Automatic charging method for tunnel excavation blasting

Abstract

This invention discloses an automated charging method for tunnel boring blasting, achieving fully automated and intelligent charging of explosives in blasting holes at the blasting face. Utilizing an arch-frame trolley commonly used in tunnel construction, a fully automated intelligent charging system is integrated onto the trolley. Specifically, an intelligent control robotic arm is integrated at the top of the cantilever beam of the arch-frame trolley, and a pneumatic charging machine and explosive cartridge storage box are integrated and installed on the trolley body. A movable explosive cartridge storage box containing detonating cartridges is placed on the ground in front of the blasting face. The robotic arm is controlled to automatically retrieve and load the explosive cartridges. A stepping-type automatic dispensing mechanism is designed and cleverly connected to the explosive cartridge storage box. Using a cylinder conveying method, the dispensed explosive cartridges are automatically transferred to the pneumatic charging machine, working in conjunction with the pneumatic charging machine to achieve automatic loading and filling of explosive cartridges into the blasting holes. This provides a new construction method for on-site tunnel blasting.

Description

Technical Field

[0001] This invention relates to an intelligent charging system for blasting holes in tunnel blasting, and particularly to an intelligent charging system based on an arch-frame trolley for blasting holes on rock walls in tunnel blasting, as well as an automated charging method for tunnel blasting. Background Technology

[0002] Mining blasting is the primary construction method for tunnel excavation. In tunnel blasting, a series of densely packed blasting holes are typically drilled into the rock face at the working face. Then, emulsion explosives are filled into these holes. Finally, the workers move away from the blasting face, and the tunnel is excavated by detonation. Due to the limitations of tunnel construction conditions, tunnel blasting generally uses emulsion explosive cartridges as the explosive material to fill the blasting holes. Emulsion explosive cartridges are divided into two types: initiating cartridges and detonating cartridges. The detonating charge contains an electronic detonator. The lead wire of the electronic detonator is thrown out of the blast hole and connected to the detonation busbar. Generally, one detonating charge is filled into a blast hole first, followed by several explosive charges. The detonator detonates the detonating charge first, and then detonates the explosive charges, thereby achieving the blasting of the rock mass. Therefore, the loading of the detonating charge and the explosive charges is the most important part of the entire construction process. The loading efficiency and quality of the charge directly affect the progress of blasting and tunneling and the overall construction quality of the tunnel.

[0003] Currently, in tunnel blasting construction, drilling of blasting holes at the working face has been mechanized, but the loading of explosives into the blasting holes is still done manually. Operators are engaged in high-altitude loading operations in high-temperature, high-humidity, and high-dust environments. Since some blasting faces are as high as ten meters or more, on-site operators generally use arch-frame trolleys to carry out aerial operations. High-intensity explosive loading operations at height pose safety hazards, and coupled with the harsh construction environment, there are generally defects such as low explosive loading quality, excessive labor intensity, and low loading efficiency. How to develop an intelligent, fully automated loading system has become an urgent problem to be solved on construction sites.

[0004] With the development of robotics technology, the use of intelligent robots to replace manual on-site explosive loading has become a key challenge for those skilled in the art. However, a primary problem to be solved is how to achieve fully automated explosive loading at the blasting face. Each blast hole at the face requires the filling of one detonating charge and several explosive charges. Automated, step-by-step feeding of the detonating charge presents significant challenges. Since the detonating charge includes a detonator lead and a junction box, completing the loading of the detonating charge in one go and successfully extending the lead outside the blast hole, while also ensuring the junction boxes are properly positioned at the blasting face for later connection to the detonation busbar, is a difficult problem for those skilled in the art. Furthermore, the large volume of explosive charges presents another challenge: efficiently separating the explosive charges gathered in the hopper and systematically filling them into each blast hole in a step-by-step manner to achieve fully automated operation. Summary of the Invention

[0005] This invention provides an automated charging method for tunnel boring blasting, which realizes fully automated and intelligent charging of explosives in blasting holes on the blasting face.

[0006] The present invention solves the above technical problems through the following technical solutions:

[0007] The overall concept of this invention is as follows: Utilizing the arch frame trolley commonly used in tunnel construction, a fully automated intelligent charging system is integrated onto the arch frame trolley. Specifically, an intelligent control robotic arm is integrated at the top of the cantilever beam of the arch frame trolley, and a pneumatic charging machine and explosive cartridge storage box are integrated and installed on the arch frame trolley body. A movable explosive cartridge storage box containing detonating cartridges is placed on the ground in front of the blasting face. The robotic arm is controlled to automatically retrieve and load the detonating cartridges. Furthermore, a stepping-type automatic dispensing mechanism is designed to cleverly connect with the explosive cartridge storage box. Using a cylinder conveying method, the dispensed explosive cartridges are automatically transferred to the pneumatic charging machine, working in conjunction with the pneumatic charging machine to achieve automatic loading and filling of the explosive cartridges into the blasting holes. This invention uses a single charging system to achieve intelligent and automated charging of both detonating and explosive cartridges.

[0008] A tunnel boring machine (TBM) blasting intelligent charging system based on an arch-frame trolley includes a blasting face, an arch-frame trolley, a detonator storage box, a front hopper containing the detonators, and a pneumatic charging machine. Blasting holes are drilled on the blasting face. An arch-frame trolley cantilever is installed on the arch-frame trolley. The detonator storage box contains the detonators. The detonator storage box is placed on the front side of the blasting face. The front hopper and the pneumatic charging machine are placed on the body of the arch-frame trolley. A robotic arm is installed on the outer end of the arch-frame trolley cantilever, holding a take-up tube. A conveying hose is connected to the rear end of the take-up tube. The other end of the conveying hose is connected to the output port of the pneumatic charging machine. The input port of the pneumatic charging machine is connected to the front hopper containing the detonators.

[0009] Inside the detonator cartridge storage box, there are a first row of driven sprockets, a second row of driven sprockets, a driving sprocket, a first redirecting sprocket, a second redirecting sprocket, and a tensioning sprocket. The sprocket shafts of each sprocket are located between the rear and front uprights of the storage box. One end of the annular closed chain first passes sequentially through the driving sprocket, the first redirecting sprocket, the second redirecting sprocket, and the tensioning sprocket, then alternately passes through the second row of driven sprockets and the first row of driven sprockets from right to left before returning to the driving sprocket, forming a serpentine chain arrangement. A drive servo motor for the annular closed chain is installed on the rear upright, and the output shaft of the drive servo motor is connected to the sprocket shaft of the driving sprocket. The front upright has serpentine through holes and U-shaped through holes corresponding to the serpentine arrangement of the annular closed chain. After the through holes are connected, they form a closed annular channel. A pair of limiting steps are provided on the inner sides of the front uprights on both sides of the serpentine through holes and on the inner sides of the front uprights on both sides of the U-shaped through holes. U-shaped brackets are evenly spaced on the annular closed chain, and cantilever cartridges are connected to the U-shaped brackets. A cantilever tube is connected to another U-shaped bracket adjacent to the cantilever cartridge. The cantilever cartridges and cantilever tubes are alternately arranged on the annular closed chain. The outer end of the cantilever cartridge passes through the serpentine through hole and cantilevers on the front side of the front upright. An initiating charge is movably inserted into the cantilever cartridge. The detonating wire of the initiating charge is wound around an I-beam reel wire spool frame which is movably inserted into the cantilever tube. Furthermore, the upper wire disc of the I-beam reel wire spool frame is movably abutted between the two limiting steps. A notch is provided at the upper left corner of the front upright.

[0010] A piston is movably installed inside the cantilever tube. A pair of elongated through holes are provided on the outer wall of the cantilever tube. A pair of piston-driven cantilever rods are installed on the piston. The piston-driven cantilever rods are installed on the outer side of the cantilever tube after passing through the elongated through holes. A tension spring fixing pin is provided on the outer end of the cantilever tube. A tension spring is connected between the tension spring fixing pin and the piston. The tension spring is installed in the cavity of the cantilever tube. The lower guide plate of the I-beam reel wire spool frame abuts against the two piston-driven cantilever rods. The upper guide plate of the I-beam reel wire spool frame is limited by the front upright plate and compressed backward. It is then placed in the detonating charge storage box. The tension spring is in a stretched state.

[0011] A sloping chute for the I-beam reel wire spool is provided on the lower left side of the gap, and a drop baffle for the I-beam reel wire spool is provided on the front upright plate on the lower right side of the gap. A long strip-shaped slot is provided on the wall of the cantilever cartridge, and a limiting half-ring is provided in the middle of the long strip-shaped slot. The outer end of the cantilever cartridge is trumpet-shaped. After the detonating charge is inserted into the cantilever cartridge, the detonating wire led out from the bottom of the detonating charge is first led out from the limiting half-ring of the cantilever cartridge and then wound on the I-beam reel wire spool. A partition plate connecting pin is provided between two adjacent first-row driven sprockets. A second-row driven sprocket is provided directly below the partition plate connecting pin. A vertical chain partition plate is provided between the partition plate connecting pin and the sprocket shaft of the second-row driven sprocket.

[0012] The detonator storage box contains a detonator and a wire reel frame. A junction box is installed on the outer side of the upper wire disc of the wire reel frame. A rotating sleeve is movably connected to the central shaft tube of the wire reel frame. An electronic detonator is pre-embedded in the detonator. The detonating wire of the electronic detonator passes through the detonator and is wound around the rotating sleeve on the wire reel frame. The outer end of the detonating wire is connected to the junction box.

[0013] The pneumatic charging machine has a main pneumatic airflow conveying pipe mounted on its pneumatic motor support. A compressed air inlet pipe is mounted on the pneumatic motor support outside the main pneumatic airflow conveying pipe. A rear conical cavity is connected to the left end of the main pneumatic airflow conveying pipe, and a feed inlet cylinder is connected to the left end of the rear conical cavity. A front conical cavity is connected to the right end of the main pneumatic airflow conveying pipe, and a discharge outlet cylinder is connected to the right end of the front conical cavity. A conveying hose is connected to the right end of the discharge outlet cylinder. A first compressed air inlet is located on the wall of the front conical cavity, and a second compressed air inlet is located on the wall of the rear conical cavity. A compressed air switching valve is connected to the outer wall of the main pneumatic airflow conveying pipe. The normally closed contact of the compressed air switching valve passes through the outer wall of the main pneumatic airflow conveying pipe and is located inside the pipe cavity of the main pneumatic airflow conveying pipe. The air switch valve is equipped with a valve body inlet, a first valve body outlet, and a second valve body outlet. When the normally closed contact is not activated, the second valve body outlet is closed, and compressed air entering the compressed air switch valve is output from the first valve body outlet. When the normally closed contact is activated, the second valve body outlet is open, and compressed air entering the compressed air switch valve is output from both the first and second valve body outlets. A compressed air inlet pipe is connected to the valve body inlet, a second compressed air delivery pipe is connected between the second valve body outlet and the second compressed air inlet, and a first compressed air delivery pipe is connected between the first valve body outlet and the first compressed air inlet. A one-way flap valve is installed at the connection between the feed inlet cylinder and the rear conical cavity, and the one-way flap valve can only be flipped up towards the inner side of the rear conical cavity.

[0014] A normally closed contact control air pipe is connected between the compressed air inlet pipe and the normally closed contact control port of the compressed air switch valve. After the compressed air in the compressed air inlet pipe enters the compressed air switch valve through the normally closed contact control air pipe, the air pressure keeps the normally closed contact in a normally closed state.

[0015] The bottom plate of the front hopper is an inclined plate, with a rectangular discharge port at the lowest point. A material distribution rotating shaft mounting frame is connected below the rectangular discharge port. The material distribution rotating shaft is movably installed in the mounting frame. A material distribution rotating shaft drive servo motor is installed on the rear side of the mounting frame. The output shaft of the material distribution rotating shaft drive servo motor is connected to the material distribution rotating shaft. Explosive cartridge embedding grooves are provided at equal intervals on the arc-shaped outer surface of the material distribution rotating shaft. A U-shaped receiving groove is suspended directly below the material distribution rotating shaft. An explosive cartridge pushing cylinder is installed at the U-shaped opening at the rear end of the U-shaped receiving groove. A conveying pipe is connected at the U-shaped opening at the front end of the U-shaped receiving groove. A pneumatic loading machine is connected to the front end of the conveying pipe.

[0016] A connecting shaft hole is provided on the front side of the front shaft end of the material distribution rotary shaft, and a support shaft through-hole is provided on the rear side of the rear shaft end of the material distribution rotary shaft. A support shaft seat is provided on the rear end frame inside the material distribution rotary shaft mounting frame. The output shaft of the material distribution rotary shaft drive servo motor is connected to the connecting shaft hole, and the support shaft seat is movably set in the support shaft through-hole. A cartridge pusher is connected to the output shaft of the explosive cartridge pusher cylinder. The cartridge pusher is set in a U-shaped receiving groove, which is suspended directly below the material distribution rotary shaft mounting frame by two connecting plates.

[0017] An automated charging method for tunnel boring blasting includes a blasting face and an arch-frame trolley. Blasting holes are provided on the blasting face, and an arch-frame trolley cantilever is installed on the arch-frame trolley. A front hopper containing explosive cartridges and a pneumatic charging machine are mounted on the body of the arch-frame trolley. An initiating explosive cartridge storage box is placed on the front side of the blasting face. A robotic arm is installed at the outer end of the arch-frame trolley cantilever, holding a dispensing tube. A conveying hose is connected to the rear end of the dispensing tube, and the other end of the conveying hose is connected to the output port of the pneumatic charging machine. The input port of the pneumatic charging machine is connected to the front hopper containing the explosive cartridges. The method is characterized by the following steps:

[0018] The first step is to control the robotic arm to move to the explosive retrieving position of the explosive charge storage box. By inserting the retrieving tube into the cantilever cartridge, the explosive charge is moved into the retrieving tube. The robotic arm moves backward to pull the retrieving tube with the explosive charge out of the cantilever cartridge. Then, by controlling the cantilever of the arch frame trolley, the retrieving tube is moved outside the blast hole, and the front part of the retrieving tube is inserted into the blast hole.

[0019] The second step is to start the compressed air in the pneumatic charging machine. The compressed air will then pass through the delivery hose and the charging tube to fill the bottom of the blast hole with the detonating explosive cartridge in the charging tube.

[0020] During the process of the robotic arm extracting the detonator tube containing the detonating charge from the cantilever cartridge and moving it outside the blast hole, and the compressed air filling the bottom of the blast hole with the detonating charge, the I-beam reel frame remains stationary, but the rotating sleeve on the I-beam reel frame rotates to release the detonating wire, thus enabling the detonating wire to follow the moving detonating charge.

[0021] A notch is provided at the upper left corner of the front upright plate, which serves as the work position for retrieving explosives. After the detonating charge is loaded into the bottom of the blast hole, the cantilever tube and the I-beam reel frame are moved into the notch. The I-beam reel frame is released from the limit of the front upright plate, the tension of the spring is released, and the spring pulls the two pistons to drive the cantilever rod forward, popping the I-beam reel frame out. The I-beam reel frame falls into the inclined chute, and the outer end of the detonating wire of the detonating charge and the junction box are conveyed to the working face outside the blast hole, thus completing the entire loading process of the detonating charge.

[0022] The explosive cartridges conveyed from the front hopper into the inlet of the pneumatic charging machine are loaded into the blast hole using the following method:

[0023] The third step is to start the explosive loading hole filling operation when the explosive loading tube is empty. The explosive is conveyed into the inlet cylinder through the explosive loading tube conveying mechanism. Under the action of inertia, the explosive is pushed open the one-way flap valve and enters the main gas flow conveying tube.

[0024] Step 4: The one-way flap valve is reset, and the connection between the feed inlet cylinder and the rear conical cavity is closed again. At this time, the explosive cartridge pushes the normally closed contact upward to trigger, and the second output port of the valve body is opened. At this time, the compressed air in the compressed air switch valve enters the rear conical cavity through the second compressed air delivery pipe, pushing the explosive cartridge to the right. At the same time, the compressed air in the compressed air switch valve enters the front conical cavity through the first compressed air delivery pipe. The compressed air is sprayed to the right along the discharge inlet cylinder, the delivery hose and the take-up pipe, thereby forming a suction effect on the explosive cartridge on the left side.

[0025] Fifth step: Under the action of two streams of compressed air, the explosive cartridge accelerates through the discharge cylinder, the conveying hose and the take-up pipe and enters the blast hole, thus completing the loading of the explosive cartridge.

[0026] This invention integrates a fully automated charging system onto an arch-frame trolley, which can move independently and features automatic conveying of detonating and explosive cartridges, robotic arm loading, and pneumatic charging. It achieves intelligent, mechanized, and fully automated charging of blasting holes on the tunnel face. The entire system, integrated onto the arch-frame trolley, is convenient and economical to operate within the tunnel. Both types of cartridges share a single pneumatic charging system, ensuring smooth and rapid filling of each blasting hole, significantly improving charging efficiency, saving labor costs, and enhancing charging quality. The charging method is scientific, simple, and reasonable, providing a creative new construction method for on-site tunnel blasting. Attached Figure Description

[0027] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0028] Figure 2 This is a schematic diagram of the path structure of the explosive charge 301 of the present invention being conveyed from the silo to the explosive dispensing tube 401;

[0029] Figure 3 This is a schematic diagram of the structure of the robotic arm 406 of the present invention when it takes the detonating charge 101 from the detonating charge storage box 102;

[0030] Figure 4 This is a schematic diagram of the automatic conveying and feeding mechanism for the detonating explosive cartridge of the present invention.

[0031] Figure 5 This is a schematic diagram of the structure of the explosive charge storage box 102 of the present invention without the front upright plate 117 installed;

[0032] Figure 6 This is a schematic diagram of the arrangement of the sprockets in the explosive charge storage box 102 of the present invention;

[0033] Figure 7 This is a schematic diagram of the structure of the front upright plate 117 of the present invention;

[0034] Figure 8 This is a structural schematic diagram of the detonator cartridge storage box 102 of the present invention in the rear view direction;

[0035] Figure 9 This is a schematic diagram showing the connection relationship between the detonating charge roll 101 and the I-beam reel frame 104 of the present invention;

[0036] Figure 10 This is a schematic diagram of the structure of the U-shaped card holder 108 on the annular closed chain 107 of the present invention;

[0037] Figure 11 This is a schematic diagram of the cantilever cartridge 109 of the present invention;

[0038] Figure 12 This is a schematic diagram of the cantilever tube 110 of the present invention;

[0039] Figure 13 This is a schematic diagram of the internal structure of the cantilever tube 110 of the present invention;

[0040] Figure 14 This is a diagram showing the connection relationship between the I-beam reel wire spool frame 104 and the detonating wire 103 of the present invention;

[0041] Figure 15 This is a diagram showing the fit between the I-beam reel frame 104 and the cantilever tube 110 of the present invention.

[0042] Figure 16 This is a three-dimensional structural schematic diagram of the drug loading machine of the present invention;

[0043] Figure 17This is a schematic diagram of the internal structure of the loading machine of the present invention;

[0044] Figure 18 This is a schematic diagram of the structure of the present invention during pneumatic loading of the detonating charge 101;

[0045] Figure 19 This is a schematic diagram of the structure of the explosive charge 301 entering the feed inlet cylinder 204 of the present invention;

[0046] Figure 20 This is a schematic diagram of the structure of the explosive charge roll 301 entering the main gas flow conveying pipe 201 of the present invention;

[0047] Figure 21 This is a schematic diagram of the structure of the explosive cartridge 301 of the present invention when it is ejected from the explosive tube 401;

[0048] Figure 22 This is a three-dimensional structural schematic diagram of the automatic feeding mechanism for explosive cartridges of the present invention;

[0049] Figure 23 This is a diagram showing the fit between the material distribution rotating shaft 311, the hopper, and the U-shaped receiving groove 307 of the present invention.

[0050] Figure 24 This is a schematic diagram of the structure of the front hopper box 302 of the present invention;

[0051] Figure 25 This is a schematic diagram of the material distribution mechanism of the present invention;

[0052] Figure 26 This is a schematic diagram of the material distribution rotating shaft 311 of the present invention;

[0053] Figure 27 This is a schematic diagram of the structure of the material distribution rotary shaft mounting frame 304 of the present invention;

[0054] Figure 28 This is a schematic diagram of the structure of the U-shaped receiving groove 307 of the present invention. Detailed Implementation

[0055] The present invention will now be described in detail with reference to the accompanying drawings:

[0056] An intelligent charging system for tunnel boring blasting based on an arch-frame trolley includes a blasting face 402, an arch-frame trolley 404, a detonator cartridge storage box 102, a front hopper box 302 storing explosive cartridges, and a pneumatic charging machine 200. Blasting holes 403 have been drilled in the blasting face 402 using drilling machinery. An arch-frame trolley cantilever 405 is installed on the arch-frame trolley 404. The arch-frame trolley 404 can control the cantilever 405 via its built-in control system to achieve arch-frame charging. The raising or lowering of the trolley cantilever 405 allows the storage of detonating explosive cartridges 101 in the detonating explosive cartridge storage box 102. The detonating explosive cartridge storage box 102 is placed in front of the blasting face 402. The front material bin 302 and the pneumatic charging machine 200 are placed on the body of the arch trolley 404. A robotic arm 406 is installed at the outer end of the arch trolley cantilever 405, holding the explosive tube 401. A conveying hose 206 is connected to the rear end of the explosive tube 401, and the other end of the conveying hose 206 is connected to the conveyor of the pneumatic charging machine 200. The outlets are connected together, and the input port of the pneumatic charging machine 200 is connected to the front hopper box 302 containing the explosive cartridges 301. The manipulator controls the manipulator 406 to move to the retrieval station on the explosive cartridge storage box 102 to automatically retrieve the explosive cartridges 101. The control system of the arch trolley operates the arch trolley cantilever 405 to automatically move to the pre-loaded blasting hole 403 on the blasting face 402, and controls the manipulator 406 to insert the retrieval tube 401 containing the explosive cartridges 101 into the blasting hole 403. The pneumatic charging machine 200 is started, and the detonating explosive roll 101 is fed into the bottom of the blast hole 403 by compressed air. Then, by coordinating and controlling the material distribution system on the front hopper box 302, the explosive roll 301 in the front hopper box 302 is separated from the hopper and transferred to the pneumatic charging machine 200. The pneumatic charging machine 200 uses compressed air to feed the explosive roll 301 into the blast hole 403 through the conveying hose 206 and the take-up pipe 401 until the blast hole 403 is filled, thus completing the filling of the two types of explosive rolls in the blast hole 403.

[0057] An automatic conveying and feeding mechanism for detonating explosive cartridges in a tunnel boring machine-based intelligent charging system for blasting includes detonating explosive cartridges 101, an I-beam reel wire spool frame 104, and a vertically placed detonating explosive cartridge storage box 102. The storage box 102 stores all the sausage-shaped detonating explosive cartridges containing emulsion explosives that need to be filled into the blasting holes on the blasting face. This storage box 102 serves as a hopper for the detonating explosive cartridges and also functions as an automatic conveyor and feeder. Working in conjunction with a cartridge filling robot, it can intelligently and automatically complete the cartridge filling process. A junction box 106 is installed on the outer surface of the upper wire disc 105 of the I-beam reel wire spool frame 104. The I-beam reel wire spool frame 104 and the junction box 106 form a complete system. The body, the I-shaped wire reel frame 104 can be sleeved on the cantilever tube 110 through the central shaft tube on it. A rotating sleeve is movably sleeved on the central shaft tube of the I-shaped wire reel frame 104. The rotating sleeve can rotate on the central shaft tube. When the I-shaped wire reel frame 104 is stationary, the detonating wire 103 can be wound or released by rotating the rotating sleeve. An electronic detonator is pre-embedded in the detonating charge 101. The detonating wire 103 of the electronic detonator passes out from one end of the detonating charge 101 and is wound on the rotating sleeve on the I-shaped wire reel frame 104. The outer end of the detonating wire 103 is connected to the junction box 106. The electronic detonator can be ignited through the junction box 106 and the detonating wire 103, thereby detonating the explosive in the detonating charge 101. In the detonating charge storage box 102, there are a first row of driven sprockets 111, a second row of driven sprockets 112, a driving sprocket 113, a first redirecting sprocket 114, and a second redirecting and tensioning sprocket 115. The sprocket shafts of each sprocket are located between the rear upright plate 116 and the front upright plate 117 of the detonating charge storage box 102. The first row of driven sprockets 111 are arranged in a straight line with intervals, and the second row of driven sprockets 112 are also arranged in a straight line with intervals below the first row of driven sprockets 111. Furthermore, the corresponding first row of driven sprockets 111 and second row of driven sprockets 112 are staggered left and right, so that the chain passing through is arranged in a serpentine pattern. One end of the annular closed chain 107 first passes through the driving sprocket 113 and the first redirecting sprocket in sequence. The first and second redirecting and tensioning sprockets 114 and 115, moving from right to left, alternately pass through the second row of driven sprockets 112 and the first row of driven sprockets 111 before returning to the driving sprocket 113 to form a closed loop, creating a serpentine chain arrangement. The driving sprocket 113 and the first redirecting sprocket 114 are positioned below the second row of driven sprockets 112. The first redirecting sprocket 114 and the second redirecting and tensioning sprocket 115 are arranged vertically. A drive servo motor 121 for the annular closed chain 107 is mounted on the rear upright plate 116. The output shaft of the drive servo motor 121 is connected to the sprocket shaft of the driving sprocket 113. The drive servo motor 121 drives the annular closed chain 107 to rotate clockwise through the driving sprocket 113.On the front upright plate 117, there are serpentine through holes 118 and U-shaped through holes 137 corresponding to the serpentinely arranged annular closed chain 107. The serpentine through holes 118 and U-shaped through holes 137 connect to form a closed annular channel, which is corresponding to the annular closed chain 107. On the inner surfaces of the front upright plate 117 on both sides of the serpentine through holes 118 and on both sides of the front upright plate 117 on both sides of the U-shaped through holes 137, there is a pair of limiting steps 119. U-shaped retainers 108 are evenly spaced on the annular closed chain 107. The U-shaped retainers 108 are connected to the front chain pieces of the annular closed chain 107. A cantilever cartridge 109 is connected to the U-shaped retainer 108. The cantilever cartridge 109 is engaged with the U-shaped retainer 108 by a cantilever cartridge base. On the other side adjacent to the cantilever cartridge 109... A cantilever tube 110 is connected to a U-shaped bracket. The cantilever tube 110 is clamped to an adjacent U-shaped bracket via a cantilever tube base. On the annular closed chain 107, cantilever cartridges 109 and cantilever tubes 110 are alternately arranged, so that each set of detonating charge 101 and I-beam reel wire rack 104 are connected to two adjacent U-shaped brackets. The outer end of the cantilever cartridge 109 passes through the serpentine through hole 118 and cantilevers to the front side of the front upright plate 117. A detonating charge 101 is movably inserted into the cantilever cartridge 109. The I-beam reel wire rack 104, on which the detonating wire 103 of the detonating charge 101 is wound, is movably inserted into the cantilever tube 110. Furthermore, the upper wire disc 105 of the I-beam reel wire rack 104 is movably abutted between two limiting steps 119. A notch 120 is provided at the upper left corner of the front upright plate 117.

[0058] A piston 123 is movably disposed within the inner cavity of the cantilever tube 110. A pair of elongated through holes 124 are provided on the outer wall of the cantilever tube 110. A pair of piston-driven cantilever rods 125 are provided on the piston 123. The piston-driven cantilever rods 125 pass through the elongated through holes 124 and are disposed on the outer side of the cantilever tube 110. The piston 123 can move back and forth along the inner cavity of the cantilever tube 110. A tension spring fixing pin 126 is provided on the outer end of the cantilever tube 110. A tension spring 127 is connected between the tension spring fixing pin 126 and the piston 123 and is disposed within the cavity of the cantilever tube 110. When the I-beam reel frame 104 is fitted onto the cantilever tube... When the 110 is in place, the lower guide plate 122 of the I-beam reel wire spool frame 104 abuts against the two piston-driven cantilever rods 125. The upper guide plate 105 of the I-beam reel wire spool frame 104 is limited and compressed backward by the front upright plate 117 and is placed in the detonator cartridge storage box 102. The tension spring 127 is in a stretched state. The tension spring 127 is stretched by the backward pressure of the front upright plate 117 on the I-beam reel wire spool frame 104. Later, when the I-beam reel wire spool frame 104 enters the notch 120, the backward pressure of the front upright plate 117 on the I-beam reel wire spool frame 104 is released, causing the I-beam reel wire spool frame 104 to be bounced away from the detonator cartridge storage box 102.

[0059] A sloping chute 128 for an I-beam reel wire spool frame 104 is provided on the lower left side of the gap 120. A pop-out and drop baffle 129 for the I-beam reel wire spool frame 104 is provided on the front upright plate 117 on the lower right side of the gap 120. When the I-beam reel wire spool frame 104 is popped out, the pop-out and drop baffle 129 guides the I-beam reel wire spool frame 104 into the sloping chute 128. A long strip-shaped slot 129 is provided on the cylinder wall of the cantilever cartridge 109. A limiting semi-ring 130 is provided in the middle of the long strip-shaped slot 129. The outer end of the cantilever cartridge 109 is trumpet-shaped. The lead wire end on the detonating charge 101 is inserted into the bottom of the cantilever cartridge 109. Following the cartridge 109, the detonating wire 103, extending from the bottom of the detonating charge 101, is first led out from the limiting half-ring 130 of the cantilever cartridge 109 and then wound around the I-beam reel frame 104 to ensure a reliable connection between the detonating wire 103 and the detonating charge 101. A partition plate connecting pin 138 is provided between two adjacent first-row driven sprockets 111. A second-row driven sprocket 112 is provided directly below the partition plate connecting pin 138. A vertical chain partition plate 139 is provided between the partition plate connecting pin 138 and the sprocket shaft of the second-row driven sprocket 112. The provision of each chain partition plate 139 ensures smooth chain operation.

[0060] The front upright plate 117 is movably mounted on the detonator cartridge storage box 102. A left pin 132 is provided on the left upright plate 131 of the detonator cartridge storage box 102, a right pin 134 is provided on the right upright plate 133 of the detonator cartridge storage box 102, a left pin seat 135 is provided on the left side of the front upright plate 117, and a right pin seat 136 is provided on the right side of the front upright plate 117. The front upright plate 117 is installed on the detonator cartridge storage box 102 by the following method: when all the cantilever cartridges 109 on the annular closed chain 107 are loaded with detonator cartridges 101, and are connected to the detonator cartridge storage box 102... After the I-beam reel wire spool frames 104 of the explosive roll 101 are all fitted onto the corresponding cantilever tubes 110, the front upright plate 117 is pressed onto the upper wire disc 105 of each I-beam reel wire spool frame 104 in a front-to-back direction. The two pistons drive the cantilever rod 125 to move backward, so that the tension spring 127 is in a stretched state. Then, the front upright plate 117 is pressed and fixed by connecting two pairs of pins and pin seats. Screws can also be set between the front upright plate 117 and the left upright plate 131, and between the front upright plate 117 and the right upright plate 133 to ensure that the connection of the front upright plate 117 is reliable.

[0061] The drive servo motor 121 drives the annular closed chain 107 to rotate in a step-by-step manner via the drive sprocket 113, automatically conveying the cantilever cartridges 109 with detonating explosive cartridges 101 and the cantilever tubes 110 with I-beam reel frames 104 to the gap 120 position in sequence. During this process, the cantilever cartridges 109 and the junction box 106 move along the closed annular channel formed by the serpentine through hole 118 and the U-shaped through hole 137. In addition, except at the gap 120 position, the upper wire disc 105 of the I-beam reel frame 104 slides along the two limiting steps 119 on the inner side of the front upright plate 117. During the entire step-by-step rotation of the annular closed chain 107, the detonating explosive cartridges 101 and I-beam reel frames 104 of each group are conveyed to the gap 120 in sequence and picked up by the robotic arm.

[0062] The notch 120 is the starting position for loading the detonating charge 101. The detonating charge 101, which is conveyed step-by-step to the cantilevered cartridge 109 at the notch 120, is grabbed, lifted, and transferred to the blast hole by a robotic arm. During the movement of the detonating charge 101, the I-beam reel wire spool frame 104 connected to the transferred detonating charge 101 is located in the serpentine through hole 118 below the notch 120. The upper wire disc of the I-beam reel wire spool frame 104... 105 is still limited and connected between the two limiting steps 119. The rotating sleeve on the I-beam reel wire rack 104 is in the rotating wire-releasing state. During the process of the detonating charge 101 being lifted and moved to the blast hole, the detonating wire 103 is released from the I-beam reel wire rack 104, realizing the following of the detonating charge 101 and ensuring a reliable connection between the moving detonating charge 101 and the stationary detonating wire 103 on the I-beam reel wire rack 104.

[0063] After the detonating charge 101 is loaded into the blast hole, the drive servo motor 121 starts, driving the annular closed chain 107 to move in steps. The I-beam reel frame 104 disengages from the two limiting steps 119 and enters the notch 120. The tension of the tension spring 127 is released, and the tension spring 127 pulls the two pistons to drive the cantilever rod 125 forward, ejecting the I-beam reel frame 104. The I-beam reel frame 104 falls into the inclined chute 128, and the detonating wire of the detonating charge 101 is detonated. The outer end of 103 and junction box 106 are conveyed to the working face outside the blast hole, thus completing the entire loading process of the detonating charge 101; during the above process, the second cantilever cartridge enters the gap 120, and the I-beam reel frame adjacent to the second cantilever cartridge enters below the gap 120; the cyclical stepping of the annular closed chain 107 realizes the automatic conveying and automatic loading of each set of detonating charges in the detonating charge storage box 102.

[0064] The amount of explosive cartridges in the detonator storage box 102 can be determined according to the number of blasting holes on the blasting face. The detonator storage box 102 is movable and can be moved outside the tunnel. The explosive cartridges can be transferred into the box first and then transported to the tunnel face. After the loading operation is completed, the detonator storage box 102 can be moved outside the tunnel for secondary loading to prepare for loading the blasting holes on the next blasting face.

[0065] A pneumatic charging mechanism structure for emulsion explosive rolls in an intelligent charging system for tunnel boring blasting based on an arch-frame trolley includes a pneumatic motor support 209, a main charging airflow conveying pipe 201 mounted on the pneumatic motor support 209, a compressed air inlet pipe 210 mounted on the pneumatic motor support 209 outside the main charging airflow conveying pipe 201, a rear conical cavity 202 connected to the left end port of the main charging airflow conveying pipe 201, a feed inlet cylinder 204 connected to the left end port of the rear conical cavity 202, a front conical cavity 203 connected to the right end port of the main charging airflow conveying pipe 201, and a discharge port connected to the right end port of the front conical cavity 203. The cylinder 205 has a conveying hose 206 connected to the right end of the outlet cylinder 205. The inlet cylinder 204, the front conical cavity 203, the main charging airflow conveying pipe 201, the outlet cylinder 205, and the conveying hose 206 form the charging and conveying channel for the explosive cartridge 301. A first compressed air inlet 208 is provided on the cavity wall of the front conical cavity 203, and a second compressed air inlet 207 is provided on the cavity wall of the rear conical cavity 202. A compressed air switch valve 215 is connected to the outer wall of the main charging airflow conveying pipe 201. The normally closed contact 222 on the compressed air switch valve 215 passes through the charging airflow. The outer wall of the main delivery pipe 201 is located inside the cavity of the main delivery pipe 201 for the drug delivery gas flow. The normally closed contact 222 controls the opening or closing of the second output port 218 on the compressed air switch valve 215. The compressed air switch valve 215 is equipped with a valve body inlet 216, a valve body first output port 217, and a valve body second output port 218. When the normally closed contact 222 is not activated, the second output port 218 is closed, and compressed air entering the compressed air switch valve 215 is output from the valve body first output port 217. When the normally closed contact 222 is activated, the second output port 218 is opened. In the open state, compressed air enters the compressed air switch valve 215 and is output from the first output port 217 and the second output port 218 of the valve body respectively; a compressed air inlet pipe 210 is connected to the valve body inlet port 216, a compressed air second delivery pipe 220 is connected between the second output port 218 and the second compressed air inlet port 207, and a compressed air first delivery pipe 219 is connected between the first output port 217 and the first compressed air inlet port 208; a one-way flap valve 221 is provided at the connection between the feed inlet cylinder 204 and the rear conical cavity 202, and the one-way flap valve 221 can only be flipped up towards the inside of the rear conical cavity 202;When the normally closed contact 222 is not activated, the second outlet port 218 of the valve body is closed. Compressed air enters the front conical cavity 203 through the first compressed air delivery pipe 219 and the first compressed air inlet 208. A portion of the compressed air then enters the rear conical cavity 202 along the main charging airflow pipe 201, creating pressure on the one-way flap valve 221 and reliably sealing the connection between the inlet cylinder 204 and the rear conical cavity 202. The remaining compressed air exits from the right port of the delivery hose 206 along the outlet cylinder 205 and the delivery hose 206.

[0066] A pressure-reducing valve 211 with adjustable pressure is connected in series on the compressed air inlet pipe 210. A compressed air delivery pipe 214 with reduced pressure is connected between the pressure-reducing outlet port 213 of the pressure-reducing valve 211 and the compressed air inlet port 216. A pressure adjustment knob is provided on the pressure-reducing valve 211. The compressed air pressure is adjusted by rotating the pressure adjustment knob.

[0067] A normally closed contact control air pipe 223 is connected between the compressed air inlet pipe 210 and the normally closed contact control port of the compressed air switch valve 215. After the compressed air in the compressed air inlet pipe 210 enters the compressed air switch valve 215 through the normally closed contact control air pipe 223, the air pressure keeps the normally closed contact 222 in a normally closed state. The normally closed contact 222 of the compressed air switch valve 215 is normally closed by air pressure. Only when the constant pressure overcomes the air pressure under the pressure of an external force can the valve body's second output port 218 be opened.

[0068] A pneumatic charging method for an emulsion explosive detonating cartridge of a pneumatic charging machine specifically involves the charging operation of loading the detonating cartridge 101 into the blast hole. A robotic arm-operated take-up tube 401 is connected to the front end of a conveying hose 206. The robotic arm operates the take-up tube 401 to retrieve the detonating cartridge 101 from the detonating cartridge hopper and moves the take-up tube 401 to the blast hole. At this time, the take-up tube 401 contains the detonating cartridge 101. Compressed air is sequentially passed through a compressed air inlet pipe 210, a pressure reducing valve 211, a valve body inlet 216, and a pressure... The compressed air switch valve 215, the valve body first output port 217, the compressed air first delivery pipe 219, and the compressed air first inlet port 208 enter the interconnected front conical cavity 203, the charging airflow delivery main pipe 201, and the rear conical cavity 202. At this time, the one-way flap valve 221 closes the connection between the feed port cylinder 204 and the rear conical cavity 202. The pressurized compressed air propels the detonating charge 101 in the charging pipe 401 forward, causing the detonating charge 101 to enter the blast hole, thereby completing the charging of the detonating charge 101.

[0069] A pneumatic charging method for an emulsion explosive detonating cartridge of a pneumatic charging machine specifically involves the operation of loading the explosive cartridge into the blast hole. A robotic arm-held take-up tube 401 is connected to the front end of a conveying hose 206. When the take-up tube 401 is empty, that is, after the detonating cartridge has been filled into the blast hole, the filling operation of the explosive cartridge into the blast hole begins. Through the explosive cartridge conveying mechanism, the explosive cartridge 301 is conveyed into the inlet cylinder 204. Under inertia, the explosive cartridge 301 opens the one-way flap valve 221 and enters the main gas flow conveying pipe 201. The one-way flap valve 221 resets, re-closing the connection between the inlet cylinder 204 and the rear conical cavity 202. At this time, the explosive cartridge 301 raises the normally closed contact 222 upwards. When the top contact is activated, the second output port 218 of the valve body is opened. At this time, the compressed air in the compressed air switch valve 215 enters the rear conical cavity 202 through the second compressed air delivery pipe 220, pushing the explosive cartridge 301 to move to the right. At the same time, the compressed air in the compressed air switch valve 215 enters the front conical cavity 203 through the first compressed air delivery pipe 219. This compressed air is sprayed to the right along the discharge port cylinder 205, the delivery hose 206, and the take-up pipe 401, thereby forming a suction effect on the explosive cartridge 301 on the left. Under the action of the two streams of compressed air, the explosive cartridge 301 accelerates through the discharge port cylinder 205, the delivery hose 206, and the take-up pipe 401 and enters the blast hole, thus completing the loading of the explosive cartridge 301.

[0070] An automatic feeding mechanism for explosive cartridges in a tunnel boring blasting intelligent charging system based on an arch-frame trolley includes a box-type frame 309 and explosive cartridges 301. A front hopper box 302 and a rear hopper box 322 with identical structures are respectively mounted on the box-type frame 309. Explosive cartridges 301 are stored in both the front hopper box 302 and the rear hopper box 322. The bottom plate of the front hopper box 302 is an inclined bottom plate, and a rectangular discharge port 30 is provided at the lowest point of the inclined bottom plate. 3. The explosive cartridges 301 in the hopper box slide along the inclined bottom plate to the discharge port. A distribution rotary shaft mounting frame 304 is connected below the rectangular discharge port 303. A distribution rotary shaft 311 is movably mounted in the distribution rotary shaft mounting frame 304. A distribution rotary shaft drive servo motor 305 is installed on the rear side of the distribution rotary shaft mounting frame 304. The output shaft 315 of the distribution rotary shaft drive servo motor 305 is connected to the distribution rotary shaft 311. The assembly frame 304, the dispensing rotating shaft 311, and the dispensing rotating shaft drive servo motor 305 constitute a dispensing mechanism to dispense the explosive cartridges 301 stored in the hopper one by one. Explosive cartridge embedding grooves 312 are evenly spaced on the arc-shaped outer surface of the dispensing rotating shaft 311, and the dimensions of the explosive cartridge embedding grooves 312 are matched to the explosive cartridges 301. A U-shaped receiving groove 307 is suspended directly below the dispensing rotating shaft 311, and at the rear end of the U-shaped receiving groove 307... An explosive charge pushing cylinder 306 is installed at the U-shaped opening. A conveying pipe 316 is connected to the U-shaped opening at the front end of the U-shaped receiving groove 307. A pneumatic charging machine 317 is connected to the front end of the conveying pipe 316. After the distributing rotating shaft 311 feeds the explosive charge 301 into the U-shaped receiving groove 307 in a step-by-step manner, the explosive charge pushing cylinder 306 pushes the explosive charge 301 to the pneumatic charging machine 317. Finally, the pneumatic charging machine 317 loads the explosive charge 301 one by one into the blast hole.

[0071] A connecting shaft hole 313 is provided on the front side of the front shaft end of the material distribution rotary shaft 311, and a support shaft through-hole is provided on the rear side of the rear shaft end of the material distribution rotary shaft 311. A support shaft seat 314 is provided on the rear end frame inside the material distribution rotary shaft mounting frame 304. The output shaft 315 of the material distribution rotary shaft drive servo motor 305 is connected to the connecting shaft hole 313, and the support shaft seat 314 is movably disposed in the support shaft through-hole. Driven by the motor 305, the material distribution rotating shaft 311 rotates in the material distribution rotating shaft mounting frame 304, separating the explosive cartridges 301 stored in the hopper one by one and conveying them to the U-shaped receiving trough 307; an explosive cartridge pushing disk 308 is connected to the output shaft of the explosive cartridge pushing cylinder 306, and the explosive cartridge pushing disk 308 is set in the U-shaped receiving trough 307, which is suspended directly below the material distribution rotating shaft mounting frame 304 by two connecting plates 310.

[0072] Between the upper port of the U-shaped receiving trough 307 and the lower port of the distributing rotating shaft mounting frame 304, a left arc-shaped baffle plate 318 and a right arc-shaped baffle plate 319 are respectively provided to prevent the phenomenon of explosive cartridges 301 piling up on the distributing rotating shaft 311. Explosive cartridge vertical partition plates 320 are provided at intervals in the front hopper box 302. A material passage gap 322 is provided between the bottom end of the explosive cartridge vertical partition plate 320 and the bottom plate of the front hopper box 302. An inclined guide plate 321 is connected to the lower end of the first explosive cartridge vertical partition plate 324 in the front hopper box 302. The first partition hopper 323 on the left side of the first explosive cartridge vertical partition plate 324 is an empty hopper, that is, no explosive cartridges 301 are placed in the first partition hopper 323, to ensure the smooth operation of the distributing rotating shaft 311.

[0073] A second set of material distribution and feeding mechanism 325 is connected to the rectangular discharge port of the rear hopper 322. The structure of the second set of material distribution and feeding mechanism 325 is exactly the same as that of the material distribution and feeding mechanism connected to the rectangular discharge port 303 of the front hopper 302. The second set of material distribution and feeding mechanism 325 is connected to the second pneumatic charging machine 317 through the second conveying pipe 326. The setting of the two hoppers and the material distribution and feeding mechanism meets the requirements of the amount of explosive cartridges on the blasting face.

[0074] A method for operating an automatic feeding mechanism for explosive cartridges in an intelligent charging system, characterized by the following steps:

[0075] Step 1: Place the explosive cartridges 301 horizontally in the front hopper box 302, excluding the first compartment hopper 323, along the front-to-back direction, and fill each compartment with explosive cartridges 301.

[0076] The second step is that the explosive cartridge 301 at the bottom of the second compartment on the right side of the vertical partition plate 324 of the first explosive cartridge enters the first explosive cartridge embedding groove 312 below the inclined guide plate 321 on the material distribution rotating shaft 311 through the inclined guide plate 321.

[0077] The third step is to start the servo motor 305 of the material distribution rotating shaft, so that the material distribution rotating shaft 311 rotates counterclockwise in a step manner. When the second explosive cartridge is embedded in the groove 312 and aligned with the discharge port below the inclined guide plate 321, the servo motor 305 of the material distribution rotating shaft stops rotating.

[0078] Step 4: The second explosive charge 301 enters the second explosive charge embedding groove 312 through the discharge port below the inclined guide plate 321;

[0079] Fifth step: The second control of the material distribution rotating shaft drive servo motor 305 starts, causing the material distribution rotating shaft 311 to rotate counterclockwise in a step manner. When the third explosive cartridge is embedded in the groove 312 and aligned with the discharge port below the inclined guide plate 321, the material distribution rotating shaft drive servo motor 305 stops rotating.

[0080] Step 6: The third explosive charge 301 enters the third explosive charge embedding groove 312 through the discharge port below the inclined guide plate 321;

[0081] Step 7: Repeat the above steps to ensure that the explosive cartridges 301 are all inserted into the grooves 312 on the left half-arc surface of the material distribution rotating shaft 311, thereby achieving the material distribution of the explosive cartridges 301.

[0082] Step 8: When the first explosive charge is inserted into the groove 312 and rotated to be directly above the U-shaped receiving groove 307, the first explosive charge 301 falls into the U-shaped receiving groove 307.

[0083] Step 9: Activate the explosive charge pushing cylinder 306. The output shaft of the explosive charge pushing cylinder 306 extends, and the explosive charge pushing disc 308 pushes the first explosive charge 301, which has fallen into the U-shaped receiving groove 307, forward.

[0084] Step 10: The first explosive charge 301, once ejected, enters the pneumatic charging machine 317 through the conveying pipe 316, thus realizing automatic feeding of the pneumatic charging machine 317.

[0085] Step 11: After the first explosive charge 301 is pushed out, control the explosive charge pushing cylinder 306 to retract the output shaft of the explosive charge pushing cylinder 306.

[0086] Step 12: Control the material distribution rotating shaft again to drive the servo motor 305 to rotate in a stepping manner, so that when the second explosive cartridge is inserted into the groove 312 and rotates to be directly above the U-shaped receiving groove 307, the second explosive cartridge 301 falls into the U-shaped receiving groove 307.

[0087] This cycle ensures that the explosive cartridges 301 in the hopper are distributed one by one into the explosive cartridge embedding groove 312 of the distributing rotating shaft 311, and then sequentially conveyed to the U-shaped receiving trough 307 before being automatically fed to the pneumatic loading machine 317.

[0088] An automated charging method for tunnel boring blasting includes a blasting face 402 and an arch-frame trolley 404. Blasting holes 403 are provided on the blasting face 402, and an arch-frame trolley cantilever 405 is provided on the arch-frame trolley 404. A front hopper 302 storing explosive cartridges 301 and a pneumatic charging machine 200 are mounted on the body of the arch-frame trolley 404. An initiating explosive cartridge storage box 102 storing detonating explosive cartridges 101 is placed on the blasting face. On the front side of the face 402, a robotic arm 406 is provided at the outer end of the cantilever 405 of the arch trolley. The robotic arm 406 holds a drug-taking tube 401. A conveying hose 206 is connected to the rear end of the drug-taking tube 401. The other end of the conveying hose 206 is connected to the output port of a pneumatic charging machine 200. The input port of the pneumatic charging machine 200 is connected to the front hopper 302 containing the explosive cartridge 301. The feature is the following steps:

[0089] Step 1: Control the robotic arm 406 to move to the explosive charge storage box 102 to the explosive charge retrieval position. By inserting the explosive charge retrieval tube 401 into the cantilever cartridge 109, the explosive charge 101 is moved into the explosive charge retrieval tube 401. The robotic arm 406 moves backward to pull the explosive charge retrieval tube 401 with the explosive charge 101 out of the cantilever cartridge 109. Then, by controlling the cantilever of the arch frame trolley 405, the explosive charge retrieval tube 401 is moved to the outside of the blast hole 403 and the front part of the explosive charge retrieval tube 401 is inserted into the blast hole 403.

[0090] The second step is to start the compressed air in the pneumatic charging machine 200. The compressed air passes through the delivery hose 206 and the charging tube 401 in sequence to fill the detonating charge 101 in the charging tube 401 into the bottom of the blasting hole 403.

[0091] At the detonation work position of the detonation cartridge storage box 102, there are cantilever cartridges 109 and I-beam reel wire spools 104 respectively. On the outer side of the upper wire disc 105 of the I-beam reel wire spool 104, there is a junction box 106. On the central shaft tube of the I-beam reel wire spool 104, a rotating sleeve is movably sleeved. An electronic detonator is pre-embedded in the detonation cartridge 101. After the detonating wire 103 of the electronic detonator passes out from the detonation cartridge 101, it is wound around the rotating sleeve on the I-beam reel wire spool 104. The outer end of the detonating wire 103 is connected to the junction box 106.

[0092] During the process described above, when the robotic arm 406 extracts the charging tube 401 with the detonating charge 101 from the cantilever cartridge 109 and moves it outside the blast hole 403, and compressed air fills the bottom of the blast hole 403 with the detonating charge 101, the I-beam reel frame 104 remains stationary, but the rotating sleeve on the I-beam reel frame 104 rotates, releasing the detonating wire 103, thus enabling the detonating wire 103 to follow the moving detonating charge 101.

[0093] The I-beam reel frame 104 is inserted into the cantilever tube 110 in the detonator cartridge storage box 102. A piston 123 is movably installed inside the cantilever tube 110. A pair of elongated through holes 124 are provided on the outer wall of the cantilever tube 110. A pair of piston-driven cantilever rods 125 are provided on the piston 123. The piston-driven cantilever rods 125 pass through the elongated through holes 124 and are located on the outer side of the cantilever tube 110. A pull rod is provided at the outer end of the cantilever tube 110. A spring fixing pin 126 is used, and a tension spring 127 is connected between the tension spring fixing pin 126 and the piston 123. The tension spring 127 is set in the cavity of the cantilever tube 110. The lower guide plate 122 of the I-beam reel wire spool frame 104 abuts against the two piston drive cantilever rods 125. The upper guide plate 105 of the I-beam reel wire spool frame 104 is limited by the front upright plate 117 and compressed backward, and is set in the detonating charge storage box 102. The tension spring 127 is in a stretched state.

[0094] A notch 120 is provided at the upper left corner of the front upright plate 117, which is the working position for taking out explosives. After the detonating charge 101 is loaded into the bottom of the blast hole 403, the cantilever pipe 110 and the I-beam reel wire rack 104 are moved into the notch 120. The I-beam reel wire rack 104 is released from the limit of the front upright plate 117, the tension of the tension spring 127 is released, the tension spring 127 pulls the two pistons to drive the cantilever rod 125 to move forward, and pops out the I-beam reel wire rack 104. The I-beam reel wire rack 104 falls into the inclined chute 128, and the outer end of the detonating wire 103 of the detonating charge 101 and the junction box 106 are conveyed to the working face outside the blast hole, thus completing the entire loading operation of the detonating charge 101.

[0095] The pneumatic charging machine 200 has a pneumatic motor support 209 on which a main charging airflow conveying pipe 201 is installed. A compressed air inlet pipe 210 is installed on the pneumatic motor support 209 outside the main charging airflow conveying pipe 201. A rear conical cavity 202 is connected to the left end port of the main charging airflow conveying pipe 201. A feed inlet cylinder 204 is connected to the left end port of the rear conical cavity 202. A front conical cavity 203 is connected to the right end port of the main charging airflow conveying pipe 201. A discharge outlet cylinder is connected to the right end port of the front conical cavity 203. The body 205 has a conveying hose 206 connected to the right end of the discharge port cylinder 205. A first compressed air inlet 208 is provided on the wall of the front conical cavity 203, and a second compressed air inlet 207 is provided on the wall of the rear conical cavity 202. A compressed air switch valve 215 is connected to the outer wall of the main pneumatic conveying pipe 201. The normally closed contact 222 of the compressed air switch valve 215 passes through the outer wall of the main pneumatic conveying pipe 201 and is located inside the cavity of the main pneumatic conveying pipe 201. The air switch valve 215 is provided with a valve body inlet 216, a valve body first outlet 217, and a valve body second outlet 218. When the normally closed contact 222 is not activated, the valve body second outlet 218 is closed, and compressed air entering the compressed air switch valve 215 is output from the valve body first outlet 217. When the normally closed contact 222 is activated, the valve body second outlet 218 is open, and compressed air entering the compressed air switch valve 215 is output from both the valve body first outlet 217 and the valve body second outlet 218. The second output port 218 outputs air; a compressed air inlet pipe 210 is connected to the valve body inlet port 216; a compressed air second delivery pipe 220 is connected between the valve body second output port 218 and the compressed air second inlet port 207; a compressed air first delivery pipe 219 is connected between the valve body first output port 217 and the compressed air first inlet port 208; a one-way flap valve 221 is provided at the connection between the feed inlet cylinder 204 and the rear conical cavity 202, and the one-way flap valve 221 can only be flipped up towards the inside of the rear conical cavity 202;

[0096] The explosive cartridges 301, conveyed from the front hopper 302 to the inlet of the pneumatic charging machine 200, are loaded into the blast hole 403 by the following method:

[0097] The third step is to start the explosive loading hole filling operation when the explosive loading tube 401 is in an empty state. Through the explosive loading tube conveying mechanism, the explosive loading tube 301 is conveyed into the inlet cylinder 204. Under the action of inertia, the explosive loading tube 301 breaks through the one-way flap valve 221 and enters the loading airflow conveying main tube 201.

[0098] Step 4: The one-way flap valve 221 is reset, and the connection between the feed port cylinder 204 and the rear conical cavity 202 is closed again. At this time, the explosive cartridge 301 pushes the normally closed contact 222 upward to trigger, and the valve body's second output port 218 is opened. At this time, the compressed air in the compressed air switch valve 215 enters the rear conical cavity 202 through the second compressed air delivery pipe 220, pushing the explosive cartridge 301 to move to the right. At the same time, the compressed air in the compressed air switch valve 215 enters the front conical cavity 203 through the first compressed air delivery pipe 219. The compressed air is sprayed to the right along the discharge port cylinder 205, the delivery hose 206 and the take-up pipe 401, thereby forming a suction effect on the explosive cartridge 301 on the left.

[0099] Fifth step: Under the action of two compressed air streams, the explosive cartridge 301 accelerates through the discharge port cylinder 205, the conveying hose 206 and the take-up tube 401 and enters the blast hole, thus completing the loading of the explosive cartridge 301.

Claims

1. An automated charging method for tunnel boring blasting, comprising a blasting face (402) and an arched trolley (404), wherein blasting holes (403) are provided on the blasting face (402), and an arched trolley cantilever (405) is provided on the arched trolley (404); a front hopper box (302) storing explosive cartridges (301) and a pneumatic charging machine (200) are provided on the body of the arched trolley (404), and an initiating explosive cartridge storage box (102) storing initiating explosive cartridges (101) is placed on the front side of the blasting face (402), and an arched trolley cantilever (405) is provided on the arched trolley (404); a front hopper box (302) storing explosive cartridges (301) and a pneumatic charging machine (200) are provided on the body of the arched trolley (404), and an initiating explosive cartridge storage box (102) storing initiating explosive cartridges (101) is placed on the front side of the blasting face (402), and an arched trolley cantilever (405) is provided on the arched trolley (404). A robotic arm (406) is provided on the outer end of the 05), which holds the explosive tube (401). A conveying hose (206) is connected to the rear end of the explosive tube (401). The other end of the conveying hose (206) is connected to the output port of the pneumatic charging machine (200). The input port of the pneumatic charging machine (200) is connected to the front hopper box (302) containing the explosive cartridges (301). A cantilever cartridge (109) and an I-beam reel frame (104) are respectively provided on the explosive cartridge storage box (102) at the explosive reel position. On the outer side of the upper wire reel (105) of 04), a junction box (106) is provided. A rotating sleeve is movably connected to the central shaft tube of the I-beam wire reel frame (104). An electronic detonator is pre-embedded in the detonating charge (101). The detonating wire (103) of the electronic detonator passes through the detonating charge (101) and is wound around the rotating sleeve on the I-beam wire reel frame (104). The outer end of the detonating wire (103) is connected to the junction box (106). When the robot arm (406) draws the charging tube (401) with the detonating charge (101) from the cantilever cartridge (109), During the process of moving the explosive charge (101) out of the blast hole (403) and the compressed air filling the bottom of the blast hole (403), the I-beam reel frame (104) remains stationary, but the rotating sleeve on the I-beam reel frame (104) rotates to release the detonating wire (103), so that the detonating wire (103) follows the moving explosive charge (101); the explosive charge storage box (102) has a rear upright plate (116) and a front upright plate (117); the I-beam reel frame (104) is inserted into the cantilever tube (110) in the explosive charge storage box (102);A piston (123) is movably disposed within the inner cavity of the cantilever tube (110). A pair of elongated through holes (124) are provided on the outer wall of the cantilever tube (110). A pair of piston-driven cantilever rods (125) are provided on the piston (123). The piston-driven cantilever rods (125) pass through the elongated through holes (124) and are disposed on the outer side of the cantilever tube (110). A tension spring fixing pin (126) is provided on the outer port of the cantilever tube (110). A tension spring (127) is connected to the piston (123), and the tension spring (127) is located in the cavity of the cantilever tube (110); the lower guide plate (122) of the I-beam reel frame (104) is in contact with the two piston-driven cantilever rods (125), and the upper guide plate (105) of the I-beam reel frame (104) is limited by the front upright plate (117) and compressed backward, and is located in the detonating charge storage box (102), and the tension spring (127) is in a stretched state; A notch (120) is provided at the upper left corner of the front upright plate (117), which serves as the working position for taking out explosives. After the detonating charge (101) is loaded into the bottom of the blast hole (403), the cantilever pipe (110) and the I-beam reel frame (104) are moved into the notch (120), the I-beam reel frame (104) is disengaged from the limit of the front upright plate (117), and the tension force of the tension spring (127) is reduced. Released, the tension spring (127) pulls the piston to drive the cantilever rod (125) forward, popping out the I-beam reel frame (104). The I-beam reel frame (104) falls into the inclined chute (128), and the outer end of the detonating wire (103) of the detonating charge (101) and the junction box (106) are conveyed to the working face outside the blast hole, thus completing the entire loading process of the detonating charge (101); characterized in that The following steps: Step 1: Control the robotic arm (406) to move to the explosive retrieving position of the explosive charge storage box (102), insert the explosive retrieving tube (401) into the cantilever cartridge (109), move the explosive charge (101) into the explosive retrieving tube (401), move the robotic arm (406) backward, and pull the explosive retrieving tube (401) with the explosive charge (101) out of the cantilever cartridge (109). Then, by controlling the cantilever (405) of the arch frame trolley, move the explosive retrieving tube (401) outside the blast hole (403) and insert the front part of the explosive retrieving tube (401) into the blast hole (403). The second step is to start the compressed air in the pneumatic charging machine (200). The compressed air passes through the delivery hose (206) and the charging pipe (401) in sequence to fill the detonating charge (101) in the charging pipe (401) into the bottom of the blast hole (403).

2. The automated charging method for tunnel boring blasting according to claim 1, characterized in that, The pneumatic charging machine (200) has a pneumatic motor support (209) with a main charging airflow conveying pipe (201) on it. A compressed air inlet pipe (210) is provided on the pneumatic motor support (209) outside the main charging airflow conveying pipe (201). A rear conical cavity (202) is connected to the left end of the main charging airflow conveying pipe (201). A feed inlet cylinder (204) is connected to the left end of the rear conical cavity (202). A front conical cavity (203) is connected to the right end of the main charging airflow conveying pipe (201). A discharge outlet cylinder is connected to the right end of the front conical cavity (203). The body (205) has a conveying hose (206) connected to the right end of the discharge port cylinder (205). A first compressed air inlet (208) is provided on the cavity wall of the front conical cavity (203), and a second compressed air inlet (207) is provided on the cavity wall of the rear conical cavity (202). A compressed air switch valve (215) is connected to the outer wall of the main gas flow conveying pipe (201). The normally closed contact (222) on the compressed air switch valve (215) passes through the outer wall of the main gas flow conveying pipe (201) and is located in the cavity of the main gas flow conveying pipe (201). The air switch valve (215) is provided with a valve body inlet (216), a valve body first outlet (217), and a valve body second outlet (218). When the normally closed contact (222) is not activated, the valve body second outlet (218) is closed, and compressed air entering the compressed air switch valve (215) is output from the valve body first outlet (217). When the normally closed contact (222) is activated, the valve body second outlet (218) is open, and compressed air entering the compressed air switch valve (215) is output from the valve body first outlet (217) and the valve body second outlet (218). The output port (218) outputs; a compressed air inlet pipe (210) is connected to the valve body inlet port (216); a compressed air second delivery pipe (220) is connected between the valve body second output port (218) and the compressed air second inlet port (207); a compressed air first delivery pipe (219) is connected between the valve body first output port (217) and the compressed air first inlet port (208); a one-way flap valve (221) is provided at the connection between the feed inlet cylinder (204) and the rear conical cavity (202); the one-way flap valve (221) can only be flipped up towards the inside of the rear conical cavity (202); The explosive cartridges (301) conveyed from the front hopper (302) to the inlet of the pneumatic charging machine (200) are loaded into the blast holes (403) by the following method: The third step is to start the explosive loading hole filling operation when the explosive tube (401) is in an empty state. The explosive tube (301) is conveyed into the feed inlet cylinder (204) through the explosive tube conveying mechanism. Under the action of inertia, the explosive tube (301) breaks through the one-way flap valve (221) and enters the charging airflow conveying main tube (201). Step 4: The one-way flap valve (221) is reset, and the connection between the feed port cylinder (204) and the rear conical cavity (202) is closed again. At this time, the explosive cartridge (301) pushes the normally closed contact (222) upward to trigger, and the second output port (218) of the valve body is opened. At this time, the compressed air in the compressed air switch valve (215) enters the rear conical cavity (202) through the second compressed air delivery pipe (220), pushing the explosive cartridge (301) to move to the right. At the same time, the compressed air in the compressed air switch valve (215) enters the front conical cavity (203) through the first compressed air delivery pipe (219). The compressed air is sprayed to the right along the discharge port cylinder (205), the delivery hose (206) and the take-up pipe (401), thereby forming a suction effect on the explosive cartridge (301) on the left. Fifth step: Under the action of two compressed air streams, the explosive cartridge (301) accelerates through the discharge cylinder (205), the conveying hose (206) and the take-up tube (401) and enters the blast hole, thus completing the loading of the explosive cartridge (301).

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