charging hose, each group is formed by sequentially connecting a plurality of linear mechanisms, and the linear mechanisms positioned at the edges of each group are respectively connected with the rear seat and the front seat;

2. The intelligent hole alignment robot of claim 1, wherein the connection point D is located at the center of the line connecting the connection point B and the connection point C.

3. The intelligent hole alignment manipulator of claim 1, further comprising a guide mechanism for guiding a charge hose, the guide mechanism comprising a guide tube, a guide wheel assembly and a hole alignment tube, the guide tube being disposed beside the support arm and in communication with the rear seat interior, the hole alignment tube being disposed on a side of the front seat remote from the rear seat and in communication with the front seat interior; the charging hose passes through the guide tube and the hole aligning tube; the guide wheel assemblies are arranged between the front seat and the rear seat, a plurality of guide wheel assemblies are arranged along the axial direction of the charging hose, and the guide wheel assemblies are respectively hinged with the inclined connecting plates at corresponding positions; the guide wheel assembly is in rolling contact with the pipe wall of the charging hose.

4. The intelligent hole aligning manipulator according to claim 3, wherein the guide wheel assembly comprises two guide tube plates, small rollers and large rollers, the two guide tube plates are oppositely arranged on the axis of the charging hose, a plurality of small rollers are hinged between the two guide tube plates, at least one large roller is arranged beside the small rollers, the small rollers and the large rollers are arranged at two ends of the axis of the charging hose, the axes of the small rollers and the large rollers are parallel to the axis of the hinged holes on the oblique connecting plate, and the guide tube plates are parallel to the oblique connecting plate.

5. The intelligent hole alignment manipulator of claim 4, wherein the guide mechanism further comprises a conduit head and a front conduit, the conduit head being disposed in the rear seat and away from the guide tube, the front conduit being disposed in the front seat and away from the hole alignment tube, the charge hose also passing through both the conduit head and the front conduit.

6. The intelligent hole aligning manipulator of claim 5, wherein two large rollers contacting with the tube wall roller of the charging hose are arranged on one side of the front guide tube adjacent to the guide wheel assembly, and the large rollers are positioned on two sides of the axial lead of the charging hose.

7. The intelligent hole alignment manipulator of claim 3, wherein the rear seat is connected to the support arm via a rotation mechanism, and a rotation axis output by the rotation mechanism is consistent with an axis of the guide tube.

8. The intelligent hole aligning manipulator of claim 1, wherein the same set of linear mechanisms of the two sets of linear mechanisms can be operated simultaneously or separately.

9. The intelligent hole alignment manipulator of claim 1, further comprising a vision system for identifying a blasthole location and outputting a hole alignment signal, the vision system being coupled to the intelligent hole alignment manipulator torch by a control system.

10. The working method of the intelligent hole aligning manipulator according to any one of claims 1 to 9, comprising the steps of: