Multi-arm pneumatic charging trolley for tunnel charge and method for charging using the same

Abstract

This invention discloses a multi-arm pneumatic charging trolley for tunnel explosive loading, comprising a vehicle body, a boom, an operating platform, a multi-axis moving platform, a roller frame, a roller conveying mechanism, a charging tube, and a pneumatic charging device. One end of the boom is mounted on the vehicle body, and the other end is mounted on the operating platform. The multi-axis moving platform is mounted on the operating platform, and the roller frame is mounted on the multi-axis moving platform. The roller conveying mechanism includes two rollers and a motor. Each roller is rotatably mounted on the roller frame, and the motor is mounted on the roller frame. The two rollers are parallel to each other, and there is a space between them. Either roller is connected to the motor. The charging tube passes through the space between the two rollers, and the two rollers cooperate to clamp the charging tube. The pneumatic charging device is mounted on the vehicle body and communicates with the charging tube to blow the rolled explosive inside the charging tube into the blast hole using airflow. This invention can adapt to complex terrain in tunnels, reduce the difficulty of manual operation, improve charging alignment efficiency, and increase the degree of mechanization.

Description

Technical Field

[0001] This invention belongs to the field of underground engineering rock blasting devices, and more specifically, relates to a multi-arm pneumatic charging trolley and charging method for tunnel charging. Background Technology

[0002] In blasting operations for underground engineering, mining, and transportation infrastructure construction (such as highway and railway tunnels), explosive loading is one of the most crucial and extremely dangerous core procedures. With modern underground engineering moving towards larger cross-sections and deeper excavations, complex construction scenarios such as the tunnel bench method are becoming increasingly common, placing higher demands on the safety, continuity, and automation of explosive loading operations in blasting holes.

[0003] Currently, existing technologies include traditional manual filling methods and some early pneumatic explosive filling devices. The basic principle of early pneumatic filling devices is to use compressed air as a power source to deliver rolled explosives through a charging tube to a pre-designated blasting hole. In practice, one end of the charging tube is connected to the power source, and the other end is inserted into the blasting hole. The operator inserts the rolled explosives into the filling port on the charging tube and seals it, then starts the air source to complete the delivery. However, when faced with complex blasting hole construction conditions involving large cross-sections, multiple holes, and deep pores, the application of these existing technologies has revealed serious engineering defects and technical bottlenecks.

[0004] Blasting holes in large-section tunnels are widely distributed at various heights along the rock face, including the inaccessible arch and high sidewalls. Current pneumatic charging operations heavily rely on manual labor to carry charging tubes and other equipment to the vicinity of the borehole. When facing uneven tunnel faces, muddy, waterlogged sections, or stepped construction sections with significant elevation differences, the movement of heavy equipment by workers is inherently extremely difficult. Operators often need to stand and operate on slopes or temporary high-altitude work surfaces lacking stable fall protection, making movement extremely inconvenient and further increasing the operational difficulty and the risk of falls from height. Summary of the Invention

[0005] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a multi-arm pneumatic charging trolley and charging method for tunnel charging, which can adapt to the complex terrain in the tunnel, reduce the difficulty of personnel operation, improve the charging alignment efficiency and the degree of mechanization.

[0006] To achieve the above objectives, according to one aspect of the present invention, a multi-arm pneumatic charging trolley for tunnel charging is provided, comprising a vehicle body, a boom, an operating platform, a pipe delivery mechanism, a charging pipe, and a pneumatic charging device, wherein: One end of the boom is mounted on the vehicle body and the other end is mounted on the control panel; The pipe feeding mechanism includes a multi-axis moving platform, a roller frame, and a roller conveying mechanism. The multi-axis moving platform is mounted on the operating table, and the roller frame is mounted on the multi-axis moving platform for adjusting the position of the roller frame. The roller conveying mechanism includes two rollers and a motor. Each roller is rotatably mounted on the roller frame, and the motor is mounted on the roller frame. The two rollers are parallel to each other and there is a space between the two rollers. Either roller is connected to the motor to rotate under the drive of the motor. The charging tube passes through the space between two rollers, and the two rollers cooperate to clamp the charging tube so that the charging tube moves when the rollers rotate, thereby allowing the first end of the charging tube to enter the blast hole. The pneumatic charger is mounted on the vehicle body. The pneumatic charger has an openable and closable charging port. The pneumatic charger is connected to the second end of the charging tube to allow the rolled explosives put into the pneumatic charger to enter the charging tube from the charging port. The pneumatic charger is connected to an air source to blow the rolled explosives in the charging tube into the blast hole through airflow.

[0007] Preferably, the boom is a telescopic boom, one end of which is hinged to the vehicle body and the other end is fixedly connected to the operating platform; The multi-arm pneumatic charging trolley also includes a variable-amplitude cylinder, one end of which is hinged to the vehicle body and the other end is hinged to the telescopic arm, so as to drive the telescopic arm to rotate and thus realize the pitch of the telescopic arm.

[0008] Preferably, the multi-axis moving platform includes a horizontal beam, a vertical beam, a sliding base plate, and a sliding sleeve. The sliding base plate is slidably mounted on the horizontal beam, the vertical beam is fixedly mounted on the sliding base plate, the sliding sleeve is slidably disposed on the vertical beam, the roller frame is mounted on the sliding sleeve, a locking bolt is inserted through the side wall of the sliding sleeve, and multiple bolt holes are arranged vertically on the vertical beam. The locking bolt passes through the side wall of the sliding sleeve and is threadedly connected to one of the bolt holes.

[0009] Preferably, the charging tube is made of rubber to increase the friction between the tube and the two rollers and to adapt to the shape of the inner wall of the blast hole.

[0010] Preferably, the multi-arm pneumatic charging trolley further includes a telescopic guide mechanism; The telescopic guide mechanism includes a fixed base, a linear telescopic drive component, a bracket, and a rigid guide component; The fixed base is mounted on the roller frame; The linear telescopic drive is mounted on the fixed base, and the rigid guide is mounted on the bracket to drive the rigid guide to move toward or away from the blast hole. The linear telescopic drive is a cylinder or an electric push rod. The propellant tube passes through the rigid guide and the rigid guide receives the propellant tube. There is a gap between the propellant tube and the inner wall of the rigid guide to allow the propellant tube to move.

[0011] Preferably, the rigid guide is mounted on the bracket via an elastic support; The multi-arm pneumatic loading trolley also includes an ultrasonic excitation device, which includes an ultrasonic generator and a piezoelectric transducer, and the ultrasonic generator is mounted on the bracket. The ultrasonic generator is electrically connected to the piezoelectric transducer, and the piezoelectric transducer is connected to the rigid guide to cause the rigid guide to vibrate.

[0012] Preferably, the multi-arm pneumatic charging trolley further includes a torque monitoring module that is communicatively connected to the motor, and the torque monitoring module is electrically connected to the main control unit; When the roller conveyor sends the charge tube into the blast hole, the torque monitoring module collects the load torque of the motor in real time. If the load torque is detected to change abruptly within a preset time window and exceed the set torque threshold, the main control unit determines that the charge tube has touched the bottom of the blast hole and immediately sends braking and reversing commands to the motor to make the charge tube retreat a preset distance.

[0013] Preferably, the pneumatic charging device includes a proportional flow valve and a pulse airflow generator electrically connected to the main control unit. The proportional flow valve and the pulse airflow generator are arranged sequentially along the direction from the air source to the charging pipe. When conveying the rolled explosive, the main control unit controls the pulse airflow generator to open and close at a set frequency, converting the continuous airflow into a dynamic pulse airflow. The dynamic pulse airflow generates a pulse aerodynamic force applied to the rolled explosive in the inner cavity of the charging pipe, causing the rolled explosive to be pushed into the blast hole under the action of the pulse aerodynamic force.

[0014] Preferably, the multi-arm pneumatic charging trolley further includes a pressure transmitter; The pressure transmitter is installed on the gas supply circuit between the pulse airflow generator and the charge tube, and is electrically connected to the main control unit to collect the gas pressure data in the gas supply circuit in real time during the process of airflow blowing the rolled explosive. The main control unit performs feature analysis on the air pressure data. When it detects that after the air pressure data reaches its peak, a step transient pressure drop with a downward slope exceeding a preset threshold occurs, and the pressure value after the step transient pressure drop falls back to the unloaded threshold range, the main control unit determines that the rolled explosive has successfully detached from the charging tube and entered the blast hole.

[0015] According to another aspect of the present invention, a method for loading explosives using the aforementioned multi-arm pneumatic charging trolley is also provided, comprising the following steps: 1) Adjust the boom and the multi-axis moving platform on the operating table to adjust the position of the roller conveying mechanism so that the first end of the charging tube is aligned with the blast hole; 2) Start the motor, and the rollers connected to the motor rotate. The two parallel rollers work together to clamp the charging tube and move it, so that the first end of the charging tube gradually penetrates into the blast hole. During this process, the torque monitoring module collects the load torque of the motor in real time. 3) If the torque monitoring module detects that the motor torque changes abruptly within a preset time window and exceeds the set torque threshold, the main control unit determines that the charging tube has touched the bottom of the blast hole. At this time, it immediately sends a braking and reverse pullback command to the motor to make the charging tube retreat a preset distance to reserve charging space at the bottom of the hole. 4) Open the charging port on the pneumatic charging device, feed the rolled explosive to be loaded into the charging tube, and then close the charging port; 5) Start the pneumatic charging device connected to the second end of the charging tube. The pneumatic charging device delivers airflow into the charging tube, causing the rolled explosive to be blown into the blast hole by the airflow. 6) Control the motor to reverse, and the two rollers drive the charging tube to move, thereby pulling the charging tube out of the blast hole.

[0016] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: This invention relates to a multi-arm pneumatic charging trolley for tunnel explosive loading, which highly integrates the vehicle body, boom, operating platform, pipe delivery mechanism, charging pipe, and pneumatic charging device. These components are interdependent and work closely together to construct a highly automated, integrated specialized construction platform. In complex terrain and spacious environments for large-section blasting hole construction, this comprehensive overall layout endows the entire system with extremely strong spatial mobility and all-round coverage capabilities. The components work seamlessly together, covering the entire operational process from overall equipment positioning, platform spatial deployment, precise alignment with boreholes at minute scales, to automated directional delivery of flexible pipelines, convenient lateral material loading, and subsequent high-speed airflow transport. This highly integrated system greatly simplifies the construction sequence of underground engineering and improves the overall smoothness and continuity of large-scale excavation preparation work.

[0017] The vehicle body, boom, and operating platform of this invention work together to create a terrain avoidance and high-level access system. The vehicle body can remain in relatively flat areas of the tunnel, while the boom, acting as a spatial support hub, smoothly transports the operating platform to high side walls or work surfaces with significant elevation differences. This combination eliminates the dependence of the working end on ground flatness and avoids the safety risks of personnel climbing on foot in harsh rocky terrain.

[0018] The multi-axis moving platform of this invention provides fine-tuning compensation in local dimensions. The position of the roller frame can be accurately adjusted without frequent vehicle body movements, allowing the charging tube between the two rollers to align with the blast hole.

[0019] The roller conveying mechanism of the present invention utilizes two rollers that clamp the charging tube to rotate for power delivery of the tube, and combines with a pneumatic charging device to blow the material into the blast hole through airflow. This driving mechanism and airflow delivery method can adapt to the irregular undulations and tortuous trends of the inner wall of the blast hole, ensuring that the flexible pipeline moves smoothly and is not easily jammed in the blast hole. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the multi-arm pneumatic charging trolley of the present invention; Figure 2 , Figure 3 These are schematic diagrams of the tube feeding mechanism in this invention from different perspectives; Figure 4 This is a schematic diagram of the pipe delivery mechanism after the horizontal and vertical beams have been removed in this invention; Figure 5 This is a schematic diagram of the pipe delivery mechanism after the horizontal beam is removed in this invention; Figure 6 This is a schematic diagram of an ultrasonic excitation device installed on a telescopic guide mechanism in this invention.

[0021] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 100. Vehicle body; 200. Boom; 300. Operating platform; 400. Roller frame; 401. Horizontal beam; 410. Sliding base plate; 411. Sliding slot; 420. Vertical beam; 421. Bolt hole; 430. Fixed base plate; 440. Fixed side plate; 441. Mounting crossbeam; 450. Fixed back plate; 451. Locking bolt; 500. Sliding sleeve; 600. Rotating shaft; 601. Roller; 610. Rotating mounting base; 700. Motor; 800. Loading tube; 801. Pneumatic loading device; 901. Fixed base; 902. Linear telescopic drive component; 903. Bracket; 904. Rigid guide component; 905. Ultrasonic generator; 906. Piezoelectric transducer. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0023] Reference Figures 1-6 A multi-arm pneumatic charging trolley for charging explosives in tunnels includes a vehicle body 100, a boom 200, an operating platform 300, a pipe delivery mechanism, a charging pipe 800, and a pneumatic charging device 801.

[0024] One end of the boom 200 is mounted on the vehicle body 100, and the other end is mounted on the operating platform 300.

[0025] The tube feeding mechanism includes a multi-axis moving platform, a roller frame 400, and a roller conveying mechanism. The multi-axis moving platform is mounted on the operating table 300, and the roller frame 400 is mounted on the multi-axis moving platform for adjusting the position of the roller frame 400. The roller conveying mechanism includes two rollers 601 and a motor 700. Each roller 601 is rotatably mounted on the roller frame 400, and the motor 700 is mounted on the roller frame 400. The two rollers 601 are parallel to each other and there is a space between them. Either roller 601 is connected to the motor 700 to rotate under the drive of the motor 700. The output shaft of the motor 700 is preferably connected to one of the rollers 601 through a rotating shaft 600. The motor 700 drives the rotating shaft 600 to rotate, and the roller 601 connected to the rotating shaft 600 rotates accordingly.

[0026] The charge tube 800 passes through the space between two rollers 601, and the two rollers 601 cooperate to clamp the charge tube 800 so that the charge tube 800 moves when the rollers 601 rotate, thereby allowing the first end of the charge tube 800 to enter the blast hole.

[0027] The pneumatic charger 801 is mounted on the vehicle body 100. The pneumatic charger 801 has an openable / closable charging port. The pneumatic charger 801 is connected to the second end of the charging tube 800 to allow the rolled explosives inserted into the pneumatic charger 801 to enter the charging tube 800 through the charging port. The pneumatic charger 801 is connected to an air source to blow the rolled explosives in the charging tube 800 into the blast hole via airflow. The working principle and structure of the pneumatic charger 801 and its openable / closable charging port can utilize existing technology and will not be elaborated here.

[0028] The roller frame 400 preferably includes a fixed base plate 430, a fixed back plate 450, and two fixed side plates 440. The lower parts of the fixed side plates 440 are fixedly connected to the fixed base plate 430. The fixed back plate 450 is provided with a through-hole, through which the loading tube 800 passes. Both fixed side plates 440 are provided with a hollow groove, and a mounting beam 441 is provided in the hollow groove. Each mounting beam 441 is provided with two rotating mounting seats 610, namely an upper rotating mounting seat 610 and a lower rotating mounting seat 610. The two rollers 601 are respectively an upper roller 601 and a lower roller 601. The two ends of the upper roller 601 are rotatably mounted on the two upper rotating mounting seats 610, and the two ends of the lower roller 601 are rotatably mounted on the two lower rotating mounting seats 610. In this embodiment, there is one motor 700, and a motor 700 mounting platform is fixedly provided on the outer wall of a fixed side plate 440, and the motor 700 is fixedly mounted on the motor 700 mounting platform.

[0029] One end of the boom 200 is mounted on the vehicle body 100, while the other end is mounted on the operating platform 300. This feature creates a powerful three-dimensional spatial extension and traversal structure. The vehicle body 100, as the mobile support base for the entire operating system's movement and stationary position inside the blast hole, possesses a massive structural weight and an extremely robust chassis support, providing excellent anti-overturning support and a stable center of gravity for the deployment of the upper movable extension mechanism. The boom 200, as the core transmission and support hub connecting the chassis base and the high-altitude working end, undertakes the crucial task of traversing complex terrain and significantly increasing the working height. By controlling the pitch and extension movements of the boom 200, the operating platform 300 can easily traverse scattered gravel or uneven ground, and be smoothly and accurately transported to the high sidewalls and arches of the blast hole—working surfaces that are difficult for humans to directly climb. The operators can safely remain on the control panel 300 for comprehensive observation and control. This not only avoids the safety hazards of slipping or falling from heights while climbing in rugged terrain, but also provides the staff with a spacious, stable, and unobstructed high-level command post. The system architecture gives the entire equipment excellent three-dimensional multi-point access capabilities, enabling it to easily handle the high-frequency operation requirements of multi-hole positions for various complex cross-section blasting holes.

[0030] The multi-axis moving platform is mounted on the operating table 300, and the roller frame 400 is installed on the multi-axis moving platform for adjusting the position of the roller frame 400. During blasting operations, after the rock borehole is excavated, its orifice orientation, three-dimensional coordinate position, and borehole wall morphology exhibit numerous irregular variables. Relying solely on the large-scale movement of the boom 200 makes it difficult to achieve millimeter-level precise alignment between the pipeline tip and the borehole. The multi-axis moving platform provides an indispensable multi-dimensional spatial compensation mechanism for the front-end pipeline delivery mechanism. Workers can safely stand on the operating table 300 and use convenient operating devices to drive the multi-axis moving platform to perform fine linear sliding and attitude adjustments in multiple dimensions, including horizontal and vertical directions. This fine-tuning mechanism directly and precisely changes the three-dimensional spatial coordinates of the roller frame 400 mounted on it, ensuring that the central axis moving within the roller frame 400 is highly parallel and coincident with the central axis of the blasting borehole. This precise alignment and guidance mechanism greatly reduces the obstruction caused by angular deviation of the pipeline, avoids pipe scraping and damage or rock collapse at the orifice caused by forced advancement, and significantly improves the success rate and positioning accuracy of initial pipeline alignment and piercing.

[0031] In terms of propulsion, the roller conveying mechanism includes two rollers 601 and a motor 700. Each roller 601 is rotatably mounted on the roller frame 400, and the motor 700 is mounted on the roller frame 400. The two rollers 601 are parallel to each other, and there is space between them. Either roller 601 is connected to the motor 700 to rotate under its drive. This precise arrangement creates a stable and uniformly outputting friction transmission system. The addition of the motor 700 provides the entire system with a continuous and flexibly controllable rotational power, without relying too much on the physical intervention of operators. Each roller 601 is stably distributed and supported within the roller frame 400. The two rollers 601 are not only parallel to each other on their central axis, but the reserved space between their outer cylindrical surfaces has also been rigorously engineered. When the motor 700 starts and drives either roller 601 to rotate, this strong rotational motion forms a power source with a smooth guiding effect within the stable support. This parallel double-roller structure ensures a uniform and symmetrical distribution of the force surface during operation, preventing eccentric shaking and torsional distortion during high-speed operation or under high load, making the power transmission and conversion process both efficient and smooth.

[0032] The charge tube 800 passes through the space between two rollers 601, and the two rollers 601 cooperate to clamp the charge tube 800, so that the charge tube 800 is moved when the rollers 601 rotate, thereby allowing the first end of the charge tube 800 to enter the blast hole. The charge tube 800, as the core flexible conduit for carrying the explosive material and delivering it to the deep hole, is properly positioned within the narrow clamping area formed by the two parallel rollers 601. The two rollers 601, through a set radial extrusion force, tightly and appropriately engage the outer wall surface of the charge tube 800, converting the rotational torque of the motor 700 into a powerful linear thrust or pull-back force that causes the charge tube 800 to produce axial displacement. The method of advancing the pipeline by relying on surface friction clamping provides sufficient longitudinal thrust to overcome the rough frictional resistance of the rock walls inside the deep hole, while also possessing good elastic overload buffering properties. When the pipeline tip encounters insurmountable rock fragments inside the deep hole, the surface of roller 601 can safely slide against the pipe wall to dissipate overload torque, avoiding tearing of equipment components or overload burnout of motor 700 caused by rigid transmission structures. Under the continuous and stable rotation of roller 601, the charge tube 800 extends outward at a uniform speed, continuously and irreversibly, allowing the first end of the charge tube 800 to smoothly and unobstructedly penetrate into the deepest part of the blast hole.

[0033] A pneumatic charging device 801 is mounted on the vehicle body 100 and is connected to the second end of the charging tube 800 to blow the rolled explosive inside the charging tube 800 into the blast hole via airflow. This feature establishes a high-speed and highly safe long-distance terminal delivery mechanism. By centrally arranging the heavy and bulky pneumatic charging device 801 on the low-lying and stable vehicle body 100, the system's center of gravity distribution is greatly optimized, enhancing the chassis's anti-tipping stability under complex working conditions. It also protects the operating platform 300 at higher altitudes from the direct interference of high-frequency oscillations and loud noise from large air pressure generators, significantly improving the personnel's living environment. Regarding the core airflow transmission, the high-pressure airflow released by the pneumatic charging device 801 enters from the second end of the charging tube 800. Because the entire pipeline forms a strictly closed-loop high-pressure system after the charging port is closed, this abundant airflow rapidly establishes a dynamic suspended airflow layer and an extremely strong upward lifting force within the pipe cavity. Under the complete envelopment and propulsion of the powerful airflow, the rolled explosive rapidly sweeps across the smooth inner wall of the pipe cavity and is safely, undamaged, and precisely delivered to the predetermined deep position within the blasting borehole. This delivery mechanism, which utilizes airflow pressure as a carrier, avoids the risks of excessive rigidity compression or severe surface friction during long-distance transport within the borehole, effectively ensuring extremely high safety and explosion-proof performance during the transfer of special engineering materials. It also significantly improves the overall continuity and positioning accuracy of the explosive charge filling within deep boreholes.

[0034] This pneumatic charging trolley, with its movable body 100 and boom 200 mounted on it, allows the operating platform 300 to be flexibly extended to the vicinity of blasting holes, such as slopes and rock walls, which are difficult for personnel to access directly. Workers can stand stably on the operating platform 300 to perform operations, effectively avoiding climbing and moving in dangerous terrain and significantly reducing safety risks. Furthermore, the pneumatic charging trolley uses two rollers 601 to hold the charging tube 800, and a motor 700 drives the rollers 601 to rotate. Utilizing the friction between the rollers 601 and the charging tube 800, the charging tube 800 is automatically advanced (inserted into the blasting hole) and retracted (pulled out of the blasting hole). Compared to manually pushing and pulling the charging tube 800, especially for deep and long blasting holes, this greatly reduces the physical exertion of the operator.

[0035] The pneumatic charging trolley preferably has multiple booms 200 mounted on its body 100, which can simultaneously or alternately operate on blasting holes at different locations, making it particularly suitable for densely packed hole locations and further improving overall construction efficiency.

[0036] It should be noted that the pneumatic charging trolley also includes a power supply unit for power supply and a main control unit for easy operation by staff.

[0037] Furthermore, the boom 200 is a telescopic boom, one end of which is hinged to the vehicle body 100 and the other end is fixedly connected to the operating platform 300; The multi-arm pneumatic charging trolley also includes a variable amplitude cylinder, one end of which is hinged to the vehicle body 100 and the other end is hinged to the telescopic arm, so as to drive the telescopic arm to rotate and thus realize the pitch of the telescopic arm.

[0038] It should be noted that the vehicle body 100 and the telescopic boom of the present invention are both existing technologies, and their structures can be referred to as telescopic boom aerial work platforms. The structures of the vehicle body 100 and the boom 200 are not described in detail here.

[0039] The boom 200 is a telescopic boom, giving the structure the functional attribute of linearly lengthening or shortening along the axial direction. In tunnel operations, the horizontal or inclined distance between the blasting hole and the landing point of the multi-arm pneumatic charging trolley often changes dynamically. The telescopic boom achieves linear extension and retraction through its internal multi-section sleeve and drive components, which can flexibly and precisely adjust the spatial relative distance between the operating platform 300 and the vehicle body 100, greatly expanding the working radius and span coverage of the entire equipment in the tunnel depth direction, and providing reliable length compensation for tunnel operations with different cross-sectional spans.

[0040] The spatial arrangement of the telescopic arm, with one end hinged to the vehicle body 100 and the other end fixedly connected to the operating platform 300, establishes a stable load-bearing frame that accommodates multiple degrees of freedom. The hinged end of the telescopic arm to the vehicle body 100 provides the necessary kinematic freedom for large-angle swinging and rotation around the hinge axis in the vertical plane, forming the fulcrum for subsequent pitching movements. The fixed connection of the other end of the telescopic arm to the operating platform 300 allows the operating platform 300 to be firmly attached to the front end of the telescopic arm. This rigid fixed connection effectively transmits and distributes the combined load from the operating platform 300's own weight and the multi-axis moving platform, operators, and pipeline components on it. This significantly improves the structural rigidity of the operating platform 300 as it extends or stops with the telescopic arm, suppresses the swaying amplitude of the working end during spatial positioning, and provides a stable end-bearing base for subsequent precision alignment processes.

[0041] The multi-arm pneumatic charging trolley also includes a luffing cylinder. One end of the luffing cylinder is hinged to the vehicle body 100, and the other end is hinged to the telescopic arm. This allows the telescopic arm to rotate, thus achieving its pitching motion. This introduces a high-load-capacity angle-changing actuator. As a linear power element driven by high-pressure fluid, the luffing cylinder can output significant thrust and pull through the smooth extension or retraction of its internal piston rod. Because the two ends of the luffing cylinder are hinged to the vehicle body 100 and the telescopic arm respectively, this triangularly distributed hinge configuration successfully converts the axial linear displacement of the luffing cylinder into a powerful driving torque that drives the telescopic arm to rotate around its hinge point with the vehicle body 100. Under this torque, the telescopic arm can swing up and down, achieving smooth pitching motion. This technical solution enables the operating platform 300 to achieve a wide range of vertical height adjustment, thereby guiding the subsequent delivery pipeline to be precisely aligned with the high sidewalls, arches, and blasting holes at different excavation steps of the tunnel.

[0042] The axial linear telescopic motion of the telescopic arm and the vertical pitching motion driven by the variable-amplitude cylinder intertwine and cooperate in space, jointly constructing a two-dimensional planar composite motion coordinate system with high engineering practical value. Through the combined action of the two, the multi-arm pneumatic charging trolley can adjust the three-dimensional spatial coordinates of the operating platform 300 within a wide range without frequently moving the vehicle body 100. This allows the charging path to adapt to the uneven geometry of the tunnel rock wall, providing excellent and stable spatial motion guarantee and attitude adjustment support for the accurate and safe injection of subsequent materials.

[0043] The multi-axis moving platform can be a conventional two-axis moving platform or a three-axis moving platform with a power drive mechanism. Using a two-axis moving platform or a three-axis moving platform can automatically adjust the position of the roller frame 400.

[0044] In some embodiments, the multi-axis moving platform includes a horizontal beam 401, a vertical beam 420, a sliding base plate 410, and a sliding sleeve 500. The sliding base plate 410 is slidably mounted on the horizontal beam 401, the vertical beam 420 is fixedly mounted on the sliding base plate 410, the sliding sleeve 500 is slidably disposed on the vertical beam 420, the roller frame 400 is mounted on the sliding sleeve 500, a locking bolt 451 is threaded through the side wall of the sliding sleeve 500, and a plurality of bolt holes 421 arranged vertically are provided on the vertical beam 420. The locking bolt 451 passes through the side wall of the sliding sleeve 500 and is threadedly connected to one of the bolt holes 421.

[0045] The horizontal beam 401 serves as a load-bearing frame, ensuring the smoothness and stability of the sliding base plate 410 during lateral displacement. This sliding fit method evenly distributes the weight of the upper components along the longitudinal extension surface of the horizontal beam 401, providing ample support load and allowing operators to easily and precisely adjust the position of subsequent structures on the horizontal coordinate axis along the extension direction of the horizontal beam 401. This enables easy handling of numerous different blasting hole locations distributed laterally within the tunnel, significantly increasing the convenience of lateral location.

[0046] The vertical beam 420 is fixedly mounted on the sliding base plate 410, ensuring rigid linkage between the horizontal and vertical motion units. When the sliding base plate 410 slides horizontally, it can stably drive the vertical beam 420 to move synchronously, greatly reducing the risk of tilting or lateral swaying during displacement. Simultaneously, the sliding sleeve 500 is slidably mounted on the vertical beam 420, creating a smooth adjustment channel in the vertical direction. The vertical beam 420 acts as a vertical guide rail, guiding the sliding sleeve 500 to slide linearly up and down on its outer wall. Through this vertical sliding adjustment mechanism, the equipment can accurately adapt to and cover blasting holes at different elevations on the tunnel working face, giving the working end extremely high mobility in vertical space.

[0047] The roller frame 400 is mounted on the sliding sleeve 500, a feature that directly applies the final point of action of the two-dimensional orthogonal adjustment to the core component that actually performs the pipeline conveying action. Since the horizontal beam 401 and the vertical beam 420 together form a wide-coverage local two-dimensional coordinate adjustment system, the roller frame 400, firmly mounted on the sliding sleeve 500, has the ability to move freely in both horizontal and vertical dimensions. This allows operators to align the center line within the roller frame 400 with the center point of the blasting hole on the tunnel wall with extreme precision. This coordinate system architecture improves the accuracy of the initial alignment operation and effectively reduces abnormal friction and force resistance caused by positional deviations during subsequent long-distance conveying processes.

[0048] Locking bolts 451 are fitted onto the sidewall of the sliding sleeve 500, and multiple bolt holes 421 are arranged vertically on the vertical beam 420. The locking bolts 451 pass through the sidewall of the sliding sleeve 500 and are threaded into one of the bolt holes 421. This combination establishes a rigid anchoring mechanism in the vertical height. Under the weight of the equipment itself and the continuous vibrations generated during deep-hole operation, relying solely on the sliding friction between components to maintain height is highly susceptible to downward slippage and loss of control. This solution provides numerous discrete and precise positioning nodes through the multiple bolt holes 421 arranged vertically. When the sliding sleeve 500 slides to a suitable elevation range, the locking bolts 451 are screwed into one of the corresponding bolt holes 421. The threaded connection provides extremely strong axial pull-out resistance and cross-sectional shear bearing capacity, firmly positioning the sliding sleeve 500 on the vertical beam 420. This rigid locking structure greatly prevents the roller frame 400 from accidentally slipping or vibrating during heavy-load operations, ensuring constant height and continuous and stable alignment throughout the operation, and significantly increasing the overall system's reliability and long-term safety in complex vibration environments.

[0049] The horizontal beam 401 is preferably an I-beam, and the upper plate of the I-beam is fixed to the operating table 300. The bottom of the sliding base plate 410 is provided with a sliding groove 411, and the upper plate of the I-beam is slidably embedded in the sliding groove 411, so that the sliding base plate 410 and the roller frame 400 can slide along the I-beam.

[0050] Furthermore, the charging tube 800 is made of rubber to increase the friction between it and the two rollers 601 and to adapt to the shape of the inner wall of the blast hole.

[0051] The propellant tube 800 is made of rubber, which significantly optimizes the continuity of power transmission and operational stability during pipeline transportation. Throughout the entire operation cycle of the multi-arm pneumatic propellant loading trolley, the two rollers 601 are used at high frequency to clamp the propellant tube 800 in a straight deep hole and perform reverse retraction operations. The rubber material itself possesses excellent surface anti-slip properties and a high static friction coefficient. When the two rigid rollers 601 apply opposing radial clamping pressure to the propellant tube 800, the elastic rubber material undergoes moderate local elastic deformation on the pressure-bearing micro-contact surface. This local deformation allows the outer wall surface of the propellant tube 800 to more tightly, seamlessly, and closely wrap around the outer cylindrical surface of the rollers 601, significantly extending the actual contact arc length and pressure-bearing area between them. Through the expansion of the contact area and the anti-slip texture of the material itself, an extremely strong and stable surface frictional coupling force is established between the drive component and the pipeline. This abundant traction friction allows the rotational torque output by the motor 700 to be converted into a powerful linear thrust that drives the charging tube 800 to extend and retract axially. The rubber-material charging tube 800 is firmly gripped by the roller 601, effectively preventing slippage and loss of control under heavy loads or when encountering obstacles such as gravel at the bottom of the hole. This ensures the continuity and uniformity of the long-distance pipeline pushing process, making the front-end tube delivery action more precise and controllable.

[0052] The charging tube 800 is made of rubber, giving the core delivery pipeline excellent flexibility and bending adaptability, allowing it to highly adapt to the shape of the blast hole's inner wall. In the actual drilling process of blast holes in underground tunnel engineering, due to the complexity of the rock strata's geological orientation and the depth deviation of the drilling process, the internal diameter of the blast hole is often not straight and smooth. Deep within the borehole, there are inevitably rock protrusions, diameter narrowing, slight bends, and even extremely irregular uneven surfaces. If rigid metal or hard engineering plastic pipes are used, they are prone to getting stuck at these irregular rock wall nodes when advancing deeper, leading to serious conditions such as obstructed progress or even pipe breakage. Rubber, however, possesses excellent resistance to bending fatigue and high flexibility. When the tip of the charging tube 800 penetrates deep into the blast hole and touches the uneven inner wall, the charging tube 800, with its inherent flexibility, can naturally and smoothly bend to avoid the contours of the rock wall. It can nimbly glide over protruding rock fragments and closely conform to the complex spatial features of the blast hole's inner wall to continue extending deeper into the hole, greatly reducing the rigid collision resistance encountered during the front-end piercing.

[0053] In adapting to the shape of the blast hole's inner wall, the rubber material also exhibits excellent cushioning and shock absorption properties. When the charge tube 800 undergoes prolonged sliding friction and hard scraping against the rough and sharp inner wall of the blast hole, the rubber body can absorb and dissipate most of the impact stress, protecting the main pipeline from being scratched by sharp rock layers or experiencing excessive structural wear, thereby significantly extending the safe service life of the core explosive-related pipe components. Simultaneously, even if the outer surface of the tube undergoes multiple bends due to its extreme conformity to the tortuous shape of the hole wall, the excellent compressive resilience of the rubber material still ensures the effective unobstructed flow and cross-sectional roundness of the internal cavity of the charge tube 800. This maintains a spacious and standardized travel path for the subsequent high-pressure pneumatic shuttle of the rolled explosive within the tube, preventing explosive transport stagnation and blockage caused by irreversible collapse of the tube wall under pressure.

[0054] Therefore, limiting the charge tube 800 to a rubber material not only ensures strong power transmission for long-distance pipeline advancement by increasing frictional engagement at the initial power source end, preventing slippage and stalling of the drive mechanism, but also, at the working end, its extremely flexible texture overcomes spatial obstacles in complex underground blasting tunnels, allowing it to seamlessly adapt to the shape and undulations of the blasting hole's inner wall. These two material advantages work together to ensure that the multi-arm pneumatic charge trolley maintains a consistently high tube-to-hole connection rate and smooth transport of deep blasting materials when facing harsh and unpredictable underground rock tunnel engineering.

[0055] Furthermore, the multi-arm pneumatic charging trolley also includes a telescopic guide mechanism; The telescopic guide mechanism includes a fixed base 901, a linear telescopic drive component 902, a bracket 903, and a rigid guide component 904; The fixed base 901 is mounted on the roller frame 400; The linear telescopic drive 902 is mounted on the fixed base 901. The linear telescopic drive 902 is mounted on the rigid guide 904 through the bracket 903 for driving the rigid guide 904 to move toward or away from the blast hole. The linear telescopic drive 902 is a cylinder or an electric push rod. The propellant tube 800 passes through the rigid guide 904, and the rigid guide 904 receives the propellant tube 800. A gap exists between the propellant tube 800 and the inner wall of the rigid guide 904 to allow movement of the propellant tube 800. The rigid guide 904 may be an annular sleeve, a U-shaped block, or an arc-shaped block, and has a guide surface that matches the outer wall of the propellant tube 800.

[0056] The fixed base 901 provides an extremely solid and stable force-bearing support platform for the subsequent telescopic movements of the components. This installation method ensures that no matter how the roller frame 400 makes fine adjustments to its posture in three-dimensional space or moves laterally, the telescopic guide mechanism can always maintain synchronous linkage with it in the same frequency and direction, thereby maintaining a high degree of consistency and continuous stability of the central axis at the front end of the entire flexible conveying path in terms of macroscopic structure.

[0057] In actual underground construction environments, the excavated rock wall surface often exhibits highly irregular protrusions or depressions. As a large, integrated structure including the motor 700 and drive shaft, the roller frame 400 must maintain a safe buffer distance from the surface moving towards or away from the blast hole to prevent interference and collisions during its advancement towards the rock wall. This unavoidable suspended distance easily causes the flexible charging tube 800 to bend and become unstable in the middle when subjected to strong pushing resistance from behind. The addition of the linear telescopic drive component 902 provides the end guide component with independent, active, and flexible axial feeding capabilities. It can extend outwards independently of the main frame, successfully traversing this suspended buffer span, and precisely delivering the rigid guide component 904 to the foremost position close to the blast hole opening, thus establishing a robust and stable directional guiding bridge in the suspended area between the equipment and the hole wall.

[0058] The propellant tube 800 passes through the rigid guide 904, and the rigid guide 904 receives the propellant tube 800. A gap exists between the propellant tube 800 and the inner wall of the rigid guide 904 to allow the propellant tube 800 to move. The rigid guide 904 provides a 360° circumferential limiting boundary for the tube. When the propellant tube 800 advances into a deep hole and encounters the resistance of gravel at the bottom of the hole, the tube itself tends to bend, bulge, or even fold outwards. At this time, the rigid inner wall of the rigid guide 904 can immediately limit this bending deformation to an extremely small range, forcing the propellant tube 800 to always maintain straightness along the predetermined axis, greatly enhancing the puncture rigidity of the flexible tube under axial pressure conditions, and preventing disorderly stacking of the propellant tubes 800 before entering the blast hole.

[0059] Meanwhile, the rigid guide 904 supports the propellant tube 800. This support effectively distributes the downward force caused by the weight of the suspended portion of the long-distance pipeline, ensuring that the inlet end of the pipeline remains straight and accurately aligned with the center of the borehole. Furthermore, the subtle yet meticulous design of a gap between the propellant tube 800 and the inner wall of the rigid guide 904 provides a tight containment while preventing excessive radial locking and compression of the outer wall of the propellant tube 800. This well-designed gap creates a smooth sliding channel, ensuring that the propellant tube 800 can move freely and quickly within it during high-speed insertion or rapid retraction, minimizing additional sliding friction losses during equipment operation.

[0060] If the multi-axis moving platform is a fully automatic moving platform, a binocular camera can be installed on the roller frame 400. Through the cooperation of the binocular camera and the multi-axis moving platform, the annular guide sleeve can be automatically aligned with the blasting hole.

[0061] Furthermore, the rigid guide 904 is mounted on the bracket 903 via the elastic support 907; The multi-arm pneumatic loading trolley also includes an ultrasonic excitation device, which includes an ultrasonic generator 905 and a piezoelectric transducer 906. The ultrasonic generator 905 is mounted on the bracket 903. The ultrasonic generator 905 is electrically connected to the piezoelectric transducer 906, and the piezoelectric transducer 906 is connected to the rigid guide 904 to cause the rigid guide 904 to vibrate.

[0062] When the piezoelectric transducer 906 seamlessly transfers high-frequency oscillating kinetic energy and forces the rigid guide 904 to generate continuous high-frequency micro-amplitude vibrations, the contact state of the inner surface of the rigid guide 904 changes significantly. During the delivery process of the propellant tube 800, the outer wall of the propellant tube 800, passing through the rigid guide 904, would normally form a continuous and tight sliding frictional resistance surface with the inner wall of the rigid guide 904. However, when the rigid guide 904 is under high-frequency micro-vibration, the contact between the inner wall of the rigid guide 904 and the outer surface of the propellant tube 800 is in an intermittent, high-frequency micro-separation, skip-contact state. This dynamic high-frequency transition of the contact interface state greatly reduces the surface frictional resistance experienced by the propellant tube 800 when passing through the rigid guide 904. Especially when facing long-distance, high-load deep-hole pushing tasks, the rigid guide 904 under high-frequency vibration allows the propellant tube 800 to maintain a smooth, low-resistance passage state within it. This not only significantly reduces the propulsion energy consumption of the rear conveying mechanism and effectively prevents the charging tube 800 from getting stuck or stopping at the guide inlet due to excessive friction, but also greatly improves the smoothness and agility of the flexible pipeline as it extends continuously into the blast hole, ensuring the high-speed and smooth progress of the overall deep hole filling operation.

[0063] The elastic support 907 can be a rubber damping pad, a polyurethane elastomer, or a metal spring assembly. During the loading operation, the elastic support 907 bears the gravitational load of the rigid guide 904 and the loading tube 800, and can also effectively isolate the vibration of the rigid guide 904.

[0064] In the transportation of hazardous chemicals, to prevent ultrasonic energy from directly acting on the rolled explosive and causing frictional heat accumulation or damaging the sensitized structure inside the explosive (i.e., demulsification effect), this invention utilizes the high-damping acoustic attenuation characteristics of the rubber-material charging tube to construct a natural ultrasonic isolation layer. The micro-amplitude high-frequency vibrations generated by the ultrasonic excitation device are mainly concentrated on the rigid guide 904, which is used to break the macroscopic frictional resistance between the wall of the charging tube 800 and the rigid guide 904; while most of the high-frequency vibration energy is effectively dissipated when attempting to penetrate the wall of the charging tube 800 and cannot be transmitted to the inner cavity of the charging tube 800. In addition, since the rolled explosive is carried through the charging tube 800 at high speed by the pulsed airflow, its time passing through the excitation area is extremely short, effectively preventing local heat accumulation and ensuring that the entire high-pressure pneumatic charging system maintains an extremely high intrinsic safety explosion-proof standard while achieving long-distance low-resistance transportation.

[0065] Furthermore, the multi-arm pneumatic charging trolley also includes a torque monitoring module that is communicatively connected to the motor 700, and the torque monitoring module is electrically connected to the main control unit; When the roller conveyor sends the charge tube 800 into the blast hole, the torque monitoring module collects the load torque of the motor 700 in real time. If the load torque is detected to change abruptly within a preset time window and exceed the set torque threshold, the main control unit determines that the charge tube 800 has touched the bottom of the blast hole and immediately sends a braking and reversing command to the motor 700 to make the charge tube 800 retreat a preset distance.

[0066] In the deep underground tunnel construction environment, the specific conditions deep within the blasting hole are usually impossible to observe directly visually. The torque monitoring module essentially equips the entire working equipment with a highly sensitive tactile feedback center. Because this monitoring module maintains a direct communication connection with the motor 700 responsible for outputting the propulsion power to the pipeline, it can accurately and frequently capture minute changes in the rotor's operating state at its power source. Simultaneously, the main control unit, electrically connected via a wired network, acts as the brain of information processing, ensuring low-latency signal transmission from front-end data acquisition to the central processing and analysis commands. This highly integrated communication system successfully transforms the originally simple, passive propulsion actuator into an intelligent adjustment platform with operational environment awareness capabilities.

[0067] During the continuous operation of the roller conveyor mechanism, which pushes the flexible pipeline deeper into the hole, the friction between the outer wall of the charging tube 800 and the rugged rock face, as well as various obstacles such as loose rocks encountered at the front end, are directly transmitted in the reverse direction to the output shaft of the motor 700, causing a significant change in its output load. The load torque is the most direct, sensitive, and realistic objective data indicator reflecting this resistance of the front-end pipeline. By continuously collecting this key operating parameter in real time, the management system can constantly monitor the resistance and stress state of the hidden pipeline at the front end. This transforms the central control unit's understanding of the working conditions inside the deep hole from vague manual speculation in traditional operations to dynamic quantitative tracking based on precise monitoring data, greatly enhancing the control accuracy of the entire equipment in complex and harsh working conditions.

[0068] In the actual propulsion operation of deep and long blasting holes, the torque increase of the motor caused by the normal uniform friction between the outer surface of the pipe and the inner wall of the hole usually shows a linear or slow and gradual increase. However, once the front end of the pipe contacts and is hard-pressed against the bottom of the hard rock stratum, the resistance it experiences will increase sharply in an instant within a very short microsecond.

[0069] The immediately issued braking and reversing commands first and foremost decisively cut off the rigid compressive force that would allow the system to continue moving forward, preventing the charging tube 800 from experiencing localized damage at the nozzle or excessive deformation of the tube body due to continuous overload pressure. This also protects the internal core components of the motor 700 from the risk of overload damage caused by prolonged stalling. Next, the motor 700's reverse, stable rotation, retracts the pre-set distance, causing the discharge port at the end of the charging tube 800 to actively detach from the tightly pressed rock face at the bottom of the hole. This precise, adaptive retraction compensation displacement creates a buffer loading area at the bottom of the deep hole with a specific safe length, free from any compression, and with ample cross-sectional space. This intelligently reserved loading space at the bottom of the hole plays a crucial role in subsequent filling operations. It ensures that during the subsequent high-pressure conveying process, the material carried by the strong airflow can smoothly, completely, and without obstruction detach from the conveying tube and stably land within the predetermined area at the bottom of the blast hole. This effectively avoids operational interruptions caused by material stagnation and jamming, abnormal pressure spikes in the main pipeline, or inability to smoothly discharge chemicals due to the material outlet being blocked by hard rock surfaces. It highly ensures the smoothness of the continuous construction operation and the reliability of the equipment.

[0070] Furthermore, the pneumatic charger 801 includes a proportional flow valve and a pulse airflow generator electrically connected to the main control unit. The proportional flow valve and the pulse airflow generator are arranged sequentially along the direction from the air source to the charge tube 800. When conveying the rolled explosive, the main control unit controls the pulse airflow generator to open and close at a set frequency, converting the continuous high-pressure airflow into a dynamic pulse airflow. The dynamic pulse airflow generates a pulse aerodynamic force applied to the rolled explosive in the inner cavity of the charge tube 800, causing the rolled explosive to be pushed into the blast hole under the action of the pulse aerodynamic force.

[0071] Through electrical connection, the main control unit can send precise control commands to the proportional flow valve and pulse airflow generator in real time, achieving instantaneous response and dynamic intervention of fluid output parameters. The introduction of the proportional flow valve allows the system to move beyond relying on a single, unadjustable constant airflow, enabling stepless and precise proportioning of airflow based on the actual pipeline length or the weight resistance of the transported material. This digital flow control base greatly enhances the adaptability of the entire system under different orifice depths and pipe diameters, ensuring accurate initial airflow energy supply.

[0072] Driven by precise high-frequency electrical signals from the main control unit, the pulse airflow generator executes rapid and regular opening and closing actions, cutting and transforming the originally continuous airflow into segments of dynamic pulse airflow with extremely high instantaneous kinetic energy. This flow pattern transformation avoids the risk of overall pressure stagnation caused by prolonged unidirectional accumulation of static high pressure within the pipe. Simultaneously, the set frequency of opening and closing causes the release of airflow energy to exhibit periodic accumulation and burst characteristics, endowing the airflow with higher penetrating power and an upper limit of instantaneous thrust, providing a continuous relay of kinetic energy for long-distance deep-hole transmission.

[0073] The dynamic pulsed airflow generates pulsed aerodynamic force within the inner cavity of the charging tube 800, pushing the rolled explosive into the blast hole under the action of the pulsed aerodynamic force. This feature directly affects the delivery terminal, greatly optimizing the microscopic movement of the material within the tube. When the dynamic pulsed airflow oscillates at high speed within the narrow and flexible inner cavity of the charging tube 800, the generated pulsed aerodynamic force acts on the tail end of the rolled explosive in a high-frequency wave-like beating manner. Unlike the constant static pressure of rigid compression, this pulsed aerodynamic force induces a fine fluid separation layer between the rolled explosive and the inner wall of the charging tube 800. This high-frequency dynamic characteristic causes the rolled explosive to maintain a microscopic dynamic suspension and intermittent leaping state during its journey, greatly reducing the sliding friction resistance between the outer packaging of the material and the tube wall, and preventing the material from being squeezed and expanded when passing through bends or micro-contractions in the pipeline, thus preventing serious failures such as jamming and blockage. Ultimately, driven by this continuous pulsed aerodynamic force with anti-jamming properties, the rolled explosive can pass through the entire pipeline system with extremely high smoothness and be accurately and safely pushed into the blast hole, significantly improving the success rate of long-distance automatic transportation of hazardous materials and the reliability of continuous operation.

[0074] Furthermore, the multi-arm pneumatic charging trolley also includes a pressure transmitter; The pressure transmitter is installed on the gas supply circuit between the pulse airflow generator and the charge tube 800 and is electrically connected to the main control unit to collect the gas pressure data in the gas supply circuit in real time during the process of airflow blowing the rolled explosive. The main control unit performs feature analysis on the air pressure data. When it detects that after the air pressure data reaches its peak, a step transient pressure drop with a downward slope exceeding a preset threshold occurs, and the pressure value after the step transient pressure drop falls back to the unloaded threshold range, the main control unit determines that the rolled explosive has successfully detached from the charging tube 800 and entered the blast hole.

[0075] In deep blasting hole operations, because the line of sight at the bottom of the hole is completely obstructed, external operators cannot directly rely on visual confirmation to determine whether the rolled explosive inside the tube has successfully detached from the tube opening. The configuration of the pressure transmitter successfully transforms the dynamic movement state of the material in the concealed front-end location into a precise electrical signal that the rear control system can receive, quantify, and track in real time.

[0076] By placing the pressure transmitter on a relatively stable gas supply circuit where the fluid pressure status can accurately and instantly reflect the resistance and back pressure of the entire downstream pipeline, the system effectively avoids the section of pipe extending deep into the rock borehole that is susceptible to harsh environmental interference. Through electrical connection with the main control unit, the system establishes a low-latency, high-bandwidth data transmission channel to acquire real-time gas pressure data within the gas supply circuit during the process of the gas flow carrying the rolled explosive. This high-frequency, uninterrupted real-time acquisition ensures extremely high continuity and accurate reproduction in capturing changes in the system's gas flow pressure.

[0077] The main control unit performs feature analysis on the air pressure data, which is the key computing hub for converting raw data indicators into operational process instructions. As the rolled explosive is continuously pushed forward by the high-pressure airflow along the charging tube 800, the rolled explosive itself forms a tight, moving fluid barrier within the narrow tube cavity, causing the air pressure behind it to continuously rise and remain at a high load. When the air pressure data reaches its peak, the main control unit begins to sensitively capture specific fluid unloading waveform characteristics. Once the system identifies a step-like transient pressure drop with a downward slope exceeding a preset threshold, it indicates that the tail end of the rolled explosive has just detached from the front end of the charging tube 800. Because once the sealed material detaches from the tube opening, the originally highly compressed main sealed air chamber instantly opens to the spacious blast hole space to release pressure, and the high-pressure gas inside the tube rapidly surges outward. This violent depressurization process will present an extremely steep, cliff-like downward edge on the pressure monitoring data curve. By introducing a scientifically set preset threshold to quantify and limit the descent slope, the main control unit can extremely accurately distinguish this real material venting and depressurization phenomenon from ordinary pressure fluctuations caused by conventional airflow pulsation and local bends in pipelines, greatly improving the accuracy and anti-interference capability of pipe detachment event identification.

[0078] Furthermore, the judgment logic of this technical solution also includes a rigorous double confirmation condition: the pressure value after the step transient pressure drop falls back to the no-load threshold range. This additional condition constitutes an extremely rigorous closed-loop verification logic. It is used to verify that after the transient pressure relief action occurs, the pipeline has indeed returned to the baseline no-load air pressure state with no material retention and completely unobstructed airflow. Only when the steep descent slope dynamic characteristic and the final no-load steady-state pressure characteristic are simultaneously satisfied, the main control unit determines that the rolled explosive has successfully detached from the charging tube 800 and entered the blast hole. This invention, through precise analysis of the microscopic characteristics of the airflow, accurately grasps the exact position and detachment status of the rolled explosive, preventing major operational hazards caused by the equipment mistakenly performing a backward tube retraction action when the material has not yet been discharged or is accidentally stuck in the tube. This not only ensures the integrity of material delivery in deep holes, but also significantly improves the reliability of the automated process advancement of the multi-arm pneumatic charging trolley under unmanned visual monitoring conditions.

[0079] According to another aspect of the present invention, a method for loading explosives using the aforementioned multi-arm pneumatic charging trolley is also provided, comprising the following steps: 1) Adjust the boom 200 and the multi-axis moving platform on the operating table 300 to adjust the position of the roller conveying mechanism so that the first end of the charging tube 800 is aligned with the blast hole; 2) Start the motor 700, and rotate the roller 601 connected to the motor 700. The two parallel rollers 601 work together to clamp the charging tube 800 and move it, so that the first end of the charging tube 800 gradually goes deeper into the blast hole. During this process, the torque monitoring module collects the load torque of the motor 700 in real time. 3) If the torque monitoring module detects that the torque of the motor changes abruptly within the preset time window and exceeds the set torque threshold, the main control unit determines that the charging tube 800 has touched the bottom of the blast hole. At this time, it immediately sends a braking and reverse pullback command to the motor 700 to make the charging tube 800 retreat a preset distance to reserve charging space at the bottom of the hole. 4) Open the charging port on the side wall of the pneumatic charging device 801, send the rolled explosive to be loaded into the charging tube 800, and then close the charging port. 5) Start the pneumatic charging device 801 connected to the second end of the charging tube 800. The pneumatic charging device 801 delivers airflow into the charging tube 800, so that the rolled explosive is blown into the blast hole by the airflow. 6) Control motor 700 to reverse, and two rollers 601 drive the charging tube 800 to move, thereby pulling the charging tube 800 out of the blast hole.

[0080] Step 1) defines the multi-axis moving platform on the adjusting boom 200 and the operating platform 300 to adjust the position of the roller conveying mechanism so that the first end of the charging tube 800 is aligned with the blast hole. This initial step establishes a precise guidance system from large-scale spatial addressing to micro-coordinate anchoring. By manipulating the load-bearing structure, the equipment can perform multi-dimensional flexible maneuvering in complex and undulating underground construction sites. This composite adjustment method allows the delivery source to break free from terrain limitations and be positioned with extreme precision on the optimal straight working axis. This action directly ensures that the front end of the flexible delivery pipeline can smoothly and without deviation into narrow and oriented rock cavities, significantly improving the initial docking accuracy between the equipment and the working face. This provides a very stable structural alignment foundation for subsequent long-distance pushing actions and prevents the pipe from bending or being damaged at the entrance due to angular deviations.

[0081] Step 2) involves starting the motor 700. The rollers 601 connected to the motor 700 rotate, and two parallel rollers 601 work together to clamp and move the charging tube 800, gradually pushing the first end of the charging tube 800 deeper into the blast hole. During this process, the torque monitoring module collects the load torque of the motor 700 in real time. This step achieves a highly efficient integration of stable power transmission and blind exploration in a darkroom environment. In terms of power execution, the frictional engagement force of the rotating cylinder surface is used to convert the continuous rotational torque into linear thrust. This driving method allows the pipeline to maintain a uniform and continuous advance even when facing complex resistance deep within the borehole, reducing the probability of irregular buckling deformation of the pipeline within the borehole. Simultaneously, the data acquisition mechanism initiated during the propulsion process provides the process with extremely keen operational insight. By continuously capturing changes in the power source's output, the system converts the stress state of the pipeline, which is deeply buried in the rock strata and cannot be confirmed visually in conventional ways, into precise digital indicators in real time, providing objective and rigorous data support for subsequent intelligent decision-making.

[0082] Step 3) stipulates that if the torque monitoring module detects a sudden change in load torque within a preset time window and exceeds the set torque threshold, the main control unit determines that the charging tube 800 has touched the bottom of the blast hole. At this time, it immediately sends a braking and reverse retraction command to the motor 700, causing the charging tube 800 to retreat a preset distance to reserve charging space at the bottom of the hole. This action step constitutes the crucial safety protection and adaptive adjustment center in the entire automated charging process. Through rigorous dual data identification logic, the system demonstrates a strong ability to identify working conditions, accurately filtering out normal resistance fluctuations caused by pipeline friction and specifically locking onto the specific surge signal when the tube end hits the wall. Once the logic judgment is triggered, the system's rapid braking instantly cuts off the forward destructive overload compression, greatly ensuring the operational safety of the tube end and the core component of the motor 700. The subsequent quantitative retreat action specifically and proactively yields and opens up a spacious receiving section in the deepest part of the originally congested and blocked rock strata to accommodate materials. This proactive pre-positioning action establishes the core premise that subsequent materials can smoothly fall to the predetermined coordinates, avoiding the predicament of clogging caused by materials being unable to leave the pipe opening in deep holes.

[0083] Step 4) involves opening the charging port on the pneumatic charging device 801, feeding the rolled explosive into the charging tube 800, and then closing the charging port. This step, through its side-feeding path design, greatly optimizes the continuity of the work cycle. With the pipeline firmly anchored in the deep hole and space reserved, operators can directly fill materials through the specially designed opening and closing channels on the pipe wall. This operating mode eliminates the need for repeated end disassembly and reassembly of the entire high-pressure pneumatic conveying main line, maintaining the continuous airtightness of the main air path. Its fast and convenient filling method not only significantly reduces the time required for a single cycle but also confines the manual handling of hazardous materials to a very safe and intuitive equipment platform, enhancing the smoothness and control of the feeding operation process.

[0084] Step 5) activates the pneumatic charging device 801, which is connected to the second end of the charging tube 800. The pneumatic charging device 801 delivers airflow into the charging tube 800, causing the rolled explosive to be blown into the blast hole. This step utilizes the principle of hydrodynamic pressure to perform a long-distance transfer of material to a deep blast hole. The powerful airflow energy establishes a high-speed fluid transport bed, enveloping the material and rapidly pushing it towards the bottom of the hole. This fluid transport method effectively replaces the hard friction and jamming that easily occurs with rigid rods in tortuous channels, allowing special engineering materials to glide smoothly and at high speed across the entire pipeline with extremely low pipe wall friction loss. It not only highly ensures the integrity of the material's outer structure and internal chemical properties during long-distance movement, but also ensures that the material, under the continuous escort of the airflow, accurately settles into the receiving space at the bottom of the hole reserved in the previous step.

[0085] Step 6) restricts the control motor 700 to reverse, and the two rollers 601 drive the charging tube 800 to move, thereby pulling the charging tube 800 out of the blasting hole. As the final action of the entire method, this step realizes the automated and safe recovery of the delivery pipeline. By switching the power output direction, the stable pulling force of the drive component is used to uniformly and smoothly peel the ultra-long flexible pipeline deeply inserted into the rock mass out of the hole. This automated pipe removal mode greatly reduces the consumption of high-intensity physical strength, and its stable and controlled extraction speed can effectively avoid the pipe wall being cut by the sharp rock at the hole opening due to uneven force, or causing unnecessary disturbance to the rock strata in the hole that has just been filled. Thus, the entire equipment can be quickly reset with extremely high operating efficiency, making full preparations for transferring to the next target hole to carry out a new round of efficient assembly line operations.

[0086] Throughout the operation, the guardrails along the edge of the 300mm control panel provide fall protection for workers, ensuring safety when working at heights or on slopes.

[0087] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-arm pneumatic charging trolley for tunnel explosive loading, comprising a body, boom, control panel, pipe delivery mechanism, charging pipe, and pneumatic charging device, wherein: One end of the boom is mounted on the vehicle body and the other end is mounted on the control panel; The pipe feeding mechanism includes a multi-axis moving platform, a roller frame, and a roller conveying mechanism. The multi-axis moving platform is mounted on the operating table, and the roller frame is mounted on the multi-axis moving platform for adjusting the position of the roller frame. The roller conveying mechanism includes two rollers and a motor. Each roller is rotatably mounted on the roller frame, and the motor is mounted on the roller frame. The two rollers are parallel to each other and there is a space between the two rollers. Either roller is connected to the motor to rotate under the drive of the motor. The charging tube passes through the space between two rollers, and the two rollers cooperate to clamp the charging tube so that the charging tube moves when the rollers rotate, thereby allowing the first end of the charging tube to enter the blast hole. The pneumatic charger is mounted on the vehicle body. The pneumatic charger has an openable and closable charging port. The pneumatic charger is connected to the second end of the charging tube to allow the rolled explosives put into the pneumatic charger to enter the charging tube from the charging port. The pneumatic charger is connected to an air source to blow the rolled explosives in the charging tube into the blast hole through airflow.

2. The multi-arm pneumatic charging trolley for tunnel charging according to claim 1, characterized in that, The boom is a telescopic boom, with one end of the telescopic boom hinged to the vehicle body and the other end fixedly connected to the operating platform; The multi-arm pneumatic charging trolley also includes a variable-amplitude cylinder, one end of which is hinged to the vehicle body and the other end is hinged to the telescopic arm, so as to drive the telescopic arm to rotate and thus realize the pitch of the telescopic arm.

3. The multi-arm pneumatic charging trolley for tunnel charging according to claim 1, characterized in that, The multi-axis moving platform includes a horizontal beam, a vertical beam, a sliding base plate, and a sliding sleeve. The sliding base plate is slidably mounted on the horizontal beam, and the vertical beam is fixedly mounted on the sliding base plate. The sliding sleeve is slidably disposed on the vertical beam, and the roller frame is mounted on the sliding sleeve. A locking bolt passes through the side wall of the sliding sleeve. The vertical beam has multiple bolt holes arranged vertically. The locking bolt passes through the side wall of the sliding sleeve and is threadedly connected to one of the bolt holes.

4. The multi-arm pneumatic charging trolley for tunnel charging according to claim 1, characterized in that, The charging tube is made of rubber to increase the friction between the tube and the two rollers and to adapt to the shape of the inner wall of the blast hole.

5. The multi-arm pneumatic charging trolley for tunnel charging according to claim 4, characterized in that, The multi-arm pneumatic loading trolley also includes a telescopic guide mechanism; The telescopic guide mechanism includes a fixed base, a linear telescopic drive component, a bracket, and a rigid guide component; The fixed base is mounted on the roller frame; The linear telescopic drive is mounted on the fixed base, and the rigid guide is mounted on the bracket to drive the rigid guide to move toward or away from the blast hole. The linear telescopic drive is a cylinder or an electric push rod. The propellant tube passes through the rigid guide and the rigid guide receives the propellant tube. There is a gap between the propellant tube and the inner wall of the rigid guide to allow the propellant tube to move.

6. The multi-arm pneumatic charging trolley for tunnel charging according to claim 5, characterized in that, The rigid guide is mounted on the bracket via an elastic support. The multi-arm pneumatic loading trolley also includes an ultrasonic excitation device, which includes an ultrasonic generator and a piezoelectric transducer, and the ultrasonic generator is mounted on the bracket. The ultrasonic generator is electrically connected to the piezoelectric transducer, and the piezoelectric transducer is connected to the rigid guide to cause the rigid guide to vibrate.

7. The multi-arm pneumatic charging trolley for tunnel charging according to claim 1, characterized in that, The multi-arm pneumatic loading trolley also includes a torque monitoring module that is communicatively connected to the motor, and the torque monitoring module is electrically connected to the main control unit. When the roller conveyor sends the charge tube into the blast hole, the torque monitoring module collects the load torque of the motor in real time. If the load torque is detected to change abruptly within a preset time window and exceed the set torque threshold, the main control unit determines that the charge tube has touched the bottom of the blast hole and immediately sends braking and reversing commands to the motor to make the charge tube retreat a preset distance.

8. The multi-arm pneumatic charging trolley for tunnel charging according to claim 1, characterized in that, The pneumatic charging device includes a proportional flow valve and a pulse airflow generator electrically connected to the main control unit. The proportional flow valve and the pulse airflow generator are arranged sequentially along the direction from the air source to the charging pipe. When conveying the rolled explosive, the main control unit controls the pulse airflow generator to open and close at a set frequency, converting the continuous airflow into a dynamic pulse airflow. The dynamic pulse airflow generates a pulse aerodynamic force applied to the rolled explosive in the inner cavity of the charging pipe, causing the rolled explosive to be pushed into the blast hole under the action of the pulse aerodynamic force.

9. The multi-arm pneumatic charging trolley for tunnel charging according to claim 8, characterized in that, The multi-arm pneumatic charging trolley also includes a pressure transmitter; The pressure transmitter is installed on the gas supply circuit between the pulse airflow generator and the charge tube, and is electrically connected to the main control unit to collect the gas pressure data in the gas supply circuit in real time during the process of airflow blowing the rolled explosive. The main control unit performs feature analysis on the air pressure data. When it detects that after the air pressure data reaches its peak, a step transient pressure drop with a downward slope exceeding a preset threshold occurs, and the pressure value after the step transient pressure drop falls back to the unloaded threshold range, the main control unit determines that the rolled explosive has successfully detached from the charging tube and entered the blast hole.

10. A method for loading explosives using a multi-arm pneumatic charging trolley as described in any one of claims 1 to 9, characterized in that, Includes the following steps: 1) Adjust the boom and the multi-axis moving platform on the operating table to adjust the position of the roller conveying mechanism so that the first end of the charging tube is aligned with the blast hole; 2) Start the motor, and the rollers connected to the motor rotate. The two parallel rollers work together to clamp the charging tube and move it, so that the first end of the charging tube gradually penetrates into the blast hole. During this process, the torque monitoring module collects the load torque of the motor in real time. 3) If the torque monitoring module detects that the motor torque changes abruptly within a preset time window and exceeds the set torque threshold, the main control unit determines that the charging tube has touched the bottom of the blast hole. At this time, it immediately sends a braking and reverse pullback command to the motor to make the charging tube retreat a preset distance to reserve charging space at the bottom of the hole. 4) Open the charging port on the pneumatic charging device, feed the rolled explosive to be loaded into the charging tube, and then close the charging port; 5) Start the pneumatic charging device connected to the second end of the charging tube. The pneumatic charging device delivers airflow into the charging tube, causing the rolled explosive to be blown into the blast hole by the airflow. 6) Control the motor to reverse, and the two rollers drive the charging tube to move, thereby pulling the charging tube out of the blast hole.

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