A vehicle-mounted, fan-shaped, upward-facing gun hole plugging device

Abstract

This invention relates to the field of borehole charging and sealing technology, specifically a vehicle-mounted, fan-shaped, upward-facing borehole charging and sealing device. It includes a charging and sealing mechanism, an angle adjustment mechanism, and a moving and lifting mechanism. The moving and lifting mechanism includes an unmanned vehicle (UAV); a lifting platform is fixed on the UAV. The angle adjustment mechanism includes a base fixed to the lifting platform; a servo cylinder is hinged to the base; a swing arm is hinged to both the base and the servo cylinder; a lower crossbeam and an upper crossbeam are mounted on the swing arm. The charging and sealing mechanism includes a servo motor mounted on the lower crossbeam and a delivery pipe mounted on the upper crossbeam; an end cap is sealed at the lower end of the delivery pipe; and a delivery auger is installed inside the delivery pipe. This invention solves the problems of time-consuming and labor-intensive operation, poor charge density, and poor sealing performance of existing borehole charging and sealing technologies when applied to fan-shaped, upward-facing boreholes. It is suitable for blasting projects such as mining and tunneling.

Description

Technical Field

[0001] This invention relates to the field of borehole plugging technology, specifically a vehicle-mounted, fan-shaped, upward-facing borehole plugging device. Background Technology

[0002] In blasting projects such as mining and tunneling, fan-shaped upward-facing blast holes are widely used due to their advantages of high drilling efficiency and high utilization of the working face. These blast holes are radially distributed, with their axes forming an angle with the horizontal plane. However, existing blast hole plugging technologies suffer from the following problems due to their inherent principles: First, existing blast hole plugging technologies use manual charging, which is not only time-consuming and labor-intensive but also results in poor charge compaction, leading to low charging efficiency and affecting blasting effectiveness. Second, existing blast hole plugging technologies use manual plugging, which is not only time-consuming and labor-intensive but also results in poor sealing, leading to low plugging efficiency and the explosives being prone to falling off or becoming damp. Therefore, it is necessary to invent a vehicle-mounted, fan-shaped, upward-facing borehole charging and sealing device to solve the problems of time-consuming and labor-intensive operation, poor charge density, and poor sealing performance when the existing borehole charging and sealing technology is applied to fan-shaped, upward-facing boreholes. Summary of the Invention

[0003] In order to solve the problems of time-consuming and labor-intensive operation, poor charge density and poor sealing performance of existing gun hole plugging technology when applied to upward gun holes with a fan-shaped layout, this invention provides a vehicle-mounted gun hole plugging device specifically designed for upward gun holes with a fan-shaped layout.

[0004] This invention is achieved using the following technical solution:

[0005] A vehicle-mounted, fan-shaped, upward-facing blast hole-specific explosive charging and sealing device includes an explosive charging and sealing mechanism, an angle adjustment mechanism, and a moving and lifting mechanism;

[0006] The mobile lifting mechanism includes an unmanned vehicle; a lifting platform is fixed on the unmanned vehicle.

[0007] The angle adjustment mechanism includes a base fixed to the lifting platform; a servo electric cylinder is hinged to the base; a swing arm is hinged to both the base and the servo electric cylinder; a lower crossbeam and an upper crossbeam are mounted on the swing arm.

[0008] The drug-filling and plugging mechanism includes a servo motor mounted on the lower crossbeam and a drug delivery tube mounted on the upper crossbeam; the lower end of the drug delivery tube is sealed with an end cap; a drug delivery auger is installed inside the drug delivery tube, and the shaft of the drug delivery auger passes through the end cap and is connected to the output shaft of the servo motor; the outer surface of the drug delivery tube has a three-stage stepped structure that is thicker at the bottom and thinner at the top; the lower section of the outer surface of the drug delivery tube is connected to a drug supply port; a compression spring and a constraint sleeve are assembled in the middle section of the outer surface of the drug delivery tube, the lower end of the compression spring contacts the lower transition section of the outer surface of the drug delivery tube, and the lower end face of the constraint sleeve contacts the upper end of the compression spring; an L-shaped groove is formed through the lower part of the side wall of the constraint sleeve; the drug delivery tube... A locking pin with an L-shaped groove is fixed to the middle section of the outer side of the sleeve; an elastic sealing sleeve is assembled between the inner side of the constraint sleeve and the upper part of the outer side of the delivery tube; the elastic sealing sleeve includes a collar, several elastic claws, and several baffles; the lower end face of the collar contacts the transition section on the outer side of the delivery tube; each elastic claw is fixed equidistantly to the upper end face of the collar along the circumferential direction, and each elastic claw is tightly attached to the inner side of the constraint sleeve; each baffle is hinged equidistantly to the inner side of the collar along the circumferential direction, and each baffle is tightly attached to the upper part of the outer side of the delivery tube; an initiator is inserted into the upper end of the delivery tube; a drum-shaped spring is fixedly assembled on the outer side of the initiator.

[0009] Furthermore, the inner sidewall of the drug delivery tube is provided with circumferential air passages and several axial air passages arranged equidistantly along the circumference, and the lower end of each axial air passage is connected to the circumferential air passage; the lower section of the outer side of the drug delivery tube is provided with an air inlet recess and several rows of jet recesses arranged equidistantly along the circumference, and the number of rows of jet recesses is the same as the number of axial air passages; the air inlet recess is connected to the circumferential air passage; each row of jet recesses is connected to each axial air passage in a one-to-one correspondence; the opening of the air inlet recess is connected to an air inlet nozzle; several guide strips are fixed on the lower section of the outer side of the drug delivery tube, and the number of guide strips is the same as the number of rows of jet recesses; each guide strip and each row of jet recesses are arranged equidistantly and alternately along the circumference.

[0010] Furthermore, it also includes a coupling; the shaft of the auger is connected to the output shaft of the servo motor via the coupling; a bearing is fitted between the side of the shaft of the auger and the inner side of the delivery tube.

[0011] Furthermore, two hinge seats A, distributed left and right, are fixed to the rear part of the upper surface of the base; two hinge shafts A are fixed to the outer side of the cylinder of the servo electric cylinder, and the two hinge shafts A are rotatably supported on the two hinge seats A respectively; two hinge seats B, distributed left and right, are fixed to the front part of the upper surface of the base; a hinge shaft B is fixed to the lower end face of the swing arm, and the two ends of the hinge shaft B are rotatably supported on the two hinge seats B respectively; a hinge seat C is connected to the end of the piston rod of the servo electric cylinder; a rib plate is fixed to the lower side of the swing arm; a hinge shaft C passes through the rib plate, and both ends of the hinge shaft C are rotatably supported on the hinge seat C.

[0012] Furthermore, two left-right distributed limit buffers A are fixed in the middle of the upper surface of the base; two left-right distributed limit buffers B are fixed in the front of the upper surface of the base; two left-right distributed limit seat plates are fixed in the side of the hinge B; a limit block is fixed in each of the two limit seat plates; the two limit blocks are respectively located between the two limit buffers A and the two limit buffers B.

[0013] Furthermore, two vertically distributed pipe clamps A are hooped in the middle of the side of the swing arm; a transition plate A is fixed to the front surface of the two pipe clamps A; two horizontally distributed pipe clamps B are fixed to the front surface of the transition plate A; the left part of the lower crossbeam passes through the two pipe clamps B.

[0014] Furthermore, the right side of the lower crossbeam is fitted with two pipe clamps C distributed horizontally; the front surfaces of the two pipe clamps C are jointly fixed with two vertically distributed adapter plates A; the front surfaces of the two adapter plates A are each fixed with a support A; the two supports A are fixed between the two supports A; each of the two supports A is fitted with a flexible sleeve A on its side; the outer sides of the two flexible sleeves A are jointly fitted with a pipe clamp A; the lower outer sides of the two flexible sleeves A are each fitted with a buffer spring A; the upper outer sides of the two flexible sleeves A are each fitted with a buffer spring B; the housing of the servo motor passes through the pipe clamp A.

[0015] Furthermore, two vertically distributed pipe clamps D are hooped on the upper side of the swing arm; a transition plate B is fixed to the front surface of the two pipe clamps D; two horizontally distributed pipe clamps E are fixed to the front surface of the transition plate B; the left side of the upper crossbeam passes through the two pipe clamps E.

[0016] Furthermore, the right side of the upper crossbeam is fitted with two pipe clamps F distributed horizontally; the front surfaces of the two pipe clamps F are jointly fixed with two vertically distributed transition pieces B; the front surfaces of each of the two transition pieces B are each fixed with a support B; two horizontally distributed support rods B are fixed between the two support rods B; a flexible sleeve B is fitted on the side of each of the two support rods B; a pipe clamp B is fitted on the middle of the outer surface of the two flexible sleeves B; a buffer spring C is fitted on the lower part of the outer surface of each of the two flexible sleeves B; a buffer spring D is fitted on the upper part of the outer surface of each of the two flexible sleeves B; the drug delivery tube passes through the pipe clamp B.

[0017] Compared with existing borehole plugging technologies, the vehicle-mounted, fan-shaped, upward-facing borehole plugging device described in this invention offers the following advantages when applied to fan-shaped, upward-facing boreholes: First, this invention eliminates manual charging, instead employing an automatic charging system based on a servo motor and a auger. This charging method not only saves time and effort but also ensures better charge density, significantly improving charging efficiency and guaranteeing the blasting effect. Second, this invention eliminates manual plugging, instead using a semi-automatic plugging system based on an elastic plugging sleeve. This plugging method not only saves time and effort but also provides better sealing, significantly improving plugging efficiency and effectively preventing explosive detachment or moisture absorption.

[0018] This invention effectively solves the problems of time-consuming and labor-intensive operation, poor charge density, and poor sealing performance of existing blast hole plugging technology when applied to blast holes in a fan-shaped layout. It is suitable for blasting projects such as mining and tunneling. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention.

[0020] Figure 2 This is a schematic diagram of the angle adjustment mechanism and the charge sealing mechanism in this invention.

[0021] Figure 3 yes Figure 2 Partial structural diagram Figure 1 .

[0022] Figure 4 yes Figure 3 Partial structural diagram Figure 1 .

[0023] Figure 5 yes Figure 4 Partial structural diagram Figure 1 .

[0024] Figure 6 yes Figure 5 Partial structural diagram Figure 1 .

[0025] Figure 7 yes Figure 6 A partial structural diagram.

[0026] Figure 8 yes Figure 5 Partial structural diagram Figure 2 .

[0027] Figure 9 yes Figure 5 Partial structural diagram Figure 3 .

[0028] Figure 10 yes Figure 4 Partial structural diagram Figure 2 .

[0029] Figure 11 yes Figure 3 Partial structural diagram Figure 2 .

[0030] Figure 12 yes Figure 2 Partial structural diagram Figure 2 .

[0031] Figure 13 yes Figure 12 Partial structural diagram Figure 1 .

[0032] Figure 14 yes Figure 13 Another structural diagram from another angle.

[0033] Figure 15 yes Figure 12 Partial structural diagram Figure 2 .

[0034] Figure 16 yes Figure 15 Another structural diagram from another angle.

[0035] Figure 17 yes Figure 12 Partial structural diagram Figure 3 .

[0036] Figure 18 yes Figure 12 Partial structural diagram Figure 4 .

[0037] Figure 19 yes Figure 18 Another structural diagram from another angle.

[0038] Figure 20 yes Figure 12 Partial structural diagram Figure 5 .

[0039] Figure 21 yes Figure 12 Partial structural diagram Figure 6 .

[0040] Figure 22 yes Figure 21 Another structural diagram from another angle.

[0041] Figure 23 This is a schematic diagram showing the state of the elastic claw and the baffle when they are open in this invention.

[0042] Figure 24 yes Figure 23 Another structural diagram from another angle.

[0043] Figure 25 This is a schematic diagram showing the state of the elastic claw plate when it is open and the baffle plate is closed in this invention.

[0044] Figure 26 yes Figure 25 Another structural diagram from another angle.

[0045] In the diagram: 101 - Unmanned vehicle, 102 - Lifting platform, 201 - Base, 202 - Servo cylinder, 203 - Swing arm, 204 - Lower crossbeam, 205 - Upper crossbeam, 206 - Hinge A, 207 - Hinge shaft A, 208 - Hinge B, 209 - Hinge shaft B, 210 - Hinge C, 211 - Rib plate, 212 - Hinge shaft C, 213 - Limit buffer A, 214 - Limit Buffer B, 215-Limiting seat plate, 216-Limiting block, 217-Pipe clamp A, 218-Adapter plate A, 219-Pipe clamp B, 220-Pipe clamp C, 221-Adapter piece A, 222-Support A, 223-Flexible sleeve A, 224-Pipe clamp A, 225-Buffer spring A, 226-Buffer spring B, 227-Pipe clamp D, 228-Adapter plate B, 229- Pipe clamp E, 230-Pipe clamp F, 231-Adapter piece B, 232-Support B, 233-Flexible sleeve B, 234-Pipe clamp B, 235-Buffer spring C, 236-Buffer spring D, 301-Servo motor, 302-Medication delivery tube, 302.1-Circumferential air passage, 302.2-Axial air passage, 302.3-Inlet recess, 302.4-Jet recess, 30 3-End cap, 304-Feeding auger, 305-Feeding port, 306-Compression spring, 307-Constraint sleeve, 307.1-L-shaped groove, 308-Anti-reverse pin, 309-Ring, 310-Elastic claw plate, 311-Baffle plate, 312-Initiator, 313-Drum spring, 314-Air inlet, 315-Guide strip, 316-Coupling, 317-Bearing. Detailed Implementation

[0046] A vehicle-mounted, fan-shaped, upward-facing blast hole-specific explosive charging and sealing device includes an explosive charging and sealing mechanism, an angle adjustment mechanism, and a moving and lifting mechanism;

[0047] The mobile lifting mechanism includes an unmanned vehicle 101; a lifting platform 102 is fixed on the unmanned vehicle 101.

[0048] The angle adjustment mechanism includes a base 201 fixed on the lifting platform 102; a servo electric cylinder 202 is hinged on the base 201; a swing arm 203 is hinged on both the base 201 and the servo electric cylinder 202; a lower crossbeam 204 and an upper crossbeam 205 are mounted on the swing arm 203.

[0049] The drug-filling and sealing mechanism includes a servo motor 301 mounted on the lower crossbeam 204 and a drug delivery pipe 302 mounted on the upper crossbeam 205. The lower end of the drug delivery pipe 302 is capped with an end cap 303. A drug delivery auger 304 is installed inside the drug delivery pipe 302, and the shaft of the auger 304 passes through the end cap 303 and connects to the output shaft of the servo motor 301. The outer surface of the drug delivery pipe 302 has a three-tiered structure, thicker at the bottom and thinner at the top. A drug supply port 305 is connected to the lower section of the outer surface of the drug delivery pipe 302. A compression spring 306 and a constraint sleeve 307 are assembled in the middle section of the outer surface of the drug delivery pipe 302. The lower end of the compression spring 306 contacts the lower transition section of the outer surface of the drug delivery pipe 302, and the lower end face of the constraint sleeve 307 contacts the upper end of the compression spring 306. An L-shaped groove 307.1 is formed through the lower part of the side wall of the constraint sleeve 307. A locking pin 308 is fixed to the middle section of the outer side of the tube 302, penetrating the L-shaped groove 307.1; an elastic sealing sleeve is assembled between the inner side of the restraining sleeve 307 and the upper section of the outer side of the delivery tube 302; the elastic sealing sleeve includes a collar 309, several elastic claw pieces 310, and several baffles 311; the lower end face of the collar 309 contacts the transition section on the outer side of the delivery tube 302; each elastic claw piece 310 is fixed equidistantly to the upper end face of the collar 309 along the circumferential direction, and each elastic claw piece 310 is tightly attached to the inner side of the restraining sleeve 307; each baffle 311 is hinged equidistantly to the inner side of the collar 309 along the circumferential direction, and each baffle 311 is tightly attached to the upper section of the outer side of the delivery tube 302; an initiator 312 is inserted into the upper end of the delivery tube 302; a drum-shaped spring 313 is fixedly assembled on the outer side of the initiator 312.

[0050] During operation, the unmanned vehicle 101, the lifting platform 102, the servo cylinder 202, and the servo motor 301 are all electrically connected to the external control system. The explosive supply port 305 is connected to the valve of the external explosive storage tank via an external hose.

[0051] The specific work process is as follows:

[0052] First, the unmanned vehicle 101 is moved by the external control system. Driven by the unmanned vehicle 101, the lifting platform 102, the angle adjustment mechanism, and the loading and sealing mechanism move together until they reach the work area.

[0053] Then, the servo cylinder 202 is controlled by an external control system. Driven by the servo cylinder 202, the swing arm 203, lower crossbeam 204, upper crossbeam 205, and charging and sealing mechanism rotate together until the tilt angle of the detonator 312 is consistent with the tilt angle of the borehole.

[0054] Then, the unmanned vehicle 101 is slowly moved by the external control system, and the lifting platform 102 is slowly raised. Under the joint drive of the unmanned vehicle 101 and the lifting platform 102, the angle adjustment mechanism and the charging and sealing mechanism move together diagonally upward, so that the detonator 312 is aligned with the borehole opening and enters along the borehole until the detonator 312 reaches the bottom of the borehole. At this time, the drum spring 313, the charging tube 302, the elastic sealing sleeve, the restraining sleeve 307, and the compression spring 306 are all located inside the borehole. The drum spring 313 is deformed under the pressure of the borehole wall. Under the action of static friction between the drum spring 313 and the borehole wall, the drum spring 313 and the detonator 312 are both retained inside the borehole.

[0055] Then, the servo motor 301 is controlled to rotate by an external control system. Driven by the servo motor 301, the drug delivery auger 304 rotates.

[0056] Then, the valve of the external explosive storage tank is opened, and the explosives in the external explosive storage tank are sequentially transported to the delivery pipe 302 through the external hose and the supply port 305. Under the drive of the delivery auger 304, the explosives are transported upward along the delivery pipe 302 and form an explosive column.

[0057] During the upward transport process, the unmanned vehicle 101 is slowly moved by the external control system, and the lifting platform 102 is slowly lowered. Driven by the unmanned vehicle 101 and the lifting platform 102, the angle adjustment mechanism and the charging and sealing mechanism (excluding the drum spring 313 and the detonator 312) move together diagonally downward, so that the charging tube 302, the elastic sealing sleeve, the restraining sleeve 307, and the compression spring 306 exit along the blast hole.

[0058] When the restraining sleeve 307 protrudes outside the borehole opening, the valve of the external explosive storage tank is closed. The unmanned vehicle 101 is stopped moving via the external control system, and the lifting platform 102 is stopped descending. Then, the restraining sleeve 307 is pulled downward along the anti-reverse pin 308. This causes the compression spring 306 to deform under pressure, and releases the restraining sleeve 307 from the constraints of the elastic claw pieces 310. At this time, the elastic claw pieces 310 open radially under their own elastic force, thus adhering tightly to the borehole wall. Under the action of static friction between the elastic claw pieces 310 and the borehole wall, the elastic sealing sleeve remains inside the borehole.

[0059] Then, the unmanned vehicle 101 continues to move slowly under the control of the external control system, and the lifting platform 102 descends slowly. Driven by the unmanned vehicle 101 and the lifting platform 102, the angle adjustment mechanism and the explosive loading and sealing mechanism (excluding the drum spring 313, detonator 312, and elastic sealing sleeve) move together diagonally downwards, causing the delivery tube 302 to disengage from the elastic sealing sleeve. At this time, under the pressure of the explosive charge, each baffle 311 rotates downwards and closes, thereby sealing the explosive charge and completing the explosive loading and sealing operation.

[0060] The inner sidewall of the drug delivery tube 302 has a circumferential air passage 302.1 and several axial air passages 302.2 arranged equidistantly along the circumference, and the lower end of each axial air passage 302.2 is connected to the circumferential air passage 302.1; the lower section of the outer side of the drug delivery tube 302 has an air inlet recess 302.3 and several rows of jet recesses 302.4 arranged equidistantly along the circumference, and the number of rows of jet recesses 302.4 is the same as the number of axial air passages 302.2; the air inlet recess 302.3... 3. The inlet is connected to the circumferential air passage 302.1; each row of jet concave holes 302.4 is connected to each axial air passage 302.2 in a one-to-one correspondence; the inlet concave hole 302.3 is connected to an air inlet nozzle 314; the lower section of the outer side of the drug delivery tube 302 is fixed with several guide strips 315 arranged equidistantly along the circumference, and the number of guide strips 315 is the same as the number of rows of jet concave holes 302.4; each guide strip 315 and each row of jet concave holes 302.4 are arranged equidistantly and alternately along the circumference. During operation, the air inlet nozzle 314 is connected to an external compressed air source. The airflow from the external compressed air source is sequentially ejected through the air inlet 314, air inlet recess 302.3, circumferential air passage 302.1, each axial air passage 302.2, and each row of jet recesses 302.4. This forms a dynamic air film between the propellant delivery tube 302 and the borehole wall, thereby reducing the friction between the propellant delivery tube 302 and the borehole wall, ensuring that the propellant delivery tube 302 smoothly enters the borehole. Each guide strip 315 reduces the contact area between the propellant delivery tube 302 and the borehole wall, thereby further reducing the friction between the propellant delivery tube 302 and the borehole wall, further ensuring that the propellant delivery tube 302 smoothly enters the borehole.

[0061] It also includes a coupling 316; the shaft of the drug delivery auger 304 is connected to the output shaft of the servo motor 301 via the coupling 316; a bearing 317 is fitted between the side of the shaft of the drug delivery auger 304 and the inner side of the drug delivery tube 302.

[0062] Two hinge seats A206, distributed left and right, are fixed to the rear part of the upper surface of the base 201; two hinge shafts A207 are fixed to the outer side of the cylinder of the servo electric cylinder 202, and the two hinge shafts A207 are rotatably supported on the two hinge seats A206 respectively; two hinge seats B208, distributed left and right, are fixed to the front part of the upper surface of the base 201; a hinge shaft B209 is fixed to the lower end face of the swing arm 203, and the two ends of the hinge shaft B209 are rotatably supported on the two hinge seats B208 respectively; a hinge seat C210 is connected to the end of the piston rod of the servo electric cylinder 202; a rib plate 211 is fixed to the lower side of the swing arm 203; a hinge shaft C212 passes through the rib plate 211, and both ends of the hinge shaft C212 are rotatably supported on the hinge seat C210.

[0063] Two left-right distributed limit buffers A213 are fixed to the center of the upper surface of the base 201; two left-right distributed limit buffers B214 are fixed to the front of the upper surface of the base 201; two left-right distributed limit seat plates 215 are fixed to the side of the hinge shaft B209; each of the two limit seat plates 215 has a limit block 216 fixed on it; the two limit blocks 216 are located between the two limit buffers A213 and the two limit buffers B214 respectively. During operation, the hinge shaft B209 rotates with the swing arm 203, causing the two limit seat plates 215 and the two limit blocks 216 to rotate together. When the swing is backward to a certain angle, the two limit blocks 216 contact the two limit buffers A213 respectively, thus achieving backward swing limit. When the swing is forward to a certain angle, the two limit blocks 216 contact the two limit buffers B214 respectively, thus achieving forward swing limit.

[0064] Two vertically distributed pipe clamps A217 are hooped on the middle side of the swing arm 203; the front surfaces of the two pipe clamps A217 are jointly fixed with a transition plate A218; the front surface of the transition plate A218 is fixed with two horizontally distributed pipe clamps B219; the left side of the lower crossbeam 204 passes through the two pipe clamps B219.

[0065] The right side of the lower crossbeam 204 is fitted with two pipe clamps C220 distributed horizontally; the front surfaces of the two pipe clamps C220 are jointly fixed with two vertically distributed adapter plates A221; each of the front surfaces of the two adapter plates A221 is fixed with a support A222; two horizontally distributed support rods A are fixed between the two supports A222; each of the two support rods A is fitted with a flexible sleeve A223 on its side; the outer sides of the two flexible sleeves A223 are jointly fitted with a pipe clamp A224; the lower outer sides of the two flexible sleeves A223 are fitted with a buffer spring A225; the upper outer sides of the two flexible sleeves A223 are fitted with a buffer spring B226; the housing of the servo motor 301 passes through the pipe clamp A224. During operation, if there is a slight deviation in the inclination angle of the borehole, this design can ensure that the propellant tube 302 adapts to the slight deviation, thereby further ensuring that the propellant tube 302 smoothly enters the borehole.

[0066] The upper side of the swing arm 203 is fitted with two vertically distributed pipe clamps D227; the front surfaces of the two pipe clamps D227 are jointly fixed with a transition plate B228; the front surface of the transition plate B228 is fixed with two horizontally distributed pipe clamps E229; the left side of the upper crossbeam 205 passes through the two pipe clamps E229.

[0067] The right side of the upper crossbeam 205 is fitted with two left-right distributed pipe clamps F230; the front surfaces of the two pipe clamps F230 are jointly fixed with two vertically distributed adapter plates B231; each of the front surfaces of the two adapter plates B231 is fixed with a support B232; two left-right distributed support rods B are fixed between the two supports B232; each of the two support rods B is fitted with a flexible sleeve B233 on its side; the outer sides of the two flexible sleeves B233 are jointly fitted with a pipe clamp B234; the lower outer sides of the two flexible sleeves B233 are each fitted with a buffer spring C235; the upper outer sides of the two flexible sleeves B233 are each fitted with a buffer spring D236; the propellant tube 302 passes through the pipe clamp B234. During operation, if there is a slight deviation in the inclination angle of the borehole, this design can ensure that the propellant tube 302 adapts to the above-mentioned slight deviation, thereby further ensuring that the propellant tube 302 smoothly enters the borehole.

[0068] In specific implementation, the lifting platform 102 is a scissor-type lifting platform. The base 201 is a boat-shaped base. Hinge A206 and hinge B208 are both single-ear hinges. Hinge C210 is a double-ear hinge. Limiting buffers A213 and B214 are both spring buffers. The number of axial air passages 302.2, the number of rows of jet concave holes 302.4, and the number of guide strips 315 are all 4. Each row of jet concave holes 302.4 includes 6 to 8 jet concave holes 302.4. The guide strips 315 are made of modified polytetrafluoroethylene (PTFE) with 10% to 20% glass fiber added. The number of elastic claw pieces 310 is 10. The baffle 311 is a triangular baffle, and the number of them is 8. The drum-shaped spring 313 includes two vertically distributed rings, and several arc-shaped spring pieces arranged equidistantly along the circumference are fixed between the two rings.

[0069] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A vehicle-mounted, fan-shaped, upward-facing gun hole plugging device, characterized in that: Includes a charge-sealing mechanism, an angle adjustment mechanism, and a moving and lifting mechanism; The mobile lifting mechanism includes an unmanned vehicle (101); a lifting platform (102) is fixed on the unmanned vehicle (101). The angle adjustment mechanism includes a base (201) fixed on the lifting platform (102); a servo cylinder (202) is hinged on the base (201); a swing arm (203) is hinged on both the base (201) and the servo cylinder (202); a lower crossbeam (204) and an upper crossbeam (205) are mounted on the swing arm (203). The drug-filling and sealing mechanism includes a servo motor (301) mounted on the lower crossbeam (204) and a drug delivery tube (302) mounted on the upper crossbeam (205); the lower end of the drug delivery tube (302) is sealed with an end cap (303); a drug delivery auger (304) is provided in the inner cavity of the drug delivery tube (302), and the shaft of the drug delivery auger (304) passes through the end cap (303) and is connected to the output shaft of the servo motor (301); the outer surface of the drug delivery tube (302) is three-dimensional, thicker at the bottom and thinner at the top. The device has a stepped structure; the lower section of the outer side of the delivery tube (302) is connected to a drug inlet (305); a compression spring (306) and a constraint sleeve (307) are installed in the middle section of the outer side of the delivery tube (302), the lower end of the compression spring (306) contacts the lower transition section of the outer side of the delivery tube (302), and the lower end face of the constraint sleeve (307) contacts the upper end of the compression spring (306); an L-shaped groove (307.1) is provided through the lower part of the side wall of the constraint sleeve (307); the delivery tube... A locking pin (308) is fixed to the middle section of the outer side of the medicine tube (302) through an L-shaped groove (307.1); an elastic sealing sleeve is fitted between the inner side of the restraining sleeve (307) and the upper section of the outer side of the medicine tube (302); the elastic sealing sleeve includes a collar (309), several elastic claws (310), and several baffles (311); the lower end face of the collar (309) contacts the transition section on the outer side of the medicine tube (302); each elastic claw (310) 0) The elastic claws (310) are fixed at equal intervals along the circumference to the upper end face of the collar (309), and each elastic claw (310) is tightly attached to the inner side of the restraint sleeve (307); each baffle (311) is hinged at equal intervals along the circumference to the inner side of the collar (309), and each baffle (311) is tightly attached to the upper part of the outer side of the delivery tube (302); an initiator (312) is inserted into the upper end of the delivery tube (302); a drum spring (313) is fixedly mounted on the outer side of the initiator (312).

2. The vehicle-mounted fan-shaped upward-facing borehole plugging device according to claim 1, characterized in that: The side wall of the drug delivery tube (302) has a circumferential air passage (302.1) and several axial air passages (302.2) arranged equidistantly along the circumference, and the lower end of each axial air passage (302.2) is connected to the circumferential air passage (302.1); the lower section of the outer side of the drug delivery tube (302) has an air inlet recess (302.3) and several rows of jet recesses (302.4) arranged equidistantly along the circumference, and the number of rows of jet recesses (302.4) is the same as the number of axial air passages (302.2); the air inlet recess (302.3) is provided with a circumferential air passage (302.1 ... number of rows of jet recesses (302.3) is the same as the number of axial air passages (302.2) arranged equidistantly along the circumference, and the number of rows of jet recesses (302.4) is the same as the number of axial air passages (302.2) arranged equidistantly along the circumference, and the number of rows of jet recesses (302.4) is the same as the number of axial air passages (302.2) arranged equidistantly along 3) It is connected to the circumferential air passage (302.1); each row of jet concave holes (302.4) is connected to each axial air passage (302.2) in a one-to-one correspondence; the inlet concave hole (302.3) is connected to the air inlet nozzle (314); the lower section of the outer side of the drug delivery tube (302) is fixed with several guide strips (315) arranged equidistantly along the circumference, and the number of guide strips (315) is consistent with the number of rows of jet concave holes (302.4); each guide strip (315) and each row of jet concave holes (302.4) are arranged equidistantly along the circumference.

3. The vehicle-mounted fan-shaped upward-facing borehole plugging device according to claim 1, characterized in that: It also includes a coupling (316); the shaft of the auger (304) is connected to the output shaft of the servo motor (301) via the coupling (316); a bearing (317) is fitted between the side of the shaft of the auger (304) and the inner side of the delivery tube (302).

4. A vehicle-mounted, fan-shaped, upward-facing borehole plugging device according to claim 1, characterized in that: Two hinge seats A (206) are fixed to the rear of the upper surface of the base (201); two hinge shafts A (207) are fixed to the outer side of the cylinder of the servo electric cylinder (202), and the two hinge shafts A (207) are rotatably supported on the two hinge seats A (206); two hinge seats B (208) are fixed to the front of the upper surface of the base (201); hinge shaft B (209) is fixed to the lower end face of the swing arm (203), and the two ends of the hinge shaft B (209) are rotatably supported on the two hinge seats B (208); the piston rod end of the servo electric cylinder (202) is connected to the hinge seat C (210); a rib plate (211) is fixed to the lower side of the swing arm (203); a hinge shaft C (212) passes through the rib plate (211), and the two ends of the hinge shaft C (212) are rotatably supported on the hinge seat C (210).

5. A vehicle-mounted fan-shaped upward-facing borehole plugging device according to claim 4, characterized in that: Two left-right distributed limit buffers A (213) are fixed in the middle of the upper surface of the base (201); two left-right distributed limit buffers B (214) are fixed in the front of the upper surface of the base (201); two left-right distributed limit seat plates (215) are fixed on the side of the hinge B (209); a limit block (216) is fixed on each of the two limit seat plates (215); the two limit blocks (216) are located between the two limit buffers A (213) and the two limit buffers B (214) respectively.

6. A vehicle-mounted, fan-shaped, upward-facing borehole plugging device according to claim 1, characterized in that: Two vertically distributed pipe clamps A (217) are hooped on the middle side of the swing arm (203); the front surfaces of the two pipe clamps A (217) are fixed with a transition plate A (218); the front surfaces of the transition plate A (218) are fixed with two horizontally distributed pipe clamps B (219); the left side of the lower crossbeam (204) passes through the two pipe clamps B (219).

7. A vehicle-mounted, fan-shaped, upward-facing borehole plugging device according to claim 1, characterized in that: The right side of the lower crossbeam (204) is fitted with two left-right distributed pipe clamps C (220); the front surfaces of the two pipe clamps C (220) are jointly fixed with two vertically distributed adapter plates A (221); the front surfaces of the two adapter plates A (221) are each fixed with a support A (222); the two supports A (222) are fixed between the two supports A (222); the sides of the two supports A are each fitted with a flexible sleeve A (223); the middle of the outer sides of the two flexible sleeves A (223) are jointly fitted with a pipe clamp A (224); the lower part of the outer side of the two flexible sleeves A (223) is fitted with a buffer spring A (225); the upper part of the outer side of the two flexible sleeves A (223) is fitted with a buffer spring B (226); the housing of the servo motor (301) is inserted into the pipe clamp A (224).

8. A vehicle-mounted, fan-shaped, upward-facing borehole plugging device according to claim 1, characterized in that: The upper side of the swing arm (203) is fitted with two vertically distributed pipe clamps D (227); the front surfaces of the two pipe clamps D (227) are fixed with a common adapter plate B (228); the front surface of the adapter plate B (228) is fixed with two horizontally distributed pipe clamps E (229); the left side of the upper crossbeam (205) passes through the two pipe clamps E (229).

9. A vehicle-mounted, fan-shaped, upward-facing borehole plugging device according to claim 1, characterized in that: The right side of the upper crossbeam (205) is fitted with two left-right distributed pipe clamps F (230); the front surfaces of the two pipe clamps F (230) are jointly fixed with two vertically distributed adapter plates B (231); the front surfaces of the two adapter plates B (231) are each fixed with a support B (232); the two supports B (232) are fixed between the two supports B (232); the sides of the two supports B are each fitted with a flexible sleeve B (233); the middle of the outer sides of the two flexible sleeves B (233) are jointly fitted with a pipe clamp B (234); the lower part of the outer side of the two flexible sleeves B (233) is fitted with a buffer spring C (235); the upper part of the outer side of the two flexible sleeves B (233) is fitted with a buffer spring D (236); the drug delivery tube (302) passes through the pipe clamp B (234).

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