Automatic filling device for tunnel (roadway) blast hole

Abstract

The invention discloses an automatic filling device for tunnel (roadway) blast holes. The tunnel (roadway) blast hole automatic filling device comprises a mechanical arm, a front-end filling bin and pushing devices, the pushing devices are all installed on the mechanical arm, the front-end filling bin comprises a filling bin body, a filling separator, a filling ratchet wheel, a filling pawl and a filling limiting spring, the filling bin body is provided with a filling discharging port, and the filling discharging port is provided with a filling discharging port. The packing separator is rotationally arranged in the packing bin body, the packing ratchet wheel is connected with the packing separator, the packing pawl is rotationally connected to the packing bin body, one end of the packing limiting spring is connected to the packing pawl, and the other end of the packing limiting spring is connected to the packing bin body. The tunnel (roadway) blast hole automatic filling device can replace manual work to conduct blast hole automatic filling, and the filling efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel blasting, in particular to a tunnel hole automatic filling device. BACKGROUND

[0002] The engineering field of tunnels or roadways widely uses blasting technology for excavation. Blasting requires accurate drilling of holes in rock bodies, charging of the holes and filling of the holes. At present, the process is mainly completed manually. Specifically, after drilling holes in the tunnel wall or roadway wall by drilling equipment, a charging guide tube is aligned with the hole, then the explosive is manually loaded into the charging guide tube, the explosive is sent into the hole through the guide tube, and finally the hole is filled with filling mud. Since each hole needs to be manually filled, the construction efficiency is low, and it consumes a lot of manpower and has high cost. SUMMARY

[0003] The technical problem to be solved by the present application is to provide a tunnel hole automatic filling device that relies on mechanical equipment to complete filling to improve construction efficiency.

[0004] To solve the above problems, the present application provides a tunnel hole automatic filling device, which comprises a mechanical arm, a front end filling bin and a pushing device, the pushing device is installed on the mechanical arm, the front end filling bin comprises a filling bin body, a filling separator, a filling ratchet wheel, a filling pawl and a filling limiting spring, the filling bin body has a filling discharge port, the filling separator is rotatably arranged in the filling bin body, the filling ratchet wheel is connected with the filling separator, the filling pawl is rotatably connected to the filling bin body, one end of the filling limiting spring is connected to the filling pawl, and the other end of the filling limiting spring is connected to the filling bin body.

[0005] Further, the filling separator comprises a filling partition plate, a filling mounting sleeve and a filling shaft, the filling partition plate is mounted on the filling mounting sleeve, the filling mounting sleeve is sleeved on the filling shaft, the filling shaft is rotatably mounted on the filling bin body, and one end of the filling shaft protrudes from the filling bin body and is fixed with the filling ratchet wheel.

[0006] Further, the end of the filling partition plate is curved towards the rotation direction.

[0007] Further, the filling mounting sleeve is provided with a positioning groove, and the middle part of the filling shaft is provided with a positioning protrusion matched with the positioning groove.

[0008] Further, the filling bin body has a filling containing cavity and a filling installation cavity, the filling containing cavity is communicated with the filling installation cavity, the filling installation cavity is used for installing the filling separator, the filling containing cavity is used for containing the filling piece, the filling discharge port is located at the bottom of the filling containing cavity, and the filling containing cavity is located at one side of the filling installation cavity.

[0009] Further, the rear-end filling feeding device comprises a filling storage bin, a filling feeding rod, a filling feeding driver and a filling feeding pipe, the filling feeding rod is installed on the filling feeding driver, the middle part of the filling feeding rod is provided with an air channel, the filling feeding rod is provided with a quick connector in communication with the air channel, the quick connector is provided with an air valve, the quick connector is used for connecting with an external high-pressure gas source, one end of the filling feeding pipe is connected to the filling storage bin, and the other end of the filling feeding pipe is connected to the front-end filling bin.

[0010] Further, the pushing device comprises a front-end pushing pipe and a front-end pusher, the front-end pusher is used for pushing the front-end pushing pipe, the mechanical arm is further provided with an auxiliary positioning device, the front end of the front-end pushing pipe is connected to the front-end pusher after penetrating through the auxiliary positioning device, the auxiliary positioning device comprises an auxiliary mounting plate and a plurality of auxiliary positioning wheels, the auxiliary mounting plate is fixed on the mechanical arm, three auxiliary positioning wheels form a group, the auxiliary mounting plate is provided with a perforation through which the front-end pushing pipe and the filling feeding pipe penetrate, and the three auxiliary positioning wheels of each group are uniformly distributed around the perforation.

[0011] Further, the filling bin body and the filling pawl are both provided with a hanging piece, and the two ends of the filling limiting spring are connected to the hanging pieces.

[0012] Further, the mechanical arm is installed on the walking device.

[0013] Further, the walking device is further provided with a reel, the rear end of the front-end pushing pipe is connected to the reel, and the reel is used for winding the front-end pushing pipe.

[0014] The tunnel hole automatic filling device drives the driving pushing wheel to rotate through the pushing driver, the driving pushing wheel drives the front-end pushing pipe to move, the front-end pushing pipe sends the filling piece into the hole, pushes the filling piece out of the front-end filling bin and inserts the filling piece into the hole, and filling is completed; meanwhile, the filling pawl can prevent the filling piece from falling when the filling piece is inclined upward, and the front-end pushing pipe can normally push the filling piece under the cooperation of the filling pawl, the filling ratchet and the filling separator. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1It is the structure schematic view of the preferred embodiment of the tunnel (gallery) hole automatic filling device.

[0016] Figure 2 It is the structure schematic view of the pushing device.

[0017] Figure 3 It is the structure schematic view of the front end pusher after removing the shell.

[0018] Figure 4 It is the structure schematic view of the front end filling bin.

[0019] Figure 5 It is the internal structure schematic view of the front end filling bin.

[0020] Figure 6 It is the structure schematic view of the filling pawl.

[0021] Figure 7 It is the structure schematic view of the rear end filling feeding device.

[0022] Figure 8 It is the structure schematic view of the airway.

[0023] Figure 9 It is the structure schematic view of the auxiliary positioning device.

[0024] The meanings of the various labels in the drawings are as follows: Walking device 1, mechanical arm 2, reel 44, auxiliary positioning device 47, auxiliary mounting plate 471, auxiliary positioning wheel 472, rear end filling feeding device 7, filling storage bin 71, filling feeding rod 72, airway 721, filling feeding driver 73, filling feeding pipe 74, quick connector 75, front end filling bin 81, filling bin body 811, filling containing cavity 8111, filling mounting cavity 8112, filling separator 812, filling partition 8121, filling mounting sleeve 8122, filling shaft 8123, filling ratchet wheel 813, filling pawl 814, filling limiting spring 815, pushing device 9, front end pushing pipe 91, front end pusher 92, pushing shell 921, pushing driver 922, driving pushing wheel 923, driven pushing wheel 924, pushing mounting seat 925. DETAILED DESCRIPTION

[0025] The application will be further described below in combination with the drawings.

[0026] As Figure 1As shown, a preferred embodiment of the automated filling device for tunnel blast holes of the present invention includes a traveling device 1, a multi-dimensional robotic arm 2, a rear-end filling and feeding device 7, a front-end filling hopper 81, and a pushing device 9. The pushing device 9 is mounted on the robotic arm 2. The front-end filling hopper 81 is used to temporarily store the filling material, and the pushing device 9 delivers the filling material located in the front-end filling hopper 81 into the blast hole. The robotic arm 2 is mounted on the traveling device 1 and is used to drive the pushing device 9 to move, aligning the pushing device 9 with the blast hole. The traveling device 1 is used to move the robotic arm 2, the rear-end filling and feeding device 7, the front-end filling hopper 81, and the pushing device 9, facilitating filling at different locations without manual handling; the traveling device 1 is typically a tracked vehicle, capable of adapting to different terrains.

[0027] like Figure 2 and Figure 3As shown, the pushing device 9 includes a front-end pushing tube 91 and a front-end pusher 92. The front-end pusher 92 is mounted on the robotic arm 2 and is used to drive the front-end pushing tube 91 to move, pushing the front-end pushing tube 91 into or out of the borehole. The front-end pusher 92 includes a pushing housing 921, a pushing output gear, a pushing transmission gear, a pushing driver 922, a driving pushing wheel 923, a driven pushing wheel 924, and a pushing mounting base 925. The pushing mounting base 925 is mounted on the robotic arm 2 and has a through hole through which the front-end pushing tube 91 passes. The diameter of the through hole is larger than the outer diameter of the front-end pushing tube 91, thus preventing the front-end pushing tube 91 from rubbing against the pushing mounting base 925. The push driver 922 is mounted on the push mounting base 925. The push output gear is mounted on the output end of the push driver 922. The push transmission gear meshes with the push transmission gear. The active push wheel 923 is connected to the push transmission gear via a shaft. The push driver 922 drives the active push wheel 923 to rotate. The driven push wheel 924 is rotatably mounted on the push mounting base 925. There are two driven push wheels 924, which, along with the active push wheel 923, are evenly distributed around the through hole to form a triangular positioning of the front push tube 91, ensuring that the active push wheel 923 can stably drive the front push tube 91. In other embodiments, there may be more driven push wheels 924, evenly distributed around the front push tube 91. The push housing 921 is detachably fixed to the push mounting base 925. The push housing 921 can prevent dust from entering the components and extend the service life. When pushing is required, the push driver 922 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 923 to rotate, and the active push wheel 923 drives the front push tube 91 to move.

[0028] The walking device 1 is also equipped with a reel 44. The rear end of the front push tube 91 is connected to the reel 44. The reel 44 is used to wind up the front push tube 91 to prevent the front push tube 91 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.

[0029] like Figure 4 to Figure 6As shown, the front-end packing hopper 81 includes a packing hopper body 811, a packing separator 812, a packing ratchet 813, a packing pawl 814, and a packing limiting spring 815. The packing hopper body 811 is provided with a packing outlet. The packing separator 812 is rotatably disposed within the packing hopper body 811. The packing separator 812 is used to separate the packing components within the packing hopper body 811, ensuring that only one packing component is located at the packing outlet at any given time; that is, each rotation of the packing separator 812 results in only one packing component falling downwards and aligning with the packing outlet. The packing ratchet 813 is connected to the packing separator 812 and is located on the outer wall of the packing hopper body 811. The packing pawl 814 is rotatably connected to the outer wall of the packing hopper body 811, and the packing pawl 814 blocks the packing outlet, thus ensuring that it will not fall out when loading explosives into the upward-facing borehole. When the front push tube 91 is inserted into the packing chamber body 811, the front push tube 91 pushes open the packing pawl 814, allowing the packing pawl 814 to rotate and separate from the packing ratchet 813, thus unlocking the packing ratchet 813. One end of the packing limiting spring 815 is connected to the packing pawl, and the other end of the packing limiting spring 815 is connected to the packing chamber body 811. The packing limiting spring 815 is used to reset the gripper, ensuring that the packing pawl 814 can limit the rotation of the packing ratchet 813. When the front push tube 91 exits the packing chamber body 811 but does not disengage from the packing pawl 814, the packing pawl 814 separates from the packing ratchet 813, allowing the packing divider to rotate under the gravity of the packing component. After the front push tube 91 disengages from the packing pawl 814, the packing pawl 814 resets under the action of the packing limit spring 815, which then restricts the rotation of the packing ratchet 813, ensuring that the packing ratchet 813 can only rotate 90° each time. This allows the packing divider to rotate 90° each time, achieving the goal of having only one packing component fall down and align with the packing outlet at any given time.

[0030] The packing chamber body 811 has a packing receiving cavity 8111 and a packing mounting cavity 8112. The packing receiving cavity 8111 and the packing mounting cavity 8112 are connected. The packing mounting cavity 8112 is used to install the packing separator 812. The packing receiving cavity 8111 is used to receive the packing material. The packing outlet is located at the bottom of the packing receiving cavity 8111. The packing chamber body 811 is also provided with a packing inlet, which is located at the top of the packing receiving cavity 8111. The front push tube 91 of the push device 9 is connected to the packing inlet. The packing receiving cavity 8111 is located on one side of the packing mounting cavity 8112, which facilitates the packing separator 812 in separating the packing material. Both the packing chamber body 811 and the packing pawl 814 are provided with hooks, and the two ends of the packing limiting spring 815 are respectively connected to the hooks.

[0031] The packing separator 812 includes a packing partition 8121, a packing mounting sleeve 8122, and a packing shaft 8123. The packing shaft 8123 is rotatably mounted on the packing hopper body, with one end extending out of the packing hopper body and fixed to the packing ratchet 813. Four packing partitions 8121 are mounted on the packing mounting sleeve 8122, evenly distributed across the sleeve. Only one packing component can be accommodated between adjacent partitions. The ends of the partitions 8121 are bent in the direction of rotation, ensuring that the packing component can extend between adjacent components, and that the upper packing component presses down during downward movement, preventing the packing component and the partition 8121 from getting stuck. The packing mounting sleeve 8122 is sleeved on the packing shaft 8123. The packing mounting sleeve 8122 is provided with a positioning groove, and the packing shaft 8123 is provided with a positioning protrusion in the middle. This facilitates the insertion of the packing shaft 8123 into the packing mounting sleeve 8122 to complete the assembly, and at the same time ensures that the packing mounting sleeve 8122 can drive the packing shaft 8123 to rotate.

[0032] like Figure 7 and Figure 8As shown, the rear-end packing and feeding device 7 includes a packing storage bin 71, a packing feeding rod 72, a packing feeding driver 73, and a packing feeding pipe 74. The packing storage bin 71 is mounted on the traveling device 1, the packing feeding driver 73 is mounted on the traveling device 1, and the packing feeding rod 72 is mounted on the packing feeding driver 73. An air passage 721 is provided in the middle of the packing feeding rod 72. A quick-connect interface 75 is provided on the packing feeding rod 72, which communicates with the air passage 721. An air valve (not shown) is provided on the quick-connect interface 75, which is used to open and close the connection between the quick-connect interface 75 and the air passage 721. The quick-connect interface 75 is used to connect to an external high-pressure air source, and high-pressure gas enters the air passage 721 through the quick-connect interface 75. The packing storage bin 71 has an inlet and an outlet. The inlet is located at the top of the packing storage bin 71, and the outlet is located at the bottom of the packing storage bin 71. The packing feed rod 72 is aligned with the outlet, and the outlet is the same size as a single packing piece, ensuring that the packing feed rod 72 only pushes one at a time. One end of the packing feed pipe 74 is installed on the packing storage bin 71, and the other end of the packing feed pipe 74 is connected to the front packing hopper 81. The packing feed actuator 73 is typically a telescopic device such as a cylinder or hydraulic cylinder. When a packing piece needs to be fed, the packing feed actuator 73 drives the packing feed rod 72 to extend into the outlet, thereby pushing the packing piece from the packing storage bin 71 into the packing feed pipe 74. Then, the air valve is opened, and high-pressure gas enters the air passage 721, which then ejects the packing piece into the front packing hopper 81.

[0033] like Figure 1 and Figure 9 As shown, the robotic arm 2 is also equipped with an auxiliary positioning device 47. The front end of the front push tube 91 passes through the auxiliary positioning device 47 and connects to the front pusher 92. The auxiliary positioning device 47 adjusts the position of the front push tube 91 to ensure that the front push tube 91 enters the front pusher 92 in parallel, allowing the front pusher 92 to drive the front push tube 91 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 is provided with through holes for the front push tube 91 and the filling feed tube 74 to pass through. The diameter of the through holes is larger than the outer diameter of the corresponding front push tube 91 and the filling feed tube 74, 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 91, the filling feed tube 74, and the rear feed tube. In other embodiments, more auxiliary positioning wheels 472 can be set for each group, such as four or five, depending on the requirements.

[0034] When blast holes need to be filled, the pusher 922 drives the active pusher wheel 923 to rotate, which in turn drives the front pusher tube 91 to move. The front pusher tube 91 then delivers the filling material into the blast hole, pushing the filling material out of the front filling hopper 81 and inserting it into the blast hole, thus completing the filling. Filling is completed mechanically, eliminating the need for manual operation and improving efficiency.

[0035] During the process of pushing the filling component into the borehole, the front push tube 91 will first push open the filling pawl 814, allowing the filling pawl 814 to rotate and separate from the filling ratchet 813, unlocking the filling ratchet 813, allowing the filling ratchet 813 to rotate, and thus enabling the filling divider to rotate. During the process of the front push tube 91 retracting from the packing hopper, the front push tube 91 continuously presses against the packing pawl 814, causing the packing pawl 814 to separate from the packing ratchet 813. When the front push tube 91 retracts from the packing material body but has not disengaged from the packing pawl 814, the packing divider can rotate under the gravity of the packing component. After the front push tube 91 disengages from the packing pawl 814, the packing pawl 814 resets under the action of the packing limiting spring 815. The packing pawl 814 then restricts the rotation of the packing ratchet 813, ensuring that the packing ratchet 813 can only rotate 90° each time. This allows the packing divider to rotate 90° each time, ensuring that only one packing component can fall and align with the packing outlet at a time. The packing pawl 814 can restrict the packing component, especially when packing upward blast holes, preventing the packing component from falling out without affecting the pushing of the packing component.

[0036] 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 automated filling device for blast holes in tunnels (roadways), characterized in that: The device includes a robotic arm, a front-end filling hopper, and a pushing device, all of which are mounted on the robotic arm. The front-end filling hopper includes a filling hopper body, a filling separator, a filling ratchet, a filling pawl, and a filling limiting spring. The filling hopper body has a filling outlet. The filling separator is rotatably disposed within the filling hopper body. The filling ratchet is connected to the filling separator. The filling pawl is rotatably connected to the filling hopper body. One end of the filling limiting spring is connected to the filling pawl, and the other end of the filling limiting spring is connected to the filling hopper body.

2. The automated filling device for blast holes in tunnels (roadways) as described in claim 1, characterized in that: The packing separator includes a packing partition, a packing mounting sleeve, and a packing shaft. The packing partition is mounted on the packing mounting sleeve, the packing mounting sleeve is sleeved on the packing shaft, and the packing shaft is rotatably mounted on the packing hopper body. One end of the packing shaft extends out of the packing hopper body and is fixed to the packing ratchet.

3. The automated filling device for blast holes in tunnels (roadways) as described in claim 2, characterized in that: The end of the filling partition is bent in the direction of rotation.

4. The automated filling device for blast holes in tunnels (roadways) as described in claim 2, characterized in that: The packing mounting sleeve is provided with a positioning groove, and the middle part of the packing shaft is provided with a positioning protrusion that cooperates with the positioning groove.

5. The automated filling device for blast holes in tunnels (roadways) as described in claim 2, characterized in that: The packing chamber body has a packing receiving cavity and a packing installation cavity. The packing receiving cavity is connected to the packing installation cavity. The packing installation cavity is used to install the packing separator. The packing receiving cavity is used to receive the packing component. The packing outlet is located at the bottom of the packing receiving cavity. The packing receiving cavity is located on one side of the packing installation cavity.

6. The automated filling device for blast holes in tunnels (roadways) as described in claim 1, characterized in that: It also includes a rear-end packing and feeding device, which includes a packing storage bin, a packing feeding rod, a packing feeding driver, and a packing feeding pipe. The packing feeding rod is mounted on the packing feeding driver. An air passage is provided in the middle of the packing feeding rod. A quick-connect interface is provided on the packing feeding rod, which is connected to the air passage. An air valve is provided on the quick-connect interface, which is used to connect to an external high-pressure air source. One end of the packing feeding pipe is connected to the packing storage bin, and the other end of the packing feeding pipe is connected to the front-end packing bin.

7. The automated filling device for blast holes in tunnels (roadways) as described in claim 1, characterized in that: The pushing device includes a front-end pushing tube and a front-end pusher. The front-end pusher is used to push the front-end pushing tube. The robotic arm is also equipped with an auxiliary positioning device. The front end of the front-end pushing tube passes through the auxiliary positioning device and is connected to the front-end pusher. The auxiliary positioning device includes an auxiliary mounting plate and multiple auxiliary positioning wheels. The auxiliary mounting plate is fixed on the robotic arm. Three auxiliary positioning wheels are grouped together. The auxiliary mounting plate is provided with through holes for the front-end pushing tube and the filling feed tube to pass through. The three auxiliary positioning wheels in each group are evenly distributed around the through holes.

8. The automated filling device for blast holes in tunnels (roadways) as described in claim 1, characterized in that: Both the filling chamber body and the filling pawl are equipped with hooks, and the two ends of the filling limiting spring are respectively connected to the hooks.

9. The automated filling device for blast holes in tunnels (roadways) as described in claim 7, characterized in that: It also includes a walking device, on which the robotic arm is mounted.

10. The automated filling device for blast holes in tunnels (roadways) as described in claim 9, 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.

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