Explosives loading device and explosives loading method
The explosive loading device provides precise and automated explosive loading into blast holes using a loading rod, feeding mechanism, and storage unit, addressing the lack of control and user-friendliness in conventional devices.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- MAEDA CORP
- Filing Date
- 2022-06-30
- Publication Date
- 2026-06-18
Smart Images
Figure 0007875746000001 
Figure 0007875746000002 
Figure 0007875746000003
Abstract
Description
Technical Field
[0001] The present invention relates to a technique for loading explosives into blast holes drilled in a face in a tunnel constructed by a blasting method.
Background Art
[0002] As a tunnel excavation method, a blasting method is known. When excavating a tunnel by the blasting method, explosives attached with detonators are inserted into a plurality of blast holes (charging holes) drilled in the face, and the explosives are detonated by detonating the detonators to excavate the face.
[0003] Conventionally, at a tunnel site constructed by a blasting method, the loading of explosives into blast holes has generally been manually performed by workers. This loading work involves sequentially pushing explosives into the blast holes using a long bar, and has been quite labor-intensive.
[0004] Therefore, a technique has been proposed for loading a detonating explosive for initiation (hereinafter sometimes referred to as "parent dynamite") from a position away from the face using a hose or pipe, and an additional explosive (hereinafter sometimes referred to as "extra dynamite") for increasing the blasting force during blasting into the blast holes (see, for example, Patent Documents 1 to 4, etc.). This type of explosive loading technique is also called mechanical loading (remote loading). As such mechanical loading, for example, an operator riding on a drill jumbo's cage inserts the tip of a loading pipe into a blast hole drilled in the face, and compressed air is pumped from a loading machine provided at the base end of a hose connected to the loading pipe toward the tip of the loading pipe, and the parent dynamite and the extra dynamite are loaded into the charging hole by the loading pipe together with the compressed air.
Prior Art Documents
Patent Documents
[0005]
Patent Document 1
Patent Document 2
[0006] However, conventional explosive loading devices had room for improvement in terms of more precise control of the loading rod used to load the parent die into the blast hole while the parent die was attached, and their ease of use was not particularly good.
[0007] The present invention has been made in view of the above-mentioned problems, and its purpose is to provide a technology for more precisely controlling a loading rod used to load a parent die into a blast hole while the parent die is attached, in an explosive loading device applied to tunnel blasting methods and used to load explosives into a blast hole drilled in the tunnel face. [Means for solving the problem]
[0008] To solve the above problems, the present invention employs the following means. That is, the present invention is an explosive loading device mounted on the guide shell of an explosive loading boom in construction heavy machinery, for loading explosives into blast holes drilled in the face of a tunnel, wherein a detonating explosive can be attached to the tip end, a loading rod for loading the detonating explosive into the blast hole, a loading rod feeding mechanism for moving the loading rod back and forth along the front-rear direction of the guide shell, and the loading rod, The detonator supply device includes a loading rod alignment mechanism that drives along the lateral and vertical directions of the guide shell, a storage unit positioned in front of the loading rod and containing a plurality of detonating explosives, and a storage unit drive mechanism that drives the storage unit along the lateral direction of the guide shell.
[0009] Furthermore, the storage unit may have multiple sorting and storage sections capable of sorting and storing detonating explosives with different detonation times.
[0010] Furthermore, the loading rod alignment mechanism may have a first drive unit and a second drive unit arranged at intervals in the front-rear direction of the guide shell, and each of the first drive unit and the second drive unit may have a rod holder that supports the loading rod when it is inserted through it, a lateral sliding mechanism that drives the rod holder along the lateral direction of the guide shell, and a lifting drive mechanism that drives the rod holder along the vertical direction of the guide shell.
[0011] Furthermore, the present invention can be specifically defined as an explosive loading method using an explosive loading device mounted on the guide shell of an explosive loading boom in construction heavy machinery, which loads explosives into blast holes drilled in the face of a tunnel. The explosive loading method may include: a pickup positioning step in which the tip of the loading rod is positioned behind the explosive to be loaded into the blast hole among a plurality of detonating explosives stored in the storage unit by operating the storage unit drive mechanism and the loading rod positioning mechanism; a pickup step in which the detonating explosive is attached to the tip of the loading rod by operating the loading rod feed mechanism and the loading rod positioning mechanism; a detonating explosive positioning step in which the tip of the detonating explosive attached to the tip of the loading rod is positioned in the blast hole by operating the loading rod positioning mechanism; and a detonating explosive insertion step in which the detonating explosive is inserted into the blast hole by advancing the loading rod with the loading rod feed mechanism. [Effects of the Invention]
[0012] According to the present invention, in an explosive loading device applied to tunnel blasting methods and used to load explosives into blast holes drilled in the tunnel face, it is possible to provide a technology for more precisely controlling the loading rod used to load the parent die into the blast hole while the parent die is attached. [Brief explanation of the drawing]
[0013] [Figure 1] Figure 1 is a diagram illustrating the overall configuration of the explosive loading system according to Embodiment 1. [Figure 2] Figure 2 is a front view showing an example of the arrangement of multiple blast holes formed on the tunnel face. [Figure 3] Figure 3 illustrates the situation after explosives have been loaded into the blast holes on the tunnel face using an explosive loading system. [Figure 4] Figure 4 is a side view of the main die mounting assembly. [Figure 5] Figure 5 is an exploded view of the main die assembly. [Figure 6] Figure 6 is a schematic side view of the explosive loading device mounted on the guide shell. [Figure 7] Figure 7 is a perspective view illustrating a retaining jig attached to the front end of the loading rod 18. [Figure 8] Figure 8 is a schematic side view of the front part of the guide shell. [Figure 9] Figure 9 is a schematic top view of the front side of the guide shell. [Figure 10] Figure 10 is a schematic perspective view of the front side of the guide shell. [Figure 11] Figure 11 is a perspective view illustrating the state before the housing unit is attached to the mounting bracket of the detonator explosive supply device. [Figure 12] Figure 12 is a perspective view illustrating the schematic configuration of the containment unit. [Figure 13] Figure 13 is a perspective view illustrating the schematic configuration of the containment unit. [Figure 14] Figure 14 is a partial perspective view of the housing unit, seen from the rear. [Figure 15] Figure 15 is a partial rear view of the housing unit. [Figure 16] Figure 16 is a diagram illustrating an additional explosive supply device. [Figure 17] Figure 17 is an example of the various devices installed in the cockpit. [Figure 18] Figure 18 shows the state after the pickup alignment process has been completed. [Figure 19] Figure 19 illustrates the state after the pickup process has been completed. [Figure 20] Figure 20 illustrates the process of inserting the detonating explosive, removing the detonating explosive, and loading additional explosives. [Modes for carrying out the invention]
[0014] Embodiments of the present invention will be described below with reference to the drawings. Note that the configurations and combinations thereof in the embodiments are examples only, and additions, omissions, substitutions, and other modifications can be made as appropriate without departing from the spirit of the present invention.
[0015] <Embodiment 1> Figure 1 is a diagram illustrating the overall configuration of the explosive loading system S according to Embodiment 1. The explosive loading system S is applied to a blasting method in which the face (rock mass) 2 of a tunnel TN is blasted with explosives, and is a system for loading explosives into multiple blasting holes (charged holes) 3 drilled in the face 2. The tunnel TN is constructed by a blasting method in which explosives with detonators attached are inserted into each blasting hole 3 drilled in the face 2, and the explosives are detonated by igniting the detonators to excavate the face 2. The blasting holes 3 in the face 2 can be drilled to a predetermined depth in the face 2 using a drilling device of construction heavy machinery such as a drill jumbo.
[0016] In this embodiment, the explosive loading system S is comprised of an explosive loading device 1, an additional explosive supply device 83, a control device 15, and the like.
[0017] In Figure 1, reference numeral 10 denotes a heavy equipment for loading explosives 10. The heavy equipment for loading explosives 10 is a construction heavy machine used to load explosives into blast holes 3 using an explosive loading device 1, and is equipped with an explosive loading device 1. The heavy equipment for loading explosives 10 is equipped with a self-propelled carriage 11, an explosive loading boom 13 located on the front side of the carriage 11, a driver's seat 14, a drive power unit (not shown), etc. In the example shown in Figure 1, the control device 15 is located in the driver's seat 14 of the heavy equipment for loading explosives 10, but it may be a tablet terminal or the like.
[0018] The explosive loading boom 13 has a boom body 16 that is rotatably connected to the front end of the trolley 11, and a guide shell 17 connected to the tip of the boom body 16. The boom body 16 can be freely extended and retracted, tilted, swung, rotated, etc. by an appropriate drive mechanism. The boom body 16 is also provided with a drive mechanism (not shown) that drives the guide shell 17, and this drive mechanism allows the guide shell 17 to swing horizontally, swing vertically, and move forward and backward. In this embodiment, multiple explosive loading booms 13 are mounted on the explosive loading heavy machine 10, but the number of explosive loading booms 13 mounted is not particularly limited. Also, the explosive loading heavy machine 10 may be a heavy machine dedicated to loading explosives into the blast holes 3 of the face 2. Alternatively, the heavy equipment 10 for charging explosives may be a drill jumbo equipped with a drilling device for drilling blast holes 3 in the face 2, and a heavy equipment 1 for loading explosives.
[0019] Figure 2 is a front view showing an example of the arrangement of multiple blast holes 3 formed in the tunnel face 2. Here, we will explain an example of using the stepped blasting method for excavating the tunnel face 2. The stepped blasting method is a method in which multiple blasting target areas are set in the tunnel face 2, and blasting is carried out by setting a time difference in the detonation timing of the detonators that detonate the explosives for each of the multiple set blasting target areas.
[0020] The symbols #1 to #10 shown in Figure 2 indicate the stage number to which multiple blast holes 3 belong (corresponding to the blast holes 3). In this embodiment, multiple blasting target areas are set on the face 2, and a stage number corresponding to each blasting target area is assigned (installed). In the example shown in Figure 2, 10 types of blasting target areas are set on the face 2, and the 1st stage #1 to the 10th stage #10 are assigned to each blasting target area. In Figure 2, to make it easier to understand the distribution of each stage #1 to #10 on the face 2, when blast holes 3 belonging to the same stage number are close together, those groups of blast holes are connected by a dashed line. However, the arrangement pattern of the blast holes 3 shown in Figure 2, the number of stages, and the number of blast holes 3 belonging to each stage are not particularly limited.
[0021] Figure 3 illustrates the situation after explosives have been loaded into the blast hole 3 of the tunnel face 2 using the explosive loading system S. Figure 3 shows a longitudinal cross-section of the blast hole 3 along the drilling direction (axial direction).
[0022] In Figure 3, reference numeral 3A denotes the innermost part of the blast hole 3 (the back of the hole), and reference numeral 3B denotes the opening of the blast hole 3. Reference numeral 5 denotes a main die mounting assembly, in which a main die (main dynamite) 4, which is the detonating explosive, is installed inside. Reference numeral 6 denotes an additional die (additional dynamite), which is an additional explosive used to increase the explosive force during blasting. The type of additional die 6 is not particularly limited, but for example, granular explosives or bulk-type explosives can be suitably used. However, the additional die 6 is not limited to granular explosives or bulk-type explosives, and explosives in the form of powder packets may also be used. In this embodiment, granular explosives are used as an example.
[0023] Figure 4 is a side view of the master die mounting assembly 5. Figure 5 is an exploded view of the master die mounting assembly 5. The master die mounting assembly 5 includes a master die 4, a holding member 51 that holds the master die 4 inside, and a guide portion 52 attached to the front end 51A side of the holding member 51. In Figures 4 and 5, etc., the holding member 51 is configured as a cylindrical (tubular) hollow member. However, the holding member 51 may have other shapes. For example, the holding member 51 may be a member having a cross-sectional shape C with a slit formed in the longitudinal direction. In this embodiment, the master die 4 is housed inside the holding member 51.
[0024] Furthermore, the retaining member 51 and guide portion 52 of the main die mount 5 are made of paper to prevent static electricity buildup. However, the retaining member 51 and guide portion 52 of the main die mount 5 are not limited to paper, and various materials can be used. For example, the guide portion 52 has a conical shape and is attached coaxially to the front end 51A of the retaining member 51. Reference numeral 5A indicates the tip of the main die mount 5 (guide portion 52). The tip 5A of the main die mount 5 is formed by the tip-side vertex of the guide portion 52. Reference numeral 5B indicates the rear end of the main die mount 5 and is formed by the rear end of the retaining member 51. The main die mount 5 configured as described above has an outer diameter of the retaining member 51 set to be smaller than the diameter of the blast hole 3, and as shown in Figure 3, the main die mount 5 can be loaded into the blast hole 3.
[0025] The main die 4 employs, for example, a hydrogen explosive containing propellant, and is formed in the form of packaged explosive (propellant package type) wrapped in paper or plastic film. The main die 4 has a detonator 41, to which a lead wire 42 is connected. In this embodiment, as an example, a case in which the explosive loading device 1 is applied to a staged blasting method is described, and a staged detonator is used as the detonator 41. As a measure against static electricity, for example, a detonator with a fuse (non-electric detonator) can be used for the detonator 41. However, the detonator 41 may also be an electric detonator. When the detonator 41 is an electric detonator, it is preferable to make the holding member 51 and guide part 52 in the main die mounting body 5 out of paper as a measure against static electricity. The detonator 41 is housed inside the case and has an ignition A delay charge is interposed between the explosive and the detonator, and after the operating shock wave (operating current in the case of an electric detonator) is supplied through the leg wire 42 (fuse), the detonation time (reference time) is set for each type so that detonation occurs after a certain delay. The detonator 41 may, for example, have its detonation time set at intervals of a few tenths of a second. The detonator 41 may also be a wireless detonator having, for example, a wireless detonator antenna (e.g., a receiving coil) that receives AC magnetic field energy transmitted wirelessly from a detonation operating device. In such a wireless detonator system, it is not necessary to connect the leg wire 42 to the detonator 41.
[0026] The main die mount 5 has, for example, a hole in the guide portion 52 for pulling the leg wires 42 outwards, and the leg wires 42 are pulled outwards from this hole. The length of the retaining member 51 is longer than the length of the main die 4, and as shown in Figure 5, it is attached to the front end 51A side of the retaining member 51. Therefore, a hollow portion 53 is formed inside the rear end 51B side of the retaining member 51. In other words, the main die mount 5 mounts the main die 4 such that the hollow portion 53 remains inside the rear end of the retaining member 51. The reference numeral 43 in Figures 4 and 5 indicates a binding material that bundles the leg wires 42. The binding material 43 binds the leg wires 42 in an annular and individual manner at their midpoint, thereby forming a ring-shaped portion 42A at the midpoint of the leg wires 42. Furthermore, the binding material 43 is made of paper, for example, and is formed of an easily breakable material that can be easily broken by a small external force, so that the binding of the leg wires 42 can be easily undone with a small external force.As shown in Figure 3, when the main die 4 and additional die 6 mounted on the main die mount 5 are loaded into the blast hole 3 of the face 2, the binding material 43 is broken and the binding of the leg wires 42 is undone.Also, as shown in Figure 3, when the loading of the main die mount 5 into the blast hole 3 is complete, the tip 5A of the main die mount 5 is positioned at the deepest part 3A of the blast hole 3.
[0027] Next, the explosive loading device 1 of the explosive loading system S will be described in detail. The explosive loading device 1 mainly consists of a loading rod 18, a loading rod alignment mechanism 60 for aligning the loading rod 18, a detonating explosive supply device 70 for supplying the master die mount 5, and a loading rod feeding mechanism 80 for feeding out the loading rod 18, and these are mounted on the guide shell 17.
[0028] Figure 6 is a schematic side view of the explosive loading device 1 mounted on the guide shell 17. The guide shell 17 is a long guide member having, for example, a roughly Σ-shaped cross-section. Rails are formed on the side of the guide shell 17 along the longitudinal direction (X-axis direction). Hereinafter, the longitudinal direction (X-axis direction) of the guide shell 17 will be described as the front-to-back direction of the guide shell 17.
[0029] As shown in Figure 6, a detonation explosive supply device 70 is provided at the front of the guide shell 17. A loading rod feeding mechanism 80 is provided at the rear of the guide shell 17 to hold the loading rod 18 and to drive the loading rod 18 along the front-rear direction (X-axis direction) of the guide shell 17.
[0030] The loading rod 18 is a long, hollow pipe extending in one direction, with a hollow passage 18A formed inside. The loading rod 18 is a pipe having appropriate rigidity and flexibility, and may be made of resin, for example. Figure 7 is a perspective view illustrating a holding jig 19 attached to the front end of the loading rod 18. When loading explosives into the blast hole 3 using the explosive loading device 1, the holding jig 19 of the loading rod 18 holds the main die mount 5 by inserting the front end 181 side of the loading rod 18 into the hollow section 53 from the rear end 5B side of the main die mount 5. When loading explosives into the blast hole 3, the loading rod 18 inserts the main die mount 5, which is attached to the holding jig 19, into the blast hole 3.
[0031] The retaining jig 19 is a sleeve member having an inner diameter approximately equal to the outer diameter of the loading rod 18, with a tapered portion 191, a mounting portion 192, and a flange portion 193 arranged from the front end to the rear end. The mounting portion 192 has a cylindrical shape and an outer diameter slightly smaller than the inner diameter of the retaining member 51 in the main die mounting body 5. The tapered portion 191 has an outer diameter that gradually decreases from the rear end to the front end, and the outer diameter of the rear end is equal to the outer diameter of the mounting portion 192. The flange portion 193 has a cylindrical flange shape with an outer diameter slightly larger than that of the mounting portion 192, and the step formed at the boundary with the mounting portion 192 functions as a stopper wall 193A. The outer diameter of the flange portion 193 is larger than the inner diameter of the retaining member 51. Therefore, when inserting the front end 181 side of the loading rod 18 into the hollow portion 53 of the main die mounting body 5, when the stopper wall 193A of the retaining jig 19 comes into contact with the rear end 5B of the main die mounting body 5, the main die mounting body 5 is prevented from being inserted further into the loading rod 18. The outer diameter of the flange portion 193 of the retaining jig 19 may be smaller than the outer diameter of the retaining member 51. Furthermore, the flange portion 193 of the retaining jig 19 has screw holes for attaching screws that secure the retaining jig 19 to the loading rod 18. However, the retaining jig 19 may be attached to the loading rod 18 by other means.
[0032] The loading rod 18, configured as described above, is clamped at its rear position by a loading rod feeding mechanism 80. The loading rod feeding mechanism 80 has a main body 801 that can move back and forth along a rail extending in the front-rear direction of the guide shell 17, and a pair of clamping parts 802 and 803 provided on the upper part of the main body 801. The clamping parts 802 and 803 are provided at intervals on the front and rear sides of the main body 801, and in this embodiment, the loading rod 18 is fixed at two points. The loading rod 18 is held by the pair of clamping parts 802 and 803 in a position that is approximately parallel to the front-rear direction (X-axis direction) of the guide shell 17.
[0033] The loading rod feeding mechanism 80 is capable of moving back and forth along the front-rear direction (X-axis direction) of the guide shell 17 by the operation of a drive mechanism (not shown). The drive method of the loading rod feeding mechanism 80 is not particularly limited and may be an electric actuator or a hydraulic actuator. The guide shell 17 may be provided with a support member that does not hinder the back-and-forth movement of the loading rod 18 along the front-rear direction (X-axis direction) and prevents the long loading rod 18 from bending excessively. Reference numeral 7 in Figure 6 is a load measuring device capable of detecting the resistance force when the loading rod 18 is advanced by the loading rod feeding mechanism 80. The load measuring device 7 may be, for example, a commercially available hollow load cell, and the resistance force during advancement may be measured by attaching the load cell to the loading rod 18. Reference numeral 8 in Figure 6 is a displacement sensor provided on the guide shell 17, which measures the amount of displacement of the main body 801 that moves back and forth along the rail of the guide shell 17. The displacement sensor 8 may be, for example, a commercially available wire-type displacement sensor. The wire-type displacement sensor fixes a wire to the main body 801, and measures the displacement of the main body 801 from the length of the wire pulled out as the main body 801 moves back and forth along the front-rear direction. Since the loading rod 18 is fixed to the main body 801, the displacement of the main body 801 can be treated as the displacement of the loading rod 18.
[0034] A pressure hose 82 is connected to the rear end of the loading rod 18 via a hose joint. The pressure hose 82 is a long, hollow, flexible hose. As will be described in detail later, the loading rod 18 is supplied with pressurized additional die 6 (additional explosive) and air via the pressure hose 82. The material of the pressure hose 82 is not particularly limited and may be, for example, a rubber hose.
[0035] Next, the detonation explosive supply device 70 and the loading rod alignment mechanism 60 of the explosive loading device 1 will be described. Figure 8 is a schematic side view of the front side of the guide shell 17. Figure 9 is a schematic top view of the front side of the guide shell 17. Figure 10 is a schematic perspective view of the front side of the guide shell 17.
[0036] The loading rod alignment mechanism 60 of the explosive loading device 1 is located downstream of the detonating explosive supply device 70 and is a mechanism that can slide the position of the loading rod 18 in the lateral direction (Y-axis direction) or vertical direction (Z-axis direction) of the guide shell 17, or pitch the attitude of the loading rod 18 around the Y-axis. By pitching the attitude of the loading rod 18, the elevation angle and depression angle of the loading rod 18 can be adjusted. Each rod holder 63 of the loading rod alignment mechanism 60 is rotatable around the Y-axis as its pivot axis.
[0037] The loading rod alignment mechanism 60 includes a first drive unit 61 and a second drive unit 62 having substantially the same structure. The first drive unit 61 and the second drive unit 62 are spaced apart in the front-rear direction (X direction) of the guide shell 17, with the first drive unit 61 located in front of the second drive unit 62.
[0038] The first drive unit 61 and the second drive unit 62 each include a rod holder 63 capable of bearing the loading rod 18 when inserted through it, a lateral slide drive mechanism 64 capable of reciprocating the rod holder 63 along the lateral direction (Y-axis direction) of the guide shell 17, a base plate 66 supporting the lateral slide drive mechanism 64, and a lifting drive mechanism 65 capable of raising and lowering the base plate 66 supporting the lateral slide drive mechanism 64 along the vertical direction (Z-axis direction) of the guide shell 17. The lateral slide drive mechanism 64 can be configured by an electric actuator including, for example, a servo motor or a linear guide extending in the Y-axis direction. The lifting drive mechanism 65 can be configured by an electric actuator including, for example, a servo motor or a plurality of linear cylinders extending in the Z-axis direction. However, the configuration of the lateral slide drive mechanism 64 and the lifting drive mechanism 65 is not limited to the above configuration examples. In addition, the rod holder 63 is configured as a sliding bearing without clamping the loading rod 18.
[0039] Next, the detonation explosive supply device 70 will be described. The detonation explosive supply device 70 includes a housing unit 100 that houses a plurality of parent die mounts 5, a mounting bracket 71 for attaching the housing unit 100 to the guide shell 17, a housing unit drive mechanism 72 that reciprocates and slides the housing unit 100 along the lateral direction (Y-axis direction) of the guide shell 17, a support base 73, a stopper 74, and the like.
[0040] Figure 11 is a perspective view illustrating the state before the housing unit 100 is attached to the mounting bracket 71 of the detonator explosive supply device 70. The mounting bracket 71 of the detonator explosive supply device 70 is attached to the front end side of the guide shell 17. The mounting bracket 71 includes a base frame portion 711 extending along the XY plane and a rear frame portion 712 extending along the YZ plane.
[0041] The support base 73 of the detonating explosive supply device 70 is a frame for holding the housing unit 100. The support base 73 has a generally L-shape and includes a base frame portion 731 installed to extend along the XY plane and a rear frame portion 732 installed to extend along the YZ plane. The base frame portion 711 of the mounting bracket 71 is provided with a guide block 75 that supports the base frame portion 731 of the support base 73. The guide block 75 is, for example, a linear guide that can reciprocate along a rail provided on the base frame portion 711, and supports the base frame portion 731 of the support base 73 so that it can reciprocate and slide along the lateral direction (Y-axis direction) of the guide shell 17.
[0042] Furthermore, a housing unit drive mechanism 72 is provided on the rear frame portion 712 of the mounting bracket 71. In this embodiment, an electric actuator including, for example, a servo motor or linear guide is used as the housing unit drive mechanism 72, but it is not limited to this. The linear guide of the housing unit drive mechanism 72 is located on the rear frame portion 732 of the support base 73. It is held in a slidable position. When the housing unit drive mechanism 72 is activated, the support base 73 is driven to slide back and forth along the lateral direction (Y-axis direction) of the guide shell 17.
[0043] Furthermore, in this embodiment, a pad 17A is attached to the tip side of the base frame portion 711 of the mounting bracket 71. The pad 17A is a pad member that is pressed against the face surface 2 when explosives are automatically loaded into the blast hole 3 of the face surface 2 using the explosive loading device 1. The pad 17A is made of hard rubber, for example, and by applying the pad 17A to the face surface 2, the movement of the tip of the guide shell 17 can be restrained.
[0044] Figures 12 and 13 are perspective views illustrating the schematic configuration of the storage unit 100. Figure 12 shows the storage unit 100 viewed from the front. Figure 13 shows the storage unit 100 viewed from the rear.
[0045] The housing unit 100 is a box-shaped housing case that has a back plate 101, a pair of side plates 102, a bottom plate 103, a front plate 104, etc., and is capable of housing multiple parent die mounts 5 inside. In order to make it easier to understand the internal structure of the housing unit 100, the illustration of one side plate 102, the back plate 101, and a part of the front plate 104 has been omitted. The housing unit 100 is formed of, for example, plastic resin.
[0046] As shown in Figures 8 and 10, etc., a one-touch detachable mounting bracket 76 is provided at an appropriate location on the support base 73 of the detonating explosive supply device 70. When attaching the housing unit 100 to the support base 73, the side plate 102 of the housing unit 100 can be fixed to the support base 73 via the mounting bracket 76.
[0047] The storage unit 100 has an open top surface. The interior of the storage unit 100 is divided into multiple sorting storage sections 150 by partition plates 110. In this embodiment, nine partition plates 110 are arranged at intervals in the width direction of the storage unit 100 (the lateral direction of the guide shell 17 (Y-axis direction)), and the interior of the storage unit 100 is divided into the first sorting storage section 150 (#1) to the tenth sorting storage section 150 (#10). Figure 14 is a partial perspective view of the storage unit 100 from the rear side.
[0048] Each partition plate 110 is positioned parallel to the side plate 102 and extends from the front plate 104 to the back plate 101. Furthermore, each partition plate 110 is positioned at regular intervals in the width direction of the storage unit 100. As a result, the width dimensions of each sorting storage section 150 are equal to each other. The storage unit 100 is mounted on the guide shell 17 such that each partition plate 110 is parallel to the front-to-back direction (X-axis direction) of the guide shell 17. Therefore, when the storage unit 100 is mounted on the guide shell 17, each sorting storage section 150 is arranged along the lateral direction (Y-axis direction) of the guide shell 17.
[0049] In this embodiment, the multiple sorting storage sections 150 (#1 to #10) of the storage unit 100 are configured to sort and store parent die mounts 5, each equipped with a parent die 4 with a different detonation time in the detonator 41. Each sorting storage section 150 is also capable of storing multiple detonating explosives with the same detonation time. As explained in Figure 2, in the staged blasting method, the first stage #1 to the tenth stage #10 are assigned to each blasting target area set on the face 2. Here, if we define the blast holes 3 belonging to (corresponding to) the first stage #1 to the tenth stage #10 as the first stage blast hole 3(#1) to the tenth stage blast hole 3(#10), then the first stage blast holes 3(#1) to the tenth stage blast holes 3(#10) are loaded with first parent die mounts 5(#1) to the tenth parent die mounts 5(#1) to the tenth parent die mounts 5(#10), each equipped with a parent die 4 having a detonation time corresponding to these stages #1 to #10. The containment unit 100 is the first sorting containment unit. The first master die mounting unit 5(#1) to the tenth master die mounting unit 5(#10) can be sorted and stored in the storage unit 150(#1) to the tenth sorting storage unit 150(#10), respectively.
[0050] The number of master die mounts 5 that can be accommodated in each sorting storage section 150 is not particularly limited, but in this embodiment, the maximum number of master die mounts 5 that can be accommodated in each sorting storage section 150 is 5. Of course, the capacity of each sorting storage section 150 to accommodate master die mounts 5 may be increased or decreased according to the number of blast hole groups belonging to each stage set in the face 2. In each sorting storage section 150, the master die mounts 5 are accommodated with their rear end 5B side positioned towards the back plate 101 side. In addition, the front-to-back length of the storage unit 100 (the dimension between the front plate 104 and the back plate 101) is set to be smaller than the length of the master die mounts 5. For this reason, the height of the front plate 104 is lower than that of the back plate 101 so that the master die mounts 5 accommodated in each sorting storage section 150 do not interfere with the front plate 104. Therefore, in the example shown in Figure 12, the main die mounting unit 5 is housed in each sorting storage section 150 in such a manner that it straddles the upper part of the front plate 104 and protrudes forward of the front plate 104.
[0051] The width of each sorting storage section 150 is set to a dimension that approximately corresponds to the outer diameter of the retaining member 51 in the main die mounting unit 5 (it may be slightly larger than the outer diameter of the retaining member 51). Therefore, each sorting storage section 150 accommodates multiple main die mounting units 5 arranged in a multi-stage configuration in a single row in the vertical direction. Hereinafter, the multiple main die mounting units 5 housed in each sorting storage section 150 will be referred to as the top (1st stage) main die mounting unit 5, the 2nd stage main die mounting unit 5, ..., and the bottom main die mounting unit 5, starting from the one furthest from the bottom plate 103.
[0052] As shown in Figures 12 and 13, each sorting storage section 150 of the storage unit 100 is equipped with a push-up mechanism 120 that pushes the parent die mounting body 5 housed in each sorting storage section 150 upward. As shown in Figures 12 and 13, the push-up mechanism 120 of each sorting storage section 150 is composed of a pair of coil springs 121, a push-up plate 122 connected to the upper ends of the pair of coil springs 121, etc. The lower end of each coil spring 121 is held by a spring holder 123 provided on the upper surface of the bottom plate 103, and the upper end is held by a spring holder 124 provided on the lower surface of the push-up plate 122. In each sorting storage section 150, the coil springs 121 of the push-up mechanism 120 constantly apply elastic force in the direction of pushing the push-up plate 122 upward. In this embodiment, since the storage capacity of the main die mounts 5 in each sorting storage section 150 is set to 5, the elastic force of the coil spring 121 of the push-up mechanism 120 is adjusted so that the push-up plate 122 can be pushed upward even when 5 main die mounts 5 are stored in the sorting storage section 150.
[0053] Furthermore, as shown in Figures 12 and 13, each sorting and storage section 150 can accommodate multiple parent die mounts 5 stacked vertically, with the lowest parent die mount 5 placed on the push-up plate 122. Reference numeral 122A denotes a rear end piece formed behind the push-up plate 122. The rear end piece 122A of the push-up plate 122 is inserted into a guide slit 105B formed in the back plate 101.
[0054] The back plate 101 of the storage unit 100 has a back opening 105 corresponding to each sorting storage section 150 (see Figure 13). Each back opening 105 is formed in a slit shape extending downward from the upper end of the back plate 101. The back opening 105 includes a rod insertion opening 105A formed on the upper end side of the back plate 101, and a guide slit 105B that extends downward from the rod insertion opening 105A and has a narrower opening width than the rod insertion opening 105A.
[0055] In this embodiment, the main die mount 5 is removed from the storage unit 100 by inserting the loading rod 18 into the hollow section 53 from the rear end 5B side of the main die mount 5. Each rod insertion opening 105A in the storage unit 100 is formed as an opening that exposes the rear end 5B of the main die mount 5, which is located at the top (first stage) of each sorting storage section 150, to the outside. In addition, each rod insertion opening 105A is sized to allow the jig 19 for holding the loading rod 18 to enter the sorting storage section 150.
[0056] Next, the guide slits 105B will be described. Each guide slit 105B extends in the vertical direction and, except for the upper end where the locking portion 106 is formed, has a width dimension that allows the rear end piece 122A of the push-up plate 122 to be inserted. The vertical movement of the push-up plate 122 is guided by the guide slits 105B that receive the rear end piece 122A.
[0057] As shown in Figure 13, a locking portion 106 is formed at the upper end of each guide slit 105B. When the rear end piece 124 of the push-up plate 122, which is pushed up by the biasing force of the coil spring 121, comes into contact with the locking portion 106, the upward movement of the push-up plate 122 is restricted thereafter. In this embodiment, when the height of the master die mount 5 located at the top (first stage) of each sorting storage section 150 is pushed up to the height corresponding to the rod insertion opening 105A, the rear end piece 124 of the push-up plate 122 is locked to the locking portion 106. As a result, regardless of the number of master die mounts 5 housed in each sorting storage section 150, the master die mount 5 located at the top (first stage) of the sorting storage section 150 can always be positioned at the height corresponding to the rod insertion opening 105A. As a result, when the loading rod 18 picks up the main die mount 5 from the sorting storage section 150, the main die mount 5 located at the top (first stage) can be attached to the holding jig 19 of the loading rod 18 through the rod insertion port 105A.
[0058] Furthermore, the storage unit 100 is provided with retaining stoppers 107 at the upper ends of a pair of side plates 102 and at the upper ends of each partition plate 110. The retaining stoppers 107 are formed, for example, by plate members attached to the upper ends of the pair of side plates 102 and each partition plate 110 along their front-to-back directions.
[0059] The retaining stoppers 107 of the storage unit 100 will be described with reference to Figures 14 and 15. Figure 14 is a partial perspective view of the storage unit 100 from the rear side. Figure 15 is a partial rear view of the storage unit 100. The opening width in the Y-axis direction of the opening formed between an adjacent pair of retaining stoppers 107 is smaller than the outer diameter of the holding member 51 in the main die mounting body 5, and larger than the outer diameter of the loading rod 18. Therefore, the retaining stoppers 107 prevent the main die mounting body 5, located at the top (first stage), from coming out upward from each sorting storage section 150 due to the elastic force of the coil spring 121 in the push-up mechanism 120, by partially blocking the upper opening of the sorting storage section 150. Note that the retaining stoppers 107 are formed only in a portion of the storage unit 100 (each sorting storage section 150) located on the rear side (hereinafter referred to as the "stopper forming section") in the front-rear direction.
[0060] Next, the stopper 74 of the detonation explosive supply device 70 will be described. As shown in Figures 8 to 10, the detonation explosive supply device 70 is equipped with a stopper 74. The stopper 74 is fixed to a support base 73 so as to be positioned in front of the housing unit 100. The stopper 74 is made of aluminum, for example, but its material is not particularly limited. The stopper 74 has a front cover 741 which is erected in front of the housing unit 100. The front cover 741 allows the main die mount 5 housed in the sorting housing section 150 to be seen from the front of the housing unit 100. This is a cover body designed to prevent items from falling out. The front cover 741 further has a plurality of tiltable stopper pieces 742. Each tiltable stopper piece 742 is a plate piece having a width corresponding to the sorting storage section 150, and is attached to the upper end of the front cover 741 via a spring hinge 743.
[0061] As shown in Figures 9 and 10, the stopper 74 is equipped with a number of tilting stopper pieces 742 corresponding to the sorting storage section 150, and blocks the front portion corresponding to the uppermost (first) stage of each sorting storage section 150. That is, when the tilting stopper piece 742 takes a closed position that blocks the front of the master die mount 5 located in the uppermost (first) stage due to the elastic force of the spring hinge 743, it prevents the master die mount 5 in the uppermost (first) stage from coming out forward. On the other hand, when removing the master die mount 5 in the uppermost (first) stage from the storage unit 100, the loading rod 18 is advanced with the master die mount 5 located in the uppermost (first) stage mounted on the holding jig 19. By pushing the main die mount 5 into the tilting stopper piece 742 from the inside, the main die mount 5 can be removed from the housing unit 100 while tilting the tilting stopper piece 742 forward against the elastic force of the spring hinge 743. Also, reference numeral 744 in Figure 10 indicates a leg wire removal slit provided in the front cover 741 of the stopper 74. The leg wire removal slit 744 is an opening for removing the leg wires 42 (fudes) of the main die mount 5 housed in each sorting housing section 150 to the outside of the housing unit 100. In the example shown in Figure 10, multiple leg wire removal slits 744 are arranged in the front cover 741 to correspond to each sorting housing section 150. Specifically, the leg wire removal slits 744 are provided in front of the pair of side plates 102 and each partition plate 110 in the housing unit 100. In the diagrams illustrating the detonation explosive supply device 70, the leg lines 42 of the main die mounting unit 5 housed in the containment unit 100 are omitted from the illustration.
[0062] Furthermore, the reference numeral 9 shown in Figures 8 to 10 indicates a detection device for detecting the position of the blast hole 3 drilled in the face 2. The detection device 9 is equipped with a camera and a range sensor. The detection device 9 is attached to the rod holder 63 in the first drive unit 61 of the loading rod alignment mechanism 60. The camera of the detection device 9 is a camera that captures images in front of the detonating explosive supply device 70. The range sensor of the detection device 9 is a sensor that measures the distance to an object in front. The camera and range sensor of the detection device 9 can be commercially available and used as appropriate.
[0063] Next, the additional explosive supply device 83 will be described. Figure 16 is a diagram illustrating the additional explosive supply device 83 that supplies additional dies 6 to the loading rod 18 under pressure through a pressure hose 82. The additional explosive supply device 83 is mounted, for example, on the bed of a work vehicle 200 (see Figure 1) positioned on the rear side of the heavy equipment 10 for charging with respect to the face 2. However, the additional explosive supply device 83 may be mounted on the heavy equipment 10 for charging with charging, or it may be located elsewhere. The additional explosive supply device 83 includes an air compressor (pneumatic supply device) 84, a hopper 85 for storing additional dies 6, a chute 86, a pressure hose 82, an air supply hose 87, a junction pipe 88, etc.
[0064] The hopper 85 has a transfer mechanism 89 that can, for example, automatically weigh the additional dies 6 to be stored and send a preset amount of additional dies 6 to the chute 86. A rotary valve, for example, may be used as such a transfer mechanism 89. Furthermore, a confluence pipe 88 is connected to the lower end of the chute 86, and a pressure hose 82 is connected to the confluence pipe 88. An air supply hose 87 extending from an air compressor 84 is also connected to the confluence pipe 88. Therefore, the additional dies 6 transferred from the hopper 85 to the chute 86 by the operation of the transfer mechanism 89 merge with compressed air supplied from the air compressor 84 through the air supply hose 87 in the confluence pipe 88, and the additional dies 6, together with the compressed air, are sent through the pressure hose 82. The air is then pumped through to the loading rod 18. The confluence pipe 88 is equipped with a switching valve (not shown), such as a three-way valve. This allows switching between a state where both the chute 86 and the air supply hose 87 are connected to the pressure hose 82, and a state where only the air supply hose 87 is connected to the pressure hose 82 and the chute 86 is shut off. In the former state, the additional die 6 can be pumped into the pressure hose 82 under air pressure, and in the latter state, only air can be pumped into the pressure hose 82 under air pressure.
[0065] Next, the procedure for loading explosives into the blast holes 3 of the tunnel face 2 using the explosive loading system S according to this embodiment will be described.
[0066] Figure 17 illustrates various devices installed in the cockpit 14. The cockpit 14 is equipped with a monitor (display device) 210, a control device 15, and input devices for the control device 15 (propellant charging remote control switch 231, control panel 232, keyboard 233, pointing device 234, etc.). The propellant charging heavy machine 10 allows operators to operate the explosive loading boom 13, guide shell 17, explosive loading device 1, additional explosive supply device 83, etc. in the propellant charging heavy machine 10 using various devices on the input device. Furthermore, in automatic explosive loading control, the control device 15 can automatically load the main die 4 and additional die 6 into the blast hole 3 drilled in the face 2 by controlling the explosive loading boom 13, guide shell 17, explosive loading device 1, etc. The control device 15 is not particularly limited, but for example, it is a computer equipped with an input unit, a processing unit, an output unit, etc. The processing unit of the control device 15 can be configured to include a processor for executing various programs, and a memory device (storage unit) for storing various programs and information necessary for the operation of the processor.
[0067] Here, we will first explain the mechanical loading procedure, in which explosives are loaded into the blast hole 3 drilled in the face 2 using the explosive loading device 1, via an input device operated by an operator.
[0068] First, when loading explosives into the blast holes 3 in the tunnel face 2, as shown in Figure 1, the explosive charging machine 10 is positioned near the tunnel face 2 where the blast holes 3 are drilled. At this time, the guide shell 17 is set so that its axial direction is horizontal, with, for example, the pad 17A located on the tip side pressed against the tunnel face 2. A work vehicle 200 is positioned behind the explosive charging machine 10.
[0069] When the explosive loading device 1 is activated, the loading rod 18 is set in its initial state. One initial state of the loading rod 18 is set in a position parallel to the axial direction (X-axis direction) of the guide shell 17.
[0070] Furthermore, in the initial state, the front end 181 of the loading rod 18 is positioned slightly rearward relative to the rear plate 101 of the detonating explosive supply device 70 (storage unit 100). More specifically, in the initial position, the front end 181 of the loading rod 18 is positioned between the rod holder 63 of the first drive unit 61 of the loading rod alignment mechanism 60 and the rear plate 101 of the storage unit 100.
[0071] Furthermore, in the initial state, the loading rod 18 is set to a position that passes through, for example, the center of the guide shell 17 in the lateral direction (Y-axis direction). Also, in the initial state, the loading rod 18 is set to an initial height higher than the housing unit 100.
[0072] From the initial state described above, first, the central axis of the loading rod 18 and the lateral (Y-direction) position of the loading rod 18 are set to the loading target master die mounting body 5 located at the top (1st stage) of the housing unit 100. TGT The "pickup positioning process" is performed to align with the central axis. Here, loading Target parent die mounting unit 5 TGT This refers to the blast hole 3 into which explosives are loaded (hereinafter referred to as "blast hole 3 to be loaded"). TGT It is the parent die mounting body 5 equipped with the parent die 4 in which the detonation second corresponding to the number of steps of ") is set. That is, the loading target parent die mounting body 5 TGT is the parent die mounting body 5 equipped with the parent die 4 to be loaded into the loading target blast hole 3 TGT is the parent die mounting body 5 equipped with the parent die 4 which is to be loaded into the loading target blast hole 3
[0073] The pickup alignment process is realized by the combination of the horizontal slide movement and the vertical lifting movement of the loading rod 18 in the horizontal direction. The horizontal slide movement of the loading rod 18 in the pickup alignment process is realized by operating at least one of the horizontal slide drive mechanism 64 in each drive unit 61, 62 of the loading rod alignment mechanism 60 and the housing unit drive mechanism 72, and the loading target parent die mounting body 5 TGT is accommodated in the sorting accommodation section 150 (hereinafter referred to as "loading target sorting accommodation section 150 TGT "), and the horizontal position of the loading rod 18 is aligned with the corresponding position. At that time, when operating the loading rod alignment mechanism 60, for example, the horizontal slide drive mechanisms 64 in each drive unit 61, 62 of the loading rod alignment mechanism 60 are operated synchronously. Thereby, the loading rod 18 can be slid in the horizontal direction (Y-axis direction) of the guide shell 17
[0074] The vertical movement of the loading rod 18 in the pickup alignment process is realized by operating the vertical drive mechanism 65 in each drive unit 61, 62 of the loading rod alignment mechanism 60, and the height of the loading rod 18 is adjusted to the core height of the loading target parent die mounting body 5 TGT TGT At that time, by operating the vertical drive mechanisms 65 in each drive unit 61, 62 synchronously, the loading rod 18 can be slid in the vertical direction (Z-axis direction) of the guide shell 17. Although it is an example, in this embodiment, when the vertical drive mechanisms 65 in each drive unit 61, 62 of the loading rod alignment mechanism 60 are operated to the lowest point position, the center height of the loading rod 18 is the uppermost stage (first stage) of the loading target sorting accommodation section 150 where the loading target parent die mounting located TGT is located at the uppermost stage (first stage) of the loading target parent die mounting Body 5 TGT It is designed to match the core height. This is how the positioning is done during pickup. Depending on the process, the main die mounting body 5 to be loaded TGT The tip of the loading rod 18 is positioned at the rear. They are aligned, and the horizontal and vertical positions of both match. In this state, the loading target parent die mounting body 5 TGT The central axis of the loading rod 18 and the central axis of the loading rod 18 are arranged coaxially.
[0075] Figure 18 shows the state after the pickup alignment process is completed. The upper part shows a side view, and the lower part shows a top view. Once the pickup alignment process is complete, the loading target sorting and storage section 150 TGT The topmost (1st) loading target parent die mounting unit 5 TGT A pickup process is performed in which the item is loaded and picked up by the loading rod 18.
[0076] In the pickup process, first, the loading rod 18 is advanced by the loading rod feeding mechanism 80 to the loading target sorting and storage section 150. TGT The topmost (1st) loading target parent Die mounting unit 5 TGT The loading rod 18 is attached to the holding jig 19, and a stopper is formed. The loading target master die mounting body 5 remains attached to the holding jig 19 until it crosses the section. TGT forward Send it out (forward feeding process during pickup).
[0077] During the pickup and forward feeding process, the front end 181 side of the loading rod 18 is located in the loading target sorting and storage section 150. TGT The topmost (1st) loading target parent die mounting unit 5 TGTIt is inserted into the hollow section 53 from the rear end 5B side. The rod insertion port 105A of the housing unit 100 is large enough to allow the holding jig 19 for the loading rod 18 to enter the sorting housing section 150, so that the holding jig 19 for the loading rod 18 can be inserted into the loading target master die mounting body 5 without interfering with the back plate 101. TGT It can be inserted into the hollow part 53 of the retaining jig 19. Topper wall 193A, load target parent die mounting unit 5 TGT The edge of the rear end 5B abuts The parent die mounting body 5 to be loaded onto the loading rod 18 (holding jig 19) TGT Installation complete. (See Figure 14).
[0078] The pre-feeding process during pickup involves loading the parent die mounting unit 5 TGT The rear end 5B is a stopper This continues until the formation section is exceeded. In the storage unit 100, if the opening width between adjacent pairs of anti-detachment stoppers 107 is smaller than the outer diameter of the flange portion 193 of the holding jig 19, the loading rod 18 is advanced until at least the rear end of the holding jig 19 has exceeded the stopper formation section. In the advance step during pickup, the loading target sorting storage section 150 TGT The tilting stopper piece 742 is mounted on the main die that is the target of the load. Body 5 TGT Because it is pushed forward by this, it tilts, allowing the loading rod 18 to move smoothly forward. This can be done. Furthermore, the stopper 74 in this embodiment has a front cover 741 located in front of the housing unit 100 and covers the front of the parent die mounting body 5 located in the second to bottom stages. Therefore, during the forward feeding process when picking up, the parent die mounting body 5 to be loaded, located in the uppermost stage (first stage), TGT When the loading target parent die mounting body 5 is advanced, TGT This prevents the second and subsequent parent die mounting units 5 from shifting forward due to friction or other factors.
[0079] Once the pickup forwarding process is complete, the loading rod 18 is raised to the loading target sorting and storage section 150. TGT Loading target parent die mounting unit 5 TGT The loading rod 18 is removed (upward feeding process during pickup). In the upward feeding process during pickup, the loading rod 18 is raised by operating the lifting drive mechanisms 65 in each drive unit 61, 62 of the loading rod alignment mechanism 60. At this time, it is preferable to operate the lifting drive mechanisms 65 in each drive unit 61, 62 in synchronously, thereby allowing the loading rod 18 to be raised in a nearly horizontal position. Also, as an example, in the upward feeding process during pickup of this embodiment, the loading rod 18 is raised to the initial height. When performing the upward feeding process during pickup, the loading target parent die mounting body 5 TGT The rear end of the (holding jig 19) is positioned in front of the stopper forming section. Therefore, the loading target parent die mounting unit 5 TGT (The flange portion 193 of the retaining jig 19) prevents it from coming off. The loading rod 18 can be raised without interfering with the stopper 107.
[0080] Figure 19 illustrates the state after the pickup process is completed. Also, the loading target sorting and storage section 150 is determined by the pickup forwarding process. TGT From the top (1st) loading counter Elephant parent die mounting unit 5 TGT When it is removed, the parent die mounting unit 5, which was previously located in the second position, The push-up mechanism 120 pushes it up to the top position (first stage).
[0081] Once the pickup process is complete as described above, the next step is to attach the main die mounting body 5 to be loaded to the loading rod 18. TGT The tip 5A is the target blast hole 3 TGTThe loading rod 18 is positioned to face the (detonation explosive positioning process). The detonation explosive positioning process can be performed by appropriately operating the lateral sliding drive mechanism 64 and the lifting drive mechanism 65 in each drive unit 61, 62 of the loading rod positioning mechanism 60.
[0082] In addition, during the detonation explosive positioning process, the detection device 9 detects the blast hole 3 to be loaded. TGT The position of the parent die mount 5 to be loaded is detected, and based on the position detection result, the position of the parent die mount 5 is detected. TGT The tip 5A is the target blast hole 3 TGT The loading rod 18 may be positioned to face directly towards it. At that time, the camera in the detection device 9 detects the blast hole 3 of the target to be loaded. TGT The surrounding face 2 was photographed. The captured image data is output. The control device 15 receives the image data output from the camera of the detection device 9 and displays the image data on the monitor 210 in the cockpit 14.
[0083] The distance measuring sensor of the detection device 9 measures the distance to the object in front. Loading target parent die mounting body 5 TGT The tip 5A is the target blast hole 3 TGT When facing directly towards it, the range sensor can detect the blast hole 3 of the target to be loaded. TGT The distance to the innermost part 3A will be output as the measurement result. On the other hand, loading Target parent die mounting unit 5 TGT The tip 5A is the target blast hole 3 TGT When not facing directly, the range sensor can detect the blast hole 3 of the target being loaded. TGT The distance to the surrounding tunnel face 2 is output as the measurement result. In this case, the loading target parent die mounting body 5 TGT The location of the blast hole 3 to be loaded TGT The measured distance becomes significantly smaller compared to when the conditions are met. The control device 15 receives the measurement result output from the range measuring sensor of the detection device 9, and displays the measurement result on monitor 2 of the cockpit 14. Displayed on 10. The operator can easily align the loading rod 18 by operating the lateral sliding drive mechanism 64 and the lifting drive mechanism 65 based on the position detection result from the detection device 9 (camera, distance sensor).
[0084] Furthermore, mixed reality (MR) technology may be applied to display a mixed reality image on the monitor 210, which is created by combining a virtual object with a real image obtained by the camera of the detection device 9. Examples of virtual objects to be displayed in the mixed reality image include 3D models of the guide shell 17 and the explosive loading device 1. In addition, the mixed reality image can also display the current target parent die mount 5. TGT The tip 5A and the blast hole 3 to be loaded TGT You may also display virtual objects representing each of the positions.
[0085] Once the detonation explosive alignment process is complete, the loading rod feeding mechanism 80 advances the loading rod 18, thereby loading the main die mounting body 5. TGT The target blast is fired from the tip 5A side. Hole 3 TGT Insert into (detonating explosive insertion process). In the detonating explosive insertion process, for example, As shown in Figure 20(A), the blast hole to be loaded 3 TGT Loading target main die up to the innermost part 3A Body 5 TGT The loading rod 18 is advanced so that the tip 5A of the loading is inserted. The detonating explosive insertion process may be performed while detecting the resistance force (pushing force) when the loading rod feeding mechanism 80 advances the loading rod 18 using the load measuring device 7. Based on the measurement results of the load measuring device 7, the target master die mounting body 5 TGT The tip 5A is the target blast hole 3 TGT It is possible to detect the timing when the innermost part 3A is reached.
[0086] Once the process of inserting the detonating explosive is completed as described above, the next step is to insert the explosive into the target blast hole 3. TGT The innermost part 3A is the target parent die mounting unit 5 TGTWith the loading rod 18 remaining in place, the holding jig 19 of the loading rod 18 Elephant parent die mounting unit 5 TGT The explosive is detached (detonator detachment process). In the detonator detachment process, By operating the air compressor 84 of the additional explosive supply device 83, air is compressed and sent through the pressure hose 82 to the hollow passage 18A of the loading rod 18, while the loading rod feeding mechanism 80 is operated to move the loading rod 18 a predetermined distance to the target blast hole 3. TGT Move it backward inside.
[0087] Figure 20(B) illustrates the state after the detonation explosive removal process is completed. In the detonation explosive removal process, the loading rod 18 is moved from the front end 181 of the loading rod 18 while air pressure is being supplied to the target blast hole 3. TGT By retracting it inside, the force of the pressurized air, 3 blast holes to be loaded TGT The innermost part 3A is the target parent die mounting unit 5 TGT With the loading rod 18 remaining in place, the target master die mounting body 5 is moved from the holding jig 19 to the loading rod 18. TGT It can be detached. During the process, the amount of retraction of the loading rod 18 is such that the front end 181 of the loading rod 18 is positioned at the target blast hole 3. TGT It is set within the range that remains inside. For example, loading during the parent die release operation. The retraction distance of rod 18 may be around 20-30 cm.
[0088] Once the detonation explosive release process is complete, the loading target blast hole 3 is then opened from the front end 181 of the loading rod 18. TGT The additional die 6 (additional explosives) is supplied to the inside (additional explosives loading process). In the additional explosive loading process, the loading rod 18 is further retracted by the loading rod feeding mechanism 80, while the additional explosive supply device 83 pressurizes and supplies the additional die 6 into the hollow passage 18A of the loading rod 18. As a result, the additional die 6 is discharged from the front end 181 of the loading rod 18 and into the blast hole 3 to be loaded. TGT While loading the additional die 6 inside, finally in front of the loading rod 18 The end portion 181 is loaded into the target blast hole 3 TGT Pull it out from hole 3B. Figure 20(C) shows additional explosives. This diagram illustrates the state after the explosive loading process is complete. When the additional explosive loading process is complete, the target blast hole 3 is opened. TGT The main die 4 (main die mounting unit 5) and the additional die 6 are now loaded inside. In this way, the target blast holes 3 are sequentially loaded. TGT Explosives for (Main die 4, additional die 6) It can load )
[0089] Next, explosives are automatically loaded into the blast holes 3 drilled in the face 2 using the explosive loading device 1. Automatic explosive loading control will now be explained. Automatic explosive loading control is performed by the control device 15 automatically controlling the explosive loading device 1 and the additional explosive supply device 83.
[0090] During automatic explosive loading control, the control device 15 acquires information on the number of blast holes for each blast hole 3 and stores this information in a memory device or the like. This blast hole number information is information that associates blast hole position information, which includes the three-dimensional coordinate values of the first coordinate P1 (X1, Y1, Z1) of the hole opening 3B corresponding to the hole number of each blast hole 3 and the second coordinate P2 (X2, Y2, Z2) of the innermost part 3A, with the number of blast holes 3 corresponding to that hole number, for each hole number. Note that the blast hole position information may be generated, for example, based on the three-dimensional coordinate values of the hole opening 3B and the innermost part 3A of each blast hole 3 acquired when a blast hole 3 is drilled in the face 2 with a rock drilling machine of a fully automatic drill jumbo (also called a "computer drill jumbo"). Of course, in this embodiment, a fully automatic drill jumbo that combines a rock drill and an explosive loading device 1 may be used as the heavy equipment 10 for charging explosives, so that the drilling of blast holes 3 in the face 2 and the loading of explosives can be performed by a single heavy equipment 10 for charging explosives.
[0091] During automatic explosive loading control, the operator inputs the hole number of the blast hole 3 to be loaded with explosives, for example, using the input device of the control device 15. When the control device 15 receives the input operation regarding the hole number of the blast hole 3, the control device 15 automatically controls the explosive loading boom 13 and guide shell 17 based on the blast hole stage information corresponding to the input hole number of the blast hole 3, and loads the target blast hole 3 TGT Explosive loading boom 13 and guide shell 17 positioned in a suitable location for loading the explosives. Move it.
[0092] Next, the control device 15 automatically controls the explosive loading device 1 and the additional explosive supply device 83 based on the blast hole stage information, and automatically executes a series of operations such as the pickup positioning process, pickup process, detonation explosive positioning process, detonation explosive insertion process, detonation explosive removal process, and additional explosive loading process, thereby loading the target blast hole 3 TGT Parent 4 (Parent The die assembly 5) and the additional die 6 are loaded. In the detonation explosive positioning process, the control device 15 may automatically provide feedback control to the lateral sliding drive mechanism 64 and the lifting drive mechanism 65 in each drive unit 61, 62 of the loading rod positioning mechanism 60 based on the measurement data received from the detection device 9 (camera, range sensor). Alternatively, the control device 15 may refer to the blast hole position information included in the blast hole stage information and determine the target blast hole 3 TGT Compatible with By reading the first coordinates P1(X1, Y1, Z1) and the second coordinates P2(X2, Y2, Z2), the target blast hole 3 can be loaded. TGT The parent to be loaded is attached to the loading rod 18. Die mounting unit 5 TGT The loading rod 18 may be positioned so that the tip portions 5A face each other. .
[0093] As described above, the explosive loading system S, including the explosive loading device 1 and the control device 15, allows for efficient loading of explosives into blast holes 3 drilled in the tunnel face 2 of the tunnel TN. In particular, the detonation explosive supply device 70 in this embodiment has a sorting and storage section 150 that can accommodate each type of master die mount 5 with different detonation times for the detonators 41, making it possible to efficiently load explosives into the blast holes 3 according to the number of stages of the blasting target area assigned to the tunnel face 2.
[0094] In the above embodiment, the example of applying the explosive loading system S to a staged blasting method was described, but it is not limited to this. For example, the explosive loading system S can also be applied to a blasting method that does not involve a time difference in the detonation timing of the detonators. Furthermore, in this embodiment, the explosive loading system S may mechanically load the explosives (main die 4, additional die 6) into the blast holes 3 drilled in the face 2, or it may load the explosives into the blast holes 3 fully automatically. [Explanation of symbols]
[0095] 1. Explosives loading device 2. Face 3. Blasting hole 4. Parent 5. Parent die mounting unit 6... Increased Die 10. Heavy machinery for explosives 17. Guide Shell 18. Loading Rod 60... Loading rod alignment mechanism 70. Detonation explosive supply device 80... Loading rod feeding mechanism 83. Additional explosive supply device 100...accommodation units
Claims
1. An explosive loading device mounted on the guide shell of an explosive loading boom in construction heavy machinery, which loads explosives into blast holes drilled in the face of a tunnel, It is possible to attach a detonating explosive to the tip, and it has a loading rod for loading the detonating explosive into the blast hole, A loading rod feeding mechanism that moves the loading rod forward and backward along the front-rear direction of the guide shell, A loading rod alignment mechanism that drives the loading rod along the lateral and vertical directions of the guide shell, A detonating explosive supply device having a storage unit positioned in front of the loading rod and containing a plurality of detonating explosives, and a storage unit drive mechanism that drives the storage unit along the lateral direction of the guide shell, An explosive loading device equipped with the following features.
2. The aforementioned storage unit has multiple sorting and storage sections capable of sorting and storing detonating explosives with different detonation times. The explosive loading device according to claim 1.
3. The loading rod alignment mechanism has a first drive unit and a second drive unit arranged at intervals in the front-rear direction of the guide shell. Each of the first drive unit and the second drive unit, A rod holder that supports the loading rod while it is inserted, A lateral sliding mechanism for driving the rod holder along the lateral direction of the guide shell, A lifting drive mechanism for driving the rod holder along the vertical direction of the guide shell, Having, The explosive loading device according to claim 1 or 2.
4. A method of loading explosives using an explosive loading device mounted on the guide shell of an explosive loading boom in construction heavy machinery, which loads explosives into blast holes drilled in the face of a tunnel, The explosive loading device is, It is possible to attach a detonating explosive to the tip, and it has a loading rod for loading the detonating explosive into the blast hole, A loading rod feeding mechanism that moves the loading rod forward and backward along the front-rear direction of the guide shell, A loading rod alignment mechanism that drives the loading rod along the lateral and vertical directions of the guide shell, A detonating explosive supply device having a storage unit positioned in front of the loading rod and containing a plurality of detonating explosives, and a storage unit drive mechanism that drives the storage unit along the lateral direction of the guide shell, Equipped with, A pickup positioning step is performed by activating the storage unit drive mechanism and the loading rod positioning mechanism to position the tip of the loading rod behind the detonating explosive that is to be loaded into the blast hole among the multiple detonating explosives stored in the storage unit, A pickup step is performed in which the detonating explosive is attached to the tip side of the loading rod by operating the loading rod feeding mechanism and the loading rod alignment mechanism, By activating the loading rod alignment mechanism, the tip of the loading rod is positioned A detonator positioning step involves aligning the tip of the attached detonator with the blast hole, The detonating explosive insertion step involves inserting the detonating explosive into the blast hole by advancing the loading rod with the loading rod feeding mechanism, A method of loading explosives, including the loading of explosives.