An emulsion explosive metering and adjusting integrated device for a charging robot

Abstract

The utility model discloses an emulsion explosive metering and adjusting integrated device for charging robot relates to tunnel blasting engineering technical field, servo motor is used as power source, and drive spiral meter runs, and the emulsion base is supplied by pressure pump through emulsion base input end, and after the metering of spiral meter, is transported to the inner tube of concentric inner and outer tube structure, and the sensitizing agent is metered and transported by the precision metering pump through sensitizing agent input end, enters the outer tube annular gap of concentric inner and outer tube structure, obtains emulsion base flow directly, without lag through "screw device rotating speed metering", and the closed loop control strategy of fusion sensitizing agent, adopts capillary hole channel to form water ring, reduces the transportation resistance of emulsion base, promotes the transportation rate, and the response time of system control density regulation is greatly promoted from the number of seconds level of traditional decentralized system to millisecond level.

Description

Technical Field

[0001] This utility model relates to the field of tunnel blasting engineering technology, specifically to an integrated device for metering and adjusting emulsion explosives for a charging robot. Background Technology

[0002] In the field of tunnel blasting engineering technology, the technology of on-site mixing of emulsion explosives has been widely used. A search reveals existing technologies such as Chinese patent CN115325898B, which discloses an emulsion explosive mixer with adjustable charge density, using a matrix pump, a first additive pump, and a second additive pump to deliver each component separately; and Chinese patent CN110779406B, which discloses a method and device for on-site mixing of emulsion explosives with variable density segmented charging, using multiple independent delivery pumps and flow meters to achieve density adjustment.

[0003] The system suffers from low integration, with functional units scattered and connected by pipelines, resulting in a distributed system structure. This leads to long control loops, signal transmission delays, and pressure fluctuations. Furthermore, misalignment exists between components in the distributed system, and pressure losses and pulsations at pipeline connections affect metering stability, particularly during the transport of high-viscosity latex matrices. This makes precise segmented loading of explosives of different densities within the same borehole difficult. The loosely structured and bulky equipment cannot be effectively integrated into the end effector of automated actuators such as robotic arms, limiting its application in mechanized and intelligent construction within confined spaces such as tunnels. Therefore, this invention provides an integrated emulsion explosive metering and adjustment device for a loading robot. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides an integrated device for metering and adjusting emulsion explosives for a charging robot. Its core objective is to deeply couple the precise metering function of the latex matrix with the density adjustment function of the explosive in the mechanical structure, forming a compact, closed-loop integrated functional module. This meets the process requirements of continuously loading explosives of different densities into the same borehole, adapts to the stringent requirements of intelligent charging in tunnel blasting, and solves the problems mentioned in the background technology.

[0005] To achieve the above objectives, this utility model is implemented through the following technical solution: an integrated device for metering and adjusting emulsion explosives for a charging robot, comprising: a servo motor, a concentric inner and outer tube structure, a static mixing device, an emulsion explosive input device, a mass flow meter, a hose output end, a hose storage device, a connecting bracket, a precision metering pump, a pressure pump, a speed sensor, and a screw meter. The servo motor serves as the power source, driving the spiral metering device. The latex matrix is ​​supplied by the pressure pump through the latex matrix input end, and after being metered by the spiral metering device, it is delivered to the inner tube of the concentric inner and outer tube structure. The sensitizer is metered and delivered by the precision metering pump through the sensitizer input end, entering the annular gap of the outer tube of the concentric inner and outer tube structure. The two materials form a stratified flow within the concentric inner and outer tube structure and are delivered to the static mixing device for mixing. The mixed emulsion explosive enters the hose storage device through the emulsion explosive input device and is finally output through the hose output end. The mass flow meter is installed in the mixed material flow path to monitor the density of the emulsion explosive in real time and feed it back to a control system. The connecting bracket integrates the servo motor, spiral metering device, concentric inner and outer tube structure, precision metering pump, mass flow meter, and hose storage device into a rigid module.

[0006] Preferably, the inner tube of the concentric inner and outer tube structure has capillary channels on its inner tube wall, allowing the sensitizer in the outer tube annulus to penetrate into the inner tube through the capillary channels and form a lubricating water ring between the latex matrix and the tube wall.

[0007] Preferably, the servo motor is fixedly installed on the outer wall of the concentric inner and outer tube structure. The servo motor directly drives the screw meter through a coupling and is equipped with a speed sensor at the front end to monitor the motor speed in real time and convert it into the conveying flow rate of the screw meter.

[0008] Preferably, the density feedback signal of the mass flow meter and the flow signal of the spiral meter are used to adjust the operating conditions of the precision metering pump and the pressure pump in real time through a PID control algorithm, so as to achieve stepless continuous adjustment of the emulsion explosive density.

[0009] Preferably, the connecting bracket is provided with a standardized interface for connecting to the end of the robotic arm of the drug delivery robot.

[0010] Preferably, the static mixing device has an enlarged diameter chamber inside, and the material is uniformly mixed in the static mixing area of ​​the emulsion explosive through laminar diffusion.

[0011] Beneficial effects This invention provides an integrated device for metering and adjusting emulsion explosives for use in a charging robot. Compared with the prior art, it has the following advantages: This invention achieves essentially precise metering and rapid dynamic adjustment: It directly and without lag obtains the latex matrix flow rate through a "spiral device rotation speed metering" system, and integrates a closed-loop control strategy with a sensitizer. By employing a capillary channel to form a water ring, it reduces the latex matrix's transport resistance and increases the transport rate, significantly improving the system's response time for density adjustment from several seconds in traditional distributed systems to milliseconds (typically <0.5 seconds). The entire system boasts high metering accuracy, within ±1%, enabling real-time and precise fulfillment of the stringent requirements for explosive density in blasting designs.

[0012] With its highly compact structure, this invention is perfectly suited for automated construction scenarios. It integrates two core functions—latex matrix metering and delivery, and sensitizer addition and adjustment—into a single, unified mechanical module. Compared to traditional distributed systems, this integrated device is over 40% smaller and can be directly mounted on the end effector of a loading robot arm. This integrated design fundamentally solves the long-standing problem of traditional bulky equipment being unable to move flexibly in narrow, complex spaces such as tunnels and alleyways, hindering automated and precise hole alignment and loading.

[0013] The overall reliability and robustness of the system are improved: the integrated mechanical structure eliminates the inherent defects of traditional solutions, such as pressure loss, material leakage, and response delay caused by lengthy piping connections. The direct metering method based on rotational speed has strong anti-interference capabilities and is unaffected by factors such as changes in material viscosity and on-site vibration, ensuring the long-term operational stability and reliability of the system in harsh industrial environments. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the front structure of this utility model; Figure 3 This is a schematic diagram of the internal structure of the concentric inner and outer tubes of this utility model; Figure 4 This is a schematic diagram of the static mixer of this utility model; Figure 5 This is a schematic diagram of the structure of the flexible tube storage device of this utility model; Figure 6 This is the PLC control and adjustment process of this utility model.

[0015] In the diagram: 1. Servo motor; 2. Concentric inner and outer tube structure; 3. Static mixing device; 4. Emulsion explosive input device; 5. Mass flow meter; 6. Hose output end; 7. Hose storage device; 8. Connecting bracket; 9. Precision metering pump; 10. Pressure pump; 11. Speed ​​sensor; 21. Latex matrix preparation end; 22. Screw meter; 23. Sensitizer delivery layer; 24. Latex matrix output end; 25. Sensitizer output end; 26. Capillary channel; 27. Sensitizer input end; 28. Latex matrix input end; 31. Emulsion explosive static mixing area; 32. Emulsion explosive output end; 71. Tracked length metering and conveying device; 72. Emulsion explosive delivery pipe; 73. Hose storage tray. Detailed Implementation

[0016] 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.

[0017] This utility model provides two technical solutions: 1. Mechanical structure integration and connection Reference Figure 1 and Figure 2 The mechanical body of the device is integrated through a rigid connecting bracket 8. The connecting bracket 8 is made of high-strength aluminum alloy casting and has an interface of ISO 9409-1 standard flange. It is equipped with a standardized interface such as a flange for connecting to the end of the loading robot arm, ensuring that the entire device can move stably and accurately with the robotic arm.

[0018] The servo motor 1 is fixed to one side of the bracket, and its output shaft directly drives the screw meter 22 via a coupling. In this embodiment, the screw meter 22 can adopt a single screw or twin screw structure. Its inlet is connected to an external latex matrix storage tank through the latex matrix input end 28, and a stable inlet pressure is provided by the pressure pump 10. The outlet of the screw meter 22 is connected to the inner tube inlet of the concentric inner and outer tube structure 2 via a pipe.

[0019] The precision metering pump 9 is fixed to the other side of the bracket, and its inlet is connected to the sensitizer source through the sensitizer input terminal 27. The outlet pipe of the precision metering pump 9 is connected in series with a mass flow meter 5, and then connected to the outer tube annular gap inlet of the concentric inner and outer tube structure 2.

[0020] The outlet of the concentric inner and outer tube structure 2 leads directly to the static mixing device 3. The mixing chamber of the static mixing device 3 has an expansion ratio of 1.5:1 and a chamber length ≥ 5 times the pipe diameter. The mixed emulsion explosive enters the hose storage device 7 through a guide cavity via the emulsion explosive input device 4. The hose storage device 7 uses a tracked length metering conveyor 71 with a drive motor to meter the conveying length of the hose and the density required for different lengths. It then conveys the hose to the hose collection tray 73 via the emulsion explosive conveying pipe 72. The hose collection tray 73 is used to store and retrieve the conveying hose. The hose is metered and conveyed to the hose output end 6 via the tracked length metering conveyor 71. Static mixing elements can be installed in the static mixing device 3 as needed to enhance the final mixing effect and realize the conveying and filling of the emulsion explosive.

[0021] 2. Key Components and Working Mechanism Reference Figure 3 The concentric inner and outer tube structure 2 is key to achieving "water ring lubrication" and "layered conveying". The inner tube wall is precisely machined with capillary channels 26, each with a diameter of 0.1~0.5mm, uniformly distributed throughout the inner tube wall. When the latex matrix flows in the inner tube, and the sensitizer flows in the annular gap (sensitizer delivery layer 23), under the action of pressure difference, some of the sensitizer penetrates into the inner tube through the capillary channels 26, forming an extremely thin, continuous lubricating water ring between the latex matrix and the tube wall. This water ring effect significantly reduces the flow resistance of the high-viscosity latex matrix during conveying, improving conveying efficiency and stability.

[0022] Reference Figure 4 The static mixing device 3 has an expanded-diameter mixing chamber inside, namely the emulsion explosive static mixing area 31. The stratified material from the concentric inner and outer tube structures 2 has a reduced flow rate here, and through laminar diffusion and static contact, it achieves preliminary uniform mixing of the latex matrix and sensitizer, ultimately being discharged through the emulsion explosive output end 32. This low-shear mixing method helps maintain the physical structure of the explosive.

[0023] 3. Control System and Work Process The core of this invention is a programmable logic controller (PLC). Its control flow is as follows: a. Setting parameters: The operator inputs the target charge density and total charge amount through the human-machine interface.

[0024] b. Matrix Metering and Feedback: The PLC sends commands to the servo motor 1 and the pressure pump 10 to drive the screw meter 22 to deliver the latex matrix. The speed sensor 11 at the front end of the servo motor 1 provides real-time feedback on the speed. The PLC calculates the real-time flow rate of the latex matrix based on the calibration relationship between the speed and the flow rate.

[0025] c. Density Monitoring and Closed-Loop Control: The mixed emulsion explosive flows through mass flow meter 5, which measures and feeds back the current density value of the material to the PLC in real time. The PLC compares this measured density with the target density and dynamically adjusts the speed of precision metering pump 9 and changes the amount of sensitizer added through the built-in PID control algorithm, thereby accurately stabilizing the explosive density at the set value.

[0026] d. Output: The emulsion explosive, with its density adjusted, is delivered to the borehole. Throughout the process, the control system achieves millisecond-level (<0.5 seconds) rapid response and closed-loop control of the explosive density, with a metering accuracy of ±1%.

[0027] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0028] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An emulsion explosive metering and conditioning integrated device for a charging robot, comprising, characterized by: Servo motor (1), concentric inner and outer tube structure (2), static mixing device (3), emulsion explosive input device (4), mass flow meter (5), hose output end (6), hose storage device (7), connecting bracket (8), precision metering pump (9), pressure pump (10), speed sensor (11), screw meter (22). The servo motor (1) serves as the power source, driving the spiral metering device (22) to operate. The latex matrix is ​​supplied by the pressure pump (10) through the latex matrix input end (28), and after being metered by the spiral metering device (22), it is delivered to the inner tube of the concentric inner and outer tube structure (2). The sensitizer is metered and delivered by the precision metering pump (9) through the sensitizer input end (27), and enters the outer tube annulus of the concentric inner and outer tube structure (2). The two materials form a stratified flow in the concentric inner and outer tube structure (2) and are delivered to the static mixing. The device (3) mixes the emulsion explosives; the mixed emulsion explosives enter the hose storage device (7) through the emulsion explosives input device (4) and are finally output through the hose output end (6); the mass flow meter (5) is set in the flow path of the mixed materials to monitor the density of the emulsion explosives in real time and feed it back to a control system; the connecting bracket (8) integrates the servo motor (1), the spiral meter (22), the concentric inner and outer tube structure (2), the precision metering pump (9), the mass flow meter (5) and the hose storage device (7) into a rigid module.

2. The emulsion explosive metering and adjusting integrated device for a charging robot according to claim 1, characterized in that: The inner tube wall of the concentric inner and outer tube structure (2) is provided with capillary channels (26), and the sensitizer in the outer tube annulus can penetrate into the inner tube through the capillary channels (26) to form a lubricating water ring between the latex matrix and the tube wall.

3. The emulsion explosive metering and conditioning integrated device for a charging robot according to claim 1, characterized in that: The servo motor (1) is fixedly installed on the outer wall of the concentric inner and outer tube structure (2). The servo motor (1) directly drives the spiral meter (22) through the coupling and is equipped with a speed sensor (11) at the front end to monitor the motor speed in real time and convert it into the conveying flow of the spiral meter (22).

4. The emulsion explosive metering and conditioning integrated device for a charging robot according to claim 1, characterized in that: The density feedback signal of the mass flow meter (5) and the flow signal of the spiral meter (22) are used to adjust the working conditions of the precision metering pump (9) and the pressure pump (10) in real time through a PID control algorithm, so as to achieve stepless continuous adjustment of the density of the emulsion explosive.

5. The integrated device for emulsion charge metering and conditioning for a charging robot of claim 1, wherein: The connecting bracket (8) is provided with a standardized interface for connecting to the end of the robotic arm of the drug delivery robot.

6. The emulsion explosive metering and conditioning integrated device for a charging robot of claim 1, wherein: The static mixing device (3) has an enlarged diameter chamber inside, and the material is uniformly mixed in the static mixing area (31) of the emulsion explosive through laminar diffusion.

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