Discharging device for emulsion explosive and its discharging assembly

Abstract

The application discloses a kind of emulsion explosive unloading appliances, including shell and loading body, loading body is installed in the inner chamber of shell;Loading body is provided with loading hole along its own length direction through and for filling emulsion explosive body, loading hole is set multiple on loading body, and the discharge end of shell is provided with blanking hole;Loading body is set in a manner that can be operated relative to shell rotation;By means of the multiple loading holes set on loading body, multiple emulsion explosive objects to be unloaded can be loaded, and by means of the setting that loading body can be operated relative to shell rotation, when unloading is needed, multiple loading holes can be sequentially communicated with the blanking hole set on the bottom discharge end of shell to sequentially drop the emulsion explosive objects filled in multiple loading holes into the blast deep hole, thereby realizing multiple unloading by means of one unloading appliance, which greatly improves efficiency compared to the existing single unloading drop mode.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of explosive blasting, in particular to a discharging device for emulsion explosive and a feeding assembly thereof. BACKGROUND

[0002] Emulsion explosive is a kind of water-in-oil emulsion explosive formed by uniformly dispersing the microdroplets of oxidant salt aqueous solution in the oil phase continuous medium containing porous materials such as dispersed bubbles or hollow glass beads with the help of emulsifiers. Emulsion explosive has been widely used in various civil blasting operations, and is particularly used in deep hole blasting scenarios, such as open-pit mining, medium-hard rock blasting, or underground coal mining.

[0003] At present, emulsion explosive is filled in deep holes by manual filling, that is, after measuring the depth of the blast hole, the emulsion explosive is manually fed into the blast hole from the blast hole. To solve this problem, the applicant's prior patent CN114234749A provides a deep water hole emulsion explosive release device, which adds a storage tube with a blocking part for storing and releasing emulsion explosive, and connects the emulsion explosive to the preset position through a connecting section, so that the emulsion explosive does not have to worry about damage during filling, greatly meeting the placement of emulsion explosive in deep water holes. Not only can it ensure the safety of emulsion explosive transportation, but also can ensure the accuracy of the amount of explosive.

[0004] However, the emulsion explosive feeding method disclosed in the above-mentioned patent does not consider the multiple discharging problem and the discharging speed control problem. SUMMARY

[0005] Therefore, the present application provides a discharging device for emulsion explosive and a feeding assembly thereof, which can perform discharging work on multiple objects to be discharged, and can automatically and accurately complete the entire discharging process when performing the discharging work. In addition, the discharging speed of certain objects to be discharged (such as emulsion explosive bodies with detonator wires) cannot be too fast, and a speed reduction device is provided to achieve the effect of reducing the speed of certain objects to be discharged.

[0006] The first aspect of the present application discloses a discharging device for emulsion explosive, comprising a shell and a loading body, wherein the shell has a loading end, a discharging end and an inner cavity, and the loading body is installed in the inner cavity of the shell; a loading hole is provided on the loading body and penetrates along the length direction of the loading body and is used for filling emulsion explosive bodies, and the two ends of the loading hole correspond to the loading end and the discharging end of the shell respectively; a plurality of loading holes are provided on the loading body, and a discharging hole is provided on the discharging end of the shell; the loading body is arranged in a manner that can be operated to rotate relative to the shell, so that the loading hole and the discharging hole are out of position when not discharging, and the plurality of loading holes are sequentially positioned corresponding to the discharging hole when discharging.

[0007] The loading device for emulsion explosive disclosed in the first aspect of the present application, the loading body is a circular cylinder, the loading body has a middle body located at the center, and the loading holes are a plurality of holes arranged around the middle body in the circumferential direction of the loading body.

[0008] The loading device for emulsion explosive disclosed in the first aspect of the present application, a positioning column extending from the discharge end to the loading end is arranged in the shell, the middle body of the loading body is formed with a positioning receiving cavity on one end facing the discharge end of the shell, and the positioning column is received in the positioning receiving cavity, so that the loading body is positioned and installed in the inner cavity of the shell.

[0009] The loading device for emulsion explosive disclosed in the first aspect of the present application, the positioning column is formed with a driving installation cavity, the driving device is installed on the positioning column in the driving installation cavity, and the driving device is in transmission connection with the loading body for operating the rotation of the loading body relative to the shell.

[0010] The loading device for emulsion explosive disclosed in the first aspect of the present application further comprises a deceleration mechanism capable of decelerating the emulsion explosive body with the detonator wire, the deceleration mechanism comprises a jaw unit and a wire pushing unit, wherein the jaw unit has a main body member and a jaw member; the main body member of the jaw unit can be attached to the side wall of the shell at the loading end of the shell, the jaw member is arranged on the main body member and the jaw end is towards the loading body; the wire pushing unit is installed on the loading body and is arranged opposite to the jaw unit; the wire pushing unit can be operated to push the detonator wire into the jaw member of the jaw unit; the jaw member has an open state and a closed state, and the jaw member can be switched from the open state to the closed state by means of the pushing force of the wire pushing unit to provide clamping friction to the detonator wire pushed therein.

[0011] The loading device for emulsion explosive disclosed in the first aspect of the present application, one end of the middle body of the loading body facing the loading end of the shell is formed with a wire pushing unit installation cavity, the wire pushing unit is installed in the wire pushing unit installation cavity, the wire pushing unit comprises a wire pushing plate and a control device capable of driving the wire pushing plate to make linear reciprocating motion in the radial direction of the loading body; the jaw unit further comprises a pressure bearing rod arranged on the main body member, an end of the pressure bearing rod extends out of the main body member to form a pressure bearing end in an initial state, the pressure bearing end of the pressure bearing rod can receive the pushing force from the wire pushing plate, and after being pushed, the pressure bearing end generates linear motion of retracting into the main body member.

[0012] According to the first aspect of the present application, the clamp jaw component comprises two oppositely arranged clamp jaw bodies and two connecting rods, the two clamp jaw bodies are arranged in X shape and are pivotally connected to the main body component at the intersection position, one end of each of the two connecting rods is movably connected to one of the two clamp jaw bodies, and the other end of each of the two connecting rods is pivotally connected to the pressure bearing rod, and the two connecting rods can drive the two clamp jaw bodies to switch from the open state to the closed state through the linear motion of the pressure bearing end of the pressure bearing rod retracting into the main body component after being pushed.

[0013] According to the first aspect of the present application, the main body component is provided with a reset spring, the reset spring can be compressed when the pressure bearing end of the pressure bearing rod is subjected to a pushing force, and can be stretched to push the pressure bearing rod to move to the initial position when the pushing force disappears; and / or, the main body component is further provided with a positioning assembly, the positioning assembly comprises a positioning ball and a pre-tightening spring, the positioning ball and the pre-tightening spring are embedded in an embedding groove formed on the push rod, the pre-tightening spring provides a spring force for the positioning ball to the outside of the opening of the embedding groove, and the main body component is provided with a positioning groove for receiving the positioning ball to form a positioning.

[0014] The second aspect of the present application further discloses an emulsion explosive feeding assembly, which comprises a feeding mechanical arm and at least one emulsion explosive feeding device according to the first aspect of the present application, the emulsion explosive feeding device is arranged on the feeding mechanical arm in a replaceable manner; and further comprises a feeding device, the feeding device comprises a device changing mechanism and a feeding mechanism, and the feeding mechanism can reciprocatingly convey the emulsion explosive feeding device between the device changing mechanism and the feeding mechanical arm.

[0015] According to the second aspect of the present application, the feeding mechanical arm comprises a base, a main body arm and a feeding arm, the main body arm is vertically arranged on the base and has a vertical transfer axis, the main body arm can be driven to rotate relative to the base about the transfer axis, the feeding arm is arranged at the upper end of the main body arm and has a rotation axis, the rotation axis is perpendicular to the transfer axis in the lateral direction of the main body arm, the feeding arm can be driven to rotate up and down in the vertical plane relative to the main body arm about the rotation axis, and the feeding device is attached to the end of the feeding arm, the feeding device has a first rotation axis, the first rotation axis is parallel to the rotation axis of the feeding arm and perpendicular to the center line of the loading body, and the feeding device can be driven to rotate relative to the feeding arm about the rotation axis.

[0016] According to the second aspect of the present application, the feeding device further has a second rotation axis, the second rotation axis is in the length direction of the feeding arm and perpendicular to the first rotation axis, and the feeding device can be driven to rotate about the second rotation axis to generate a rotary motion around the end of the feeding arm.

[0017] According to the second aspect of the application, the changing mechanism of the emulsion explosive feeding assembly comprises a mounting frame, a rotating disc and a clamping unit, wherein the rotating disc is arranged on the mounting frame; the rotating disc is provided with a plurality of clamping positions on the edge in the circumferential direction; the clamping unit is provided with a set corresponding to each clamping position, which can be operated to clamp and release the feeding device; and the rotating disc can be driven to rotate to sequentially rotate different clamping cutouts to the working position of clamping and releasing the feeding device.

[0018] Beneficial effects: In the emulsion explosive feeding device of the application, a plurality of emulsion explosive objects to be fed can be loaded by means of a plurality of loading holes arranged on the loading body, and the loading body can be operated to rotate relative to the shell, so that the plurality of loading holes can be sequentially communicated with the drop holes arranged on the bottom discharge end of the shell to sequentially feed the emulsion explosive objects filled in the plurality of loading holes into the deep blast hole, thereby realizing multiple feeding by means of one feeding device, greatly improving the efficiency compared with the existing single feeding feeding mode.

[0019] The emulsion explosive feeding device and its feeding assembly of the application will be disclosed in detail below in combination with the embodiments shown in the drawings and the reference numerals. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 The overall structure of the emulsion explosive feeding assembly in the application is shown.

[0021] Figure 2 The overall structure of the emulsion explosive feeding assembly in the application is shown.

[0022] Figure 3 The overall structure of the emulsion explosive feeding assembly in the application is shown.

[0023] Figure 4 The overall structure of the emulsion explosive feeding assembly in the application is shown.

[0024] Figure 5 The overall structure of the emulsion explosive feeding assembly in the application is shown.

[0025] Figure 6 The overall structure of the emulsion explosive feeding assembly in the application is shown.

[0026] Figure 7 The overall structure of the emulsion explosive feeding assembly in the application is shown. Figure 6 The back side view.

[0027] Figure 8 The overall structure of the emulsion explosive feeding assembly in the application is shown.

[0028] Figure 9The front view of the tool changing mechanism in the present application is shown, which is relative to Figure 8 The front disc body is removed.

[0029] Figure 10 The side view of the tool changing mechanism in the present application is shown.

[0030] Figure 11 The structural schematic diagram of the tool feeding mechanism in the present application is shown.

[0031] Figure 12 The structural schematic diagram of the tool feeding mechanism in the present application is shown, which is relative to Figure 11 Wherein the slide cabin is located at the opposite end of the track slide.

[0032] Figure 13 The perspective view of the loading end of the shell of the blanking tool in the present application is shown.

[0033] Figure 14 The perspective view of the discharging end of the shell of the blanking tool in the present application is shown.

[0034] Figure 15 The plan view of the loading end of the shell of the blanking tool in the present application is shown.

[0035] Figure 16 For Figure 15 The sectional view of B-B direction.

[0036] Figure 17 The structural schematic diagram of the jaw unit of the deceleration mechanism in the present application is shown.

[0037] Figure 18 The sectional view of the jaw unit in the present application is shown.

[0038] Figure 19 The assembly drawing of the jaw unit and the shell of the blanking tool in the present application is shown.

[0039] Reference signs

[0040] Blanking mechanical arm 1, blanking tool 2, tool changing mechanism 3, tool feeding mechanism 4, jaw unit 5.

[0041] Base 101, main body arm 102, blanking arm 103, driving motor 104, rotary table bearing 105, driving cylinder 106, mounting bracket 107, I-shaped joint 108, T-shaped joint 109, pneumatic quick-mounting clamp 110, outer layer arm body 111, middle layer arm body 112, inner layer arm body 113, outer layer cylinder 114, inner layer cylinder 115.

[0042] Transfer axis O, rotation axis P, first rotation axis M, second rotation axis N, center line L.

[0043] Housing 201, carrier 202, loading end 203, discharge end 204, loading hole 205, blanking hole 206, cover 207, middle body 208, positioning column 209, positioning receiving cavity 210, drive mounting cavity 211, drive device 212, push wire unit mounting cavity 213, push wire plate 214, operating device 215, partition plate 216, strip-shaped side opening 217.

[0044] Mounting frame 301, turntable 302, clamping cutout 303, connecting shaft 304, shaft sleeve 305, support 306, tool changing lead screw 307, tool changing slider 308, clamp member 309, turnover clamp body 310.

[0045] Track sliding table 401, sliding bin 402, induction switch 403, moving seat 404, outer side cylinder 405, sliding rail 406, bottom box 407, tool feeding lead screw 408, tool feeding slider 409, tool feeding clamping plate 410, rubber layer 411, organ case 412.

[0046] Main body member 501, pressure bearing rod 502, arc-shaped pressure bearing part 503, return spring 504, positioning ball 505, pre-tightening spring 506, embedding groove 507, open state positioning groove 508, folded state positioning groove 509, magnetic attraction member 510, attachment part 511, guide groove 512, guide rod 513, clamping jaw body 514, connecting rod 515, intersection position 516. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0048] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0049] Figure 1 The overall structure schematic diagram of the emulsion explosive feeding assembly in the present application is shown. In combination with the drawings shown, Figure 1 The present application provides an emulsion explosive feeding assembly, which comprises a blanking mechanical arm 1, a blanking tool 2 and a tool feeding device. The blanking tool 2 is used for loading the emulsion explosive body to be fed. The specific structure and embodiments of the blanking tool 2 are described below. In the present application, the blanking tool 2 is arranged on the blanking mechanical arm 1 in a replaceable manner. The tool feeding device comprises a tool changing mechanism 3 and a tool feeding mechanism 4. The tool feeding mechanism 4 can reciprocate to convey the blanking tool 2 for emulsion explosive between the tool changing mechanism 3 and the blanking mechanical arm 1.

[0050] In the use of the emulsion explosive delivery assembly of the present application to deliver emulsion explosive bodies, a plurality of delivery devices 2 can be provided, each of which can be filled with emulsion explosive bodies by manual operation. One or more filled delivery devices 2 can be clamped on the device changing mechanism 3, which can release the filled delivery device 2 to the device conveying mechanism 4, which can deliver the filled delivery device 2 with emulsion explosive bodies to the delivery mechanical arm 1. When a delivery device 2 is delivered to the delivery mechanical arm 1, the delivery mechanical arm 1 can be connected thereto and deliver the emulsion explosive bodies filled in the delivery device 2 to the blast hole under the operation of the delivery mechanical arm 1. When the emulsion explosive bodies in the delivery device 2 currently attached to the delivery mechanical arm 1 have been delivered, the current delivery device 2 can be delivered from the delivery mechanical arm 1 to the device changing mechanism 3 by the device conveying mechanism 4, at which time the clamping unit provided on the device changing mechanism 3 can clamp the delivery device 2 that has been delivered, and the device changing mechanism 3 can release a new delivery device 2 filled with emulsion explosive bodies to be delivered to the device conveying mechanism 4, which again delivers the new delivery device 2 to the delivery mechanical arm 1. This goes on and on until the delivery of all the emulsion explosive bodies is completed.

[0051] Figure 2 The overall structure of the delivery mechanical arm 1 in the present application is shown. Figure 3 The assembly schematic diagram of the delivery mechanical arm 1 and the delivery device 2 in the present application is shown.

[0052] In combination Figures 2-3 As shown, the delivery mechanical arm 1 includes a base 101, a main arm 102 and a delivery arm 103. The main arm 102 is vertically arranged on the base 101 and has a vertical transfer axis O, and the main arm 102 can be driven to rotate about the transfer axis O relative to the base 101. Specifically, a driving motor 104 is arranged relative to the base 101, and the power of the driving motor 104 can be transmitted to the main arm 102 to drive the main arm 102 to rotate about its own transfer axis O. The power transmission between the driving motor 104 and the main arm 102 can be achieved by the gear pair structure in the prior art, which will not be described here.

[0053] The blanking arm 103 is arranged at the upper end of the main body arm 102 and has a rotation axis P, the rotation axis P of the blanking arm 103 is perpendicular to the intermediate rotation axis O in the lateral direction of the main body arm 102, the blanking arm 103 can be driven to rotate up and down in the vertical plane relative to the main body arm 102 around the rotation axis P thereof, which can make the blanking arm 103 perform pitching motion in the vertical plane. Specifically, the blanking arm 103 is arranged at the upper end of the main body arm 102 by means of a turntable bearing 105, and the rotation axis P of the blanking arm 103 is the axis of the turntable bearing 105. By means of the turntable bearing 105, the friction and surface contact of the main body arm 102 and the blanking arm 103 mechanism when rotating can be reduced, while bearing load, ensuring normal operation of the blanking robot arm 1.

[0054] In combination Figure 2 and Figure 3 As shown in the drawings, the main body arm 102 is attached with a drive cylinder 106, the cylinder body of the drive cylinder 106 is attached to the main body arm 102 through a support, the rod body of the drive cylinder 106 is movably connected with the blanking arm 103, and the mounting position of the drive cylinder 106, the connection position of the rod body of the drive cylinder 106 and the blanking arm 103, and the connection position of the blanking arm 103 and the main body arm 102 form a triangular structure. Regarding the connection of the cylinder body of the drive cylinder 106 and the main body arm 102, it is realized through a mounting support 107, specifically, the mounting support 107 is fixedly arranged at the lower part of the main body arm 102 and close to the base 101, the mounting support 107 is a triangular support structure, and the cylinder body of the drive cylinder 106 is fixedly arranged on the support corner of the mounting support 107 away from the main body arm 102 in an inclined manner. By means of the inclined mounting of the cylinder body of the drive cylinder 106 on the support corner of the mounting support 107 away from the main body arm 102, the rod body of the drive cylinder 106 can be directed to the blanking arm 103, and the free end of the rod body is connected with the blanking arm 103.

[0055] Figure 4 The folding state of the blanking robot arm 1 in the present application is shown. Figure 5 The unfolded state of the blanking robot arm 1 in the present application is shown. In combination Figure 4 and Figure 5 It can be seen from the comparison that the two-by-two connection positions among the main body arm 102, the blanking arm 103 and the drive cylinder 106 form a spatial triangular connection relationship, that is, the connecting lines of the two-by-two connection positions among the three form a planar triangle, such as Figure 4 and Figure 5The middle dotted line. Based on this triangular connection relationship, when not working, the blanking robot arm 1 can be in a fully folded state, wherein the blanking robot arm 1 can be stored in a parallel and side-by-side state with the main body arm 102, which can reduce the occupied space; when work is needed, the blanking arm 103 can be conveniently and smoothly unfolded relative to the main body arm 102 by driving the electric cylinder 106, and after unfolding to the required position, self-locking can be formed by means of the driving electric cylinder 106.

[0056] The driving electric cylinder 106 is mounted by means of the triangular structure mounting bracket 107, which can provide support for the spatial triangular connection, thereby reducing the load borne by the main body arm 102, and the triangular structure mounting bracket 107 has good structural stability, which can fully guarantee the rigidity and strength of the connection and work of the driving electric cylinder 106.

[0057] In combination Figure 3 As shown, the blanking device 2 is attached to the end of the blanking arm 103, the blanking device 2 has a first rotation axis M, which is in a parallel state with the rotation axis P of the blanking arm 103, and is in a vertical state with the center line L of the loading body of the blanking device, the blanking device 2 can be driven to rotate relative to the blanking arm 103 about its first rotation axis M; in addition, the blanking device 2 also has a second rotation axis N, which is in the length direction of the blanking arm 103, and the second rotation axis N is perpendicular to the first rotation axis M, the blanking device 2 can be driven to rotate about the second rotation axis N to produce a rotating motion around the end of the blanking arm 103.

[0058] In combination Figure 3 As shown, in a specific embodiment, the end of the blanking arm 103 is provided with a joint, which includes a series-connected T-shaped joint 109 and an I-shaped joint 108, the T-shaped joint 109 is attached to the end of the blanking arm 103, the blanking device 2 is attached to the end of the I-shaped joint 108, the first rotation axis M of the blanking device 2 is the rotation axis of the I-shaped joint 108, and the second rotation axis N of the blanking device 2 is the rotation axis of the T-shaped joint 109. It can fully guarantee that the blanking angle of the blanking device 2 can reach the actual required angle for throwing. The so-called T-shaped joint 109 refers to a joint type with a right-angle bend, and the so-called I-shaped joint 108 refers to a straight cylinder type joint.

[0059] In Figure 3 In the arrows at the corresponding axes represent the corresponding rotation directions.

[0060] In a specific embodiment, the discharging tool 2 is quickly connected with the end of the I-shaped joint 108 through the pneumatic quick-assembly clamp 110. In this way, the quick replacement of the discharging arm 103 and the discharging tool 2 can be ensured, and the replacement time is saved. Specifically, the pneumatic quick-assembly clamp 110 capable of being quickly connected with each other is arranged on the outer shell of the discharging tool 2 and the end of the I-shaped joint 108, respectively. The specific structure of the pneumatic quick-assembly clamp 110 can be realized by using the prior art, and thus will not be described here.

[0061] In a specific embodiment, the discharging arm 103 is a telescopic structure. Specifically, the discharging arm 103 comprises an outer layer arm body 111, an intermediate layer arm body 112 and an inner layer arm body 113 which are nested in layers, the outer layer arm body 111 is provided with an outer layer electric cylinder 114 for driving the intermediate layer arm body 112 to extend and retract relative to the outer layer arm body 111, and the inner layer arm body 113 has an inner cavity, and the inner layer arm body 113 is provided with an inner layer electric cylinder 115 for driving the inner layer arm body 113 to extend and retract relative to the intermediate layer arm body 112 in the inner cavity. In a preferred embodiment, the cylinder body of the inner layer electric cylinder 115 is mounted in the inner cavity of the inner layer arm body 113, and the rod body end of the inner layer electric cylinder 115 is fixedly connected with the top of the intermediate layer arm body 112.

[0062] In a specific embodiment, the top of the outer layer arm body 111 and the top of the intermediate layer arm body 112 are provided with ventilation openings (not shown in the figure). The top refers to the upper end of the outer layer arm body 111 and the intermediate layer arm body 112 in the vertical direction. By providing the ventilation openings, the pressure difference between the outer layer arm body 111 and the intermediate layer arm body 112 and between the intermediate layer arm body 112 and the inner layer arm body 113 during the operation of the discharging arm 103 can be prevented from hindering the normal movement of the discharging arm 103, and the function of ventilation and heat dissipation of the electric cylinder is also achieved. It can be understood by those skilled in the art that the telescopic structure of the discharging arm 103 can also be provided as a two-layer telescopic structure or a telescopic structure of more than three layers of arm bodies.

[0063] In the present application, the main arm of the discharging robot can rotate around the vertical transfer axis, so that the whole robot can rotate in the horizontal plane, the discharging arm of the discharging robot can have the pitching movement in the vertical plane, the discharging tool can be driven to rotate relative to the discharging arm around the first rotation axis and can be driven to rotate around the second rotation axis to generate the rotary movement around the end of the discharging arm. Based on these movements, the discharging device of the present application can ensure that the discharging angle reaches the angle required for actual delivery, thereby solving the technical problem that the current discharging method of the bagged emulsion explosive mainly adopts manual delivery and there is no discharging device that can be well applied to the automatic discharging of the bagged emulsion explosive.

[0064] Figure 6 The three-dimensional structure of the tool changing mechanism 3 in the present application is shown. Figure 7The front view of the changing mechanism 3 in the present application is shown, which is relative to Figure 6 The back view is shown. Figure 8 The front view of the changing mechanism 3 in the present application is shown. Figure 9 The front view of the changing mechanism 3 in the present application is shown, which is relative to Figure 8 The front disc body is removed. Figure 10 The side view of the changing mechanism 3 in the present application is shown.

[0065] In combination Figures 6-10 As shown in the figure, in the present application, the changing mechanism 3 includes a mounting frame 301, a disc 302 and a clamping unit; wherein the disc 302 is arranged on the mounting frame 301; the disc 302 is provided with a plurality of clamping positions on its edge along the circumferential direction, the clamping position is a clamping notch 303 formed on the edge of the disc; the clamping unit is provided with a set corresponding to each clamping position, which can be operated to clamp and release the downer 2; the disc 302 can be driven to rotate to sequentially rotate different clamping notches 303 to the working position of clamping and releasing the downer 2. Wherein, the disc 302 includes two oppositely arranged disc bodies, which are front disc body and back disc body, the two disc bodies are fixedly connected through the shaft sleeve 305 and the connecting shaft 304, and are driven to rotate through the driving mechanism arranged on the mounting frame 301, wherein the driving mechanism can include a driving device and a rotating platform, the rotating platform can be driven to rotate by the driving device (such as a motor), and the disc 302 is fixedly arranged on the rotating platform, so that when the rotating platform is driven to rotate, the disc 302 can rotate accordingly. The mounting space is formed between the two disc bodies, and the support of the clamping unit is fixedly arranged on one of the two disc bodies or fixedly connected with the two disc bodies.

[0066] The so-called working position refers to the lowest position of the disc 302 in the vertical direction, and the lowest position of the clamping notch 303 on the disc 302 can be sequentially rotated when the disc 302 is operated to rotate, so as to clamp the downer 2 conveyed from the downer mechanical arm 1 by the clamping unit located at the lowest position, or release the downer 2 filled with emulsion explosive body which has been clamped on the clamping unit located at the lowest position to the sending mechanism 4.

[0067] By means of the multi-notch 303 design of the disc 302 in the present application, the clamping of downer 2 of various specifications can be met, while the lightweight design is realized, the motor work is facilitated, and the number of clamped downer 2 is increased.

[0068] In a specific embodiment, the clamping unit comprises a support 306 fixedly arranged on the rotating disc 302, a changeable screw rod 307 arranged on the support 306 in a manner capable of being manipulated to rotate about its own axis, two changeable sliding blocks 308 arranged on the changeable screw rod 307 in a manner capable of moving towards each other when the changeable screw rod 307 is manipulated to rotate in a forward direction and moving away from each other when the changeable screw rod 307 is manipulated to rotate in a reverse direction, and a clamping member 309 arranged corresponding to each changeable sliding block 308 and arranged oppositely.

[0069] In the present application, the changeable screw rod 307 is a positive and negative screw rod with opposite thread directions on the left and right halves. This can enable the two changeable sliding blocks 308 on the changeable screw rod 307 to move in a forward direction or a reverse direction when the changeable screw rod 307 is driven to rotate, thereby achieving clamping and releasing of the blanking tool 2.

[0070] In the present application, a groove is cut at the end of the changeable screw rod for mounting a check ring. The check ring acts on the support 306 on one side, thereby providing fixed support for the position of the changeable screw rod and preventing the changeable screw rod from falling off.

[0071] In the present application, the clamping member 309 comprises a clamping arm and a turnover clamping body 310 arranged at the end of the clamping arm. The turnover clamping body 310 can have a free turnover angle of 15°-25° relative to the clamping arm. This can satisfy clamping of blanking tools 2 of various different specifications. In addition, preferably, a rubber pad is arranged on the turnover clamping body 310. This can increase the friction and prevent the blanking tool 2 from falling off.

[0072] The clamping unit of the present application is in a maximum limit state in an initial state. The clamping members 309 of each clamping unit are 460 mm apart. At this time, the drive motor 104 arranged corresponding to the changeable screw rod 307 of each clamping unit does not start working. When the change mechanism 3 operates, the turnover clamping body 310 of the clamping member 309 can be located outside the housing of the blanking tool 2. At this time, the drive motor 104 can be started to drive the corresponding changeable screw rod 307 to rotate through a shaft coupling, thereby causing the corresponding changeable sliding block 308 to move towards each other. The turnover clamping body 310 can be moved and turned to a suitable position, thereby clamping the corresponding blanking tool 2. Conversely, the blanking tool 2 can be released.

[0073] In a specific embodiment, each clamping position of the rotating disc 302 has a clamping cutout 303. The shape of the clamping cutout 303 is adapted to the shape of the housing of the blanking tool 2. The clamping unit is arranged corresponding to the clamping cutout 303.

[0074] The changing mechanism 3 of the present application can form quick change between the discharged dispensing device 2 and the filled dispensing device 2, and the changing mechanism 3 of the present application has simple structure and small volume, and can complete quick change of the dispensing device 2 in different states in limited space.

[0075] Figure 11 The structure diagram of the sending mechanism 4 in the present application is shown. Figure 12 The structure diagram of the sending mechanism 4 in the present application is shown, and the sending mechanism 4 is arranged on the changing mechanism 3. Figure 11 Wherein the slide cabin is located at the opposite end of the track slide.

[0076] Combined with the description of the changing mechanism 3, the sending mechanism 4 is shown. Figures 11-12 As shown, the sending mechanism 4 includes a track slide 401, a slide cabin 402 and a sending clamp, wherein the track slide 401 extends from the position of the changing mechanism 3 to the direction of the dispensing arm 1; the slide cabin 402 is arranged on the track slide 401 and extends in the vertical direction of the track slide 401; the slide cabin 402 can be controlled to move linearly and reciprocally along the track slide; the sending clamp can clamp the dispensing device 2; the sending clamp is arranged on the slide cabin 402 and can be controlled to move linearly and reciprocally in the extension direction of the slide cabin 402.

[0077] In the sending mechanism 4 of the present application, the two ends of the track slide 401 are provided with inductive switches 403, which can contact the moving seat 404 of the slide cabin 402 to respond to the limit sliding range of the moving seat 404. The inductive switches 403 can contact the moving seat 404 to limit the limit sliding range of the moving seat 404 and ensure the safety of work.

[0078] In the sending mechanism 4 of the present application, the side of the slide cabin 402 is provided with an outer side cylinder 405 for controlling the sending clamp to move linearly and reciprocally relative to the slide cabin 402 in the extension direction of the slide cabin 402, and the rod body of the outer side cylinder 405 is fixedly connected with the sending clamp. The slide cabin 402 is provided with a slide rail 406 for the whole sliding of the sending clamp. The slide rail 406 is bolted with the slide cabin 402. This can make the sending clamp move along the slide rail 406 in the extension direction of the slide cabin 402 under the drive of the outer side cylinder 405.

[0079] In the sending mechanism 4 of the present application, the sending clamp includes a bottom box 407, a sending lead screw 408, sending sliding blocks 409 and sending clamping plates 410, the sending lead screw 408 extends in the extension direction of the slide cabin 402 and is arranged on the bottom box 407 in a manner that can be controlled to rotate around its own axis, the sending sliding blocks 409 are two, and are arranged on the sending lead screw 408 in a manner that can approach each other when the sending lead screw 408 is controlled to rotate forward and move away from each other when the sending lead screw 408 is controlled to rotate reversely, and the sending clamping plates 410 are two and are arranged oppositely and fixedly arranged on one sending sliding block 409 respectively.

[0080] In a specific embodiment, the rubber layer 411 is arranged on the tool holder clamping plate 410. This can reduce the extrusion wear between the tool 2 and the tool holder clamping plate 410, thereby protecting the components on the tool 2 and preventing the tool 2 from deforming and failing. At the same time, the friction is increased to prevent the tool 2 from slipping.

[0081] In a specific embodiment, the tool holder clamping plate 410 is provided with the piano cover 412 for covering the bottom box 407. The piano cover 412 can effectively prevent dust from affecting the mechanism and other components from being adjusted into the mechanism, thereby improving the working efficiency of the tool holder clamping plate 410 and reducing the failure rate of the tool holder clamping plate 410.

[0082] In the tool holder mechanism 4 of the present application, the tool holder clamping plate 410 can move in two directions, i.e., relative to the track sliding table 401 and relative to the sliding box 402 in the extension direction of the sliding box 402, and the movement in the two directions can be performed simultaneously, thereby greatly improving the conveying efficiency of the tool 2.

[0083] When the tool holder mechanism 4 is in operation, the tool holder clamping plate 410 is moved to a specified position near the tool changing mechanism 3 or the dosing arm 1 by means of movement in the extension direction of the track sliding table 401 and the extension direction of the sliding box 402, and waits for the tool 2 to be clamped. The motor is started to rotate the tool holder screw through the coupling, the tool holder sliding block 409 is moved towards each other, the tool holder clamping plate 410 clamps the tool 2, and then the tool 2 filled with emulsion explosive is conveyed to a specified position near the dosing arm 1 or the tool 2 after the completion of the delivery is conveyed to a specified position near the tool changing mechanism 3.

[0084] Figure 13 A perspective view of the tool 2 from the loading end of the shell is shown. Figure 14 A perspective view of the tool 2 from the discharging end of the shell is shown. Figure 15 A plan view of the tool 2 from the loading end of the shell is shown. Figure 16 For Figure 15 A sectional view of B-B.

[0085] In combination Figures 13-16As shown, the emulsion explosive feeding device 2 of the present invention includes a shell 201 and a loading carrier 202. The shell 201 has a loading end 203, a discharging end 204 and an inner cavity. The loading carrier 202 is installed in the inner cavity of the shell 201. The loading carrier 202 is provided with a loading hole 205 that runs through its own length and is used to fill the emulsion explosive body. The two ends of the loading hole 205 correspond to the loading end 203 and the discharging end 204 of the shell 201, respectively. Multiple loading holes 205 are provided on the loading carrier 202. The discharging end 204 of the shell 201 is provided with a dropping hole 206. Specifically, there is one dropping hole 206.

[0086] The loading carrier 202 is configured to be rotatable relative to the outer casing 201, so that the loading holes 205 and the discharge holes 206 are misaligned when not loading, and that multiple loading holes 205 sequentially correspond to the discharge holes 206 during loading. That is, in the initial state, the loading holes 205 on the loading carrier 202 and the discharge holes 206 of the outer casing 201 are misaligned, facilitating proper storage of the object to be loaded within the loading holes 205 of the loading device 2, and ensuring that the loaded object does not fall out of the loading device 2 when no loading operation is performed. When a loading operation is required, the loading holes 205 of the loading device 2 can be aligned one-to-one with the discharge holes 206 of the outer casing 201 by the rotational movement of the loading device 2, thereby enabling the loading operation. The sequential alignment of the loading holes 205 with the discharge holes 206 can be accomplished by controlling the rotation of the loading device 2 via a drive device (motor).

[0087] By utilizing multiple loading holes 205 on the loading carrier 202, multiple emulsion explosive objects to be unloaded can be loaded. Furthermore, the loading carrier 202 can be rotated relative to the outer casing 201. When unloading is required, the multiple loading holes 205 can sequentially connect with the discharge holes 206 on the bottom discharge end 204 of the outer casing 201, allowing the emulsion explosive objects filled in the multiple loading holes 205 to be sequentially released into the blasting depth hole. This achieves multiple unloading using a single unloading device 2, significantly improving efficiency compared to existing single-unloading methods. This solves the technical problem that current unloading mechanisms do not consider multiple unloading operations.

[0088] In this invention, the loading end 203 of the outer shell 201 of the feeding device 2 can be provided with a cover 207. The cover 207 can be provided with a plurality of holes corresponding one-to-one with the loading holes 205 of the carrier 202. The emulsion explosive is loaded into the corresponding loading hole 205 of the carrier 202 of the feeding device 2 under the action of pneumatic force.

[0089] In the down feeder 2 of the present application, the loading body 202 is a circular column, and the loading body 202 has a central middle body 208, and the loading holes 205 are arranged in a plurality of circumferential directions of the loading body 202 and surround the middle body 208. In a preferred embodiment, 12 loading holes 205 are provided, and of course, other numbers, such as 4-16, can also be selected according to needs.

[0090] Among the plurality of loading holes 205, a specific hole position is provided for loading an emulsion explosive body with a detonator wire at the specific hole position.

[0091] In the down feeder 2 of the present application, the positioning column 209 extending from the discharging end 204 to the loading end 203 is arranged in the shell 201, the middle body 208 of the loading body 202 is formed with a positioning receiving cavity 210 on one end facing the discharging end 204 of the shell 201, and the positioning column 209 is received in the positioning receiving cavity 210, so that the loading body 202 is positioned and installed in the inner cavity of the shell 201. Among them, the positioning receiving cavity 210 is formed by inwardly recessing one end of the loading body 202 facing the discharging end 204 of the shell 201, and the positioning column 209 is received in the positioning receiving cavity 210.

[0092] In the down feeder 2 of the present application, the positioning column 209 is formed with a driving installation cavity 211, the driving device is installed on the positioning column 209 in the driving installation cavity 211, and the driving device 212 (servo motor) is in driving connection with the loading body 202 for operating the rotation of the loading body 202 relative to the shell 201. Among them, the driving installation cavity 211 is open towards the discharging end 204 of the shell 201, the driving device 212 is received in the driving installation cavity 211, and is fixedly connected with the top of the positioning column 209, and the driving shaft of the driving device 212 extends out of the top of the positioning column 209, and then forms a driving connection with the loading body 202.

[0093] Through the above structure design, in the down feeder 2 of the present application, the loading body 202 and the driving device 212 for driving the rotation of the loading body 202 can be accommodated in the shell 201, and since the driving installation cavity 211 is formed in the positioning column 209 located in the positioning receiving cavity 210, it is not necessary to provide additional driving device 212 installation space, and the positioning column 209 and the driving device 212 can be accommodated in the space occupied by the positioning receiving cavity 210, so that the compactness of the overall structure is greatly improved.

[0094] In the down feeder 2 of the present application, a deceleration mechanism capable of decelerating the down feeding of the emulsion explosive body with the detonator wire is further included. Figure 17 The structure diagram of the jaw unit of the deceleration mechanism in the present application is shown. Figure 18 The cross-sectional view of the jaw unit in the present application is shown. Figure 19An assembly view of the gripper unit and the shell 201 of the downer device 2 in the present application is shown.

[0095] The deceleration mechanism is arranged to solve the problem that the downer speed is not controlled when the emulsion explosive is put in the prior art.

[0096] In combination Figures 13-16 And Figures 17-19 As shown in the figure, the deceleration mechanism comprises:

[0097] The gripper unit 5 has a main body member 501 and a gripper member; the main body member 501 of the gripper unit 5 is in a box body structure, which can be attached to the side wall of the shell 201 at the loading end 203 of the shell 201, and the gripper member is arranged on the main body member 501 and the gripper end faces the loading body 202;

[0098] The push wire unit is installed on the loading body 202 and is arranged opposite to the gripper unit 5; the push wire unit can be operated to push the detonator wire into the gripper member of the gripper unit 5;

[0099] The gripper member has an open state and a closed state, and the gripper member can be switched from the open state to the closed state by means of the pushing force of the push wire unit to provide clamping friction to the detonator wire pushed into it.

[0100] That is, the gripper member can provide clamping friction to the detonator wire to reduce the downer speed of the emulsion explosive body with the detonator wire.

[0101] In one specific embodiment, the middle body 208 of the loading body 202 is formed with a push wire unit installation cavity 213 on one end facing the feeding end of the shell 201, and the push wire unit is installed in the push wire unit installation cavity 213; the push wire unit comprises a push wire plate 214 and a control device 215 (a push motor) capable of driving the push wire plate 214 to make linear reciprocating motion in the radial direction of the loading body 202; that is, the push wire unit installation cavity 213 is arranged opposite to the positioning receiving cavity 210 and is separated by a partition plate 216, and the driving shaft of the driving device 212 is in transmission connection with the partition plate 216 to drive the whole loading body 202 to rotate relative to the shell 201.

[0102] In a specific embodiment, the clamping jaw unit 5 further comprises a pressure bearing rod 502 arranged on the main body member 501, an end of the pressure bearing rod 502 extends out of the main body member 501 to form a pressure bearing end in the initial state, the pressure bearing end of the pressure bearing rod 502 is capable of receiving the pushing force from the pushing line plate 214, and after being pushed, generates a linear motion of the pressure bearing end retracting into the main body member 501. The clamping jaw member comprises two oppositely arranged clamping jaw bodies 514 and two connecting rods 515, the two clamping jaw bodies 514 are arranged in an X shape and are pivotally connected to the main body member 501 at the intersection position 516, one end of each of the two connecting rods 515 is movably connected to one of the two clamping jaw bodies 514, and the other end is pivotally arranged on the pressure bearing rod 502, by means of the linear motion of the pressure bearing end of the pressure bearing rod 502 retracting into the main body member 501 after being pushed, the two connecting rods 515 can drive the two clamping jaw bodies 514 to switch from the open state to the closed state. That is, the pressure bearing rod 502 can receive the pushing force of the pushing line unit to drive the clamping jaw member to switch states.

[0103] When performing the blanking operation, under the action of the driving device 212, the emulsion explosive without the detonator line can be smoothly blanked one by one; in order to ensure smooth blanking, the emulsion explosive with the detonator line needs to be slowed down by using a speed reduction mechanism, the entire device is driven by a motor, under the action of the advancing motor, the pushing line plate 214 continuously advances towards the hole position of the loading hole 205, and in the continuous advancement, the pushing line plate 214 can push the detonator line of the emulsion explosive with the detonator line between the clamping jaw members of the clamping jaw unit 5, when continuing to advance, the pressure bearing rod 502 of the clamping jaw unit 5 can receive the pushing force of the pushing line plate 214, and drive the two clamping jaw bodies 514 to switch from the open state to the closed state, thereby clamping the tail of the detonator line located therein, thereby providing a certain friction force to slow down the emulsion explosive with the detonator line.

[0104] In a specific embodiment, the main body member 501 is internally provided with a reset spring 504, which can be compressed when the pressure bearing end of the pressure bearing rod 502 receives a pushing force, and can be stretched to push the pressure bearing rod 502 to move to the initial position when the pushing force disappears.

[0105] In a specific embodiment, the main body member 501 is further provided with a positioning assembly, the positioning assembly comprises a positioning ball 505 and a pre-tightening spring 506, the positioning ball 505 and the pre-tightening spring 506 are embedded in an embedding groove 507 formed on the push rod, the pre-tightening spring 506 provides a spring force to the positioning ball 505 outward from the opening of the embedding groove, and the main body member 501 is provided with a positioning groove for receiving the positioning ball 505 to form a positioning.

[0106] In a specific embodiment, the positioning groove comprises an open state positioning groove 508 and a closed state positioning groove 509, wherein the depth of the closed state positioning groove 509 at the bottom of the main body member 501 is greater than the depth of the open state positioning groove 508. In a preferred embodiment, the closed state positioning groove 509 penetrates the bottom of the main body member 501.

[0107] In a preferred embodiment, the end of the push wire plate 214 is an arc-shaped end, and the pressure receiving end of the pressure receiving rod 502 is provided with an arc-shaped pressure receiving part 503, wherein the arc shape of the arc-shaped pressure receiving part 503 and the arc shape of the arc-shaped end of the push wire plate 214 are arranged in opposite directions, which prevents hard extrusion of the detonator wire under the premise of pushing the detonator wire.

[0108] In a preferred embodiment, the side wall of the shell 201 is provided with a side opening 217 extending from the self-loading end 203 to the discharging end 204 at the position of the discharging hole 206 corresponding to the discharging end 204, and the claw unit 5 is attached to the strip-shaped side opening 217 at the discharging end 204 of the shell 201 by means of the main body member 501, wherein the claw member of the claw unit 5 and the pressure receiving rod 502 both extend into the shell 201 from the strip-shaped side opening 217.

[0109] In a further preferred embodiment, each loading hole 205 is also provided with a loading hole side opening opening to the radial outside of the loading body 202 to facilitate the push of the detonator wire by the push wire plate 214, and the claw end of the claw member of the claw unit 5 and the pressure receiving end of the pressure receiving rod 502 are located at the loading hole side opening position and do not extend into the hole position of the loading hole 205.

[0110] The main body member 501 is provided with a magnetic attraction member 510, and the claw unit 5 is attached to the side wall of the shell 201 by means of the magnetic attraction member 510. The main body member 501 is formed with an attachment part 511 provided with a counterbore, and the magnetic attraction member 510 is a magnet filled in the counterbore. In the final pushing process, the claw unit 5 can be separated from the shell 201 of the discharging device 2, and the discharging operation of the emulsion explosive with the detonator wire is completed. After the completion of this stage of discharging operation, the separated claw unit 5 can be collected for reuse.

[0111] In a preferred embodiment, the main body member 501 is provided with a guide groove 512, the part of the pressure receiving rod 502 located in the main body member 501 is accommodated in the guide groove 512 and can move along the guide groove 512 when pushed, and the return spring 504 is arranged in the guide groove 512 to act on the pressure receiving rod 502.

[0112] In a preferred embodiment, the pressure-bearing rod 502 is provided at the inner end of the main body member 501 with a guide rod 513, the main body member 501 is provided with a guide hole communicating with the guide groove 512, the guide rod 513 extends out of the main body member 501 in the guide hole, and the return spring 504 is sleeved on the guide rod 513 in the guide groove 512 and abuts against the bottom of the guide groove 512 and the inner end of the pressure-bearing rod 502.

[0113] In the blanking tool 2 of the present application, the pneumatic quick-mounting clamp 110 is mounted on the shell 201 and can cooperate with the quick-mounting clamp provided on the end of the blanking arm 103 of the blanking robot arm 1. The pneumatic quick-mounting clamp 110 can be automatically mounted and automatically dismounted during mounting and dismounting, the connecting part is a steel ball locking device, and the mounting and dismounting operation is very smooth. In addition, the pneumatic quick-mounting clamp 110 has a pneumatic circuit cutting function (the gas circuit is automatically closed during dismounting), is made of super-hard aluminum and steel, has excellent rigidity and long service life, has a safety circuit mechanism, can keep the locking state even if the gas pressure stops, and can ensure that the blanking tool 2 works stably during the entire blanking operation.

[0114] For the purposes of the description hereinafter, spatially relative terms, such as "above", "below", "up", "down", "top", "bottom", "lateral", "longitudinal" (or lengthwise), and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. For example, if a device in the figures is inverted, elements described as "above" or "up" other elements or features would then be oriented "below" or "down" the other elements or features. Thus, the exemplary term "above" can encompass both an orientation of above and below. The device can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0115] It is to be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising", when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0116] It is to be understood that the terms "first", "second", and the like, used in the description and the claims of the present application as well as the preceding description of the drawings merely refer to structure that is different, and not necessarily to an order or sequence. It is to be understood that the use of the term "or" in the description and the claims of the present application has the same meaning as "and / or" unless stated otherwise. Similarly, it is to be understood that terms such as "comprising", "including", and "having" are synonymous and are used inclusively, in an open-ended fashion, and do not exclude additional elements or steps.

[0117] The preferred embodiments of the application are described above in detail with reference to the accompanying drawings, and although the application is described with reference to these preferred embodiments, it will be understood by those skilled in the art that various changes and modifications can be applied to the application and its implementation without departing from the scope of the application as described above, and that can be made within the spirit and scope of the application, which are defined in the following claims.

[0118] Finally, it should be noted that the above-mentioned embodiments are merely used to illustrate the technical solutions of the present application, but are not intended to limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and all modifications, equivalent replacements, improvements, etc. within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A downer device (2) for emulsion explosive, characterized in that, It comprises: a shell (201) having a loading end (203), a discharging end (204) and an inner cavity; a loading body (202) installed in the inner cavity of the shell (201); a loading hole (205) is arranged on the loading body (202) and penetrates along the length direction of the loading body (202), and is used for loading emulsion explosive body; the two ends of the loading hole (205) correspond to the loading end (203) and the discharging end (204) of the shell (201) respectively; a plurality of loading holes (205) are arranged on the loading body (202), and a discharging hole (206) is arranged on the discharging end (204) of the shell (201); the loading body (202) is arranged in a manner capable of being operated to rotate relative to the shell (201), so that the loading hole (205) is out of position with the discharging hole (206) when not discharging, and a plurality of loading holes (205) are sequentially positioned with the discharging hole (206) when discharging.

2. The downer (2) for emulsion explosive according to claim 1, characterized in that, The loading body (202) is a circular cylinder, and the loading body (202) has a central middle body (208); the loading hole (205) is arranged around the middle body (208) in the circumferential direction of the loading body (202).

3. The downer (2) for emulsion explosive according to claim 2, characterized in that, A positioning column (209) is arranged in the shell (201) and extends from the discharging end (204) to the loading end (203); the middle body (208) of the loading body (202) is formed with a positioning receiving cavity (210) on one end facing the discharging end (204) of the shell (201); the positioning column (209) is received in the positioning receiving cavity (210), so that the loading body (202) is positioned and installed in the inner cavity of the shell (201).

4. The downer (2) for emulsion explosive according to claim 3, characterized in that, The positioning column (209) is formed with a driving installation cavity (211), a driving device is installed on the positioning column (209) in the driving installation cavity (211), and the driving device is in transmission connection with the loading body (202) for operating the loading body (202) to rotate relative to the shell (201).

5. The downer (2) for emulsion explosive according to claim 4, characterized in that, It also comprises a speed reduction mechanism capable of reducing the speed of the emulsion explosive body with detonator wire discharging, which comprises: a clamping jaw unit (5) having a main body member (501) and a clamping jaw member; the main body member (501) of the clamping jaw unit (5) can be attached to the side wall of the shell (201) at the loading end (203) of the shell (201), and the clamping jaw member is arranged on the main body member (501) and the clamping jaw end faces the loading body (202); a wire pushing unit is installed on the loading body (202) and arranged opposite to the clamping jaw unit (5); the wire pushing unit can be operated to push the detonator wire into the clamping jaw member of the clamping jaw unit (5); the clamping jaw member has an open state and a closed state, and the clamping jaw member can be switched from the open state to the closed state by means of the pushing force of the wire pushing unit to provide clamping friction to the detonator wire pushed therein.

6. The downer (2) for emulsion explosive according to claim 5, characterized in that, The middle body (208) of the loading body (202) is formed with a push wire unit mounting cavity (213) on one end facing the feed end of the shell (201), a push wire unit is mounted in the push wire unit mounting cavity (213), and the push wire unit comprises a push wire plate (214) and a control device (215) capable of driving the push wire plate (214) to make linear reciprocating motion in the radial direction of the loading body (202); The clamping jaw unit (5) further comprises a pressure bearing rod (502) arranged on the main body member (501), an end of the pressure bearing rod (502) extends out of the main body member (501) to form a pressure bearing end in an initial state, the pressure bearing end of the pressure bearing rod (502) can receive a push from the push wire plate (214), and after being pushed, the pressure bearing end generates linear motion of retracting into the main body member (501); The clamping jaw member comprises two oppositely arranged clamping jaw bodies (514) and two connecting rods (515), the two clamping jaw bodies (514) are arranged in an X shape and are pivotally connected to the main body member (501) at an intersection position (516), one end of each of the two connecting rods (515) is movably connected to one of the two clamping jaw bodies (514), and the other ends are pivotally arranged on the pressure bearing rod (502), and by virtue of the linear motion of retracting into the main body member (501) of the pressure bearing end of the pressure bearing rod (502) after being pushed, the two connecting rods (515) can drive the two clamping jaw bodies (514) to switch from an open state to a closed state.

7. The downer (2) for emulsion explosive according to claim 6, characterized in that, The main body member (501) is internally provided with a reset spring (504), which can be compressed when the pressure bearing end of the pressure bearing rod (502) is subjected to a pushing force, and can be stretched to push the pressure bearing rod (502) to move to an initial position when the pushing force disappears; And / or, the main body member (501) is further provided with a positioning assembly, the positioning assembly comprises a positioning ball (505) and a pre-tightening spring (506), the positioning ball (505) and the pre-tightening spring (506) are embedded in an embedding groove (507) formed on the push rod, the pre-tightening spring (506) provides a spring force for the positioning ball (505) to the outside of the embedding groove (507), and the main body member (501) is provided with a part for receiving the positioning ball (505) to form a positioning groove.

8. An emulsion explosive delivery assembly characterized by, It comprises: A blanking mechanical arm (1); At least one blanking device (2) for emulsion explosive according to any one of claims 1-7, which is arranged on the blanking mechanical arm (1) in a replaceable manner; A feeding device, which comprises a device changing mechanism (3) and a device feeding mechanism (4), and the device feeding mechanism (4) can reciprocate between the device changing mechanism (3) and the blanking mechanical arm (1) to feed the blanking device (2) for emulsion explosive.

9. The downer (2) for emulsion explosive according to claim 8, characterized in that, The blanking mechanical arm (1) comprises: A base (101); A main body arm (102) is vertically arranged on a base (101) and has a vertical transfer axis (O); the main body arm (102) can be driven to rotate relative to the base (101) around the transfer axis (O); A blanking arm (103) is arranged at an upper end of the main body arm (102) and has a rotation axis (P) which is perpendicular to the transfer axis (O) in a lateral direction of the main body arm (102); the blanking arm (103) can be driven to rotate relative to the main body arm (102) around the rotation axis (P) in a vertical plane; A blanking tool (2) is attached at a terminal end of the blanking arm (103), the blanking tool (2) has a first rotation axis (M) which is parallel to the rotation axis (P) of the blanking arm (103) and perpendicular to a center line (L) of the loading body (202), and the blanking tool (2) can be driven to rotate relative to the blanking arm (103) around the first rotation axis (M); The blanking tool (2) further has a second rotation axis (N) which is in a length direction of the blanking arm (103) and perpendicular to the first rotation axis (M), and the blanking tool (2) can be driven to rotate around the second rotation axis (N) to generate a rotating motion around the terminal end of the blanking arm (103).

10. The downer (2) for emulsion explosive according to claim 8, characterized in that, The tool changing mechanism (3) comprises: A mounting frame (301); A rotating disc (302) is arranged on the mounting frame (301); the rotating disc (302) is provided with a plurality of clamping positions on an edge thereof in a circumferential direction; A clamping unit is arranged corresponding to each clamping position, and the clamping unit can be operated to clamp and release the blanking tool (2); The rotating disc (302) can be driven to rotate to sequentially rotate different clamping positions to a working position for clamping and releasing the blanking tool (2).

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