Manipulation rock drill-loading robot machine

FIELD: mining industry, particularly for performing horizontal and inclined excavations by drilling-and-blasting method.

SUBSTANCE: robot device comprises rock detaching and loading systems having mobile tracked loader and suspended drilling equipment. The device includes manipulation system having platform and manipulator and system providing necessary rock grading. System providing necessary rock grading comprises digital photographic camera, microprocessor image analyzing means and suspended replaceable percussion-cut equipment. The suspended equipment is mounted on platform secured to manipulator arranged on frame which is connected to track undercarriage. Digital photographic camera is secured to manipulator in parallel to suspended equipment axis. To perform control of drives microprocessor means linked with microprocessor image analyzing means through parallel data transmission register are used.

EFFECT: improved capacity, increased operational rate and level of automation, increased safety of drilling-and-blasting excavation performing.

1 dwg

 

Manipulation bproperty robot is designed for mining, industrial and civil construction and can be used for automation and robotic processes when conducting horizontal and inclined mine workings drilling and blasting method.

When conducting blasting the yield of oversized rocks can be up to 15% of the blasted rock mass, which reduces the productivity of loading equipment, period of service, violates the rhythm of work in the development and entails a significant investment of time for the secondary crushing of oversized mechanical or explosive means.

As considered similar device, which is a system of mining machinery, consisting of subsystems branch of the rock mass, the cleaning of the rock mass and fixing the formed space (Patent of Russia №2144139 from 14.07.1997, IPC E 21 D 13/04 was investigated). Subsystem separation and cleaning of the rock mass is made in the form poroporoaki modules, including self-propelled loaders periodic action with a suspended drilling equipment.

The known device has the following disadvantages.

1. The lack of automatic control burkparsons complex depending on the particle size distribution of blasted rock is assy.

2. The impossibility of carrying out operations in secondary crushing of oversized explosion.

3. The design of the manipulator does not provide the necessary manipulation when changing set arbitrarily, including ground mounted equipment.

4. Lack of funds, providing automatic fastening removable mounted equipment on the manipulator burkparsons machine.

As the prototype is considered a device representing buroohoone machine, consisting of a loading part, representing a loading machine of continuous action with a side grip, and drill part comprising two electric drill machine or two pneumatic drill machine, two arm and two remote control of Mining machines and complexes: Textbook. for universities/Lggrbscq, Veenstra, Weekenders, Benchtable. - M.: Nedra, 1990, s).

The known device has the following disadvantages.

1. The lack of automatic control burkparsons complex depending on the particle size distribution of blasted rock.

2. The impossibility of carrying out operations during the airing of a development, including in secondary crushing of oversized explosion.

3. The design of the manipulator does not provide the necessary Mani is lirovaniya when changing set arbitrarily, including ground mounted equipment.

4. Lack of funds, providing automatic mounting of removable attachments, the manipulator burkparsons machine.

The invention is directed to increasing productivity, increasing the pace of work and level of automation, improving safety while conducting excavations drilling and blasting method, which is ensured by the fact that manipulation bproperty robot consists of systems branch of the rocks, the loading of the rock mass containing self-propelled loading machine with crawler chassis 1 and hinge drilling equipment 2 handling system and provide the desired particle size distribution of the rock mass, and manipulation system includes a platform 3 with hydraulic locks 4, the arm 5 with three portable and three orientation degrees of freedom, working in the spherical coordinate system, and the frame 6, and the system ensure the required particle size distribution of the rock mass contains the lighting device 7, the digital camera 8, the microprocessor image analysis 9 and hinged shock shearing equipment 10, and to control the actuators used by the microprocessor 11, which is connected with the microprocessor unit analysis of the images 9 through registers for parallel data transmission 12, when this input sequence, drilling and loading operations in the microprocessor control unit actuator 11 is carried out by means of the remote control 13, and control directional movement is installed in the robot navigation system 14.

The invention is illustrated in the drawing, which shows the layout manipulation bugreporting robot that contains tracked chassis 1 and hinge drilling equipment 2, a platform 3 with hydraulic locks 4, mounted on the arm 5, is placed on a frame 6, which is mounted on tracked chassis 1, the lighting device 7, the digital camera 8, mounted on the arm 5, the microprocessor image analysis 9 and hinged shock shearing equipment 10, and shifting equipment is installed on the platform 3, while for drive control is used by the microprocessor 11, which is connected with a microprocessor-based device image analysis 9 through registers for parallel data 12.

The device operates as follows.

Work handling bugreporting robot begins with input of a microprocessor control device actuators 11 of the robot by remote control, the station control 13, sequence of drilling and loading operations.

After entering the information, causes the activation of the power and control systems manipulative bugreporting robot and performing preparatory operations, including health check devices and change attachments 2 or 10, if necessary.

When performing drilling operations manipulative bproperty robot, guided navigation system 14, drove up to the slaughter, provides drilling and driving off at a safe distance from the blasting. To move to the loading operations automatically change drilling equipment 2 on the shock-shearing equipment 10.

During loading operations bproperty robot, guided navigation system 14 moves to the bottom while loading blasted rock, the controlled system to ensure the required particle size distribution. In case of oversize, the robot stops the execution of the loading blasted rock. The microprocessor device image analysis 9 passes microprocessor control device drives 11 the coordinates of the center of mass of oversized objects and by the destruction of oversized hinged shock shearing about what adowanie 10, then proceeds with the loading of the rock mass. After loading of the rock mass, the robot returns to the starting position. In case of transition to the execution of drilling operations automatically change shock shearing equipment 10 for drilling equipment 2.

After performing the sequence of drilling and loading operations manipulative bproperty the robot moves to the idle state commands from the remote control 13.

Manipulation bproperty robot, consisting of systems of separation and loading of the rock mass containing self-propelled loading machine on tracks and hinge drilling equipment, characterized in that the robot is installed manipulation system and provide the desired particle size distribution of the rock mass, and manipulation system includes a platform and a manipulator, and ensure the required particle size distribution of the rock mass contains a lighting device, a digital camera, a microprocessor device, image analysis and hinged shock shearing equipment, with interchangeable attachments installed on a platform that is fixed to the manipulator, is placed on a frame fixed to the undercarriage crawler parts, and digital fotocameradigitaliso on the arm and directed parallel to the axis of the interchangeable attachments, and for drive control uses a microprocessor device, which is connected with the microprocessor device image analysis through registers parallel data transfer.



 

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