Intelligent tube drawing device and method

Abstract

The invention relates to the technical field of mixed loading explosive trucks, in particular to an intelligent tube drawing device and method. The intelligent pipe drawing device comprises a controller, a conveying pipe, a hopper, a conveying pump motor, a conveying pump, a flow meter, a reel rack, a reel and a reel motor, the controller is in communication connection with the conveying pump motor and the reel motor, the conveying pipe is coiled on the reel, one end of the conveying pipe is communicated with the conveying pump, the hopper is communicated with the conveying pump, and the conveying pump motor is in transmission connection with the conveying pump. The reel and the reel motor are arranged on the reel rack, the reel motor is in transmission connection with the reel, the visual element, the flow meter and the encoder are respectively in communication connection with the controller, the visual element and the encoder are arranged on the reel rack, the flow meter is arranged on the conveying pipe, the encoder is in transmission connection with the reel motor, and the visual element is in communication connection with the controller. The filling liquid level height can be kept between the end face of a discharging opening in the tail end of an explosive conveying pipe and the surface of a mixed loading explosive filling liquid level during explosive loading, and the pipe can be synchronously pulled out along with the mixed loading explosive filling liquid level height in a blast hole.

Description

Technical Field

[0001] The invention relates to the technical field of a mixed explosive vehicle, and in particular to an intelligent tube extraction device and method. Background Art

[0002] The mixed explosive vehicle includes an on-site mixed emulsion explosive vehicle and an on-site mixed water gel explosive vehicle. During the operation of the mixed explosive vehicle, the mixed explosive vehicle can use a delivery pump to pump the mixed explosive from the storage silo through the delivery pipe into the blast hole.

[0003] In order to overcome the large lumps at the base of the blasthole, the mixed explosive truck is loaded with mixed explosives of different blasting powers in the blasthole, with high-power explosives at the bottom of the blasthole and the rest of the blasthole loaded with slightly lower-power mixed explosives. In order to eliminate the collision and convolution caused by the free fall of the mixed explosives from top to bottom into the bottom of the blasthole when the discharge port end of the conveying pipe is loaded at the empty mouth of the blasthole, the mixed explosives are disordered inside the blasthole, resulting in poor blasting effect. Therefore, during the charging process, the mixed explosive truck must keep the discharge port end of the conveying pipe at the same height as the mixed explosive filling level surface, and the pipe must be pulled out synchronously with the height of the mixed explosive filling level.

[0004] At present, there are two ways to synchronously pull out the tube: one is mechanical pulling out the tube. The existing mechanical pulling out tube is usually equipped with a controller. The controller controls the pulling out speed according to the manually input pulling out speed. However, in actual application, due to the lack of real-time monitoring of the moving speed of the conveying tube, it is difficult to truly match the pulling out speed with the charging speed of the blast hole. The other is manual pulling out the tube. The labor intensity of manual work is extremely high, and it requires the cooperation of many people, which is time-consuming and difficult to coordinate and match with the charging speed. Since both methods currently have the problem of pulling out the tube too fast or too slow, the charging of mixed charges is discontinuous. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an intelligent tube extraction device and method. The intelligent tube extraction device is used to implement the intelligent tube extraction method. When charging, it can ensure that the end face of the discharge port at the end of the drug delivery tube and the surface of the mixed charge filling liquid level maintain a filling liquid level height, and extract the tube synchronously with the mixed charge filling liquid level height in the blast hole, thereby realizing unmanned continuous charging of the mixed charge, ensuring that the mixed charge is fully filled in the blast hole, and achieving the effect of coupled charging.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In the first aspect, the present invention provides an intelligent tube removal device, comprising: a controller, a conveying pipe, a hopper, a conveying pump motor, a conveying pump, a flow meter, a reel frame, a reel, and a reel motor, wherein the controller is communicatively connected with the conveying pump motor and the reel motor, the conveying pipe reel is arranged on the reel and one end is connected with the conveying pump, the hopper is connected with the conveying pump, the conveying pump motor is connected with the conveying pump in a transmission manner, the reel and the reel motor are arranged on the reel frame, and the reel motor is connected with the reel in a transmission manner, and further comprises: a visual element, a flow meter, and an encoder respectively communicatively connected with the controller, the visual element and the encoder are arranged on the reel frame, the flow meter is arranged on the conveying pipe, the encoder is connected with the reel motor in a transmission manner, and the single-layer uniformly distributed reel of the conveying pipe is arranged on the reel.

[0008] By adopting the above technical solution, when in use, the visual element first collects the diameter of the blasthole and transmits it to the controller. At this time, the controller calculates the charge amount of mixed charge per meter in the blasthole based on the collected blasthole diameter and the density of the material in the blasthole; then the controller extends the discharge port at the end of the conveying pipe into the bottom of the blasthole. When the discharge port at the end of the conveying pipe extends into the bottom of the blasthole, the controller controls the conveying pump motor to start the conveying pump, and pumps the mixed charge in the hopper into the blasthole through the conveying pipe. When charging, the controller first processes the current charging amount of mixed charge per meter of the borehole and the flow data value of the flow meter, and calculates the theoretical value of the pipe extraction speed of the conveying pipe under the conditions of the existing flow rate and charging amount per meter; then the controller drives the reel motor to rotate; at the same time, the encoder collects the reel speed signal, and the controller calculates the actual value of the actual pipe extraction speed based on the encoder signal, and obtains the speed difference by comparing the theoretical value and the actual value, and adjusts the reel motor speed in real time according to the speed difference, so as to achieve the consistency between the actual pipe extraction speed and the theoretical pipe extraction speed, so as to ensure that the end face of the discharge port at the end of the delivery tube and the surface of the mixed charge filling level maintain a filling level height during charging, and the pipe is extracted synchronously with the mixed charge filling level height in the borehole, so as to realize unmanned continuous charging of mixed charge, ensure that the mixed charge is fully filled in the borehole, and achieve the effect of unmanned intelligent charging at the blasting site and reducing the number of personnel at the blasting site.

[0009] Optionally, a reel motor sprocket is coaxially arranged on the driving end of the reel motor, an encoder sprocket is coaxially arranged on the measuring shaft of the encoder, and a transmission chain is arranged on the reel motor sprocket and the encoder sprocket.

[0010] By adopting the above technical solution, the transmission between the reel motor and the encoder can be realized through the transmission chain and the two sprockets, thereby realizing the acquisition of the reel motor rotation speed.

[0011] Optionally, the diameter of the reel motor sprocket is larger than the diameter of the encoder sprocket.

[0012] By adopting the above technical solution, the ratio of the reel motor sprocket diameter to the encoder sprocket diameter affects the accuracy of controlling the reel motor speed. When the ratio is larger, even if the reel motor rotates a small angle, the encoder can send enough signals to the controller. By setting the reel motor sprocket diameter to be larger than the encoder sprocket diameter, higher control accuracy can be achieved.

[0013] Optionally, the visual element is a camera.

[0014] By adopting the above technical solution, the camera can directly obtain the borehole diameter and the density of the mixed charge.

[0015] Optionally, the flow meter is located at one end of the delivery pipe close to the delivery pump.

[0016] By adopting the above technical solution, the flow rate of mixed medicine can be better measured in real time.

[0017] In a second aspect, the present invention provides an intelligent extubation method, which is applied to an intelligent extubation device as described in the first aspect, comprising the following steps:

[0018] S1: Obtain the borehole diameter and the density of the mixed charge, and calculate the charge amount of the mixed charge per meter in the borehole based on the borehole diameter and the density of the mixed charge.

[0019] S2: Control the reel motor to extend the discharge port at the end of the conveying pipe of the single-layer uniformly distributed reel on the reel into the bottom of the blast hole.

[0020] S3: Control the delivery pump motor to pump the mixed charge in the hopper into the blast hole through the delivery pipe, obtain the flow data value of the flow meter, and calculate the theoretical value of the theoretical speed of pulling out the delivery pipe based on the charge amount and the flow data value.

[0021] S4: Obtaining an encoder signal of an encoder drivingly connected to the delivery pump motor, and calculating an actual value of the actual speed of the delivery tube removal based on the encoder signal.

[0022] S5: Compare the theoretical value and the actual value to obtain the speed difference, and adjust the reel motor speed based on the speed difference.

[0023] By adopting the above technical scheme, the controller can achieve the consistency between the actual tube pulling speed and the theoretical tube pulling speed through the above five steps, so as to ensure that the end face of the discharge port at the end of the drug delivery tube and the surface of the mixed charge filling level maintain a filling level height when loading, and pull out the tube synchronously with the mixed charge filling level height in the blast hole, thereby ensuring the unmanned charging continuity of the mixed charge, and then making the mixed charge fully filled in the blast hole, achieving the effect of coupled charging.

[0024] Optionally, the calculation formula of the pipe pulling theory speed is:

[0025] V L =P v / Q

[0026] Among them, V L represents the theoretical speed of extraction, Q represents the charge of mixed charge per meter in the borehole, P v Represents the flow data value of the flow meter.

[0027] By adopting the above technical solution, the theoretical speed of pipe pulling can be effectively calculated.

[0028] Optionally, the calculation formula for the actual extubation speed is:

[0029] V k =π·D2·n2

[0030] Among them, V k represents the actual speed of pulling the pipe, D2 represents the reel diameter, and n2 represents the reel motor speed.

[0031] By adopting the above technical solution, the actual speed of tube removal can be effectively calculated.

[0032] In summary, the present invention at least includes the following beneficial technical effects:

[0033] 1. By adopting the intelligent tube pulling device, the actual tube pulling speed can be made consistent with the theoretical tube pulling speed, so as to ensure that the end face of the discharge port at the end of the drug delivery tube and the surface of the mixed charge filling level maintain a filling level height when charging, and the tube is pulled out synchronously with the height of the mixed charge filling level in the blast hole, so as to ensure the unmanned charging continuity of the mixed charge, and then make the mixed charge fully filled in the blast hole, so as to achieve the effect of coupled charging.

[0034] 2. By adopting the intelligent tube pulling device, after realizing synchronous tube pulling, it can effectively eliminate the situation that when the discharge port end face at the end of the conveying pipe is loaded at the empty mouth of the blast hole, the mixed explosive is freely dropped from top to bottom and collided and convoluted, and the mixed explosive will not be disordered inside the blast hole, which can effectively improve the blasting effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 Schematic diagram of the structure of the intelligent tube removal device in an embodiment of the present invention.

[0036] Figure 2 It is a partial schematic diagram of the reel motor sprocket and the encoder sprocket in an embodiment of the present invention.

[0037] Explanation of the accompanying drawings: 1. Controller; 2. Delivery pipe; 3. Visual element; 4. Hopper; 5. Delivery pump motor; 6. Delivery pump; 7. Flow meter; 8. Reel rack; 9. Reel; 10. Reel motor; 11. Drive chain; 12. Encoder; 13. Reel motor sprocket; 14. Encoder sprocket. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0039] The terms used in the following embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to be used as limitations of the present invention. As used in the specification of the present invention and the appended claims, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear contrary indication in its context. It should also be understood that the term "and / or" used in the present invention refers to and includes any or all possible combinations of one or more listed items. The term "exemplary" means "used as an example, embodiment or illustrative", and any embodiment described as "exemplary" here does not have to be interpreted as being superior to or better than other embodiments. The terms "first" and "second" are only used for descriptive purposes, and cannot be understood as implying or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" can expressly or implicitly include one or more of these features, and in the description of the embodiments of the present invention, unless otherwise specified, the meaning of "multiple" is two or more.

[0040] An embodiment of the present invention provides an intelligent tube removal device.

[0041] refer to Figure 1 , an intelligent tube pulling device, comprising: a controller 1, a feeding component, a conveying pipe 2, a tube pulling component and a visual element 3.

[0042] The single-layer uniformly distributed plate of the conveying pipe 2 is arranged on the pipe pulling assembly, one end of the conveying pipe 2 is connected with the material discharge assembly, and the other end can be lowered into the blast hole. The visual element 3 is arranged on the pipe pulling assembly, and is used to detect in real time the height of the discharge port end face of the end of the conveying pipe 2 lowered to one end of the blast hole and the mixed charge filling liquid level surface. The controller 1 is respectively connected to the material discharge assembly, the pipe pulling assembly and the visual element 3. The visual element 3 can be a camera facing the ground.

[0043] The unloading assembly includes a hopper 4, a delivery pump motor 5, a delivery pump 6 and a flow meter 7. The hopper 4, the delivery pump motor 5 and the delivery pump 6 are all arranged on the mixed explosive vehicle, the driving end of the delivery pump motor 5 is connected to the delivery pump 6 by transmission, the unloading end of the hopper 4 is connected to the loading end of the delivery pump 6, the unloading end of the delivery pump 6 is connected to the delivery pipe 2, the flow meter 7 is installed on the delivery pipe 2, and the controller 1 is respectively connected to the delivery pump motor 5 and the flow meter 7 by communication. Among them, flange connections are adopted between the delivery pump 6 and the hopper 4, and between the delivery pump 6 and the delivery pipe 2. The flow meter 7 is located at one end of the delivery pipe 2 close to the delivery pump 6, and the flow meter 7 transmits the flow signal in the delivery pipe 2 to the controller 1 through the control line.

[0044] refer to Figure 1 and Figure 2 The pipe pulling assembly includes a reel frame 8, a reel 9, a reel motor 10, a transmission chain 11 and an encoder 12. The reel frame 8 is installed on the mixed explosive vehicle, the reel 9 is rotatably connected to the reel frame 8, and the conveying pipe 2 is evenly distributed on the reel 9. The visual element 3, the reel motor 10 and the encoder 12 are all fixedly connected to the reel frame 8, and the driving end of the reel motor 10 is connected to the reel 9 in a transmission manner. A reel motor sprocket 13 is coaxially sleeved and fixed on the driving end of the reel motor 10, and an encoder sprocket 14 is coaxially sleeved and fixed on the measuring shaft of the encoder 12. The diameter of the reel motor sprocket 13 is larger than the diameter of the encoder sprocket 14, and the transmission chain 11 is sleeved on the reel motor sprocket 13 and the encoder sprocket 14. The controller 1 is connected to the reel motor 10 and the encoder 12 for communication.

[0045] Among them, the delivery pump motor 5 and the reel motor 10 are connected to the power drive system through the power drive line, and the power drive system is connected to the controller 1 in communication. The controller 1 can provide power to the delivery pump motor 5 and the reel motor 10 through the power drive system, thereby driving the delivery pump motor 5 so that the delivery pump 6 pumps the mixed medicine in the hopper 4 into the blast hole through the delivery pipe 2, and drives the reel motor 10 to rotate the reel 9 under the real-time detection of the visual element 3, so as to achieve the purpose of pulling out the delivery pipe 2. The visual element 3, the flow meter 7 and the encoder 12 are directly connected to the controller 1 in communication through the control line. The controller 1 can collect the flow information of the mixed medicine in the delivery pipe 2 and the rotation speed information of the reel 9 through the flow meter 7 and the encoder 12 connected by the control line, so as to control the power drive system, and then control the pumping efficiency of the delivery pump 6 and the tube pulling speed of the reel 9, so as to ensure that the end face of the discharge port at the end of the medicine delivery pipe and the surface of the mixed medicine filling level maintain a filling level height L, and pull out the tube synchronously with the mixed medicine filling level height in the blast hole, so as to ensure the unmanned charging continuity of the mixed medicine, make the mixed medicine fully filled in the blast hole, and achieve the effect of coupled charging.

[0046] The calculation formula of the theoretical speed of pulling out pipe is:

[0047] V L =P v / Q

[0048] Among them, V L represents the theoretical speed of pulling out pipe, in m / s. Q represents the charge of mixed charge per meter in the blasthole, in kg / m. The value of Q is collected by the visual element 3 and transmitted to the controller 1 through the control line, and is calculated with the density of the material in the blasthole (mixed charge density), and the unit of the blasthole diameter D1 is m. v It represents that the controller 1 collects the flow data value of the flow meter 7, and the unit is kg / s.

[0049] The calculation formula for the actual extubation speed is:

[0050] V k =π·D2·n2

[0051] Among them, V k represents the actual speed of pipe pulling, in m / s. D2 represents the diameter of the reel 9, in m. n2 represents the speed of the reel motor 10, in r / s. The speed of n2 is converted by the reel motor sprocket 13 through the transmission chain 11 and the encoder sprocket 14 directly connected to the encoder 12 through the control line to the actual speed of pipe pulling V k The information is fed back to the controller 1. When the delivery tube 2 is automatically removed, the controller 1 calculates the theoretical removal speed V according to the calculation formula of the theoretical removal speed L The controller 1 collects the encoder signal connected to the reel motor 10 through the transmission chain 11, and compares the actual pulling speed V k The speed of the pull-out tube V L After the difference is calculated, the control signal is resent to the power drive system according to the speed difference to adjust the speed of the reel motor 10 in real time, thereby achieving the actual pulling speed V k The speed of the pull-out tube V L The discharge port end face at the end of the mixed charge delivery tube maintains a filling level height L with the mixed charge filling level surface, and rises synchronously with the mixed charge filling level height in the blast hole.

[0052] In order to improve the accuracy of automatic pipe pulling speed, the diameter d2 of the reel motor sprocket 13 is set larger than the diameter d1 of the encoder sprocket 14; the ratio of the diameter d1 of the encoder sprocket 14 to the diameter d2 of the reel motor sprocket 13 is equal to the ratio of the speed n1 of the encoder sprocket 14 to the speed n2 of the reel motor sprocket 13, that is, d1 / d2=n1 / n2; the size of the ratio of the two affects the accuracy of controlling the speed of the reel motor 10, and the larger the ratio, the higher the control accuracy.

[0053] The implementation principle of an intelligent tube extraction device in an embodiment of the present application is as follows: when in use, the visual element 3 first collects the borehole diameter D1 and transmits it to the controller 1 through the control circuit. At this time, the controller 1 calculates the charge amount Q of the mixed charge per meter in the borehole based on the collected borehole diameter D1 and the density of the material in the borehole; then, the controller 1 extends the discharge port at the end of the conveying pipe 2 into the bottom of the borehole through the power drive system, and the conveying pipe 2 in the middle part is wound on the reel 9.

[0054] When the discharge port at the end of the delivery pipe 2 extends into the bottom of the blast hole, the controller 1 controls the power drive system to drive the delivery pump motor 5 so that the delivery pump 6 starts to work, and the mixed charge in the hopper 4 is pumped into the blast hole through the delivery pipe 2. When charging, the controller 1 first processes the charge amount of the current blast hole per meter of mixed charge and the flow data value of the flow meter 7, and then calculates the flow rate of the flow meter 7 according to the algorithm formula V L =P v / Q calculates the theoretical value of the tube pulling speed of the conveying pipe 2 under the existing flow rate and the amount of medicine per meter; then, the controller 1 outputs a control signal to the power drive system, and the power drive system drives the reel motor 10 to rotate according to the control signal; at the same time, the controller 1 collects the speed signal of the reel 9 through the encoder 12 connected to the reel motor 10 through the control line and the transmission chain 11, calculates the actual value of the actual tube pulling speed based on the encoder signal, and obtains the speed difference by comparing the theoretical value and the actual value, and resends the control signal to the power drive system according to the speed difference to adjust the speed of the reel motor 10 in real time, thereby achieving the actual tube pulling speed V k The speed of the pull-out tube V L The tube pulling speed is consistent with the liquid level rising speed in the blast hole, and the mixed charge filling liquid level height L in the blast hole is constant.

[0055] The intelligent tube pulling device interacts with the controller 1 through the visual element 3, flow meter 7 and encoder 12, and can collect the on-site borehole parameters, delivery flow parameters and reel 9 speed parameters in real time. The controller 1 can intelligently control the power drive system to drive the delivery pump motor 5 and the reel motor 10 to realize intelligent automatic tube pulling.

[0056] In addition, the diameter d2 of the reel motor sprocket 13 is larger than the diameter d1 of the encoder sprocket 14. The ratio of the two affects the accuracy of controlling the rotation speed of the reel motor 10. When the ratio is larger, even if the reel motor 10 rotates a small angle, the encoder 12 can send enough signals to the controller 1 to achieve higher control accuracy.

[0057] According to the on-site operation conditions, the delivery flow of the delivery pump 6 can be controlled by the controller 1, so as to realize intelligent matching of the appropriate delivery flow and automatic pipe pulling speed according to the size of the on-site blasthole diameter D1. That is, under different delivery flow conditions, the intelligent pipe pulling device provided by the present invention can repeat the above process and intelligently adjust the pipe pulling speed of the mixed explosive delivery pipe 2. By adopting this intelligent pipe pulling device, after realizing synchronous pipe pulling, the discharge port end face at the end of the delivery pipe 2 can effectively eliminate the situation that the mixed explosive is freely dropped from top to bottom into the bottom of the blasthole when charging at the empty mouth of the blasthole, and the mixed explosive will not be disordered inside the blasthole, which can effectively improve the blasting effect.

[0058] The embodiment of the present invention also provides an intelligent tube removal method.

[0059] An intelligent extubation method comprises the following steps:

[0060] S1: Obtain the borehole diameter and the density of the mixed charge, and calculate the charge amount of the mixed charge per meter in the borehole based on the borehole diameter and the density of the mixed charge.

[0061] S2: Control the reel motor 10 to extend the discharge port at the end of the conveying pipe 2 of the single-layer uniformly distributed reel 9 into the bottom of the blast hole.

[0062] S3: Control the delivery pump motor 5 to pump the mixed charge in the hopper 4 into the blast hole through the delivery pipe 2, and obtain the flow data value of the flow meter 7, and calculate the theoretical value of the theoretical speed of pulling out the delivery pipe 2 based on the charge amount and the flow data value.

[0063] S4: Obtaining the encoder signal of the encoder 12 drivingly connected to the delivery pump motor 5, and calculating the actual value of the actual speed of the delivery tube 2 based on the encoder signal.

[0064] S5: Compare the theoretical value and the actual value to obtain a speed difference, and adjust the speed of the reel motor 10 based on the speed difference.

[0065] The specific embodiments of the intelligent extubation device provided in the above embodiments are applicable to the intelligent extubation method of the present embodiment. Through the above detailed description of the intelligent extubation method, those skilled in the art can clearly know the specific implementation process of the intelligent extubation method in the present embodiment. For the sake of brevity of the specification, it will not be described in detail here.

[0066] As described above, the above embodiments are only used to introduce the technical solution of the present invention in detail, but the description of the above embodiments is only used to help understand the method and core idea of ​​the present invention and should not be understood as limiting the present invention. Changes or substitutions that can be easily thought of by technicians in this technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. An intelligent extubation device, comprising: A controller (1), a delivery pipe (2), a hopper (4), a delivery pump motor (5), a delivery pump (6), a flow meter (7), a reel frame (8), a reel (9), and a reel motor (10), wherein the controller (1) is connected to the delivery pump motor (5) and the reel motor (10) in a communication manner, the delivery pipe (2) is disposed on the reel (9) and one end of the delivery pipe is connected to the delivery pump (6), the hopper (4) is connected to the delivery pump (6), the delivery pump motor (5) is connected to the delivery pump (6) in a transmission manner, and the reel (9) and the reel motor are connected to each other. (10) is arranged on the reel frame (8), the reel motor (10) and the reel (9) are connected in transmission, and it is characterized in that it also includes: a visual element (3), a flow meter (7), and an encoder (12) which are respectively connected to the controller (1) for communication, the visual element (3) and the encoder (12) are arranged on the reel frame (8), the flow meter (7) is arranged on the conveying pipe (2), the encoder (12) and the reel motor (10) are connected in transmission, and the conveying pipe (2) is a single-layer uniformly distributed disk arranged on the reel (9).

2. An intelligent tube removal device according to claim 1, characterized in that: A reel motor (10) sprocket is coaxially arranged on the driving end of the reel motor (10), an encoder sprocket (14) is coaxially arranged on the measuring shaft of the encoder (12), and a transmission chain (11) is arranged on the reel motor (10) sprocket and the encoder sprocket (14).

3. An intelligent tube removal device as claimed in claim 2, characterized in that: The diameter of the reel motor (10) sprocket is greater than the diameter of the encoder sprocket (14).

4. The intelligent tube removal device according to claim 3, characterized in that: The visual element (3) is a camera.

5. An intelligent tube removal device according to any one of claims 1 to 4, characterized in that: The flow meter (7) is located at one end of the delivery pipe (2) close to the delivery pump (6).

6. An intelligent extubation method, applied to an intelligent extubation device as claimed in any one of claims 1 to 5, characterized in that: The following steps are involved: S1: Obtain the borehole diameter and the density of the mixed charge, and calculate the charge amount of the mixed charge per meter in the borehole based on the borehole diameter and the density of the mixed charge. S2: Control the reel motor (10) to extend the discharge port at the end of the conveying pipe (2) of the single-layer uniformly distributed reel arranged on the reel (9) into the bottom of the blast hole. S3: Controlling the delivery pump motor (5) to pump the mixed charge in the hopper (4) into the blast hole through the delivery pipe (2), and obtaining the flow data value of the flow meter (7), and calculating the theoretical value of the theoretical speed of pulling out the delivery pipe (2) based on the charge amount and the flow data value. S4: Obtaining an encoder (12) signal of an encoder (12) drivingly connected to the delivery pump motor (5), and calculating an actual value of the actual speed of pulling out the delivery tube (2) based on the encoder (12) signal. S5: Compare the theoretical value and the actual value to obtain a speed difference, and adjust the speed of the reel motor (10) based on the speed difference.

7. An intelligent extubation method according to claim 6, characterized in that: The calculation formula of the theoretical pulling speed is: V L =P v / Q Wherein, VL represents the theoretical speed of withdrawal, Q represents the charge amount of mixed charge per meter in the borehole, and Pv represents the flow data value of the flow meter (7).

8. An intelligent extubation method according to claim 7, characterized in that: The calculation formula of the actual extubation speed is: V k =π·D2·n2 Wherein, Vk represents the actual speed of pulling out the tube, D2 represents the diameter of the reel (9), and n2 represents the speed of the reel motor (10).

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