An automatic loading device and method for emulsion explosive

Abstract

The application discloses an automatic filling device and method for emulsion explosive, which comprises an industrial camera, a detonator device, a cartridge conveying device and a cartridge hole binding device. The detonator device comprises a detonator bin, a cylinder, a support plate, a cylinder manipulator, a support device, a rotary cylinder, a rotary device and a horizontal driving cylinder. The cartridge conveying device comprises a cartridge conveying pipeline, a cartridge bin, a pushing device and a base. The cartridge hole binding device comprises a support device, a rotary cylinder, a rotary arm, a horizontal driving cylinder and a top cone. The cartridge is pushed out and conveyed to a designated position by controlling the extension rod of the electric push rod end to push the PVC pipe. The emulsion explosive automatic filling device for the tunnel drilling and blasting method construction is compact in structure, high in automation degree, capable of loading multiple cartridges at a time, and greatly reducing labor intensity and improving the drilling and blasting method construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of civil engineering, and more specifically, to an automatic loading device and method for emulsion explosives. Background Technology

[0002] In tunnel and underground engineering construction, the drill-and-blast method is widely used due to its advantages of simple construction, wide application range, strong adaptability, and low excavation cost. Emulsion explosives have become the mainstream choice for drill-and-blast tunnel construction because of their ease of use and the ease with which relevant policies and regulations are met in transportation and storage. Currently, rock drilling and other processes in drill-and-blast tunnel construction have been mechanized and even automated, but the loading process is still mainly manual, exposing loading personnel to multiple accident risks.

[0003] Patent CN 201921498300.1 discloses a continuous filling device for emulsion explosives for a charging vehicle, including a hose reel device with a drum, a rotating device, a rotating support, a conveying hose, and a robotic arm. One end of the rotating support is fixed to the rotating device, the robotic arm is fixed to the rotating support, the hose reel device is located at the other end of the rotating support, one end of the conveying hose is wound around the drum, and the other end of the conveying hose is connected to the robotic arm. This invention uses a telescopic and rotating method, which allows for convenient and rapid filling of emulsion explosives into boreholes without moving the charging vehicle on site, greatly saving manpower and material resources. When not in use, the conveying hose is wound around the drum, which effectively protects the conveying hose from corrosion and damage. However, this filling device cannot insert detonators; it can only fill emulsion explosives. Secondly, it cannot recognize borehole image information. The telescopic and rotating method of the filling device makes it difficult to achieve fixed-distance filling of emulsion explosives. Summary of the Invention

[0004] In view of the current situation where the explosive loading process is time-consuming and labor-intensive, this invention aims to provide an automatic loading device and method for emulsion explosives, so as to improve the problem of high labor consumption and long construction time in the drilling and blasting method, and promote safe, efficient and high-quality tunnel construction.

[0005] The purpose of this invention is to provide an automatic loading device and method for emulsion explosives.

[0006] To achieve the above-mentioned objectives, the present invention discloses the following technical solution: In a first aspect, the present invention discloses an automatic loading device for emulsion explosives, including an industrial camera, a detonator device, a cartridge conveying device, and a cartridge punching device. The drug cartridge conveying device includes a drug cartridge conveying pipe, a drug cartridge bin, a pushing device, and a base. The drug cartridge bin is located at the rear end of the drug cartridge conveying pipe and has a disc-shaped structure. The bin has a ring of drug cartridge positioning grooves and a drug cartridge drop hole. The positioning grooves are used to fix the drug cartridges. When the drug cartridge is driven by the rotating device to the drop hole position, it falls onto the conveying base. The pushing device pushes the drug cartridge in the conveying base to the front end of the drug cartridge conveying pipe. A drug cartridge piercing device is located on one side of the front end of the drug cartridge conveying pipe, and a detonator device is located on the other side. The piercing device is used to puncture the drug cartridge, and the detonator device is used to insert a detonator into the drug cartridge. The industrial camera is installed at the front end of the drug cartridge conveying pipe.

[0007] As a further technical solution, the medicine roll punching device includes a support device, a rotary cylinder, a rotating arm, a horizontal drive cylinder, and a top cone; the horizontal drive cylinder is mounted on the support device, the horizontal drive cylinder drives the rotary cylinder, the rotary cylinder drives a rotating arm, and a top cone is installed at the end of the rotating arm, the top cone is used to punch the medicine roll from the front end.

[0008] As a further technical solution, the detonator device includes a detonator compartment, a cylinder, a support plate, a cylinder manipulator, a support device, a rotary cylinder, a slewing device, and a horizontal drive cylinder. A detonator outlet is provided at the lower part of the detonator compartment, and a cylinder is installed on one side of the detonator outlet. The cylinder can push the detonator to a suitable position. The horizontal drive cylinder drives the rotary cylinder, and the rotary cylinder drives the slewing device. A support device is installed on the slewing device, and a cylinder manipulator is installed on the support device. The cylinder manipulator is used to grasp the detonator.

[0009] As a further technical solution, a support plate perpendicular to the detonator compartment is installed on the side wall; the detonator device is installed on the cartridge delivery pipeline through the support plate.

[0010] As a further technical solution, a through groove is provided at the front end of the drug cartridge conveying pipeline, and a drug cartridge punching device is installed on one side of the through groove, and a detonator device is installed on the other side; the top cone of the drug cartridge punching device can pass through the through groove to punch the drug cartridge located on the other side.

[0011] As a further technical solution, a robotic arm is also included, with the drug roll conveying device mounted on the robotic arm.

[0012] As a further technical solution, the cylinder manipulator is equipped with a pressure sensor to detect pressure when grasping the detonator to prevent the detonator from exploding.

[0013] As a further technical solution, the pushing device includes an electric push rod and a PVC pipe, wherein the PVC pipe is installed at the end of the electric push rod.

[0014] As a further technical solution, the rotary device includes a push plate, a gearbox, and a servo motor; the servo motor is connected to the gearbox, and the output end of the gearbox is connected to a push plate. The push plate is inserted into the medicine cartridge from the bottom of the cartridge compartment. The push plate can rotate relative to the medicine cartridge compartment along the sliding groove at the bottom of the cartridge compartment, thereby pushing the medicine cartridge to the position of the medicine cartridge hole.

[0015] Secondly, based on the aforementioned automatic loading device for emulsion explosives, the present invention also proposes a loading method, as follows: An industrial camera identifies the borehole information on the working face, and a robotic arm aligns the propellant delivery pipe with the borehole by controlling the movement of each joint. The medicine rolls in the medicine roll compartment fall into the base below through the medicine roll dropping hole. The pushing device pushes the medicine roll out and transports it to the designated position, completing the medicine roll loading work. Meanwhile, the rotating cylinder in the cartridge punching device punches the cartridge under its rotation, preparing for the insertion of the detonator; the detonator device is used to insert the detonator into the cartridge through the punching hole.

[0016] Compared with the prior art, the present invention has achieved the following beneficial effects: 1) In this invention, an automatic explosive cartridge loading device is used for loading emulsion explosives. It realizes automatic loading of emulsion explosives and simultaneously inserts detonators into the explosive cartridges. Specifically, an explosive cartridge punching device, a detonator device, and an industrial camera are set at the end of the explosive cartridge conveying pipe. Through the cooperation of the industrial camera, the detonator device, the explosive cartridge conveying device, and the explosive cartridge punching device, the automatic loading of emulsion explosives and the simultaneous insertion of detonators into the explosive cartridges are realized. This emulsion explosive loading device greatly reduces the intensity of manual labor, has a high degree of automation, and is highly applicable.

[0017] 2) In the drug roll filling device of the present invention, the drug roll conveying device adopts a disc structure, which cooperates with the electric push rod device. The telescopic rod in the electric push rod can be freely contracted as needed, driving the PVC pipe to realize the continuous drug filling process, ensuring fixed-distance filling and improving the drug roll filling efficiency.

[0018] 3) This invention uses an industrial camera to identify borehole image information. The industrial camera identifies the position, angle, and depth of the borehole in one go, and feeds the information back to the control system of the drug cartridge loading device to complete the drug cartridge loading process. This can solve problems such as inaccurate and incomplete borehole information identification. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention.

[0020] Figure 1This is a schematic diagram of the automatic emulsion explosive loading device of the present invention; Figure 2 This is a schematic diagram of the structure of the medicine roll conveying device in the automatic emulsion explosive filling device of the present invention; Figure 3 This is a schematic diagram of the rotary device in the explosive roll conveying device of the automatic emulsion explosive loading device of the present invention; Figure 4 This is a schematic diagram of the structure of the medicine roll hopper in the medicine roll conveying device of the automatic emulsion explosive loading device of the present invention; Figure 5 This is a schematic diagram of the detonator device in the automatic emulsion explosive loading device of the present invention; Figure 6 This is a structural schematic diagram of another view of the detonator device in the automatic emulsion explosive loading device of the present invention; Figure 7 This is a schematic diagram of the perforation device in the detonator device of the automatic emulsion explosive loading device of the present invention; Figure 8 This is a schematic diagram of the base structure in the automatic emulsion explosive loading device of the present invention.

[0021] In the diagram, 1. Industrial camera; 2. Detonator device; 3. Medicated cartridge conveying device; 4. Robotic arm; 5. Medicated cartridge conveying pipeline; 6. Medicated cartridge bin; 7. Medicated cartridge; 8. Electric push rod; 9. First rotating device; 10. Flange; 11. Conveying base; 12. Push plate; 13. Gearbox; 14. Servo motor; 15. Medicated cartridge drop hole; 16. Detonator bin; 17. Cylinder; 18. Support plate; 19. Support device; 20. Medicated cartridge punching device; 21. Cylinder robot arm; 22. First support device; 23. First rotary cylinder; 24. Second rotating device; 25. First horizontal drive cylinder; 26. Top cone; 27. Rotating arm; 28. Second rotary cylinder; 29. ​​Second horizontal drive cylinder; 30. Second support device. Detailed Implementation

[0022] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0023] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In addition, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0025] As described in the background section, in view of the problems of high manual labor intensity and low construction efficiency during drill-and-blast construction, the present invention aims to provide a simple automatic filling device and method for emulsion explosives, so as to improve the lack of efficient and intelligent filling of explosive cartridges in the prior art, thereby realizing the automation of explosive cartridge filling, reducing the number of construction personnel required, and improving work efficiency.

[0026] This embodiment discloses an automatic loading device and method for emulsion explosives, wherein the automatic loading device for emulsion explosives includes an industrial camera 1, a detonator device 2, a cartridge conveying device 3, a cartridge punching device 20, and a robotic arm 4. The overall structure of the pill conveying device 3 resembles a disc-shaped main body. The pill conveying device 3 mainly includes a pill conveying pipe 5, a pill bin 6, a pill 7, an electric push rod 8, a first rotating device 9, a flange 10, and a conveying base 11. The rear end of the drug roll conveying pipe 5 is equipped with a drug roll chamber 6 and an electric push rod 8. The drug roll chamber 6 is fixed. A first rotating device 9 is set below the drug roll chamber 6. The first rotating device 9 drives the drug roll to move clockwise in the drug roll chamber 6. When the drug roll moves to the position of the drug roll dropping hole 15 in the drug roll chamber 6, it falls into the top hole of the conveying base 11. The first rotating device 9 is installed on the conveying base 11. The conveying base 11 is connected to the rear end of the drug roll conveying pipe 5 through a flange 10. The electric push rod 8 is used to push the drug roll 7 that falls from the drug roll chamber 6 to the front end of the drug roll conveying pipe 5. An industrial camera 1, a detonator device 2, and a detonator punching device 20 are installed at the front end of the drug cartridge conveying pipe 5; wherein, the detonator device 2 includes a detonator compartment 16, a cylinder 17, a support plate 18, a support device 19, a cylinder manipulator 21, a first support device 22, a first rotary cylinder 23, a second rotary device 24, and a first horizontal drive cylinder 25. A support plate 18 perpendicular to the side wall of the detonator compartment 16 is installed; the detonator device 2 is installed on the explosive cartridge conveying pipe 5 via the support plate 18; a detonator outlet is provided at the lower part of the detonator compartment 16, and a cylinder 17 is installed on one side of the detonator outlet. The main function of the cylinder 17 is to push the detonator to a suitable position; the first horizontal drive cylinder 25 drives the first rotary cylinder 23, the first rotary cylinder 23 drives the second rotary device 24, a first support device 22 is installed on the second rotary device 24, and a cylinder manipulator 21 is installed on the first support device 22. The cylinder manipulator 21 is used to grasp the detonator. The aforementioned drug roll punching device 20 includes a top cone 26, a rotating arm 27, a second rotating cylinder 28, a second horizontal drive cylinder 29, and a second support device 30. The second rotating cylinder 28 is mounted on the second support device 30, and the second horizontal drive cylinder 29 drives the second rotating cylinder 28. The second rotating cylinder 28 drives a rotating arm 27, and a top cone 26 is installed at the end of the rotating arm 27. The top cone 26 is used to punch the drug roll from the front end. After punching, the cylinder manipulator 21 inserts the detonator into the drug roll through the hole.

[0027] A through groove is provided at the front end of the drug delivery pipe, and a drug cartridge punching device 20 is installed on one side of the through groove, and a detonator device 2 is installed on the other side; the top cone 26 of the drug cartridge punching device 20 can pass through the through groove to punch the drug cartridge located on the other side.

[0028] The robotic arm 4 is a 6-DOF robotic arm.

[0029] In this embodiment, further, such as Figure 3 As shown, the first rotating device 9 includes a push plate 12, a reduction gearbox 13, and a servo motor 14; the servo motor 14 is connected to the reduction gearbox 13, and the output end of the reduction gearbox 13 is connected to a push plate 12. The push plate 12 is inserted into the medicine roll chamber 6 from the bottom. The push plate 12 can rotate relative to the medicine roll chamber 6 along the sliding groove at the bottom of the medicine roll chamber 6, thereby pushing the medicine roll to the position of the medicine roll hole 15.

[0030] Furthermore, the aforementioned pill cartridge compartment 6 has a disc-shaped structure. Around the center point of the pill cartridge compartment 6, a pill cartridge mounting groove and a pill cartridge drop hole 15 are provided on the mounting surface of the pill cartridge compartment 6. A sliding groove is also provided on the mounting surface of the pill cartridge compartment 6, allowing the pill cartridge 7 to fall through the pill cartridge drop hole 15 into the top hole of the conveying base 11 below. The structure of the conveying base 11 is as follows: Figure 8 As shown.

[0031] Furthermore, the electric push rod 8 is horizontally positioned in the device, with a PVC pipe in front for pushing the medicine roll, thus realizing the pushing operation of the medicine roll.

[0032] Furthermore, the aforementioned electric push rod 8 can also be replaced by a cylinder drive or a lead screw and nut mechanism. The PVC pipe is directly connected to the piston rod end of the cylinder or the end of the lead screw, using a non-disassembly connection, for example, by direct welding together.

[0033] Furthermore, the aforementioned gearbox 13 is connected to the medicine cartridge 6 via a flat key, and the medicine cartridge 6 is rotated by the key. Of course, it is easy to understand that the key can be a flat key or the like.

[0034] Furthermore, the industrial camera 1 is connected to the cartridge delivery pipe 5 via hex socket screws for identifying borehole parameter information (borehole position, angle, and depth). It is easy to understand that in other embodiments, a non-detachable connection can also be used, for example, direct welding.

[0035] like Figure 6 As shown, a cylinder manipulator 21 is used to hold the detonator, and a pressure sensor is also provided on the cylinder manipulator to prevent the detonator from exploding.

[0036] like Figure 7 As shown, the top cone 26 is cone-shaped, making it easy to puncture the medicine roll.

[0037] In this embodiment, the automatic loading device for the propellant cartridge uses an electric push rod 8 mainly because the electric push rod is a linear actuator, which can achieve long-distance and fixed-point control, converting the rotational motion of the motor into linear motion. It has the characteristics of simple structure and smooth motion. In the process of pushing the propellant cartridge into the blast hole, the distance of the blast hole is relatively long, and the propellant cartridge needs to be pushed at a fixed distance. The electric push rod has a clear advantage in meeting this requirement.

[0038] The specific implementation method of this embodiment is as follows: Construction workers sequentially place the cartridges 7 into the positioning slots within the cartridge compartment 6. An industrial camera 1 identifies the borehole information (position, angle, and depth) on the working face. A robotic arm 4 controls the movement of its joints to align the cartridge delivery pipe 5 with the borehole. The cartridges 7 in the cartridge compartment 6 fall through the cartridge drop hole 15 into the lower delivery base 11. An electric push rod 8 pushes the PVC pipe to eject the cartridges 7 and transport them to the designated location, completing the cartridge loading process. Simultaneously, the first rotary cylinder 23 in the cartridge punching device 20, under the rotation of the second rotary device 24, inserts the top cone 26 into the cartridge 7, preparing for detonator insertion.

[0039] At this point, the first rotary cylinder 23 and the first horizontal drive cylinder 25 drive the cylinder manipulator 21 to grab the detonator in the detonator compartment 16 and insert it into the explosive cartridge 7, completing the entire movement process. The next cycle begins.

[0040] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. An automatic loading device for emulsion explosives, characterized in that, This includes industrial cameras, detonator devices, cartridge delivery devices, and cartridge punching devices; The drug cartridge conveying device includes a drug cartridge conveying pipe, a drug cartridge bin, a pushing device, and a conveying base. The drug cartridge bin is located at the rear end of the drug cartridge conveying pipe and has a disc-shaped structure. The bin has a ring of drug cartridge positioning grooves and a drug cartridge drop hole. The positioning grooves are used to fix the drug cartridges. When the drug cartridge rotates to the drop hole position under the drive of the first rotating device, the drug cartridge falls onto the conveying base. The pushing device pushes the drug cartridge in the conveying base to the front end of the drug cartridge conveying pipe. A drug cartridge piercing device is located on one side of the front end of the drug cartridge conveying pipe, and a detonator device is located on the other side. The piercing device is used to puncture the drug cartridge, and the detonator device is used to insert a detonator into the drug cartridge. The industrial camera is installed at the front end of the drug cartridge conveying pipe. The medicine roll puncturing device includes a second support device, a second rotary cylinder, a rotary arm, a second horizontal drive cylinder, and a top cone; the second horizontal drive cylinder is mounted on the second support device, drives the second rotary cylinder, drives a rotary arm, and a top cone is installed at the end of the rotary arm, the top cone is used to puncture the medicine roll from the front end. The detonator device includes a detonator compartment, a cylinder, a support plate, a cylinder manipulator, a first support device, a first rotary cylinder, a second rotating device, and a first horizontal drive cylinder. A detonator outlet is located at the lower part of the detonator compartment. A cylinder is installed on one side of the detonator outlet, which can push the detonator to a suitable position. The first horizontal drive cylinder drives the first rotary cylinder, which in turn drives the second rotating device. A first support device is installed on the second rotating device, and a cylinder manipulator is installed on the first support device. The cylinder manipulator is used to grasp the detonator.

2. The automatic loading device for emulsion explosives as described in claim 1, characterized in that, A support plate perpendicular to the side wall of the detonator compartment is installed; the detonator device is installed on the cartridge delivery pipeline via the support plate.

3. The automatic loading device for emulsion explosives as described in claim 1, characterized in that, A through groove is provided at the front end of the drug cartridge conveying pipe, and a drug cartridge punching device is installed on one side of the through groove, and a detonator device is installed on the other side; the top cone of the drug cartridge punching device can pass through the through groove to punch the drug cartridge located on the other side.

4. The automatic loading device for emulsion explosives as described in claim 1, characterized in that, It also includes a robotic arm, on which a drug delivery device is mounted.

5. The automatic loading device for emulsion explosives as described in claim 1, characterized in that, The cylinder manipulator is equipped with a pressure sensor to detect pressure when grasping a detonator to prevent the detonator from exploding.

6. The automatic loading device for emulsion explosives as described in claim 1, characterized in that, The pushing device includes an electric push rod and a PVC pipe, with the PVC pipe installed at the end of the electric push rod.

7. The automatic loading device for emulsion explosives as described in claim 1, characterized in that, The first rotating device includes a push plate, a gearbox, and a servo motor; the servo motor is connected to the gearbox, and the output end of the gearbox is connected to a push plate. The push plate is inserted from the bottom of the medicine roll compartment into the medicine roll compartment. The push plate can rotate relative to the medicine roll compartment along the sliding groove at the bottom of the medicine roll compartment, thereby pushing the medicine roll to the position of the medicine roll dropping hole.

8. The filling method of the automatic filling device for emulsion explosives according to any one of claims 1-7, characterized in that: An industrial camera identifies the borehole information on the working face, and a robotic arm aligns the propellant delivery pipe with the borehole by controlling the movement of each joint. The medicine rolls in the medicine roll compartment fall into the base below through the medicine roll dropping hole. The pushing device pushes the medicine roll out and transports it to the designated position, completing the medicine roll loading work. Meanwhile, the rotary cylinder in the cartridge punching device punches the cartridge under its rotation, preparing for the insertion of the detonator; the detonator device is used to insert the detonator into the cartridge through the punching hole.

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