Explosive filling system and explosive loading truck

Abstract

The invention relates to the technical field of blasting, and discloses an explosive filling system and a charging truck, and the explosive filling system is characterized in that a rotary structure is connected with a first digital hydraulic motor, and the first digital hydraulic motor drives the rotary structure to rotate; the pipe coiling device is arranged on the rotary structure; the telescopic arm assembly is connected with the rotary structure through a first digital hydraulic cylinder, and the first digital hydraulic cylinder drives the telescopic arm assembly to pitch; the telescopic arm assembly is suitable for stretching; and the pipe conveying device is arranged at the tail end of the telescopic arm assembly and acts along with the telescopic arm assembly to convey the explosive conveying pipe output from the pipe rolling device into the blast hole so as to carry out explosive filling operation. The pitching of the telescopic arm assembly is accurately controlled through the first digital hydraulic cylinder; the rotation angle of the rotation structure is accurately controlled through the first digital hydraulic motor, so that the explosive filling system can automatically find blast holes, and subsequent explosive filling operation is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of blasting, and in particular to an explosive filling system and a charging vehicle. Background Art

[0002] With the development of my country's mining industry, mining has gradually shifted from open-pit mining to underground mining. If underground mining is to be carried out, blasting operations are generally required. With the development of blasting operation technology, researchers in the industry have proposed the concept of "intelligent charging". If "intelligent charging" is to be achieved, it is necessary not only to upgrade the control method, upgrade the data transmission technology, and upgrade the image recognition technology, but also to improve the response speed and accuracy of explosive filling. However, the use of ordinary hydraulic cylinders and ordinary hydraulic motors to drive the working arm and then drive the drug delivery pipe for explosive filling operations has problems such as slow response speed, large start-stop impact, small speed adjustment range, and low control accuracy. Summary of the invention

[0003] In view of this, the present invention provides an explosive filling system to solve the problems of slow response speed, large start-stop impact, small speed adjustment range and low control accuracy in the explosive filling operation driven by an ordinary hydraulic cylinder and an ordinary hydraulic motor to drive a working arm and then drive a drug delivery pipe.

[0004] In a first aspect, the present invention provides an explosive filling system, comprising: A rotary structure connected to a first digital hydraulic motor, wherein the first digital hydraulic motor is adapted to drive the rotary structure to rotate in a horizontal plane; A hose reel, arranged on the rotating structure, the hose reel being adapted to rotate along with the rotating structure and to wind up the drug delivery tube; A telescopic arm assembly, the head end of which is connected to the rotary structure through a first digital hydraulic cylinder, wherein the first digital hydraulic cylinder is suitable for driving the telescopic arm assembly to perform a pitch operation; the telescopic arm assembly is suitable for telescoping; The pipe feeder is arranged at the end of the telescopic arm assembly, and the pipe feeder is suitable for conveying the end of the drug delivery pipe output from the pipe reel into the blast hole as the end of the telescopic arm assembly moves, so as to perform the explosive filling operation. Beneficial effect: The present application adopts the above-mentioned technical scheme, and the pitch of the telescopic arm assembly can be accurately controlled by the first digital hydraulic cylinder; the rotation angle of the slewing structure can be accurately controlled by the first digital hydraulic motor. The present application can realize rapid and precise control of the movement of the telescopic arm assembly through the direct mechanical closed-loop feedback of the first digital hydraulic motor, which is convenient for remote control and precise operation, and then realizes the automatic search for blast holes of the explosive filling system, so as to facilitate subsequent explosive filling operations. In addition, through the rotation of the slewing structure, the bending of the drug delivery pipe can be effectively avoided, the structure can be simplified, and the ineffective length of the drug delivery pipe can be shortened.

[0005] Optionally, the telescopic arm assembly comprises: The multi-stage telescopic arm is connected in sequence through a digital hydraulic cylinder; the telescopic arm is suitable for telescoping through the digital hydraulic cylinder. Beneficial effect: The present application adopts the above technical solution, and the telescoping of the multi-stage telescopic arm can be accurately controlled through the digital hydraulic cylinder. The present application can achieve rapid and accurate control of the multi-stage telescopic arm through direct mechanical closed-loop feedback of the digital hydraulic cylinder, which is convenient for remote control and accurate operation, and then realizes the automatic search for blastholes of the explosive filling system, so as to facilitate subsequent explosive filling operations.

[0006] Optionally, the multi-stage telescopic arm comprises: A main arm connected to the slewing structure via a first digital hydraulic cylinder; A first-stage telescopic arm connected to the main arm via a second digital hydraulic cylinder; The secondary telescopic arm is connected to the primary telescopic arm via a third digital hydraulic cylinder; the pipe feeder (5) is arranged on the secondary telescopic arm.

[0007] Optionally, the tube feeder comprises: A plurality of groups of pressing rollers arranged opposite to each other are suitable for clamping the drug delivery tube and conveying the drug delivery tube as the pressing rollers rotate; Two reducers are respectively connected to the pressing rollers located on both sides of the medicine delivery tube, and the reducers are suitable for driving the pressing rollers to rotate; Two second digital hydraulic motors are connected to two reducers respectively, and the second digital hydraulic motors are suitable for providing rotational power to the reducers. Beneficial effect: The present application adopts the above technical solution, and the second digital hydraulic motor can accurately control the delivery speed and delivery length of the drug delivery tube by the tube delivery device. In addition, the pressure roller is located outside, which is convenient for replacing the drug delivery tube and convenient for maintenance.

[0008] Optionally, the tube feeder further comprises: Multiple sets of adjustment rods, both ends of which are connected to the pressure rollers on both sides of the drug delivery tube, and the adjustment rods are suitable for adjusting the distance between the pressure rollers on both sides of the drug delivery tube. Beneficial effect: The application adopts the above technical solution, and the adjustment rods are located outside, which is convenient for adjusting the pressing force of the pressure rollers on the drug delivery tube.

[0009] Optionally, the reducer is a gear reducer.

[0010] Optionally, the rotation speed of the first digital hydraulic motor is controlled by controlling the frequency of pulse sending; the extension and retraction speeds of the first digital hydraulic cylinder, the second digital hydraulic cylinder and the third digital hydraulic cylinder are controlled by controlling the frequency of pulse sending; the rotation angle of the first digital hydraulic motor is controlled by controlling the number of pulses sent; and the extension and retraction strokes of the first digital hydraulic cylinder, the second digital hydraulic cylinder and the third digital hydraulic cylinder are controlled by controlling the number of pulses sent.

[0011] Optionally, the angular resolution accuracy of the first digital hydraulic motor is not less than 0.06°, and the rotation speed range of the first digital hydraulic motor is: 0.1rpm~100rpm; the repeatability accuracy of the first digital hydraulic cylinder, the second digital hydraulic cylinder and the third digital hydraulic cylinder is not less than 0.05mm; the telescopic speed range of the first digital hydraulic cylinder, the second digital hydraulic cylinder and the third digital hydraulic cylinder is: 0mm / s~300mm / s.

[0012] Optionally, the explosive is an emulsion explosive or a powdered explosive.

[0013] In a second aspect, the present invention further provides a charging vehicle, comprising: the explosive filling system described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a schematic diagram of the main structure of the explosive filling system provided in an embodiment of the present invention; Figure 2 A schematic diagram of the top view of the explosive filling system provided in an embodiment of the present invention; Figure 3 A schematic diagram of the local structure of the tube feeder provided in an embodiment of the present invention Figure 1 ; Figure 4 A schematic diagram of the local structure of the tube feeder provided in an embodiment of the present invention Figure 2 .

[0016] Description of reference numerals: 1. Rotating structure; 2. Main arm; 3. First-stage telescopic arm; 4. Second-stage telescopic arm; 5. Hose feeder; 6. Hose reel; 7. First digital hydraulic motor; 8. First digital hydraulic cylinder; 9. Second digital hydraulic cylinder; 10. Second digital hydraulic motor; 11. Pressure roller; 12. Adjustment rod; 13. Reducer. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0018] like Figures 1 to 4 A specific embodiment of the explosive filling system shown includes: a rotary structure 1, a hose reel 6, a telescopic arm assembly and a hose delivery device 5. The explosive is an emulsion explosive or a powdered explosive. The powdered explosive can be an ammonium nitrate explosive. The explosive filling system described in the present application can be used in the scene of filling explosives on site, and the drug delivery tube is delivered to the blast hole to complete the filling of explosives; after filling the explosives, it can be used for blasting operations in underground or tunnels in the civil explosive industry.

[0019] like Figure 1 and Figure 2 As shown, the rotary structure 1 is connected to the first digital hydraulic motor 7, and the first digital hydraulic motor 7 is suitable for driving the rotary structure 1 to rotate in a horizontal plane. Figure 2 As shown by the arrows in . For the first digital hydraulic motor 7, when a pulse signal is sent, the forward and reverse rotation of the first digital hydraulic motor 7 can be realized, and one pulse signal corresponds to a fixed rotation angle of the first digital hydraulic motor 7, and the sending frequency of the pulse signal corresponds to the angular velocity of the first digital hydraulic motor 7, and the increase rate of the sending frequency of the pulse signal corresponds to the angular acceleration of the first digital hydraulic motor 7. By setting the pulse sending method, the smooth rotation and precise positioning of the rotating structure 1 can be controlled. The hose reel 6 is arranged on the rotating structure 1, and the hose reel 6 is suitable for rotating with the rotating structure 1 and winding the drug delivery tube; the head end of the telescopic arm assembly is connected to the rotating structure 1 through the first digital hydraulic cylinder 8, and the first digital hydraulic cylinder 8 is suitable for driving the telescopic arm assembly to perform pitch operations, such as Figure 1 As shown by the arrow on the left side of the figure; for the first digital hydraulic cylinder 8, when a pulse signal is sent, the extension and retraction of the first digital hydraulic cylinder 8 can be realized, one pulse signal corresponds to one fixed stroke of the first digital hydraulic cylinder 8, the sending frequency of the pulse signal corresponds to the extension and retraction speed of the first digital hydraulic cylinder 8, and the increase rate of the sending frequency of the pulse signal corresponds to the acceleration of the first digital hydraulic cylinder 8. By setting the pulse sending mode, the stable pitch and positioning of the telescopic arm assembly can be controlled. The telescopic arm assembly is suitable for extension and retraction, such as Figure 1 The pipe feeder 5 is arranged at the end of the telescopic arm assembly, and the pipe feeder 5 is suitable for conveying the end of the drug delivery pipe output from the pipe reel 6 to the blast hole with the movement of the end of the telescopic arm assembly to perform the explosive filling operation.

[0020] Specifically, the telescopic arm assembly includes: a multi-stage telescopic arm; the multi-stage telescopic arms are connected in sequence through digital hydraulic cylinders; the telescopic arm is suitable for telescoping through digital hydraulic cylinders. The digital hydraulic cylinder can be controlled to achieve telescoping and positioning by setting the pulse sending mode, thereby driving the multi-stage telescopic arm to telescope and position. The multi-stage telescopic arm includes: a main arm 2, a primary telescopic arm 3 and a secondary telescopic arm 4. The main arm 2 is connected to the rotary structure 1 through a first digital hydraulic cylinder 8; the primary telescopic arm 3 is connected to the main arm 2 through a second digital hydraulic cylinder 9; the secondary telescopic arm 4 is connected to the primary telescopic arm 3 through a third digital hydraulic cylinder; the pipe feeder 5 is arranged on the secondary telescopic arm 4. The angular resolution accuracy of the first digital hydraulic motor 7 is not less than 0.06°, and the rotation speed range of the first digital hydraulic motor 7 is: 0.1rpm~100rpm; the repeatability accuracy of the first digital hydraulic cylinder 8, the second digital hydraulic cylinder 9 and the third digital hydraulic cylinder is not less than 0.05mm; the telescopic speed range of the first digital hydraulic cylinder 8, the second digital hydraulic cylinder 9 and the third digital hydraulic cylinder is: 0mm / s~300mm / s.

[0021] Furthermore, the rotation speed of the first digital hydraulic motor 7 is controlled by controlling the frequency of pulse sending; the extension and retraction speeds of the first digital hydraulic cylinder 8, the second digital hydraulic cylinder 9 and the third digital hydraulic cylinder are controlled by controlling the frequency of pulse sending; the rotation angle of the first digital hydraulic motor 7 is controlled by controlling the number of pulses sent; and the extension and retraction strokes of the first digital hydraulic cylinder 8, the second digital hydraulic cylinder 9 and the third digital hydraulic cylinder are controlled by controlling the number of pulses sent.

[0022] like Figure 3 and Figure 4As shown, the tube delivery device 5 includes: multiple groups of rollers 11 arranged oppositely, two reducers 13, two second digital hydraulic motors 10 and multiple groups of adjustment rods 12. Multiple groups of rollers 11 arranged oppositely are suitable for clamping the drug delivery tube, and with the rotation of the rollers 11, the drug delivery tube is transported; the rollers 11 are located outside, which is convenient for replacing the drug delivery tube and convenient for maintenance. The two reducers 13 are respectively connected to the rollers 11 located on both sides of the drug delivery tube, and the reducers 13 are suitable for driving the rollers 11 to rotate; the two second digital hydraulic motors 10 are respectively connected to the two reducers 13, and the second digital hydraulic motors 10 are suitable for providing rotational power for the reducers 13. Specifically, the reducer 13 is a gear reducer. The two ends of the multiple groups of adjustment rods 12 are respectively connected to the rollers 11 located on both sides of the drug delivery tube, and the adjustment rods 12 are suitable for adjusting the spacing between the rollers 11 located on both sides of the drug delivery tube. The adjustment rods 12 are located outside, which is convenient for adjusting the pressing force of the rollers 11 on the drug delivery tube. The angle resolution accuracy of the second digital hydraulic motor 10 is not less than 0.06°, and the rotation speed range of the second digital hydraulic motor 10 is: 0.1rpm~100rpm; the rotation speed of the second digital hydraulic motor 10 is controlled by controlling the frequency of pulse transmission; the rotation angle of the second digital hydraulic motor 10 is controlled by controlling the number of pulse transmission. The speed of the second digital hydraulic motor 10 can be precisely controlled by setting the pulse signal, so as to realize real-time, rapid and precise adjustment of the advancement speed and withdrawal speed of the drug delivery tube. Figure 3 In the embodiment, the number of the pressure rollers 11 is four groups, and the number of the adjustment rods 12 is two groups.

[0023] The first digital hydraulic motor 7 and the second digital hydraulic motor 10 have similar structures, generally including: a drive motor, a controller, a digital valve body and a motor body, and an oil inlet, an oil return port, a forward oil outlet and a reverse oil outlet are provided on the digital valve body. The first digital hydraulic cylinder 8, the second digital hydraulic cylinder 9 and the third digital hydraulic cylinder have similar structures, generally including: a drive motor, a controller, a digital valve body and a cylinder body, and an oil inlet, an oil return port, a forward oil outlet and a reverse oil outlet are provided on the digital valve body. Since the first digital hydraulic motor 7, the second digital hydraulic motor 10, the first digital hydraulic cylinder 8, the second digital hydraulic cylinder 9 and the third digital hydraulic cylinder all adopt mechanical closed-loop feedback, they only need to send pulse signals through their own control system to accurately control the movement of the cylinder or motor, thereby realizing accurate control of the movement speed and positioning accuracy of the telescopic arm, etc.

[0024] The first digital hydraulic motor 7, the second digital hydraulic motor 10, the first digital hydraulic cylinder 8, the second digital hydraulic cylinder 9 and the third digital hydraulic cylinder used in the present application are externally manifested as an independent device. The user does not need to care about its internal structure and characteristics. Only after determining the fixed relationship between the input and output, it can be easily mastered and used. It has the advantages of good integrity, strong anti-pollution ability, high precision and stable reliability, and is suitable for the working environment of underground mines; and, because it already has the internal position closed-loop capability, when it realizes precise micron-level repeated positioning, it no longer needs additional sensors for closed-loop control. Even in speed control, due to the digitization of its motion characteristics, the pulse frequency corresponds to the motion speed characteristics, and the number of pulses corresponds to the motion stroke characteristics, it is also unnecessary to use sensors for closed-loop control.

[0025] The explosives filling system described in the present application can speed up the response speed of each telescopic arm and other moving parts, improve the positioning accuracy, so as to make the action accuracy higher, and thus adapt to the needs of remote control or unmanned automatic filling of explosives. The higher the control accuracy of the telescopic arm and other moving parts, the faster the response speed, the more conducive to improving the efficiency of underground explosive loading. With the continuous advancement of visual technology, three-dimensional laser scanning and digital twin technology, it is a general trend to realize unmanned automatic charging in the future. The use of the explosives filling system described in the present application, due to its mechanical closed-loop feedback, high positioning accuracy, fast response, and strong anti-pollution ability, adapts to the underground working environment, and can provide strong support for unmanned operations.

[0026] The present invention also provides a charging vehicle, comprising: the explosive filling system.

[0027] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An explosive filling system, characterized in that: include: The rotary structure (1) is connected to a first digital hydraulic motor (7), wherein the first digital hydraulic motor (7) is suitable for driving the rotary structure (1) to rotate in a horizontal plane; A hose reel (6) is arranged on the rotating structure (1), and the hose reel (6) is suitable for rotating along with the rotating structure (1) and winding the drug delivery tube; A telescopic arm assembly, the head end of which is connected to the slewing structure (1) via a first digital hydraulic cylinder (8), the first digital hydraulic cylinder (8) being suitable for driving the telescopic arm assembly to perform a pitching operation; the telescopic arm assembly being suitable for telescoping; The pipe feeder (5) is arranged at the end of the telescopic arm assembly. The pipe feeder (5) is suitable for conveying the end of the drug delivery pipe output from the pipe reel (6) into the blast hole as the end of the telescopic arm assembly moves, so as to perform the explosive filling operation.

2. The explosive filling system according to claim 1, characterized in that: The telescopic arm assembly comprises: The multi-stage telescopic arms are connected in sequence through digital hydraulic cylinders; the telescopic arms are suitable for telescoping through the digital hydraulic cylinders.

3. The explosive filling system according to claim 2, characterized in that: The multi-stage telescopic arm comprises: A main arm (2) is connected to the rotary structure (1) via a first digital hydraulic cylinder (8); A first-stage telescopic arm (3) connected to the main arm (2) via a second digital hydraulic cylinder (9); The secondary telescopic arm (4) is connected to the primary telescopic arm (3) via a third digital hydraulic cylinder; the pipe feeder (5) is arranged on the secondary telescopic arm (4).

4. The explosive filling system according to any one of claims 1 to 3, characterized in that: The tube feeder (5) comprises: A plurality of groups of pressing rollers (11) arranged opposite to each other, adapted to clamp the drug delivery tube and convey the drug delivery tube as the pressing rollers (11) rotate; Two reducers (13) are respectively connected to the pressing rollers (11) located on both sides of the drug delivery tube, and the reducers (13) are suitable for driving the pressing rollers (11) to rotate; The two second digital hydraulic motors (10) are respectively connected to the two reducers (13), and the second digital hydraulic motors (10) are suitable for providing rotational power for the reducers (13).

5. The explosive charging system according to claim 4, characterized in that: The tube delivery device (5) further comprises: A plurality of groups of adjustment rods (12) have two ends respectively connected to the pressure rollers (11) located on both sides of the drug delivery tube, and the adjustment rods (12) are suitable for adjusting the spacing between the pressure rollers (11) located on both sides of the drug delivery tube.

6. The explosive charging system according to claim 4, characterized in that: The reducer (13) is a gear reducer.

7. The explosive charging system according to claim 3, characterized in that: The rotation speed of the first digital hydraulic motor (7) is controlled by controlling the frequency of pulse transmission; the extension and retraction speeds of the first digital hydraulic cylinder (8), the second digital hydraulic cylinder (9) and the third digital hydraulic cylinder are controlled by controlling the frequency of pulse transmission; the rotation angle of the first digital hydraulic motor (7) is controlled by controlling the number of pulse transmission; and the extension and retraction strokes of the first digital hydraulic cylinder (8), the second digital hydraulic cylinder (9) and the third digital hydraulic cylinder are controlled by controlling the number of pulse transmission.

8. The explosive charging system according to claim 7, characterized in that: The angular resolution accuracy of the first digital hydraulic motor (7) is not less than 0.06°, and the rotation speed range of the first digital hydraulic motor (7) is: 0.1rpm~100rpm; the repeatability accuracy of the first digital hydraulic cylinder (8), the second digital hydraulic cylinder (9) and the third digital hydraulic cylinder is not less than 0.05mm; the telescopic speed range of the first digital hydraulic cylinder (8), the second digital hydraulic cylinder (9) and the third digital hydraulic cylinder is: 0mm / s~300mm / s.

9. The explosive filling system according to any one of claims 1 to 3, characterized in that: The explosive is emulsion explosive or powdered explosive.

10. A charging vehicle, characterized in that: include: The explosive charging system according to any one of claims 1 to 9.

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