A tunnel face blasting hole integrated cleaning and filling system

Abstract

The application discloses a tunnel (gallery) face blast hole integrated cleaning and filling system, and belongs to the technical field of tunnel (gallery) blasting engineering, which comprises a traveling car body, a plurality of multi-link structures, a blast hole cleaning device and a blast hole filling device. The traveling car body is used for overall movement; the plurality of multi-link structures are installed at the front end of the car body, and the tail ends of the multi-link structures are provided with long strip-shaped rail seats. The blast hole cleaning device is installed on one side of the rail seat through a spray pipe moving guide rail, and comprises a gas pump and a gas pressure cleaning assembly which is driven by a spray pipe moving assembly and can move along the guide rail. The blast hole filling device is parallelly arranged on the other side of the rail seat through a blast hole filling guide rail, and the explosive filling structure of the blast hole filling device comprises an emulsion explosive supply pump and an explosive filling pipe which moves with the structure, so that accurate explosive filling is realized. The application integrates the cleaning and filling functions and realizes accurate positioning through the plurality of multi-link structures, solves the problems of traditional process separation, low labor operation efficiency and poor safety, and is suitable for automatic operation of blast holes in tunnel (gallery) tunneling and mining.

Description

Technical Field

[0001] This invention belongs to the field of tunnel blasting engineering technology, specifically relating to an integrated cleaning and filling system for blasting holes at the tunnel face. Background Technology

[0002] In tunnel (roadway) drill-and-blast construction, drilling, cleaning, and filling are the core processes, and their technological development has undergone a significant evolution from manual to mechanized and specialized operations. Regarding drilling, early methods relied primarily on manual positioning with pneumatic rock drills, resulting in low efficiency and poor accuracy. Subsequently, fully hydraulic crawler drills and down-the-hole drills were gradually adopted, improving drilling speed and accuracy. In the hole cleaning stage, initial methods commonly used manual methods with wire or high-pressure air hoses for blowing, leading to inconsistent cleaning results and significant dust pollution. Later, specialized hole cleaning devices emerged, such as compressed air-driven water-air linkage systems or rock debris removal technology combined with rotary drilling rigs, significantly improving the cleaning effect of debris and accumulated water at the bottom of the hole. Filling technology has evolved from simple manual filling with stemming material to mechanized charging and filling, such as emulsion explosive pumping systems and mechanized stemming machines, improving charge density and blasting energy utilization.

[0003] Currently, the separate drilling and filling processes in tunnel construction lead to low efficiency and significant safety hazards. On one hand, drilling, cleaning, and filling require different equipment and are carried out step-by-step. For example, after drilling, the slag removal device must be switched, and then the charging equipment must be called in, resulting in significant time consumption during process changes and equipment usage, slowing down the construction pace. On the other hand, the non-integrated design makes it difficult to guarantee borehole stability. Especially in fractured rock formations such as mudstone and sandstone, if explosives are not charged in time after drilling, the borehole wall is prone to collapse, resulting in insufficient charging depth, poor blasting effect, or even over- or under-excavation. An integrated solution for the entire drilling, cleaning, and filling process is still lacking, hindering further improvement in the overall efficiency of tunnel excavation. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide an integrated cleaning and filling system for blasting holes at tunnel (roadway) working faces, which solves the technical problems of low efficiency in blasting hole cleaning and explosive filling in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: The present invention includes a traveling vehicle body, a multi-link structure, a borehole cleaning device, and a borehole filling device; the traveling vehicle body is used for the overall movement of the device; there are multiple multi-link structures, which are installed at the front end of the traveling vehicle body for adjusting the position and attitude of the end effector, and the ends of the multi-link structures are provided with elongated rail seats; the borehole cleaning device is installed at the end of the multi-link structure, and the borehole cleaning device includes an air pump, a nozzle moving guide rail, an air pressure cleaning assembly, and a nozzle moving assembly, wherein the nozzle moving... A guide rail is fixed parallel to one side of the rail base. The nozzle moving assembly is movably mounted on the nozzle moving guide rail. The pneumatic cleaning assembly includes a long air pipe, the rear end of which is mounted on the nozzle moving assembly and supplied with air by the air pump. The borehole filling device includes a borehole filling guide rail and an explosive filling structure. The borehole filling guide rail is fixed parallel to the other side of the rail base. The explosive filling structure includes an emulsion explosive supply pump and an explosive filling pipe. The explosive filling pipe is movably mounted along the borehole filling guide rail with the explosive filling structure. The emulsion explosive supply pump is connected to the explosive filling pipe.

[0006] Optionally, the pneumatic cleaning assembly further includes a side tube, an elastic membrane, and a pneumatically driven opening component. The front end of the long air tube is closed, and the side tube is fixed parallel to the side of the front end of the long air tube and communicates with the long air tube, with the side tube facing the front end of the long air tube. The elastic membrane is a circular membrane structure with a central opening, and the inner ring of the elastic membrane is sealed to the outer side of the long air tube. The elastic membrane is located in front of the nozzle of the side tube. The pneumatically driven opening component is located inside the front end of the long air tube and unfolds the elastic membrane by pneumatic drive. The pneumatically driven opening component includes a rotating rod, a support rod, an inner moving column, and a sliding rod. The inner moving column is sealed and slidably disposed inside the long air tube and is located between the front end of the long air tube and the connection point of the side tube. At least three [unclear] components are fixedly connected around the outer side of the inner moving column. A sliding rod is provided, with a groove on the outer side of the long air tube for sliding. The end of the sliding rod protrudes from the outer side of the long air tube. Each sliding rod is hinged to a support rod, and the free end of each support rod is hinged to a rotating rod. One end of the rotating rod is hinged to the outer side of the long air tube, and the middle section is hinged to the free end of the support rod. Multiple rotating rods are fixedly bonded to the side of the elastic membrane. The pneumatically driven opening component also includes a return spring, which is supported between the inner moving column and the inner front end of the long air tube. The pneumatically cleaned component also includes a rubber ring, which is fixedly bonded to the outer ring side of the elastic membrane. The pneumatically driven opening component also includes several O-rings, which are arranged and fixedly wrapped around the end of the inner moving column.

[0007] Optionally, the nozzle moving assembly includes a nozzle moving seat and an air pump adapter seat. The nozzle moving seat reciprocates along the nozzle moving guide rail. The air pump adapter seat is fixed to the top side of the nozzle moving seat and connected to an air pump. The rear end of the long air pipe is connected to the air pump adapter seat and communicates with the air pump. The rear end of the long air pipe is rotatably connected to the air pump adapter seat. The nozzle moving assembly also includes a nozzle rotating main gear and a nozzle rotating secondary gear. The nozzle rotating main gear is coaxially fixed to the outer side of the rear end of the long air pipe. The nozzle rotating secondary gear is driven by a motor and rotated on the nozzle moving seat. The side pipe moving secondary gear meshes with the nozzle rotating main gear.

[0008] Optionally, the borehole cleaning device further includes an unfolding locking component, which includes a locking spring, a contact head, a push rod, a push block, a stop bar, and a blocking spring. A stop bar is slidably disposed on both sides of each groove. The stop bar is slidably disposed within the wall of the long air pipe and supported by the blocking spring. One end of the stop bar is inclined, and the ends of the two closed stop bars form a V-groove structure. When the stop bars are closed, they form a slot with the end of the groove to accommodate the inner moving column. The contact head is slidably disposed at the front end of the long air pipe, and the locking spring is supported between the contact head and the front end of the long air pipe. A push rod is slidably disposed between each groove and the front end of the long air pipe. One end of the push rod is fixedly connected to the contact head, and the other end is connected to the push block. The push block is located at the front end of the V-groove formed by the two closed stop bars.

[0009] Optionally, the front end of the long air tube has an inwardly recessed groove, the contact head is slidably disposed at the opening of the groove, the locking spring is located inside the groove, and the locking spring is supported between the bottom end of the groove and the contact head.

[0010] Optionally, the borehole filling device includes a borehole sealing structure, which includes a raw material supply pipe, a raw material supply pump, and a borehole baffle. The borehole baffle is movable along the borehole filling guide rail with the borehole sealing structure. The borehole sealing structure is located at the moving front end of the explosive filling pipe. The borehole baffle has a filling pipe perforation and two raw material supply holes facing the moving direction of the explosive filling pipe. The explosive filling pipe slides through the filling pipe perforation. The two raw material supply holes are respectively connected to one of the raw material supply pipes. The raw material supply pipes are connected to the raw material supply pump. The borehole sealing structure also includes a sealing moving seat and a supply adapter seat. The sealing moving seat is movably disposed on the borehole filling guide rail. The supply adapter seat is fixed on the sealing moving seat. The borehole baffle is fixed at the front end of the supply adapter seat. The explosive filling pipe slides through the supply adapter seat and the borehole baffle in sequence. The raw material supply pipe passes through the supply adapter seat in sequence and connects with the raw material supply holes.

[0011] Optionally, the explosive filling structure further includes an explosive filling movable seat and an explosive transfer seat. The explosive filling movable seat is movably mounted on the borehole filling guide rail, and the explosive transfer seat is fixed on the explosive filling movable seat. The explosive filling pipe is connected to the front end of the explosive transfer seat. The emulsion explosive supply pump is connected to the explosive connecting seat, and the explosive connecting seat is connected to the explosive filling pipe. The explosive filling structure also includes stirring blades, a stirring main gear, and a stirring secondary gear. The stirring blades are straight plate-shaped structures. Several stirring blades are fixedly arranged around the outer side of the front end of the raw material supply pipe. The axis of the tube is parallel to the stirring blade. The raw material supply tube is rotatably connected to the explosive transfer seat. The stirring main gear is coaxially fixed on the outside of the explosive filling tube. The stirring secondary gear is driven by a motor and rotated on the explosive filling moving seat. The stirring secondary gear meshes with the stirring main gear. The filling tube perforation includes a main hole matching the outer diameter of the explosive filling tube and a groove for the stirring blade to pass through. The blasting mud sealing structure also includes a blocking insert plate. The side of the blasting hole baffle is provided with a slot. The blocking insert plate is driven by an electric cylinder to slide into the slot and block the filling tube perforation.

[0012] Optionally, the explosive filling structure further includes a tube bearing and an elastic ball pin. The tube bearing is fixedly mounted on the explosive filling moving seat. The explosive filling tube is rotatably connected to the tube bearing. A pin hole is also provided on the overlapping surface of the explosive filling tube and the tube bearing. The elastic ball pin is driven by an electric cylinder to move and is mounted in the tube bearing and faces the pin hole. The elastic ball pin is inserted into the pin hole. The movement path of the stirring blade is aligned with the groove.

[0013] Optionally, the borehole filling device further includes a detonator box, with a detonator outlet on the bottom side of the detonator box for the detonator to pass through. The detonator box moves outside the borehole baffle toward the explosive filling tube and aligns the detonator outlet with the opening of the retracted explosive filling tube. The borehole mud sealing structure further includes a lifting plate, which is driven by an electric cylinder to move and is disposed outside the borehole baffle. The lifting plate is fixedly connected to the blocking insert plate, and the detonator is fixedly connected to the lifting plate.

[0014] Optionally, the detonator box includes a box body, a box cover, a push plate, an ejection spring, and an insert rod. The box body has an inner cavity that accommodates arranged detonators from the top inward. The detonator outlet is located on the bottom side of the box body. The box cover closes the top opening of the box body. The push plate is slidably disposed within the box body. The ejection spring abuts against the box cover and the push plate. The insert rod is slidably disposed at the bottom of the box body driven by an electric cylinder. The insert rod is used to push the detonator from the detonator outlet into the explosive filling tube.

[0015] The beneficial effects of this invention are as follows: the coordinated operation of the traveling vehicle body and the multi-link structure allows the end-of-bore cleaning and filling devices to be flexibly and accurately positioned at each borehole location, greatly reducing the labor intensity and time cost of traditional manual handling and positioning. The borehole cleaning device, through an air pump and a movable nozzle, can efficiently remove residual debris or accumulated water from the borehole, creating a clean and dry environment for subsequent explosive loading. This not only overcomes the drawbacks of poor cleaning effect and high dust pollution caused by manual wire or high-pressure air blowing, but also effectively avoids problems such as discontinuous explosive loading, borehole jamming, or loss of blasting energy due to unclean boreholes, thus laying a solid foundation for optimizing blasting effects. The borehole filling device and cleaning device are set up in parallel, achieving seamless connection and rapid switching between cleaning and loading processes. The emulsion explosive supply pump can directly and evenly deliver the mixed emulsion explosive to the bottom of the borehole through the explosive filling pipe, ensuring the stability of explosive density and filling quality, effectively improving the energy utilization rate of the explosive, and improving the rock mass fracturing effect. The entire operation is completed automatically by the equipment, and operators can monitor it from a safe distance, minimizing the risk of direct contact with the hazardous environment and ensuring personnel safety. In summary, this invention integrates movement, positioning, cleaning, and filling functions, effectively solving the core problems of low efficiency, large quality fluctuations, and numerous safety hazards in existing technologies, and conforming to the development trend of mechanization and automation in blasting engineering.

[0016] Other advantages, objectives, and features of the invention will be set forth in the following description and will be apparent to those skilled in the art in some respects, or may be learned by practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0017] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the following figures are provided for illustration: Figure 1 A schematic diagram of the overall cleaning device according to an embodiment of the invention; Figure 2 A schematic diagram of the overall cleaning structure of this invention embodiment is provided. Figure 3 A schematic diagram of the elastic membrane opening inside the borehole in this embodiment of the invention; Figure 4 A cross-sectional view of the elastic membrane at the end of the long trachea in the retracted state according to an embodiment of the invention; Figure 5 for Figure 4 sectional view of aa; Figure 6 A cross-sectional view of the elastic membrane at the end of the long trachea in the open state according to an embodiment of the invention; Figure 7 for Figure 6 BB cross-sectional view; Figure 8 A schematic diagram of the overall structure of the filling device according to an embodiment of the invention; Figure 9 A schematic diagram of the structure on the borehole filling guide rail of this invention embodiment; Figure 10 for Figure 2 Enlarged diagram of point c; Figure 11 for Figure 2 Enlarged schematic diagram at point d; Figure 12 A cross-sectional view of the pipe bearing seat in an embodiment of the present invention; Figure 13 A cross-sectional view of the borehole retainer in an embodiment of the invention; Figure 14 A cross-sectional view of a detonator box according to an embodiment of the present invention; Figure 15 A schematic diagram of the clay filling embodiment of this invention; The following markings are used in the attached diagram: 1. Vehicle body; 2. Multi-link structure; 21. Rail seat; 31. Nozzle moving guide rail; 321. Long air pipe; 3211. Slide groove; 3212. Insert groove; 322. Side pipe; 323. Elastic membrane; 3241. Rotating rod; 3242. Support rod; 3243. Inner moving column; 3244. Sliding rod; 3245. Return spring; 3246. O-ring seal; 325. Rubber ring; 331. Nozzle moving seat; 332. Air pump adapter seat; 333. Nozzle rotating main gear; 334. Nozzle rotating secondary gear; 341. Locking spring; 342. Contact head; 343. Abutment rod; 344. Abutment block; 345. Stop bar; 346. Blocking spring; 4. Hole filling guide rail; 5. Explosive filling structure; 51. Explosive filling tube; 511. Pin hole; 52. Explosive filling moving seat; 53. Explosive transfer seat; 54. Stirring blade; 55. Stirring main gear; 56. Stirring secondary gear; 57. Pipe bearing seat; 58. Elastic ball head pin; 6. Slurry sealing structure; 61. Raw material supply tube; 62. Borehole baffle; 621. Filling tube perforation; 6211. Main hole; 6212. Groove; 622. Raw material supply hole; 623. Slot; 63. Sealing moving seat; 64. Supply transfer seat; 65. Blocking insert plate; 66. Lifting plate; 7. Detonator box; 71. Box body; 711. Detonator outlet; 712. Inner cavity; 72. Box cover; 73. Push plate; 74. Push-out spring; 75. Insert rod. Detailed Implementation

[0018] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0019] Please refer to the figures. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of the invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the disclosed technical content. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0020] The following embodiments are for illustrative purposes only. These embodiments can be combined and are not limited to the content shown in any single embodiment below.

[0021] This invention provides an integrated cleaning and filling system for blasting holes at tunnel (roadway) faces, such as... Figure 1 , Figure 2 , Figure 8 and Figure 9 As shown, the system includes a traveling vehicle body 1, a multi-link structure 2, a borehole cleaning device, and a borehole filling device. The traveling vehicle body 1 serves as the basic mobile platform for the device and typically consists of a steel frame, drive wheels, a steering mechanism, and a power system (such as a battery or diesel engine). Its bottom can be equipped with anti-slip tires or tracks to adapt to the rugged terrain of the mine. The multi-link structure 2 employs multiple hinged pivot units, each made of high-strength aluminum alloy. The hinge points are driven to rotate by a servo motor, thereby precisely adjusting the position and attitude of the end rail 21. The rail base 21 is a long strip of steel component; the borehole cleaning device is installed at the end of the multi-link structure. The borehole cleaning device includes a nozzle moving guide rail 31, and the borehole filling device includes a borehole filling guide rail 4. The nozzle moving guide rail 31 and the borehole filling guide rail 4 are symmetrically and parallelly installed on both sides of the rail base. The borehole cleaning device moves along the nozzle moving guide rail 31 to clean the borehole, and the borehole filling device moves along the borehole filling guide rail 4 to fill the borehole with explosives.

[0022] The following is a detailed implementation structure of the borehole cleaning device, such as... Figure 1 , Figure 2 , Figure 3As shown. The core of the borehole cleaning device includes an air pump, a nozzle moving guide rail 31, an air pressure cleaning component, and a nozzle moving component: the air pump is preferably a centrifugal high-pressure air pump, fixed on the traveling vehicle body 1, and connected to the nozzle moving component via a hose; the nozzle moving guide rail 31 is a linear guide rail, fixed parallel to the side of the rail base 21; the nozzle moving component is slidably connected to the guide rail via a slider, and reciprocated by a lead screw driven by a stepper motor. The long air pipe 321 of the air pressure cleaning component is made of stainless steel, with a closed front end and a side pipe 322. The side pipe 322 is welded to the long air pipe 321, and the nozzle of the side pipe 322 faces the front end of the long air pipe 321. The elastic membrane 323 is made of polyurethane elastic material to form a circular membrane structure, with a central opening and a sealed connection to the outside of the long air pipe 321 via an annular pressure plate, and its position is located in front of the nozzle of the side pipe 322. The air pressure driven opening component is placed inside the long air pipe 321, and the expansion and contraction of the elastic membrane 323 are controlled by air pressure.

[0023] In operation, the device first moves to the borehole position via the traveling vehicle 1. The multi-link structure 2 adjusts the rail base 21 to align the long air pipe 321 with the borehole axis. The long air pipe 321 enters the borehole and reaches the bottom of the borehole along with the nozzle moving assembly. After the air pump is started, high-pressure airflow enters the long air pipe 321. In the initial stage, the side pipe 322 ejects airflow, blowing up debris from the bottom of the borehole and moving it away from the bottom. At the same time, the air pressure drives the opening component to unfold the elastic membrane 323, forming a barrier. As the nozzle moving assembly drives the long air pipe 321 to slowly retract, the elastic membrane 323 moves close to the inner wall of the borehole, sweeping the suspended debris towards the borehole opening. The side pipe 322 continues to eject air during the retraction process, replenishing the airflow energy and continuously blowing away debris from the borehole. Throughout the process, the elastic membrane 323 not only plays a guiding role but also adapts to the irregular inner wall of the borehole through its elastic deformation. This device, by setting up an elastic membrane 323, can adapt to different sizes of blasting holes and fit the hole wall, improving the airflow utilization rate. The airflow ejected from the side pipe 322 is blocked by the elastic membrane 323 and then turned, blowing the debris in the hole away from the elastic membrane 323 (i.e., the blasting hole outlet). The sweeping action of the elastic membrane 323 is carried out synchronously with the airflow release. It can not only gradually blow away and carry out the debris in the deep hole, but also sweep away the attached substances on the hole wall. The cleaning can be completed in a single operation, avoiding the residue of debris in the blasting hole.

[0024] In a further embodiment, the pneumatically driven opening component includes a rotating rod 3241, a support rod 3242, an inner moving column 3243, and a sliding rod 3244, the specific structure of which is as follows: Figure 4 and Figure 6As shown. The inner movable column 3243 is cylindrical, with a diameter slightly smaller than the inner diameter of the long trachea 321, and achieves sealing sliding through an O-ring seal 3246. The inner movable column 3243 is located between the front end of the long trachea 321 and the side tube 322. Three sliding rods 3244 are evenly fixed circumferentially on its outer side, and are exposed after passing through the sliding groove 3211 on the wall of the long trachea 321. The sliding groove 3211 is a straight groove, and its width matches that of the sliding rod 3244. The exposed end of each sliding rod 3244 is connected to a support rod 3242 by a hinge, and the free end is hinged to the middle of the rotating rod 3241. One end of the rotating rod 3241 is fixedly hinged to a support on the outside of the long trachea 321, and the other end is adhered to the side of the elastic membrane 323.

[0025] When the air pump starts, high-pressure airflow enters the long air tube 321 and acts on the end face of the inner moving column 3243, pushing it to move towards the front end of the long air tube 321. The sliding rod 3244 slides along the sliding groove 3211 with the inner moving column 3243, causing the support rod 3242 to unfold. The support rod 3242, through leverage, pushes the rotating rod 3241 to rotate around the hinge point, causing the rotating rod 3241 to expand the elastic membrane 323 outwards. The elastic membrane 323 unfolds into an umbrella shape, covering the cross-section of the blast hole. After cleaning, the air pump pressure decreases, the elastic membrane 323 rebounds, and the sliding rod 3244 moves in the opposite direction, pulling the rotating rod 3241 to retract via the support rod 3242. This process, through closed-loop control of air pressure and mechanical linkage, ensures that the elastic membrane 323 responds quickly. This structure, driven by air pressure, avoids the problem of electronic components being prone to failure inside the blast hole, and is suitable for the high dust environment of mines. Secondly, the lever structure of the rotating rod 3241 and the support rod 3242 amplifies the air pressure force, making the elastic membrane 323 unfold with uniform force. Furthermore, the umbrella-shaped unfolding elastic membrane 323 structure formed by this structure can adapt to blast holes of a certain diameter and form a concave wind rebound surface, effectively turning the gas blown out of the side pipe 322 and improving the utilization rate of wind power.

[0026] In a further embodiment, the nozzle moving assembly includes a nozzle moving seat 331 and an air pump adapter 332, the structure of which is as follows: Figure 2 As shown. The nozzle moving seat 331 has a linear bearing embedded inside that cooperates with the nozzle moving guide rail 31. The bottom is connected to a screw and nut mechanism driven by a stepper motor to realize movement along the guide rail. The air pump adapter 332 is fixed to the top side of the nozzle moving seat 331 and can adopt a quick-release flange structure. The air pump adapter 332 is connected to the air pump output end through a rubber hose. The air pump adapter 332 has an airflow channel inside, the diameter of which matches the long air tube 321. When cleaning begins, the stepper motor drives the nozzle moving seat 331 to the end of the guide rail, so that the long air tube 321 is inserted into the bottom of the borehole. After the side tube 322 sprays air, the nozzle moving seat 331 retracts at a constant speed, driving the long air tube 321 and the elastic membrane 323 to retract synchronously.

[0027] In a further proposed solution, the specific structure is as follows: Figure 2 and Figure 3 As shown, the rear end of the long air tube 321 is rotatably connected to the air pump adapter 332 via a bearing. The rear end of the long air tube 321 is also connected to the air pump adapter 332 via a rotary joint, ensuring that the long air tube 321 can rotate freely in the air-bearing state. The main nozzle rotating gear 333 is a gear structure and is coaxially fixed to the outer side of the rear end of the long air tube 321. The secondary nozzle rotating gear 334 is a small gear driven by a DC motor and is mounted on the nozzle moving base 331. The secondary nozzle rotating gear 334 meshes with the main nozzle rotating gear 333.

[0028] When the long air tube 321 needs to be rotated to adjust the cleaning angle, the motor starts to drive the nozzle to rotate the secondary gear 334, which in turn drives the main gear 333 and the long air tube 321 to rotate. This structure is mainly used to adjust the relative position of the side tube 322 and the long air tube 321. When the side tube 322 blows out the debris in the blast hole, it is important to ensure that the side tube 322 is always above the long air tube 321, that is, the side tube 322 is above the axis of the blast hole. At this time, the debris is located inside the lower side of the blast hole due to gravity and is blown away from the blast hole by the reverse airflow. The upper position adjustment of the side tube 322 can ensure that there is more space for the debris to be blown out, and avoid the mixing and blockage of debris with the nozzle of the side tube 322.

[0029] In a further embodiment, the pneumatically driven opening component also includes a return spring 3245, which is configured as follows: Figure 4 , Figure 6 As shown. The return spring 3245 is a stainless steel helical spring, installed inside the long air tube 321 between the front end and the inner moving column 3243. The two ends of the spring can be fixed with washers to ensure even force distribution. When the inner moving column 3243 is pushed forward by air pressure, the spring is compressed and stores energy; when the air pump is turned off, the spring releases energy to push the inner moving column 3243 back to its original position, causing the elastic membrane 323 to close. The return spring 3245 and air pressure form a two-way action mechanism: when the air pump is off, the spring force dominates, keeping the elastic membrane 323 in a closed state; when the air pump is on, the air pressure overcomes the spring force to unfold the elastic membrane 323. This mechanism provides fail-safe protection: if the air pump unexpectedly stops, the spring automatically closes the elastic membrane 323, preventing the device from getting stuck in the borehole. Compared with pure air pressure drive, this design improves operational reliability. The spring-assisted return of this structure reduces the reliance on the autonomous contraction of the elastic membrane 323, ensuring that the elastic membrane 323 responds quickly to the air pump's on / off state.

[0030] In a further embodiment, the borehole cleaning device also includes an unfolding locking element, the structure of which is as follows: Figure 4 , 5As shown in Figures 6 and 7, the unfolding locking mechanism includes a locking spring 341, a contact head 342, a stop rod 343, a stop block 344, a stop bar 345, and a blocking spring 346. The stop bar 345 consists of two straight steel bars, slidably positioned within a guide groove in the wall of the long air pipe 321, and supported in the closed position by the blocking spring 346. One end of the stop bar 345 is machined into a bevel, forming a V-groove structure when closed. The contact head 342 is a rounded nylon head, slidably positioned at the front end of the long air pipe 321, and supported by the locking spring 341. The stop rod 343 connects the contact head 342 and the stop block 344. The stop block 344 is a wedge-shaped block located at the front end of the V-groove of the stop bar 345. When the long air pipe 321 extends into the bottom of the borehole, the contact head 342 first touches the bottom of the borehole, compressing the locking spring 341 under the reaction force, pushing the stop rod 343 to move the stop block 344. The wedge-shaped surface of the stop block 344 pushes open the stop bar 345, releasing the blockage on the end of the slide groove 3211, so that the inner moving column 3243 can be moved by air pressure.

[0031] This structure provides an deployment control structure for the device. When the long air tube 321 extends into the bottom of the hole but has not yet contacted the bottom of the hole, the elastic membrane 323 will not deploy due to the obstruction of the deployment locking component. During this period, the debris at the bottom of the hole can be continuously blown away by the air jet from the side tube 322, ensuring that no residual debris remains between the elastic membrane 323 and the bottom of the hole after deployment. By setting the deployment locking structure, the deployment of the elastic membrane 323 can be temporarily controlled, improving the controllability and maneuverability of the device.

[0032] In a further embodiment, the pneumatic cleaning assembly also includes a rubber ring 325, the structure of which is as follows: Figure 3 As shown. The rubber ring 325 is made of wear-resistant rubber and is annularly bonded to the outer ring side of the elastic membrane 323, with a long strip-shaped cross-section. The outer diameter of the rubber ring 325 is slightly larger than the diameter of the elastic membrane 323 after it is unfolded, so that it is slightly compressed against the borehole wall when the elastic membrane 323 is unfolded. After the elastic membrane 323 is unfolded, the rubber ring 325 adheres tightly to the inner wall of the borehole, forming a sealing barrier: on the one hand, it enhances the airflow guiding effect and prevents airflow from leaking from the edge of the elastic membrane 323; on the other hand, it scrapes away the deposits on the borehole wall through friction. During the retraction process, the elastic deformation of the rubber ring 325 adapts to the unevenness of the borehole wall, improving the thoroughness of cleaning.

[0033] In a further embodiment, the pneumatically driven opening component also includes several O-rings 3246, which are arranged as follows: Figure 4 and Figure 6As shown, O-rings 3246, made of fluororubber, are arranged and fixed around the end annular groove of the inner moving column 3243, spaced apart, for a total of three. The O-rings form a dynamic seal with the inner wall of the long air tube 321, preventing airflow leakage. The multiple O-rings constitute a stepped sealing system: when the inner moving column 3243 moves, each O-ring sequentially blocks the airflow leakage path, ensuring that the air pressure fully acts on the inner moving column 3243. Even if one O-ring wears out, the remaining O-rings can still maintain the sealing effect, improving system reliability.

[0034] In a further design, a groove 3212 is formed inward at the front end of the long trachea 321, the structure of which is as follows: Figure 4 and Figure 6 As shown. The groove 3212 is a cylindrical cavity with a diameter matching that of the contact head 342. The contact head 342 is installed at the opening of the groove 3212, and the locking spring 341 is placed at the bottom of the groove 3212, supporting the contact head 342 to remain in a protruding state. When the contact head 342 is compressed, it slides along the groove 3212 to compress the spring. The groove 3212 provides a stable guide path for the contact head 342, preventing uneven wear caused by lateral forces. The depth design of the groove 3212 matches the stroke of the contact head 342 with the unlocking distance of the stop bar 345, optimizing the mechanical transmission efficiency. The groove 3212 also protects the locking spring 341, preventing rocks from jamming it.

[0035] In a further embodiment, the jet nozzle of side tube 322 is located at the end of side tube 322, and their positional relationship is as follows: Figure 4 As shown. The side tube 322 is parallel to the long air tube 321, with its direction precisely facing the front axis of the long air tube 321. The distance between the jet hole of the side tube 322 and the side of the long air tube 321 is greater than the distance between the elastic membrane 323 and the side of the long air tube 321 when the elastic membrane 323 is retracted. This setting ensures that when the elastic membrane 323 is retracted, the jet hole of the side tube 322 is not blocked by the elastic membrane 323 and blows directly towards the bottom of the rupture hole. This distance ensures a reasonable airflow sequence.

[0036] The following is a detailed implementation structure of the borehole cleaning device and the borehole filling device, such as... Figure 8 , Figure 9 , Figure 10 and Figure 15As shown, it also includes an explosive filling structure 5 and a borehole sealing structure 6. A precision linear guide rail 4 is provided on the borehole filling guide rail 4 to provide an accurate movement path for the explosive filling structure 5 and the borehole sealing structure 6. The explosive filling structure 5 includes an emulsion explosive supply pump and an explosive filling pipe 51. The emulsion explosive supply pump is mounted on the vehicle body 1 and connected to the explosive filling pipe 51 via a high-pressure hose. The explosive filling pipe 51 is made of corrosion-resistant, high-strength engineering plastic, capable of withstanding the high-pressure delivery of emulsion explosives. The borehole sealing structure 6 includes a raw material supply pipe 61, a raw material supply pump, and a borehole baffle 62. Two raw material supply pipes 61 are provided, used to transport two different fluid raw materials, such as polyurethane prepolymer and catalyst. The raw material supply pump is a meterable plunger pump, ensuring that the two raw materials are delivered in a preset ratio. The borehole baffle 62 is larger than the standard borehole diameter, and the filling pipe perforation 621 on it matches the outer diameter of the explosive filling pipe 51, allowing the explosive filling pipe 51 to slide freely. Two raw material supply holes 622 are located on both sides of the filling tube perforation 621 and are connected to the raw material supply tube 61, with their outlets facing the inside of the borehole. During operation, the traveling vehicle 1 first moves to the vicinity of the borehole, and the multi-link structure 2 adjusts the position and orientation of the borehole filling guide rail 4 to precisely align it with the borehole. The borehole mud sealing structure 6 moves along the guide rail, causing the borehole baffle 62 to cover the borehole opening. Subsequently, the explosive filling structure 5 moves along the guide rail to insert the explosive filling tube 51 into the bottom of the borehole for loading. After loading is completed, the borehole mud sealing structure 6 begins to work, and two liquid raw materials are injected into the borehole through the raw material supply holes 622, where they mix, react, and solidify to form an effective borehole mud sealing layer. This integrated design significantly improves the efficiency and safety of borehole filling, reduces manual intervention, and is particularly suitable for large-scale blasting operations.

[0037] In further proposals, such as Figure 9 and Figure 11 As shown, the explosive filling structure 5 also includes an explosive filling moving seat 52 and an explosive transfer seat 53. The explosive filling moving seat 52 is a slider structure with a linear bearing inside, which precisely matches the linear slide rail on the borehole filling guide rail 4 to achieve smooth and stable movement. The moving seat is driven by a servo motor and achieves precise displacement control through a gear and rack mechanism. The explosive transfer seat 53 is fixed to the front end of the explosive filling moving seat 52 by bolts and has an internal flow channel structure. The emulsion explosive supply pump is connected to the inlet on the rear side of the explosive transfer seat 53 through a high-pressure hose. The front side of the explosive transfer seat 53 has a quick connector that connects to the explosive filling pipe 51. The explosive transfer seat 53 has a one-way valve inside to prevent explosive backflow and is equipped with a pressure sensor to monitor the explosive delivery pressure in real time.

[0038] During operation, once the device is positioned, the control system commands the explosive filling moving seat 52 to move forward along the guide rail. The moving seat drives the explosive transfer seat 53 and the explosive filling tube 51 to advance together towards the borehole. When the front end of the explosive filling tube 51 reaches the bottom of the borehole, the moving seat stops advancing, and the emulsion explosive supply pump starts, pressing the emulsion explosive into the explosive filling tube 51 through the explosive transfer seat 53. After filling is completed, the explosive filling moving seat 52 retracts backward to make room for the borehole mud sealing operation.

[0039] In further proposals, such as Figure 9 and Figure 10 As shown, the borehole sealing structure 6 also includes a sealing moving seat 63 and a supply adapter 64. The sealing moving seat 63 is similar in structure to the explosive filling moving seat 52 and is used to withstand the large reaction force during the borehole sealing operation. The sealing moving seat 63 is also equipped with a linear bearing and is driven by an independent servo motor, allowing it to move independently on the borehole filling guide rail 4. The supply adapter 64 is fixed to the front end of the sealing moving seat 63 by bolts and has two independent flow channels inside, corresponding to the two raw material supply pipes 61 respectively. A support rod is provided on the front side of the supply adapter 64, which is connected to the borehole baffle 62.

[0040] The borehole baffle 62 is circular and must ensure complete coverage of the borehole. A filling tube perforation 621 at the center of the baffle mates with the explosive filling tube 51, effectively sealing the gap and preventing backflow of the borehole mud. Two raw material supply holes 622 are symmetrically distributed on both sides of the filling tube perforation 621, and spiral guide grooves can be installed inside to generate rotational motion when the raw materials are ejected, promoting mixing. During the operation, the sealing moving seat 63 moves forward along the guide rail, driving the supply adapter seat 64 and the borehole baffle 62 towards the borehole opening. The moving seat stops when the borehole baffle 62 is flush with the borehole opening plane. After the explosive filling is completed, the two raw material supply tubes 61 connect to the two raw material supply holes 622 on the borehole baffle 62 through the two flow channels of the supply adapter seat 64. The raw material supply pump starts, transporting the two fluid raw materials to the borehole through their respective pipes. The two raw materials are completely isolated during transport and only begin to mix after being injected into the borehole. This design avoids pipeline blockage caused by premature mixing of raw materials during transportation. This embodiment uses a two-component raw material mixing and solidification method inside the borehole, resulting in a more uniform and denser borehole mud with better sealing effect. At the same time, the contact surface of the borehole baffle 62 can be equipped with a rubber seal, which can effectively seal and prevent raw material leakage from the borehole, improve raw material utilization, and reduce operating costs.

[0041] In further proposals, such as Figure 10 , Figure 11 and Figure 15As shown, this embodiment relates to the stirring function of the explosive filling structure 5, specifically including stirring blades 54, a main stirring gear 55, and a secondary stirring gear 56. The stirring blades 54 are straight plate-shaped structures made of high-strength stainless steel plates. Six stirring blades 54 are fixed to the outer front end of the raw material supply pipe 61 in an equally spaced ring manner. The blade plane is parallel to the axis of the raw material supply pipe 61. When the supply pipe rotates, the stirring blades 54 can form a strong radial flow in the borehole. The main stirring gear 55 is coaxially fixed to the outer side of the explosive filling pipe 51, located in front of the explosive adapter seat 53. The secondary stirring gear 56 is driven by a servo motor mounted on the explosive filling moving seat 52. The main stirring gear 55 and the secondary stirring gear 56 mesh with each other.

[0042] During operation, when the borehole sealing work begins, the control system activates the stirring motor, driving the stirring auxiliary gear 56 to rotate. Since the stirring auxiliary gear 56 meshes with the stirring main gear 55, power is transmitted to the stirring main gear 55, causing the entire explosive filling tube 51 and the stirring blade 54 fixed at its front end to rotate, accompanied by the movement of the explosive filling moving seat 52. The rotating stirring blade 54 generates shearing and mixing action within the borehole, ensuring thorough mixing of the two fluid materials and guaranteeing that the mixed borehole mud evenly fills every space within the borehole. Simultaneously, the rotational motion of the stirring blade 54 helps to expel air from the borehole, preventing air bubble entrainment and forming a denser borehole sealing layer. Furthermore, when the borehole mud material is an expansive material, the stirring action promotes its expansion reaction, allowing the mud to better adhere to the borehole wall and improving the sealing effect. This innovative design solves the common problems of uneven mixing and insufficient filling in traditional borehole mud filling, significantly improving blasting effectiveness and operational safety.

[0043] In further proposals, such as Figure 10 As shown, this embodiment elaborates on the special design of the filling tube perforation 621. The filling tube perforation 621 is located at the center of the borehole baffle 62 and consists of two parts: first, a main hole 6211 that precisely matches the outer diameter of the explosive filling tube 51, typically with a diameter 0.1-0.2 mm larger than the outer diameter of the filling tube, ensuring free sliding of the filling tube while minimizing gaps; second, a groove 6212 extending outward from the wall of the main hole 6211, with a width slightly greater than the thickness of the stirring blade 54 (typically 3.5-4 mm) and a length slightly greater than the width of the stirring blade 54, ensuring smooth passage of the stirring blade 54. The overall shape of the main hole 6211 and the groove 6212 resembles a keyhole, machined on a stainless steel baffle using wire cutting technology, with the inner wall polished to reduce the coefficient of friction.

[0044] During operation, this design enables the explosive filling tube 51 with stirring blades 54 to pass through the borehole baffle 62. When explosive filling is required, the explosive filling structure 5 moves forward, and the orientation of the stirring blades 54 is adjusted by the control mechanism to align them with the grooves 6212. As the filling tube advances, the stirring blades 54 smoothly pass through the borehole baffle 62 along the grooves 6212 and enter the borehole. After loading is complete, the filling tube is retracted. Again, the stirring blades 54 must first be adjusted to align with the grooves 6212 before smoothly passing through the baffle and retracting. This design allows the borehole baffle 62 to both seal and guide the flow without hindering the normal operation of the stirring blades 54. This innovation significantly improves the uniformity and density of the borehole mud filling, thereby enhancing the blasting effect. Simultaneously, the structure is simple and reliable, with only a limited increase in manufacturing cost, making it highly practical.

[0045] In further proposals, such as Figure 13 As shown, the borehole sealing structure 6 also includes a blocking plate 65, which is a rectangular iron plate with dimensions larger than the perforation size to ensure complete coverage. One side of the plate is moved by an electric cylinder, and a slot 623 is formed inward on the side of the borehole baffle 62. During the borehole filling operation, the blocking plate 65 prevents the borehole mud from flowing back. After the explosive filling tube 51 is retracted, the electric cylinder pushes the blocking plate 65 to slide along the slot 623 until it completely covers the filling tube perforation 621. At this time, the two raw material supply holes 622 are isolated from the filling tube perforation 621, and the raw material supply pump is activated, injecting the two fluid raw materials into the borehole at a certain pressure. Due to the blocking effect of the blocking plate 65, the raw materials will not flow back out of the filling tube perforation 621. Simultaneously, the presence of the plate also ensures that the borehole mud forms sufficient pressure within the borehole, promoting its penetration into the gaps in the borehole wall and improving the filling quality. After the filling operation is completed, the electric cylinder pulls the blocking plate 65 back to its original position, so that the filling tube perforation 621 is unblocked again, preparing for the next round of operation. This active blocking plate 65 responds faster and has a more reliable seal.

[0046] In further proposals, such as Figure 12 As shown, this embodiment relates to a positioning and locking mechanism for the explosive filling tube 51, specifically including a tube bearing 57 and an elastic ball head pin 58. The tube bearing 57 is fixed to the explosive filling moving seat 52 by bolts. A circular hole is machined in the center of the tube bearing 57, incorporating a self-lubricating bearing to support the explosive filling tube 51 and allow it to rotate freely. A mounting hole is radially formed inside the tube bearing 57, housing the elastic ball head pin 58, which is driven to reciprocate by an electric cylinder. The pin hole 511 is located in the section where the explosive filling tube 51 overlaps with the tube bearing 57.

[0047] During device operation, this positioning mechanism ensures accurate alignment of the stirring blade 54 with the groove 6212 on the borehole baffle 62. When the stirring blade 54 needs to pass through the groove 6212, the control system first energizes the electric cylinder that drives the elastic ball pin 58. The electric cylinder drives the elastic ball pin 58 to move towards the explosive filling tube 51 and abut against the side of the explosive filling tube 51. At this time, the explosive filling tube 51 can rotate freely. Adjusting the rotation angle of the filling tube allows the elastic ball pin 58 to align with and engage with the pin hole 511 of the explosive filling tube 51. At this time, the stirring blade 54 is accurately aligned with the groove 6212, achieving circumferential positioning of the filling tube. This design ensures that the stirring blade 54 can accurately align with the groove 6212 every time and smoothly pass through the borehole baffle 62. The elastic ball pin 58 implemented in this case has accurate and reliable positioning, fast response speed, low wear, and long service life.

[0048] In further proposals, such as Figure 13 As shown, this embodiment details the implementation of the automatic detonator placement function, focusing on the collaborative working mechanism of the detonator box 7 and the borehole baffle 62. The detonator box 7 can accommodate multiple wireless detonators. A detonator outlet 711 is provided on the bottom side of the detonator box 7. The detonator box 7 is connected to the outside of the borehole baffle 62 via a bracket and can move under the drive of an electric cylinder, so that the detonator outlet 711 is precisely aligned with the opening of the retracted explosive filling tube 51.

[0049] In the operation process, when the emulsion explosive is filled to the point where a wireless detonator needs to be embedded, the explosive filling tube 51 retracts. Retraction stops when the tube opening reaches a predetermined position outside the borehole retainer 62. The control system instructs the detonator box 7's moving mechanism to align the detonator outlet 711 of the detonator box 7 with the opening of the explosive filling tube 51. After alignment, the detonator box 7 pushes a detonator into the explosive filling tube 51. Subsequently, the detonator box 7 returns to its original position, and the explosive filling tube 51 moves forward again, delivering the detonator into the already filled explosive in the borehole, followed by subsequent emulsion explosive filling. This automated placement method greatly improves safety and reduces the risk of manual contact with the detonator. Simultaneously, mechanized operation ensures accurate placement of the protective tube, contributing to consistent blasting results. This innovation integrates the two processes of loading explosives and placing detonators onto the same equipment, achieving full automation of the borehole filling process, significantly improving operational efficiency and safety, and is particularly suitable for large-scale blasting operations requiring the placement of multiple detonators.

[0050] In further proposals, such as Figure 13 As shown, this embodiment further refines the detonator placement mechanism. The stemming sealing structure 6 also includes a lifting plate 66, which is a flat plate driven vertically by a small electric cylinder. The lifting plate 66 and the blocking insert plate 65 are fixedly connected by a connecting rod to achieve synchronous movement. The detonator box 7 is fixed on the lifting plate 66 by a bracket and moves together with the lifting plate 66.

[0051] In detonator placement operations, this linkage design achieves precise coordination of multiple actions. When a detonator needs to be placed, the control system first instructs the electric cylinder of the blocking plate 65 to actuate, inserting the blocking plate 65 into the filling tube perforation 621. Simultaneously, due to the mechanical connection between the lifting plate 66 and the blocking plate 65, the lifting plate 66 descends, causing the detonator box 7 to move downwards, precisely aligning the detonator outlet 711 with the opening of the explosive filling tube 51. This mechanical linkage ensures the synchronization of the two actions, simplifying the control logic. After the detonator placement is completed, the blocking plate 65 retracts, and the lifting plate 66 rises, causing the detonator box 7 to leave the filling tube area, making room for subsequent operations. Compared with independent electric control, this linkage design is more reliable and avoids the complexity of multi-actuator coordinated control. At the same time, the mechanical connection ensures high synchronization accuracy and fast response.

[0052] In further proposals, such as Figure 14 As shown, this embodiment details the internal structure of the detonator box 7 and the detonator ejection mechanism. The detonator box 7 includes a box body 71, a box cover 72, a push plate 73, an ejection spring 74, and an insertion rod 75. The box body 71 is injection molded from engineering plastic and has an internal cavity 712 for arranging wireless detonators. The box cover 72 is connected to the box body 71 by screws. The push plate 73 is slidably disposed within the box body 71, and the ejection spring 74 abuts against the box cover 72 and the push plate 73 to ensure that the detonator always moves in the outlet direction. The insertion rod 75 is driven by a small electric cylinder and can slide at the bottom of the box body 71 to eject the detonator from the detonator outlet 711.

[0053] During detonator placement, the detonators inside the housing 71 maintain pressure towards the outlet under the action of the push-out spring 74. Once the detonator housing 71 is aligned with the opening of the explosive filling tube 51, the insert rod 75 is activated, moving forward to push the bottom detonator out of the detonator outlet 711 and into the explosive filling tube 51. The push-out spring 74 then pushes the push plate 73 downwards to replenish the next detonator. A sensor may be installed on the side wall of the housing 71 to monitor the detonator level in real time, issuing an alarm signal when the level is insufficient.

[0054] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of the present invention.

Claims

1. An integrated cleaning and filling system for blasting holes at the tunnel (roadway) face, characterized in that: Includes a traveling vehicle body (1), a multi-link structure (2), a borehole cleaning device, and a borehole filling device; The traveling vehicle body (1) is used for the overall movement of the device; There are multiple multi-link structures (2), and multiple multi-link structures (2) are installed at the front end of the traveling vehicle body (1) for adjusting the position and attitude of the end actuator. The end of the multi-link structure (2) is provided with a long strip-shaped rail seat (21). The borehole cleaning device is installed at the end of the multi-link structure (2). The borehole cleaning device includes an air pump, a nozzle moving guide rail (31), a pneumatic cleaning component and a nozzle moving component. The nozzle moving guide rail (31) is fixed parallel to one side of the rail seat (21). The nozzle moving component is movably mounted on the nozzle moving guide rail (31). The pneumatic cleaning component includes a long air pipe (321). The rear end of the long air pipe (321) is mounted on the nozzle moving component and is supplied with air by the air pump. The borehole filling device includes a borehole filling guide rail (4) and an explosive filling structure (5). The borehole filling guide rail (4) is fixed parallel to the other side of the rail base (21); The explosive filling structure (5) includes an emulsion explosive supply pump and an explosive filling pipe (51). The explosive filling pipe (51) is moved along the borehole filling guide rail (4) with the explosive filling structure (5). The emulsion explosive supply pump is connected to the explosive filling pipe (51).

2. The integrated cleaning and filling system for blasting holes at the tunnel (roadway) face according to claim 1, characterized in that: The pneumatic cleaning assembly further includes a side tube (322), an elastic membrane (323), and a pneumatically driven opening component. The front end of the long air tube (321) is closed. The side tube (322) is fixed parallel to the side of the front end of the long air tube (321) and communicates with the long air tube (321). The side tube (322) faces the front end of the long air tube (321). The elastic membrane (323) is a circular membrane structure with a central opening. The inner ring of the elastic membrane (323) is sealed to the outer side of the long air tube (321). The elastic membrane (323) is located in front of the nozzle of the side tube (322). A pneumatically driven opening component is located inside the front end of the long air tube (321), and unfolds the elastic membrane (323) by pneumatic drive. The pneumatically driven opening component includes a rotating rod (3241), a support rod (3242), an inner moving column (3243), and a sliding rod (3244). The inner moving column (3243) is slidably and sealed inside the long air tube (321). The inner moving column (3243) is located between the front end of the long air tube (321) and the connection point of the side tube (322). At least three sliding rods (3244) are fixedly connected around the outside of the inner moving column (3243). 4) A groove (3211) is provided on the outside of the long air tube (321) for the sliding rod (3244) to slide. The end of the sliding rod (3244) protrudes from the outside of the long air tube (321). Each sliding rod (3244) is hinged to a support rod (3242). The free end of each support rod (3242) is hinged to a rotating rod (3241). One end of the rotating rod (3241) is hinged to the outside of the long air tube (321), and the middle section is hinged to the free end of the support rod (3242). Multiple rotating rods (3241) are fixedly bonded to the long air tube (321). On the side of the elastic membrane (323), the pneumatically driven opening component also includes a return spring (3245), which is supported between the inner moving column (3243) and the inner front end of the long air tube (321). The pneumatic cleaning component also includes a rubber ring (325), which is fixedly bonded to the outer ring side of the elastic membrane (323). The pneumatically driven opening component also includes a plurality of O-rings (3246), which are arranged and fixedly wrapped around the end of the inner moving column (3243).

3. The integrated cleaning and filling system for blasting holes at the tunnel (roadway) face according to claim 2, characterized in that: The nozzle moving assembly includes a nozzle moving seat (331) and an air pump adapter seat (332). The nozzle moving seat (331) reciprocates along the nozzle moving guide rail (31). The air pump adapter seat (332) is fixed to the top side of the nozzle moving seat (331) and is connected to an air pump. The rear end of the long air pipe (321) is connected to the air pump adapter seat (332) and communicates with the air pump. The rear end of the long air pipe (321) is connected to... The air pump adapter (332) is rotatably connected, and the nozzle moving assembly also includes a nozzle rotating main gear (333) and a nozzle rotating secondary gear (334). The nozzle rotating main gear (333) is coaxially fixed on the outer side of the rear end of the long air pipe (321). The nozzle rotating secondary gear (334) is driven by a motor to rotate on the nozzle moving seat (331). The side pipe (322) moving secondary gear meshes with the nozzle rotating main gear (333).

4. The integrated cleaning and filling system for blasting holes at the tunnel (roadway) face according to claim 3, characterized in that: The borehole cleaning device also includes an unfolding locking component, which includes a locking spring (341), a contact head (342), a stop rod (343), a stop block (344), a stop bar (345), and a blocking spring (346). Each of the slide grooves (3211) has a stop bar (345) slidably mounted on both sides. The stop bar (345) is slidably mounted inside the wall of the long air pipe (321) and supported by the blocking spring (346). One end of the stop bar (345) is beveled, and the ends of the two closed stop bars (345) form a V-groove structure. When the stop bars (345) are closed, they engage with the... The end of the slide groove (3211) forms a slot to accommodate the inner moving column (3243). The contact head (342) is slidably disposed at the front end of the long air tube (321). The locking spring (341) is supported between the contact head (342) and the front end of the long air tube (321). A stop rod (343) is slidably disposed between each slide groove (3211) and the front end of the long air tube (321). One end of the stop rod (343) is fixedly connected to the contact head (342), and the other end is connected to the stop block (344). The stop block (344) is located at the front end of the V-shaped groove formed by the two baffles (345) closing together.

5. The integrated cleaning and filling system for blasting holes at the tunnel (roadway) face according to claim 4, characterized in that: The long air tube (321) has an inwardly recessed groove (3212) at its front end. The contact head (342) is slidably disposed at the opening of the groove (3212). The locking spring (341) is located inside the groove (3212) and is supported between the bottom of the groove (3212) and the contact head (342).

6. The integrated cleaning and filling system for blasting holes at the tunnel (roadway) face according to claim 1, characterized in that: The borehole filling device includes a borehole sealing structure (6), which includes a raw material supply pipe (61), a raw material supply pump, and a borehole baffle (62). The borehole baffle (62) moves along the borehole filling guide rail (4) with the borehole sealing structure (6). The borehole sealing structure (6) is located at the moving front end of the explosive filling pipe (51). The borehole baffle (62) has a filling pipe perforation (621) and two raw material supply holes (622) facing the moving direction of the explosive filling pipe (51). The explosive filling pipe (51) slides through the filling pipe perforation (621). The two raw material supply holes (622) are respectively connected to a borehole filling guide rail (4). The raw material supply pipe (61) is connected to the raw material supply pump. The blasting mud sealing structure (6) also includes a sealing moving seat (63) and a supply adapter seat (64). The sealing moving seat (63) is movably mounted on the blast hole filling guide rail (4). The supply adapter seat (64) is fixed on the sealing moving seat (63). The blast hole baffle (62) is fixed at the front end of the supply adapter seat (64). The explosive filling pipe (51) slides through the supply adapter seat (64) and the blast hole baffle (62) in sequence. The raw material supply pipe (61) passes through the supply adapter seat (64) in sequence and is connected to the raw material supply hole (622).

7. The integrated cleaning and filling system for blasting holes at the tunnel (roadway) face according to claim 6, characterized in that: The explosive filling structure (5) further includes an explosive filling moving seat (52) and an explosive transfer seat (53). The explosive filling moving seat (52) is movably mounted on the borehole filling guide rail (4). The explosive transfer seat (53) is fixed on the explosive filling moving seat (52). The explosive filling pipe (51) is connected to the front end of the explosive transfer seat (53). The emulsion explosive supply pump is connected to the explosive connecting seat. The explosive connecting seat is connected to the explosive filling pipe (51). The explosive filling structure (5) further includes a stirring blade (54), a stirring main gear (55), and a stirring secondary gear (56). The stirring blade (54) has a straight plate structure. Several stirring blades (54) are fixedly arranged around the outer side of the front end of the raw material supply pipe (61). The axis of the raw material supply pipe (61) is parallel to the axis of the stirring blades (54). The raw material supply pipe (61) is rotatably connected to the explosive adapter (53). The stirring main gear (55) is coaxially fixed to the outside of the explosive filling pipe (51). The stirring secondary gear (56) is driven by the motor and rotated on the explosive filling moving seat (52). The stirring secondary gear (56) meshes with the stirring main gear (55). The filling pipe perforation (621) includes a main hole (6211) matching the outer diameter of the explosive filling pipe (51) and a groove (6212) for the stirring blade (54) to pass through. The blasting mud sealing structure (6) also includes a blocking insert plate (65). The blasting hole baffle (62) has a slot (623) opened inward on the side. The blocking insert plate (65) is driven by the electric cylinder to slide into the slot (623) and block the filling pipe perforation (621).

8. The integrated cleaning and filling system for blasting holes at the tunnel (roadway) face according to claim 7, characterized in that: The explosive filling structure (5) further includes a pipe support (57) and an elastic ball pin (58). The pipe support (57) is fixedly mounted on the explosive filling moving seat (52). The explosive filling tube (51) is rotatably connected to the pipe support (57). A pin hole (511) is also opened on the overlapping surface of the explosive filling tube (51) and the pipe support (57). The elastic ball pin (58) is driven by an electric cylinder to move and is mounted in the pipe support and faces the pin hole (511). The elastic ball pin (58) is inserted into the pin hole (511). The moving path of the stirring blade (54) is aligned with the groove (6212).

9. The integrated cleaning and filling system for blasting holes at the tunnel (roadway) face according to claim 8, characterized in that: The borehole filling device also includes a detonator box (7), which has a detonator outlet (711) on its bottom side for the detonator to pass through. The detonator box (7) moves outside the borehole baffle (62) toward the explosive filling tube (51) and aligns the detonator outlet (711) with the opening of the retracted explosive filling tube (51). The borehole mud sealing structure (6) also includes a lifting plate (66), which is driven by an electric cylinder to move and is located outside the borehole baffle (62). The lifting plate (66) is fixedly connected to the blocking insert plate (65), and the detonator is fixedly connected to the lifting plate (66).

10. The integrated cleaning and filling system for blasting holes at the tunnel (roadway) face according to claim 9, characterized in that: The detonator box (7) includes a box body (71), a box cover (72), a push plate (73), a push spring (74), and a plug rod (75). The box body (71) has an inner cavity (712) that accommodates the arranged detonators from the top inward. The detonator outlet (711) is located on the bottom side of the box body (71). The box cover (72) closes the top opening of the box body (71). The push plate (73) is slidably disposed inside the box body (71). The push spring (74) abuts against the box cover (72) and the push plate (73). The plug rod (75) is driven by an electric cylinder and slidably disposed at the bottom of the box body (71). The plug rod (75) is used to push the detonator from the detonator outlet (711) into the explosive filling tube (51).

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