Underground upward deep hole blasting charging device

Abstract

The invention discloses an underground upward deep hole blasting charging device. The underground upward deep hole blasting charging device comprises a walking device, a mechanical arm, a cartridge storage box, a detonator storage box, an explosive assembling device, a rear-end explosive feeding device, a pushing device and a front-end explosive bin, the mechanical arm is installed on the walking device, the pushing device pushes explosives into a blast hole, and the front-end explosive bin pushes the explosives into the blast hole. The cartridge storage box, the detonator storage box and the explosive assembly device are installed on the walking device, the rear-end explosive feeding device is used for feeding explosives into the front-end explosive bin, the front-end explosive bin comprises an explosive bin body, an explosive separator, an explosive ratchet wheel, an explosive pawl and an explosive limiting spring, the explosive separator is rotationally arranged in the explosive bin body, and the explosive ratchet wheel is rotationally arranged in the explosive bin body. The explosive ratchet wheel is connected with the explosive separator, the explosive pawl is rotationally connected to the explosive bin body, and the explosive limiting spring is connected to the explosive pawl and the explosive bin body. The underground upward deep hole blasting charging device can replace high-load manual charging.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel and roadway blasting, in particular to an underground upward deep hole blasting charging device. BACKGROUND

[0002] The engineering field of tunnels or roadways widely adopts blasting technology for tunneling, and the blasting needs to accurately drill blast holes on the rock mass, charge the blast holes and block the blast holes. At present, the process is mainly completed manually, specifically, after drilling holes on the tunnel wall or roadway wall by drilling equipment, the charging guide tube is aligned with the blast hole, then the explosive is manually charged into the charging guide tube, the explosive is sent into the blast hole through the guide tube, and finally the blast hole is blocked with blocking mud. Since manual operation is required for each blast hole, the construction efficiency is low, and the labor cost is high. SUMMARY

[0003] The technical problem to be solved by the present application is to provide an underground upward deep hole blasting charging device which relies on mechanical equipment to complete charging and improves construction efficiency.

[0004] To solve the above problems, the present application provides an underground upward deep hole blasting charging device, which comprises a walking device, a mechanical arm, a cartridge storage box, a detonator storage box, an explosive assembly device, a rear-end explosive feeding device, a pushing device and a front-end explosive bin. The mechanical arm is installed on the walking device, the pushing device pushes the explosive into the blast hole, the cartridge storage box, the detonator storage box and the explosive assembly device are all installed on the walking device, the rear-end explosive feeding device is used to send the explosive into the front-end explosive bin, the front-end explosive bin comprises an explosive bin body, an explosive separator, an explosive ratchet wheel, an explosive pawl and an explosive limiting spring, the explosive separator is rotationally arranged in the explosive bin body, the explosive ratchet wheel is connected with the explosive separator, the explosive pawl is rotationally connected to the explosive bin body of the explosive bin body, and the explosive limiting spring is connected between the explosive pawl and the explosive bin body.

[0005] Further, the explosive bin body has an explosive containing cavity and an explosive mounting cavity, the explosive containing cavity is in communication with the explosive mounting cavity, the explosive mounting cavity is used to mount the explosive separator, the explosive containing cavity is used to contain the explosive, and the explosive containing cavity is located on one side of the explosive mounting cavity.

[0006] Further, the explosive separator comprises an explosive partition plate, an explosive mounting sleeve and an explosive shaft rod, the explosive shaft rod is rotationally mounted on the explosive bin body, one end of the explosive shaft rod extends out of the explosive bin body and is fixed with the explosive ratchet wheel, and the explosive partition plate is mounted on the explosive mounting sleeve.

[0007] Further, the explosive shaft is provided with a positioning protrusion, and the explosive mounting sleeve is provided with a positioning slot matched with the positioning protrusion.

[0008] Further, the end of the explosive partition plate is bent towards the rotating direction.

[0009] Further, the pushing device comprises a front-end pushing tube and a front-end pusher, the front-end pusher comprises a pushing shell, a pushing output gear, a pushing transmission gear, a pushing driver, a driving pushing wheel, a driven pushing wheel and a pushing mounting seat, the pushing mounting seat is mounted on the mechanical arm, the pushing mounting seat is provided with a through hole, the front-end pushing tube passes through the through hole, the pushing output gear is mounted on the output end of the pushing driver, the pushing transmission gear is engaged with the pushing transmission gear, the driving pushing wheel is connected with the pushing transmission gear through a shaft, the driven pushing wheel is rotatably mounted on the pushing mounting seat, and the driven pushing wheel and the driving pushing wheel are uniformly distributed around the through hole.

[0010] Further, the walking device is further provided with a reel, the rear end of the front-end pushing tube is connected to the reel, and the reel is used for winding the front-end pushing tube.

[0011] Further, the detonator storage box comprises a detonator box body, a detonator discharge plate, a detonator discharge driver, a driving mounting plate and a detonator receiving rack, the detonator box body is used for accommodating detonators, the detonator discharge plate is slidably arranged on the detonator box body, the detonator discharge plate is connected with the detonator discharge driver, the detonator discharge driver is mounted on the driving mounting plate, the driving mounting plate is fixed on the detonator box body, and the detonator receiving rack is mounted on the detonator box body and used for receiving the detonators pushed out by the detonator discharge plate.

[0012] Further, the explosive assembling device comprises a rotating mechanism, a piercing mechanism, a grabbing mechanism, a pressing mechanism and a limiting mechanism, the piercing mechanism, the grabbing mechanism and the pressing mechanism are mounted on the rotating mechanism, the rotating mechanism is used for driving the piercing mechanism, the grabbing mechanism and the pressing mechanism to rotate, the piercing mechanism is used for punching holes on the cartridge storage box to be assembled, the grabbing mechanism is used for grabbing the detonator and inserting the detonator into the cartridge, the pressing mechanism is used for pressing the detonator exposed outside the cartridge to make the detonator immerse in the cartridge, and the limiting mechanism is used for limiting the cartridge when the piercing mechanism, the grabbing mechanism and the pressing mechanism work.

[0013] Furthermore, the limiting mechanism includes a limiting plate, a push block, a return spring, and a return rod. The limiting plate is rotatably mounted on the medicine roll storage box, the push block is slidably disposed on the medicine roll storage box, and the push block is used to push the limiting plate to rotate. The medicine roll storage box is provided with a sliding hole, the return spring is disposed in the sliding hole, the return rod is inserted in the sliding hole, and the return rod abuts against the return spring.

[0014] This invention relates to an underground upward deep-hole blasting charging device. A pusher driver drives an active pusher wheel to rotate, which in turn drives a front-end pusher tube to move. The front-end pusher tube delivers explosives into the borehole, pushing the explosives out of the front explosive hopper and inserting them into the borehole, thus completing the charging process. The explosive pawl restrains the explosive components, preventing them from falling out during upward blasting without affecting their delivery. This device can replace heavy manual charging, allows for continuous operation, and is not limited by personnel fatigue or shift changes. Furthermore, precise control enables more efficient blasting operations. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a preferred embodiment of the underground upward deep-hole blasting charging device of the present invention.

[0016] Figure 2 This is a schematic diagram of the pushing device.

[0017] Figure 3 This is a schematic diagram of the front-end pusher after removing its outer shell.

[0018] Figure 4 This is a schematic diagram of the front-end explosives silo.

[0019] Figure 5 This is a schematic diagram of the internal structure of the front-end explosives silo.

[0020] Figure 6 This is a schematic diagram of the structure of the explosive pawl.

[0021] Figure 7 This is a structural diagram of the cartridge storage box, detonator storage box, and explosive assembly device. Figure 8 This is a schematic diagram of an explosive assembly device.

[0022] Figure 9 This is a schematic diagram of the limit mechanism.

[0023] Figure 10 This is a schematic diagram of the structure of the pressing connecting rod and the return spring.

[0024] Figure 11 This is a schematic diagram of the piercing mechanism.

[0025] Figure 12 This is a schematic diagram of the gripping mechanism.

[0026] Figure 13 This is a schematic diagram of the pressing mechanism.

[0027] Figure 14 This is a schematic diagram of the back-end explosive feeding device.

[0028] Figure 15 This is a schematic diagram of the structure of the back-end push tube, the medicine storage box, and the piercing mechanism working together. Figure 16 This is a schematic diagram of the positioning auxiliary device.

[0029] Figure 17 A schematic diagram of the detonator storage box.

[0030] Figure 18 This is a schematic diagram of the detonator discharge plate.

[0031] The meanings of the labels in the attached diagram are as follows: Walking device 1, robotic arm 2, explosive cartridge storage box 41, detonator storage box 42, detonator box body 421, detonator discharge plate 422, detonator trough 4221, detonator discharge driver 423, drive mounting plate 424, detonator receiving rack 425, reel 44, explosive box 45, auxiliary positioning device 47, auxiliary mounting plate 471, auxiliary positioning wheel 472, explosive assembly device 5, rotating mechanism 51, rotating disk 511, rotating frame 512, rotating driver 513, piercing mechanism 52, piercing needle 521, piercing mounting plate 522, piercing driver 523, piercing trigger block 524, piercing connecting rod 525, piercing return spring 526, gripping mechanism 53, robotic claw 531, gripping mounting plate 532, gripping driver 533, gripping trigger block 534. The following components are included: a gripping connecting rod 535, a gripping reset spring 536, a pressing mechanism 54, a pressing column 541, a pressing mounting plate 542, a pressing driver 543, a pressing trigger block 544, a pressing connecting rod 545, a pressing reset spring 546, a limiting mechanism 55, a limiting plate 551, a push block 552, a rear explosive feeding device 6, a rear pushing pipe 61, a rear pushing device 62, an active pushing wheel 63, a driven pushing wheel 64, a pushing mounting seat 65, a rear feeding pipe 66, a front explosive hopper 82, an explosive hopper body 821, an explosive receiving cavity 8211, an explosive mounting cavity 8212, an explosive separator 822, an explosive partition 8221, an explosive mounting sleeve 8222, an explosive shaft 8223, an explosive ratchet 823, an explosive pawl 824, and an explosive limiting spring 825. Detailed Implementation

[0032] The invention will now be further described with reference to the accompanying drawings.

[0033] likeFigure 1 As shown, a preferred embodiment of the underground upward deep-hole blasting charging device of the present invention includes a traveling device 1, a multi-dimensional robotic arm 2, a cartridge storage box 41, a detonator storage box 42, an explosive assembly device 5, a rear explosive feeding device 6, a front explosive silo 82, and a pushing device. The cartridge storage box 41 and the detonator storage box 42 are both mounted on the traveling device 1. The cartridge storage box 41 stores cartridges, and the detonator storage box 42 stores detonators. The explosive assembly device 5 is mounted on the traveling device 1 and is used to assemble cartridges and detonators into a detonating charge. The rear explosive feeding device 6 is used to feed the cartridges or detonating charges in the cartridge storage box 41 into the front explosive silo 82. The front explosive silo 82 is mounted on the robotic arm 2. The pushing device pushes the explosive into the blast hole, and the front explosive silo 82 is used to temporarily store detonating charges or cartridges. The robotic arm 2 is mounted on the walking device 1. The robotic arm 2 is used to drive the pushing device to move and align the pushing device with the blast hole. The walking device 1 is used to drive the robotic arm 2, the explosive assembly device 5, the front explosive hopper 82 and the pushing device to move, which facilitates loading explosives in different positions without the need for manual handling. The walking device 1 is usually a tracked vehicle, which can adapt to different terrains.

[0034] The explosive assembly device 5 assembles the explosives, while the rear explosive feeding device 6 feeds the explosives into the front explosive hopper 82. The robotic arm 2 adjusts its position to align the pushing device with the borehole, and then activates the pushing device to feed the explosives into the borehole, thus achieving the goal of feeding the explosives into the borehole. The entire process does not require manual loading of explosives, improving efficiency.

[0035] like Figure 2 and Figure 3As shown, the pushing device includes a front-end pushing tube and a front-end pushing device. The front-end pushing device is mounted on the robotic arm 2 and is used to drive the front-end pushing tube to move, pushing the front-end pushing tube into or out of the borehole. The front-end pushing device includes a pushing housing, a pushing output gear, a pushing transmission gear, a pushing driver, a driving pushing wheel 63, a driven pushing wheel 64, and a pushing mounting base 65. The pushing mounting base 65 is mounted on the robotic arm 2 and has a through hole through which the front-end pushing tube passes. The diameter of the through hole is larger than the outer diameter of the front-end pushing tube, thus preventing the front-end pushing tube from rubbing against the pushing mounting base 65. The push driver is mounted on the push mounting base 65, the push output gear is mounted on the output end of the push driver, the push transmission gear meshes with the push transmission gear, the active push wheel 63 is connected to the push transmission gear via a shaft, the push driver drives the active push wheel 63 to rotate, and the driven push wheel 64 is rotatably mounted on the push mounting base 65. There are two driven push wheels 64, which, along with the active push wheel 63, are evenly distributed around the through hole to form a triangular positioning for the front push tube, ensuring that the active push wheel 63 can stably drive the front push tube. In other embodiments, there can be more driven push wheels 64, evenly distributed around the front push tube. The push housing is detachably fixed to the push mounting base 65, and the push housing can prevent dust from entering the components, extending the service life. When pushing is required, the push driver drives the push output gear to rotate, the push output gear drives the push transmission gear, the push transmission gear drives the active push wheel 63 to rotate, and the active push wheel 63 drives the front push tube to move.

[0036] The walking device 1 is also equipped with a reel 44. The rear end of the front push tube is connected to the reel 44. The reel 44 is used to wind up the front push tube to prevent the front push tube from interfering with other equipment or wearing on the ground. The reel 44 is an existing conventional device, and its principle and structure will not be described in detail here.

[0037] like Figures 4 to 6As shown, the front-end explosive hopper 82 includes an explosive hopper body 821, an explosive separator 822, an explosive ratchet 823, an explosive pawl 824, and an explosive limiting spring 825. The explosive hopper body 821 is provided with an explosive discharge port. The explosive separator 822 is rotatably disposed inside the explosive hopper body 821. The explosive separator 822 is used to separate the explosives inside the explosive hopper body 821, ensuring that only one explosive is located at the explosive discharge port at any given time. That is, each time the explosive separator 822 rotates, only one explosive falls down and aligns with the explosive discharge port. The explosive ratchet 823 is connected to the explosive separator 822. The explosive ratchet 823 is located on the outer wall of the explosive chamber body 821. The explosive pawl 824 is rotatably connected to the outer wall of the explosive chamber body 821. The explosive pawl 824 blocks the explosive discharge port, thus ensuring that it will not fall out when loading explosives into the upward blast hole. When the front push tube is inserted into the explosive chamber body 821, the front push tube pushes the explosive pawl 824 away, allowing the explosive pawl 824 to rotate and separate from the explosive ratchet 823, thus unlocking the explosive ratchet 823. One end of the explosive limiting spring 825 is connected to the explosive pawl 824, and the other end of the explosive limiting spring 825 is connected to the explosive chamber body 821. The explosive limiting spring 825 is used to reset the explosive pawl 824, ensuring that the explosive pawl 824 can limit the rotation of the explosive ratchet 823. When the front push tube exits the explosive chamber body 821 but does not disengage from the explosive pawl 824, the explosive pawl 824 separates from the explosive ratchet 823, allowing the explosive divider to rotate under the gravity of the explosive component. After the front push tube disengages from the explosive pawl 824, the explosive pawl 824 resets under the action of the explosive limiting spring 825, thus restricting the rotation of the explosive ratchet 823. This ensures that the explosive ratchet 823 can only rotate 90° each time, thereby allowing the explosive divider to rotate 90° each time, achieving the goal of having only one explosive component fall and align with the explosive discharge port each time.

[0038] The explosives magazine body 821 has an explosives receiving cavity 8211 and an explosives mounting cavity 8212. The explosives receiving cavity 8211 and the explosives mounting cavity 8212 are connected. The explosives mounting cavity 8212 is used to install the explosives separator 822. The explosives receiving cavity 8211 is used to receive explosives. The explosives discharge port is located at the bottom of the explosives receiving cavity 8211. The explosives magazine body 821 is also provided with an explosives inlet, which is located at the top of the explosives receiving cavity 8211. The front push tube of the pushing device is connected to the explosives inlet. The explosives receiving cavity 8211 is located on one side of the explosives mounting cavity 8212, which facilitates the explosives separator 822 in separating the explosives. The explosives magazine body 821 is provided with a wire-passing opening to facilitate the passage of the detonating wire of the detonator.

[0039] The explosive separator 822 includes an explosive separator 8221, an explosive mounting sleeve 8222, and an explosive shaft 8223. The explosive shaft 8223 is rotatably mounted on the explosive hopper body, with one end extending out of the explosive hopper body and fixed to the explosive ratchet 823. Four explosive separators 8221 are mounted on the explosive mounting sleeve 8222, evenly distributed across the sleeve, allowing only one explosive charge to be accommodated between adjacent separators. The ends of the explosive separators 8221 are bent in the direction of rotation, ensuring that explosive charges can be inserted between adjacent charges, and that the upper explosive charge presses down on the lower explosive charge during downward movement, preventing the explosive charge and the separator 8221 from getting stuck. The explosive mounting sleeve 8222 is fitted onto the explosive shaft 8223. The explosive mounting sleeve 8222 is provided with a positioning groove, and the explosive shaft 8223 is provided with a positioning protrusion. This facilitates the insertion of the explosive shaft 8223 into the explosive mounting sleeve 8222 to complete the assembly, while also ensuring that the explosive mounting sleeve 8222 can drive the explosive shaft 8223 to rotate.

[0040] The explosive cartridge storage box 41 has an explosive cartridge outlet, which is the same size as the explosive cartridge, so that only one explosive cartridge can be stored in the outlet. The explosive assembly device 5 can assemble detonators into the explosive cartridges in the outlet.

[0041] like Figures 7 to 13 As shown, the explosive assembly device 5 includes a rotating mechanism 51, a piercing mechanism 52, a gripping mechanism 53, a pressing mechanism 54, and a limiting mechanism 55. The piercing mechanism 52, gripping mechanism 53, and pressing mechanism 54 are all mounted on the rotating mechanism 51. The rotating mechanism 51 drives the piercing mechanism 52, gripping mechanism 53, and pressing mechanism 54 to rotate, aligning them with the explosive cartridge storage box 41. The piercing mechanism... 52 is used to open holes in the drug rolls to be assembled on the drug roll storage box 41, facilitating the insertion of detonators into the drug rolls and preventing the detonators from being inserted crookedly; the gripping mechanism 53 is used to grip the detonators and insert them into the drug rolls; the pressing mechanism 54 is used to press the detonators exposed outside the drug rolls so that they are submerged inside the drug rolls. Since the mechanical claw 531 occupies part of the detonators, part of the detonators will be exposed outside the drug rolls after the gripping mechanism 53 resets, so the pressing mechanism 54 is needed to press the remaining detonators into the drug rolls. The limiting mechanism 55 is installed on the drug roll storage box 41. The limiting mechanism 55 is used to restrict the drug rolls when the piercing mechanism 52, gripping mechanism 53 and pressing mechanism 54 are working, preventing the drug rolls from falling out of the drug roll discharge port.

[0042] The limiting mechanism 55 includes a limiting plate 551, a push block 552, a return spring, and a return rod. The limiting plate 551 is rotatably mounted on the medicine roll storage box 41 and is used to block one end of the medicine roll outlet. The push block 552 is slidably disposed in a groove on the medicine roll storage box 41 and is used to push the limiting plate 551 to rotate, so that the limiting plate 551 can be in a vertical state. The medicine roll storage box 41 is provided with a sliding hole, the return spring is disposed in the sliding hole, and the return rod is inserted in the sliding hole, with the return rod abutting against the return spring. The return spring is used to reset the return rod to drive the push block 552 to reset, facilitating the next use. When the limiting plate 551 is pushed vertically by the pusher 552, the limiting plate 551 can block one end of the drug cartridge outlet; when the limiting plate 551 is in its natural state, the limiting plate 551 is tilted and does not block the drug cartridge outlet. The limiting plate 551 is eccentrically positioned so that when the limiting plate 551 is in a vertical state and there is no external force, the limiting plate 551 can tilt and reset. In other embodiments, a reset member that can be compressed and automatically reset can also be provided on the drug cartridge storage box 41, so that the limiting plate 551 can be pushed and tilted to reset by the reset member. The reset member is a spring sheet, but it can also be a spring, telescopic column, or positioning bead, etc.

[0043] The piercing mechanism 52 includes a piercing needle 521, a piercing mounting plate 522, a piercing driver 523, a piercing trigger block 524, a piercing connecting rod 525, and a piercing return spring 526. The piercing trigger block 524 is fixed to the piercing connecting rod 525 and is used to trigger the limiting mechanism 55, i.e., to push the push block 552 of the limiting mechanism 55. The piercing connecting rod 525 is slidably mounted on the piercing mounting plate 522. The piercing return spring 526 is sleeved on the piercing connecting rod 525, with one end abutting against the piercing trigger block 524 and the other end abutting against the piercing mounting plate 522. The piercing return spring 526 is used to reset the piercing trigger block 524. The piercing mounting plate 522 is mounted on the piercing driver 523, which drives the piercing mounting plate 522 to move. The piercing needle 521 is mounted on the piercing mounting plate 522. The piercing needle 521 is used to pierce the drug cartridge to form a mounting hole. The diameter of the hole formed by the piercing needle 521 on the drug cartridge is the same as or slightly smaller than the diameter of the detonator. This ensures that the detonator and the drug cartridge are in an interference fit, and the detonator is not easy to fall off the drug cartridge. When it is necessary to pierce the drug cartridge, the piercing driver 523 drives the piercing mounting plate 522 to move. The movement of the piercing mounting plate 522 drives the piercing needle 521, the piercing trigger block 524, the piercing connecting rod 525, and the piercing return spring 526 to move. The piercing trigger block 524 first contacts the push block 552, causing the push block 552 to push the limit plate 551. Then, the piercing trigger block 524 stops moving by abutting against the drug cartridge storage box 41. After that, the piercing mounting plate 522 continues to move to compress the piercing return spring 526, thereby allowing the piercing needle 521 to pierce the drug cartridge and complete the piercing.

[0044] The puncture trigger block 524 is L-shaped, which ensures that the puncture trigger block 524 can push the push block 552 first. When the limiting plate 551 is vertical, the trigger block is restricted and cannot continue to push the push block 552.

[0045] The gripping mechanism 53 includes a mechanical gripper 531, a gripping mounting plate 532, a gripping driver 533, a gripping trigger block 534, a gripping connecting rod 535, and a gripping reset spring 536. The gripping trigger block 534 is fixed to the gripping connecting rod 535 and is used to trigger the limiting mechanism 55, i.e., to push the push block 552 of the limiting mechanism 55. The gripping connecting rod 535 is slidably mounted on the gripping mounting plate 532. The gripping reset spring 536 is sleeved on the gripping connecting rod 535, with one end abutting against the gripping trigger block 534 and the other end abutting against the gripping mounting plate 532. The gripping reset spring 536 is used to reset the gripping trigger block 534. The gripping mounting plate 532 is mounted on the gripping driver 533, and the gripping driver 533 is used to drive the gripping mounting plate 532 to move. The mechanical claw 531 is mounted on the gripping mounting plate 532 and is used for assembling detonators. When assembling detonators, the gripping driver 533 drives the gripping mounting plate 532 to move. The movement of the gripping mounting plate 532 causes the mechanical claw 531, the gripping trigger block 534, the gripping connecting rod 535, and the gripping return spring 536 to move. The gripping trigger block 534 first contacts the push block 552, causing the push block 552 to push the limit plate 551. Then, the gripping trigger block 534 stops moving by abutting against the cartridge storage box 41. After that, the gripping mounting plate 532 continues to move, compressing the gripping return spring 536, thereby allowing the mechanical claw 531 to insert the detonator into the cartridge, completing the initial installation.

[0046] The gripping trigger block 534 is L-shaped, which ensures that the gripping trigger block 534 can push the push block 552 first. When the limiting plate 551 is vertical, the trigger block is restricted and cannot continue to push the push block 552.

[0047] The pressing mechanism 54 includes a pressing column 541, a pressing mounting plate 542, a pressing driver 543, a pressing trigger block 544, a pressing connecting rod 545, and a pressing return spring 546. The pressing trigger block 544 is fixed to the pressing connecting rod 545 and is used to trigger the limiting mechanism 55, i.e., to push the push block 552 of the limiting mechanism 55. The pressing connecting rod 545 is slidably mounted on the pressing mounting plate 542. The pressing return spring 546 is sleeved on the pressing connecting rod 545, with one end abutting against the pressing trigger block 544 and the other end abutting against the pressing mounting plate 542. The pressing return spring 546 is used to reset the pressing trigger block 544. The pressing mounting plate 542 is mounted on the pressing driver 543, which drives the pressing mounting plate 542 to move. The pressing post 541 is installed on the pressing mounting plate 542. The pressing post 541 is used to puncture the explosive cartridge to form an installation hole on the explosive cartridge. The diameter of the hole formed by the pressing post 541 on the explosive cartridge is the same as or slightly smaller than the diameter of the detonator. This ensures that the detonator and the explosive cartridge are interference fit and the detonator is not easy to fall off the explosive cartridge. When pressing is required, the pressing driver 543 drives the pressing mounting plate 542 to move. The movement of the pressing mounting plate 542 causes the pressing column 541, the pressing trigger block 544, the pressing connecting rod 545, and the pressing reset spring 546 to move. The pressing trigger block 544 first contacts the push block 552, causing the push block 552 to push the limiting plate 551. Then, the pressing trigger block 544 stops moving as it abuts against the cartridge storage box 41. After that, the pressing mounting plate 542 continues to move and compresses the pressing reset spring 546, thereby allowing the pressing column 541 to press the detonator completely into the cartridge, completing the pressing.

[0048] The pressing trigger block 544 is L-shaped, which ensures that the pressing trigger block 544 can push the push block 552 first. When the limiting plate 551 is vertical, the trigger block is restricted and cannot continue to push the push block 552.

[0049] The rotating mechanism 51 includes a rotating disk 511, a rotating frame 512, and a rotating driver 513. The rotating driver 513 is mounted on the rotating frame 512, which is mounted on the walking device 1. The rotating disk 511 is mounted on the output end of the rotating driver 513. When it is necessary to rotate and adjust the piercing mechanism 52, the gripping mechanism 53, and the pressing mechanism 54, the rotating driver 513 rotates, causing the rotating disk 511 to rotate.

[0050] When assembling the detonating charge, the first step is to puncture the charge cartridge. Specifically, the puncture driver 523 drives the puncture mounting plate 522 to move. The movement of the puncture mounting plate 522 causes the puncture needle 521, the puncture trigger block 524, the puncture connecting rod 525, and the puncture return spring 526 to move. During the movement, the puncture trigger block 524 first contacts the push block 552, causing the push block 552 to push the limiting plate 551 to rotate, thus blocking the charge cartridge outlet. Then, the puncture trigger block 524 stops moving as it abuts against the charge cartridge storage box 41. Afterward, the puncture mounting plate 522 continues to move, compressing the puncture return spring 526, thereby allowing the puncture needle 521 to puncture the charge cartridge. After puncturing, the puncture driver 523 resets, causing the puncture mounting plate 522, the puncture needle 521, the puncture trigger block 524, the puncture connecting rod 525, and the puncture return spring 526 to move. Simultaneously, the mechanical claw 531 grasps the detonator.

[0051] Then the detonator is assembled; specifically, the rotary driver 513 drives the rotary disk 511 to rotate, aligning the mechanical gripper 531 with the cartridge; then the gripping driver 533 drives the gripping mounting plate 532 to move, and the movement of the gripping mounting plate 532 drives the mechanical gripper 531, the gripping trigger block 534, the gripping connecting rod 535, and the gripping return spring 536 to move. The gripping trigger block 534 first contacts the push block 552, causing the push block 552 to push the limit plate 551 to rotate, so that the limit plate 551 blocks the cartridge outlet. Then the gripping trigger block 534 stops moving by abutting against the cartridge storage box 41. After that, the gripping mounting plate 532 continues to move to compress the gripping return spring 536, thereby allowing the mechanical gripper 531 to insert the detonator into the cartridge; then again The rotary actuator 513 is activated to rotate the rotary disk 511, aligning the pressing post 541 with the explosive cartridge. The pressing actuator 543 then drives the pressing mounting plate 542 to move. This movement of the pressing mounting plate 542 moves the pressing post 541, the pressing trigger block 544, the pressing connecting rod 545, and the pressing return spring 546. The pressing trigger block 544 first contacts the push block 552, causing the push block 552 to push the limiting plate 551 to rotate, blocking the explosive cartridge outlet. Then, the pressing trigger block 544 stops moving as it abuts against the explosive cartridge storage box 41. The pressing mounting plate 542 then continues to move, compressing the pressing return spring 546, thereby pressing the pressing post 541 and the detonator completely into the explosive cartridge, completing the assembly of the detonating charge. The entire process is mechanical, requiring no manual operation, and boasts high assembly precision and excellent blasting effect.

[0052] like Figure 14 and Figure 15As shown, the rear explosive feeding device 6 includes a rear push tube 61, a rear pusher 62, an active push wheel 63, a driven push wheel 64, a push mounting base 65, and a rear feeding tube 66. The push mounting base 65 is mounted on the explosive cartridge storage box 41. The push mounting base 65 has a through hole through which the rear push tube 61 passes. The diameter of the through hole is larger than the outer diameter of the rear push tube 61, thus preventing the rear push tube 61 from rubbing against the push mounting base 65. The rear pusher 62 is mounted on the push mounting base 65. The active push wheel 63 is mounted on the output end of the rear pusher 62. The rear pusher 62 drives the active push wheel 63 to rotate. Two driven push wheels 64 are rotatably mounted on the push mounting base 65. The two driven push wheels 64 and the active push wheel 63 are evenly distributed around the through hole, forming a triangular positioning for the rear push tube 61, ensuring that the active push wheel 63 can stably drive the rear push tube 61. In other embodiments, there may be more driven push wheels 64, evenly distributed around the rear push tube 61. The rear feed tube 66 is mounted on the rotating disk 511 of the rotating mechanism 51. When feeding is required, the rotating mechanism 51 aligns the rear feed tube 66 with the charge outlet. The rear feed tube 66 is provided with an avoidance opening to avoid the detonating wire on the detonator, so that the detonating wire does not need to enter the rear feed tube 66 to move, thus preventing the detonating charge from getting stuck in the rear feed tube 66 and reducing the failure rate. The rear pusher 62 drives the active push wheel 63, which drives the rear push tube 61 to move forward. The rear push tube 61 moves to push the detonating charge or charge into the rear feed tube 66 until the detonating charge is delivered into the front charge bin.

[0053] like Figure 16As shown, the robotic arm 2 is also equipped with an auxiliary positioning device 47. The front end of the front push tube passes through the auxiliary positioning device 47 and connects to the front pusher. The auxiliary positioning device 47 adjusts the position of the front push tube to ensure that it enters the front pusher parallel to the front pusher, allowing the front pusher to drive the front push tube smoothly. The auxiliary positioning device 47 includes an auxiliary mounting plate 471 and multiple auxiliary positioning wheels 472. The auxiliary mounting plate 471 is fixed on the robotic arm 2. Three auxiliary positioning wheels 472 form a group. The auxiliary mounting plate 471 has through holes for the front push tube and the rear feed tube 66 to pass through. The diameter of the through holes is larger than the outer diameter of the corresponding front push tube and the rear feed tube 66, thus avoiding friction damage on the auxiliary mounting plate 471. The three auxiliary positioning wheels 472 in each group are evenly distributed around the through holes to ensure stable movement of the front push tube and the rear feed tube 66. In other embodiments, more auxiliary positioning wheels 472 can be set in each group, such as four or five, depending on the requirements.

[0054] like Figure 17 and Figure 18 As shown, the detonator storage box 42 includes a detonator box body 421, a detonator discharge plate 422, a detonator discharge driver 423, a drive mounting plate 424, and a detonator receiving rack 425. The detonator box body 421 is used to accommodate detonators. The detonator discharge plate 422 is slidably disposed on the detonator box body 421. The detonator discharge plate 422 is connected to the detonator discharge driver 423. The detonator discharge driver 423 is mounted on the drive mounting plate 424. The drive mounting plate 424 is fixed on the detonator box body 421. The detonator receiving rack 425 is mounted on the detonator box 421 and is used to receive detonators pushed out by the detonator discharge plate 422. The mechanical claw 531 grasps the detonators located on the detonator receiving rack 425. When the mechanical claw 531 needs to grab a detonator, the mechanical claw 531 is moved to the receiving rack by the rotating mechanism 51. Then the detonator discharge driver 423 drives the detonator discharge plate 422 to move. The detonator discharge plate 422 pushes the detonator from the detonator box 421 to the receiving rack, at which time the mechanical claw 531 can grab the detonator.

[0055] The detonator discharge plate 422 is provided with a detonator trough 4221, which is used to hold detonators. The detonator trough can only hold a single detonator, which ensures that the detonator can only be pushed out when it needs to be discharged, and at the same time, it can prevent the detonator from accidentally falling out of the detonator box 421.

[0056] Both the detonator housing 421 and the detonator discharge plate 422 are provided with clearance openings to facilitate the placement of detonators, keep the detonators in a horizontal position, and thus enable them to move smoothly.

[0057] First, the drug cartridge is punctured. Specifically, the puncture driver 523 drives the puncture mounting plate 522 to move. The movement of the puncture mounting plate 522 causes the puncture needle 521, the puncture trigger block 524, the puncture connecting rod 525, and the puncture return spring 526 to move. During the movement, the puncture trigger block 524 first contacts the push block 552, causing the push block 552 to push the limiting plate 551 to rotate, thus blocking the drug cartridge outlet. Then, the puncture trigger block 524 stops moving as it abuts against the drug cartridge storage box 41. Afterward, the puncture mounting plate 522 continues to move, compressing the puncture return spring 526, thereby causing the puncture needle 521 to puncture the drug cartridge. After puncturing, the puncture driver 523 resets, causing the puncture mounting plate 522, the puncture needle 521, the puncture trigger block 524, the puncture connecting rod 525, and the puncture return spring 526 to move. Simultaneously, the mechanical gripper 531 grasps the detonator. Then the detonator is assembled; specifically, the rotary driver 513 drives the rotary disk 511 to rotate, aligning the mechanical gripper 531 with the cartridge; then the gripping driver 533 drives the gripping mounting plate 532 to move, and the movement of the gripping mounting plate 532 drives the mechanical gripper 531, the gripping trigger block 534, the gripping connecting rod 535, and the gripping return spring 536 to move. The gripping trigger block 534 first contacts the push block 552, causing the push block 552 to push the limit plate 551 to rotate, so that the limit plate 551 blocks the cartridge outlet. Then the gripping trigger block 534 stops moving by abutting against the cartridge storage box 41. After that, the gripping mounting plate 532 continues to move to compress the gripping return spring 536, thereby allowing the mechanical gripper 531 to insert the detonator into the cartridge; then again The rotary actuator 513 is activated to rotate the rotary disk 511, aligning the pressing post 541 with the explosive cartridge. The pressing actuator 543 then drives the pressing mounting plate 542 to move. This movement of the pressing mounting plate 542 moves the pressing post 541, the pressing trigger block 544, the pressing connecting rod 545, and the pressing reset spring 546. The pressing trigger block 544 first contacts the push block 552, causing the push block 552 to push the limiting plate 551 to rotate, thus blocking the explosive cartridge outlet. Then, the pressing trigger block 544 stops moving as it abuts against the explosive cartridge storage box 41. The pressing mounting plate 542 then continues to move, compressing the pressing reset spring 546, thereby pressing the pressing post 541 and the detonator completely into the explosive cartridge, completing the assembly of the detonating charge.

[0058] During the process of pushing the explosive component into the borehole, the front push tube first pushes open the explosive pawl 824, allowing the explosive pawl 824 to rotate and separate from the explosive ratchet 823, unlocking the explosive ratchet 823, allowing the explosive ratchet 823 to rotate, and thus allowing the explosive divider to rotate. During the process of the front push tube exiting the explosive hopper, the front push tube continuously presses against the explosive pawl 824, causing the explosive pawl 824 to separate from the explosive ratchet 823. When the front push tube exits the explosive body but has not yet disengaged from the explosive pawl 824, the explosive divider can rotate under the gravity of the explosive component. After the front push tube disengages from the explosive pawl 824, the explosive pawl 824 resets under the action of the explosive limiting spring 825. The explosive pawl 824 then restricts the rotation of the explosive ratchet 823, ensuring that the explosive ratchet 823 can only rotate 90° each time. This allows the explosive divider to rotate 90° each time, ensuring that only one explosive component can fall and align with the explosive discharge port at a time. The explosive pawl 824 can restrict the explosive component, especially when detonating explosives into upward-facing boreholes, preventing the explosive component from falling out without affecting the pushing of the explosive component.

[0059] During the loading process, the explosive assembly device 5 is used to assemble the detonating charge. Then, the assembled detonating charge is sent into the front explosive hopper 82 by the rear explosive feeding device 6. After that, the explosive is sent into the borehole by the pushing device and filled with explosives by the pushing device to complete the loading. The whole process does not require manual labor and is completed entirely by the equipment. It can replace the high-load manual loading, can operate continuously, and is not limited by factors such as personnel fatigue and shift handover. Moreover, it can achieve more efficient blasting operations through precise control, thus improving efficiency.

[0060] The above are merely embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structures made using the contents of the present invention specification and drawings, whether directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of the present invention.

Claims

1. An underground upward deep-hole blasting charging device, characterized in that: The device includes a walking device, a robotic arm, a cartridge storage box, a detonator storage box, an explosive assembly device, a rear explosive feeding device, a pushing device, and a front explosive hopper. The robotic arm is mounted on the walking device. The pushing device pushes the explosive into the borehole. The cartridge storage box, detonator storage box, and explosive assembly device are all mounted on the walking device. The rear explosive feeding device is used to feed the explosive into the front explosive hopper. The front explosive hopper includes an explosive hopper body, an explosive separator, an explosive ratchet, an explosive pawl, and an explosive limiting spring. The explosive separator is rotatably mounted inside the explosive hopper body. The explosive ratchet is connected to the explosive separator. The explosive pawl is rotatably connected to the explosive hopper body. The explosive limiting spring is connected to the explosive pawl and the explosive hopper body.

2. The underground upward deep-hole blasting charging device as described in claim 1, characterized in that: The explosives magazine body has an explosives receiving cavity and an explosives mounting cavity. The explosives receiving cavity is connected to the explosives mounting cavity. The explosives mounting cavity is used to install the explosives separator. The explosives receiving cavity is used to receive explosives. The explosives receiving cavity is located on one side of the explosives mounting cavity.

3. The underground upward deep-hole blasting charging device as described in claim 1, characterized in that: The explosive separator includes an explosive partition, an explosive mounting sleeve, and an explosive shaft. The explosive shaft is rotatably mounted on the explosive hopper body, with one end of the explosive shaft extending out of the explosive hopper body and fixed to the explosive ratchet. The explosive partition is mounted on the explosive mounting sleeve.

4. The underground upward deep-hole blasting charging device as described in claim 3, characterized in that: The explosive shaft is provided with a positioning protrusion, and the explosive mounting sleeve is provided with a positioning groove that matches the positioning protrusion.

5. The underground upward deep-hole blasting charging device as described in claim 3, characterized in that: The end of the explosive partition is bent in the direction of rotation.

6. The underground upward deep-hole blasting charging device as described in claim 1, characterized in that: The pushing device includes a front-end pushing tube and a front-end pushing device. The front-end pushing device includes a pushing housing, a pushing output gear, a pushing transmission gear, a pushing driver, an active pushing wheel, a driven pushing wheel, and a pushing mounting base. The pushing mounting base is mounted on the robotic arm and has a through hole through which the front-end pushing tube passes. The pushing output gear is mounted on the output end of the pushing driver. The pushing transmission gear meshes with the pushing transmission gear. The active pushing wheel is connected to the pushing transmission gear via a shaft. The driven pushing wheel is rotatably mounted on the pushing mounting base. The driven pushing wheel and the active pushing wheel are evenly distributed around the through hole.

7. The underground upward deep-hole blasting charging device as described in claim 6, characterized in that: The walking device is also equipped with a reel, and the rear end of the front push tube is connected to the reel. The reel is used to wind up the front push tube.

8. The underground upward deep-hole blasting charging device as described in claim 1, characterized in that: The detonator storage box includes a detonator box body, a detonator discharge plate, a detonator discharge driver, a drive mounting plate, and a detonator receiving rack. The detonator box body is used to hold detonators. The detonator discharge plate is slidably disposed on the detonator box body. The detonator discharge plate is connected to the detonator discharge driver. The detonator discharge driver is mounted on the drive mounting plate. The drive mounting plate is fixed on the detonator box body. The detonator receiving rack is mounted on the detonator box body and is used to receive detonators pushed out by the detonator discharge plate.

9. The underground upward deep-hole blasting charging device as described in claim 1, characterized in that: The explosive assembly device includes a rotating mechanism, a piercing mechanism, a gripping mechanism, a pressing mechanism, and a limiting mechanism. The piercing mechanism, gripping mechanism, and pressing mechanism are all mounted on the rotating mechanism. The rotating mechanism drives the piercing mechanism, gripping mechanism, and pressing mechanism to rotate. The piercing mechanism is used to make holes in the explosive cartridges to be assembled on the cartridge storage box. The gripping mechanism is used to grip the detonator and insert it into the explosive cartridge. The pressing mechanism is used to press the detonator exposed outside the explosive cartridge so that it is submerged inside the explosive cartridge. The limiting mechanism is used to restrict the explosive cartridge when the piercing mechanism, gripping mechanism, and pressing mechanism are working.

10. The underground upward deep-hole blasting charging device as described in claim 9, characterized in that: The limiting mechanism includes a limiting plate, a push block, a return spring, and a return rod. The limiting plate is rotatably mounted on the medicine roll storage box, and the push block is slidably disposed on the medicine roll storage box. The push block is used to push the limiting plate to rotate. The medicine roll storage box is provided with a sliding hole, the return spring is disposed in the sliding hole, and the return rod is inserted in the sliding hole, with the return rod abutting against the return spring.

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