An intelligent water-based hole charging system and a charging method

Abstract

The application discloses a kind of water-containing blasthole intelligent charging system and charging method, including mobile rack;Charging bag roll winding and unwinding unit is installed on mobile rack, and charging bag is pulled out from the outlet below mobile rack and is lowered into blasthole;Cutting mechanism is arranged to cut the cutting knife of charging bag lowered transversely;Bag mouth fixed opening mechanism opens the cut bag mouth of charging bag lowered;Charging pipe unit is arranged above the cut bag mouth after charging bag opening, with charging pipe that extends into the inside of charging bag from bag mouth;Explosive supply unit is connected with charging pipe to fill explosive in charging bag;Initiating explosive package lowering unit lowers initiating explosive package into charging bag from bag mouth;Orifice filling unit seals the orifice of blasthole after charging is completed.The application reduces the labor intensity and charging error of water-containing blasthole charging, improves the stability of charging bag mouth forming, charging quantity control precision, charging uniformity and overall blasting construction efficiency.

Description

Technical Field

[0001] This invention discloses an intelligent charging system and charging method for water-bearing blast holes, belonging to the field of automated charging technology for blasting blast holes. Background Technology

[0002] In blasting operations in open-pit mines, underground mines, tunnels, slope protection, and hydraulic geotechnical engineering, water accumulation, seepage, or localized water inrush can occur in blast holes due to groundwater or external water ingress. For water-bearing blast holes with developed fissures, fractured borehole walls, localized enlargement, or karst caves, a charge bag structure is generally used. However, conventional charging methods are prone to problems such as water affecting the charge, material leakage, uneven distribution within the borehole, and difficulty in controlling the charge height.

[0003] Explosive loading vehicles are automated devices used for automatically loading explosives into blast holes at blasting sites. Mixing and loading equipment often focuses on mechanized structures such as hoppers, mixers, feeders, telescopic feed pipes, and fixing components to improve mixing efficiency or prevent pipe displacement, as illustrated by Chinese patent application CN218329582U, which discloses an automatic explosive loading vehicle. However, for loading explosives into water-bearing blast holes, explosive bags are generally used to waterproof the filled explosives. Existing automatic explosive loading vehicles for bulk explosives, which use a low-density explosive supply + explosive bag roll-down loading method, are clearly unsuitable for water-bearing blast holes. The pre-unfolding of explosive bags within water-bearing blast holes and the displacement of the loaded low-density explosives due to buoyancy caused by water accumulation in the blast hole still affect the reliability of explosive loading into water-bearing blast holes.

[0004] Furthermore, the charging vehicle can quantitatively charge explosives into the borehole according to the designed height. Existing charging height detection solutions typically involve setting up a charging height detection unit that communicates with the charging vehicle's control system to reduce repetitive manual measurements and improve charging efficiency. Related published documents also place the detection end inside the filling hole and the signal receiver at the charging vehicle's control system to stop charging or trigger an alarm based on the detection signal, such as the explosive charging height detection system and its usage method disclosed in Chinese patent application CN114659419A. These solutions illustrate the importance of automatic charging height detection, but they primarily address the height detection problem and are mostly used for charging height detection inside dry boreholes. They do not provide a complete device to address the floating, water-restrained, and continuous bagging issues of low-density explosives in water-bearing boreholes.

[0005] The final plugging methods for explosive loading vehicles mostly still rely on structures such as frustum sleeves, fixing clips, and rubber rings to reduce the leakage of particulate explosives while also allowing for high-pressure airflow. However, these plugging structures are mainly for localized plugging at the orifice or inside the orifice, and are unable to solve the problems of explosives with a density lower than water floating as a whole in water-bearing boreholes, leaking into fissures or caves, and poor continuity of explosive loading. Summary of the Invention

[0006] The technical problem solved by this invention is that existing low-density explosives are prone to floating and loss in water-bearing boreholes, are difficult to quantitatively and continuously and uniformly fill, and have low sealing efficiency at the borehole opening, making it difficult to achieve automated loading. Therefore, this invention proposes an intelligent loading system and method for water-bearing boreholes.

[0007] This invention is achieved using the following technical solution:

[0008] This invention first discloses an intelligent charging system for water-bearing boreholes, comprising:

[0009] 100 mobile racks;

[0010] The explosive bag roll take-up and unload unit 200 is installed on a mobile frame, and is provided with an explosive bag roll 201 for taking up and unloading rolled explosive bags. The explosive bags 210 pulled out from the explosive bag roll 201 are lowered into the blast hole from the outlet below the mobile frame.

[0011] The cutting mechanism 300 is located below the drug bag roll take-up and unload unit 200 and between the machine frame outlet, and has a transverse cutter 301 for transversely cutting the unloaded drug bag.

[0012] The bag opening fixing and opening mechanism 400 is located below the cutting mechanism 300, and includes left and right positioning clamps 401 corresponding to the two sides of the lowered medicine bag and front and rear opening clamps 402 that pull the medicine bag opening apart and overlap the bag body.

[0013] The drug loading tube unit 500 is disposed above the cut-off opening of the drug loading bag after it is opened, and has a drug loading tube 501 extending from the opening into the inside of the drug loading bag;

[0014] The explosive supply unit 600 is connected to the charging tube 501;

[0015] The detonating charge lowering unit 700 is located above the cut-off opening of the opened charging bag, along with the charging tube unit, and has a winch mechanism 701 that lowers the detonating charge 710 from the opening into the charging bag.

[0016] The orifice filling unit 800 includes a filling material conveying pipe 801 extending to the outlet below the mobile frame, and the filling material conveying pipe 801 is conveyingly connected to a filling material storage box 802 disposed on the mobile frame.

[0017] In a water-bearing borehole intelligent charging system of the present invention, the end of the charging bag pulled out by the charging bag roll 201 is connected to a counterweight 220, and the counterweight 220 is submerged in the water inside the borehole. The main body of the counterweight 220 is provided with a one-way claw 221 that extends outward to squeeze the borehole wall.

[0018] In a water-bearing borehole intelligent charging system of the present invention, the charging tube 501 is lowered and wound up by a charging tube rewinding drum. A pre-deployed pressure stabilizing tube 502 is attached to the charging tube 501 and extends into the charging bag together with the charging tube. The pre-deployed pressure stabilizing tube 502 extends to connect with an air source in the mobile frame, and a positive pressure air outlet is provided on the tube body extending into the charging bag.

[0019] In a water-bearing blast hole intelligent charging system of the present invention, the cutting mechanism 300 further includes a transverse guide groove 302 through which the charging bag pulled out by the charging bag roll passes. The transverse cutter 301 is slidably disposed on the transverse guide groove 302 via a linear guide rail 303 and is connected to a first linear drive module 304, which drives the transverse cutter 301 to cut the charging bag passing through the transverse guide groove.

[0020] In a water-bearing borehole intelligent charging system of the present invention, the two sets of left and right positioning clamps 401 are arranged opposite to each other on the moving trajectory of the pulled-out charging bag, clamping the two sides of the charging bag after the charging bag is lowered into place.

[0021] The two sets of front and rear opening clamps 402 are arranged facing each other on both sides of the surface of the stacked medicine bag body. The two sets of front and rear opening clamps 402 are moved towards each other by the second linear moving module 403. By moving towards each other until they are fixed to the two sides of the stacked medicine bag body, the cut mouth of the medicine bag is pulled open to both sides.

[0022] The left and right positioning clamps 401 are floating to adapt to the positional changes of the two sides of the bag body facing each other after the cut opening of the medicine bag is opened.

[0023] In a water-bearing borehole intelligent charging system of the present invention, the left and right positioning clamps 401 are mechanical fingers or finger cylinders, and the front and rear opening clamps 402 are suction cups.

[0024] In a water-bearing borehole intelligent charging system of the present invention, the detonating charge 710 is further connected to the winch rope of the winch mechanism 701 via a releasable mounting hook 702 in the detonating charge lowering unit 700.

[0025] In a water-bearing borehole intelligent charging system of the present invention, the charging bag roll-up and unrolling unit 200 and the cutting mechanism 300 are located on the same side obliquely above the bag opening fixing and opening mechanism 400. The charging bag 210 is pulled out obliquely downward from one side of the charging bag roll 201 of the charging bag roll-up and unrolling unit 200, and passes through the cutting mechanism 300 and the bag opening fixing and opening mechanism 400 in sequence. The charging tube unit 500, the detonating charge lowering unit 700 and the filling material conveying pipe 801 are placed directly above the cut bag opening of the opened charging bag.

[0026] In a water-bearing borehole intelligent charging system of the present invention, a control unit 900 is further included. The input terminal of the control unit 900 receives the charging bag pull-out signal from the charging bag roll-up and unrolling unit 200, the charging bag cut-off and opening signal from the bag opening fixing and opening mechanism 400, the charging tube lowering signal from the charging tube unit 500, the explosive conveying signal from the explosive supply unit 600, the detonating charge lowering signal from the detonating charge lowering unit 700, and the filling material conveying signal from the borehole filling unit 800. The output terminal of the control unit 900 is fed back to the execution drive of each unit and mechanism.

[0027] This invention also discloses an intelligent charging method for water-bearing boreholes, which uses the system described above to automatically charge water-bearing boreholes in the following steps:

[0028] S1. Move the mobile frame 100 above the gun hole to be loaded, so that its bottom outlet is aligned with the opening of the gun hole to be loaded.

[0029] S2. Start the charging bag roll take-up and unwinding unit 200, pull out the charging bag 210 from the charging bag roll 201, and pass it through the cutting mechanism 300 and the bag mouth fixing and opening mechanism 400 in sequence. Then, connect the counterweight 220 to the pull-out end of the charging bag, and then pull the charging bag out by the charging bag roll 201 to lower the counterweight into the gun hole to be charged. The control unit 900 detects the charging bag pull-out signal of the charging bag roll 201 in real time during the lowering process of the charging bag, and feeds back to the charging bag roll to stop lowering the charging bag after the charging bag reaches the designed charging length.

[0030] S3. The control unit 900 first activates the left and right positioning clamps 401 of the bag opening fixing and opening mechanism 400 to clamp and fix the two sides of the drug bag. Then, it activates the cutting mechanism 300 to cut the drug bag 210, which has reached the designed drug length, through the transverse cutter 301. At the cutting point, a cut bag opening is formed for the drug bag to be lowered into the gun hole to be loaded. The left and right positioning clamps 401 clamp and fix the two sides of the bag body with the cut bag opening. The front and rear opening clamps 402 of the bag opening fixing and opening mechanism 400 are activated to move towards each other and pull open the stacked bag body at the cut bag opening of the drug bag.

[0031] S4. After the control unit 900 detects the signal that the opening of the cut-off bag of the explosive bag is in place, it starts the explosive tube unit 500, lowers the explosive tube 501 from the opening of the explosive bag below and inserts it into the explosive bag inside the borehole to be loaded. At the same time, the pre-expanded pressure stabilizing tube 502 attached to it is turned on to provide positive pressure ventilation into the explosive bag, blowing open the explosive bag bodies stacked inside the borehole. The control unit 900 detects the signal of the explosive tube being lowered in real time until the explosive tube is lowered to the bottom of the explosive bag, and then feeds back to the explosive tube unit 500 to stop the lowering of the explosive tube and shuts off the positive pressure ventilation to the pre-expanded pressure stabilizing tube 502.

[0032] S5. The control unit 900 starts the explosive supply unit 600, which loads explosives into the explosive bag in the gun hole through the loaded tube 501 that has been lowered into place, and detects the explosive transmission signal in real time.

[0033] S6. When the control unit 900 detects that the amount of explosive in the explosive bag has reached the designed position of the detonation charge, it activates the detonation charge lowering unit 700 to lower the detonation charge 710, which is connected to the electronic detonator and the lead wire, from the opening of the explosive bag below and into the explosive bag to be loaded into the blast hole. The control unit 900 detects the detonation charge lowering signal in real time until the detonation charge 710 is lowered to the designed position of the detonation charge, and then feeds back to control the detonation charge lowering unit 700 to release the detonation charge and retract the winch rope for lowering the detonation charge.

[0034] S7. The control unit 900 continues to start the explosive supply unit 600 to continuously load explosives. At the same time, the control unit 900 feeds back the loading tube unit 500 to gradually raise and retract the loading tube 501 according to the loading speed. After the loading reaches the designed loading parameters, the control unit 900 feeds back the explosive supply unit 600 to stop loading explosives and controls the loading tube unit 500 to completely retract the loading tube 501.

[0035] S8. The control unit 900 controls the positioning clamp of the bag opening fixing and opening mechanism 400 to loosen the charging bag, and then starts the orifice filling unit 800 to fill the pre-determined amount of SAP material into the blast hole after charging through the filling material conveying pipe 801, thereby sealing the orifice of the blast hole to be charged and completing the automatic charging of the blast hole to be charged.

[0036] The present invention, by adopting the above technical solution, has the following beneficial effects:

[0037] (1) This invention designs an automated charging scheme for the charging structure of the charging bag used in water-bearing blast holes. The charging bag is pulled out from the charging bag roll and lowered into the water in the blast hole. The charging bag is cut off from the charging bag roll by the cutting mechanism. At the same time, the bag opening fixing and opening mechanism is used to clamp and fix the cut charging bag and open the bag opening. The detonating charge lowering unit, the charging tube unit, and the explosive supply unit lower the detonating charge into the charging bag and automatically charge it. Finally, the blast hole opening is sealed by the hole filling unit after charging. Combined with the control unit, the signal acquisition and feedback control between the various units realizes the automated and intelligent control of the charging bag lowering, charging and sealing of the water-bearing blast hole, which reduces the amount of manual charging and can achieve fine charging through precise measurement.

[0038] (2) The present invention uses a counterweight to submerge the explosive bag in the water in the blast hole to position it, ensuring the accurate loading position of the explosive bag in the blast hole, realizing precise loading in the water-bearing blast hole, effectively avoiding the influence of the buoyancy of the water in the blast hole on the loading structure of the explosive bag, and ensuring the blasting effect after the subsequent loading of explosives in the blast hole.

[0039] (3) By designing a coordinated cutting mechanism and a fixed opening structure for the bag mouth, the present invention can automatically complete the continuous cutting of bag material, positioning of bag mouth and opening of bag mouth after the bag body is pulled out from the charging bag roll and lowered into the blast hole to a set length. This reduces manual cutting and bag mouth sorting operations and provides staggered interface positions for the charging tube, pre-deployed pressure stabilizing tube, detonating charge lowering and orifice filling material conveying tube, making the overall structure more compact and the layout more reasonable.

[0040] (4) In the process of lowering the drug-filling tube into the drug-filling bag, in order to address the problem that the drug-filling tube is easy to scratch the drug-filling bag and cause water ingress when it is directly inserted into the stacked bag body, a pre-expansion pressure stabilizing tube is attached to the drug-filling tube. During the process of lowering the drug-filling tube, the positive pressure ventilation of the pre-expansion pressure stabilizing tube is started simultaneously. The positive pressure gas blown out by the pre-expansion pressure stabilizing tube is used to pre-expand the stacked bag body of the drug-filling bag, so that the drug-filling tube can be lowered smoothly into the drug-filling bag without directly scratching the drug-filling bag body, thus ensuring the integrity of the drug-filling bag after the drug-filling tube is lowered.

[0041] (5) In view of the fact that after the explosive is loaded, most of the water in the water-bearing borehole will overflow into the borehole opening due to the explosive bag. This invention uses a highly absorbent resin material (SAP material) as the filling material for sealing the borehole opening. The SAP material is used to squeeze and seal the borehole opening by rapidly expanding after absorbing water. At the same time, the unloaded part of the explosive bag opening is squeezed to seal the explosive bag opening.

[0042] In summary, this invention enables automated charging of water-bearing boreholes, suitable for complex borehole conditions such as water-bearing, fissure, and karst caves. It allows direct charging of water-bearing boreholes without the need for drainage, reducing the labor intensity and charging error of manual charging, and improving the stability of the charging bag mouth formation, the accuracy of charging quantity control, the uniformity of charging, and the overall efficiency of blasting operations.

[0043] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the overall structure of an intelligent charging system for water-bearing boreholes, as shown in the embodiment.

[0045] Figure 2 This is a schematic diagram of the medicine bag before it is cut on the medicine bag roll-up and unrolling device in the embodiment.

[0046] Figure 3This is a schematic diagram of the medicine bag after it has been cut on the medicine bag roll-up and unrolling device in the embodiment.

[0047] Figure 4 This is a schematic diagram of the bag opening fixing and opening mechanism in the embodiment cutting the bag opening and opening the bag.

[0048] Figure 5 This is a schematic diagram showing the positional relationship between the drug bag roll take-up unit and other units after the drug bag is pulled out in the embodiment.

[0049] Figure 6 This is a schematic diagram showing the lowering state of the explosive bag and counterweight inside the borehole in the embodiment.

[0050] Figure 7 This is a schematic diagram showing the charging bag and counterweight being lowered into place and fixed in place within the borehole, as described in the embodiment.

[0051] Figure 8 This is a schematic diagram of the explosive supply unit structure in the embodiment.

[0052] Figure 9 This is a schematic cross-sectional view of the charge tube and the pre-deployed pressure stabilizing tube in the embodiment.

[0053] Figure 10 This is a schematic diagram of the detonation charge lowering unit structure in the embodiment.

[0054] Figure 11 This is a schematic diagram of the orifice filling unit structure in the embodiment.

[0055] Figure 12 This is a schematic diagram of the appearance of the mobile rack in the embodiment.

[0056] Figure 13 This is a block diagram of the input and output control of the control unit in the embodiment.

[0057] Numbering on the map:

[0058] 100-Mobile rack, 101-Box door structure, 102-Traveling chassis, 103-Supporting leg;

[0059] 200-Medicine bag roll take-up and unwinding unit, 201-Medicine bag roll, 202-Roll support, 203-Roll control motor, 210-Medicine bag, 211-Side, 212-Bag opening cut-off, 220-Counterweight, 221-One-way gripper;

[0060] 300-Cutting mechanism, 301-Transverse cutter, 302-Transverse guide groove, 303-Linear guide rail, 304-First linear drive module;

[0061] 400-Bag opening fixing and opening mechanism, 401-Left and right positioning clamps, 402-Front and rear opening clamps, 403-Second linear drive module, 404-Floating support;

[0062] 500 - Plug-in tube unit, 501 - Plug-in tube, 502 - Pre-deployment pressure stabilizing tube, 503 - Gas source;

[0063] 600-Explosive supply unit, 601-Storage tank, 602-Transfer pump, 603-Flow sensor and electric regulating valve;

[0064] 700-Detonating charge lowering unit, 701-Winding mechanism, 702-Releasable mounting hook, 703-Winding motor, 704-Winding bracket, 710-Detonating charge, 711-Electronic detonator and fuse;

[0065] 800-Orifice filling unit, 801-Filling material conveying pipe, 802-Filling material storage box, 803-Filling material discharge controller, 804-Filling material;

[0066] 900-Control Unit;

[0067] 910 - Gun Hole. Detailed Implementation

[0068] Example

[0069] See Figure 1The illustrated intelligent charging system for water-bearing boreholes is a specific embodiment of the present invention, specifically including: a mobile frame 100, a charging bag roll winding and unwinding unit 200, a cutting mechanism 300, a bag opening fixing and opening mechanism 400, a charging tube unit 500, an explosive supply unit 600, a detonating charge lowering unit 700, a borehole filling unit 800, and a control unit 900. The mobile frame 100 is the mounting frame for the entire charging system; the charging bag roll winding and unwinding unit 200 is mounted on the mobile frame 100, and is equipped with a charging bag roll for winding and unwinding rolled charging bags. The charging bags 210 pulled out from the charging bag roll 201 are lowered into the borehole 910 from the outlet below the mobile frame; the cutting mechanism 300 is located below the charging bag roll winding and unwinding unit 200 and between the frame outlet, and has a transverse cutter 301 for transversely cutting the lowered charging bags; the bag opening fixing and opening mechanism 400 is equipped with... Located below the cutting mechanism 300, the assembly includes left and right positioning clamps 401 corresponding to the two sides of the lowered explosive bag and front and rear opening clamps 402 for pulling the explosive bag opening apart and overlapping the bag body; the explosive tube unit 500 is located above the lowered explosive bag opening after it is opened, and has an explosive tube 501 extending from the bag opening into the explosive bag; the explosive supply unit 600 is connected to the explosive tube 501 and fills the explosive bag with explosive through the explosive tube; the detonating charge lowering unit 700 is located above the lowered explosive bag opening after it is opened, and has a hoisting mechanism 701 for lowering the detonating charge 710 from the bag opening into the explosive bag; the orifice filling unit 800 includes a filling material conveying pipe extending to the outlet below the mobile frame, the filling material conveying pipe being connected to a filling material storage box located on the mobile frame, for filling the blast hole 910 after it is filled with explosive to seal the blast hole orifice.

[0070] Specifically, such as Figure 2 and Figure 3 As shown, the medicine bag roll winding and unwinding unit 200 specifically includes a medicine bag roll 201, a roll support 202, and a roll control motor 203. An empty medicine bag 210 is wound around the medicine bag roll 201. The medicine bag roll 201 is supported and installed on the movable frame 100 by the roll support 202. The medicine bag roll 201 controls the pulling and unwinding of the medicine bag by the roll control motor 203. An integrated detection unit for detecting the pulling tension and pulling length of the medicine bag is provided inside. The specific detection of the roll pulling information is a known technology and will not be described in detail in this embodiment.

[0071] The explosive bag 210 drawn from the explosive bag roll 201 first passes through the cutting mechanism 300. The cutting mechanism 300 specifically includes a transverse cutter 301, a transverse guide groove 302, a linear guide rail 303, and a first linear drive module 304. The transverse guide groove 302 is fixed to a roll support below the explosive bag roll 201. The explosive bag 210 drawn from the explosive bag roll 201 continues to be guided downwards through the transverse guide groove 302. The transverse cutter 301 is slidably mounted on the transverse guide groove 302 via the linear guide rail 303 and is connected to the first linear drive module 304. After the explosive bag roll-up and unrolling unit 200 lowers the explosive bag into position within the borehole, the transverse cutter 301 is driven to cut the passed explosive bag along the transverse guide groove, separating the portion of the explosive bag lowered into the borehole from the remaining material on the explosive bag roll 201. The first linear drive module 304 can be implemented using a linear motor or a motor + rack and pinion module.

[0072] The bag opening fixing mechanism 400 specifically includes left and right positioning clamps 401, front and rear opening clamps 402, a second linear drive module 403, and a floating support 404. The two sides of the charge bag passing through the transverse guide groove 302 of the cutting mechanism 300 are stacked. The two sets of left and right positioning clamps 401 are set opposite to each other on the moving trajectory of the two sides 211 of the charge bag being pulled out. The opening left and right positioning clamps guide and position the sides 211 of the bag body during the process of pulling out the charge bag. After the charge bag 210 is lowered into place, it clamps the two sides 211 of the charge bag. After the transverse cutter 301 of the cutting mechanism 300 cuts and separates the charge bag 210 from the charge bag roll, the charge bag that has been lowered into the blast hole is initially fixed. Two sets of front and rear opening clamps 402 are positioned facing each other on both sides of the surface of the stacked bag body after the medicine bag is pulled out. The two sets of front and rear opening clamps 402 are respectively driven and connected to the second linear drive module 403. The second linear drive module 403 moves the two sets of front and rear opening clamps 402 towards each other to the surfaces of the stacked bag body on both sides, respectively. The two sets of front and rear opening clamps 402 are then fixedly connected to the stacked bag body on both sides of the cut opening of the medicine bag. Then, the second linear drive module 403 drives the front and rear opening clamps 402 to move in the opposite direction, pulling the cut opening 212 of the medicine bag 210 open to both sides, so that the medicine bag 210 forms a quadrilateral opening at the cut opening, as detailed below. Figure 4 As shown. The first linear drive module 304 and the second linear drive module 403 can be implemented using a linear motor or a motor + gear rack / screw module.

[0073] Considering that the relative size of the two sides of the cut opening 212 of the medicine bag 210 will change synchronously from the stacked state to the open state, in this embodiment, the left and right positioning clamps 401 that clamp and fix the two sides 211 of the medicine bag are floated by the floating support 404. In the stacked state, the left and right positioning clamps 401 are in the initial position of the corresponding two sides of the medicine bag. During the opening of the cut opening of the medicine bag, the size between the two sides of the bag shrinks. Under the action of the floating support 404, the left and right positioning clamps 401 move towards the middle with the two sides of the bag. After the clamping of the two sides of the medicine bag is released, the floating support 404 drives the left and right positioning clamps 401 to return to the initial position under the action of the elastic connector, so as to realize the adaptation of the fixed opening structure 400 of the bag opening to the size change of the two sides before and after the cut opening of the medicine bag.

[0074] Taking into account the characteristics of the two sides and smooth surface of the explosive bag 210, the left and right positioning clamps 401 in this embodiment adopt mechanical fingers or finger cylinders. The opening of the mechanical fingers or finger cylinders can provide guidance for the two sides of the explosive bag during the lowering process, and can quickly and promptly clamp and fix the explosive bag after it is lowered into place. The front and rear opening clamps 402 adopt suction cups, which effectively adsorb and fix the explosive bag to the two sides of the explosive bag through the negative pressure of the suction cups. When the explosive bag 210 is lowered into place at the bottom of the borehole and during the loading process, the bottom of the bag is supported by the bottom of the borehole. Therefore, the left and right positioning clamps 401 and the front and rear opening clamps 402 only need to clamp and open the cut opening 212 of the explosive bag, and do not need to bear the weight of the bag and the explosive inside.

[0075] See Figure 5To ensure that the charging tube, explosive filling, detonation charge placement, and orifice filling can proceed smoothly into the charging bag after the cut opening of the charging bag 210 is opened, the present invention arranges the position of the charging bag 210 pulled out from the charging bag reel 201 as follows: the charging bag reel 201 of the charging bag reel unit 200 is positioned diagonally above one side of the bag opening fixing and opening mechanism 400, and the charging bag 210 is pulled out diagonally downward from one side of the charging bag reel 201 of the charging bag reel unit 200. The transverse guide groove of the cutting mechanism 300 is also positioned diagonally above the bag opening fixing and opening mechanism 400 in the same direction, between the bag opening fixing and opening mechanism 400 and the charging bag reel 201. The pulled-out charging bag 210 exits from the transverse guide groove of the cutting mechanism 300. After passing through, the two sides of the explosive bag 210 pass through the left and right positioning clamps 401 opened by the bag opening fixing and opening mechanism 400 and go vertically downwards from the exit at the bottom of the mobile frame. After the two front and rear opening clamps of the bag opening fixing and opening mechanism 400 pull open the cut bag opening of the explosive bag, there are no other mechanisms occupying the space directly above the cut bag opening of the explosive bag. The explosive tube unit 500 and the detonating charge lowering unit 700 can be set in the space directly above the cut bag opening of the explosive bag after opening, so that the explosive tube and the detonating charge can be lowered vertically downwards into the explosive bag. The filling material conveying pipe 801 of the orifice filling unit 800 extends downwards from directly above the cut bag opening of the explosive bag to the bottom exit of the mobile frame, so as to facilitate the orifice filling of the blast hole after the explosive bag has been filled.

[0076] In this embodiment, the end of the explosive bag pulled out by the explosive bag roll 201 is connected to a counterweight 220, which is then submerged in the water inside the borehole 910. The outer perimeter of the counterweight 220 is smaller than the borehole diameter. Several one-way claws 221, extending outwards and compressing the borehole wall, are equidistantly arranged on the outer perimeter of the counterweight 220. These one-way claws 221 extend obliquely upwards from the outer perimeter of the counterweight 220 and unfold outwards to compress the borehole wall via an elastic connector, ensuring that the counterweight 220 can be lowered unidirectionally within the borehole and ultimately positioning the bottom of the explosive bag within the water inside the borehole. Figure 6 and Figure 7 To prevent the explosive bag 210 from floating due to buoyancy after water accumulates inside the borehole 910, the bottom of the explosive bag cut by the cutting mechanism 300 is connected to the counterweight 220, and the counterweight seals the bottom of the explosive bag. Alternatively, a heat-sealing module can be added to the cutting mechanism 300. After the transverse cutter 301 of the cutting mechanism 300 cuts the explosive bag transversely, the heat-sealing module simultaneously heat-seales the bag body wound on the explosive bag roll after the cut bag opening is separated, ensuring that the bottom of the explosive bag pulled out from the explosive bag roll 201 is sealed.

[0077] Considering that if the one-way claw 221 on the counterweight 220 remains in an extended state and contacts and rubs against the borehole wall during the lowering process, the counterweight structure will experience significant resistance or even jamming during the lowering process inside the borehole. In practical applications, a movable clamp can be fitted around the outer periphery of the main body of the counterweight 220 to keep the one-way claw 221 in a retracted state. After the one-way claw 221 is retracted, the movable clamp is fitted around the outer periphery of the main body of the counterweight 220 to restrict the one-way claw 221 from extending outward. The movable clamp is looped around the main body of the counterweight 220 through at least one limiting clamp joint. It is locked at the limiting clamp joint by a limiting pin to keep the movable clamp in a loop state. At this time, the movable clamp covers all the one-way claws 221 around the main body of the counterweight 220 and keeps the one-way claws in a retracted state, restricting the one-way claws 221 from unfolding outward. The limiting pin is connected to a release rope extending outside the blast hole. The length of the release rope must exceed the depth of the blast hole. Outside the blast hole, the limiting pin is pulled out of the limiting clamp joint by the release rope. The interface of the movable clamp is opened, and the movable clamp loses its locking of the one-way claws 221. Under the action of its elastic connector, the one-way claws 221 automatically unfold outward to contact the blast hole wall, realizing the one-way locking between the counterweight 220 and the blast hole wall after it is in place.

[0078] In this invention, the charging tube 501 of the charging tube unit 500 is lowered and retracted by a charging tube winding drum, or it can be lowered and retracted by a telescopic charging tube. The specific charging tube winding and telescopic method is a mature solution for charging the blast hole with the charging tube, which will not be described in detail in this embodiment. This embodiment only describes the lowering of the charging tube in the charging bag for charging the blast hole in water-containing blast hole in this invention.

[0079] Because the explosive charge bag in this invention is kept in a stacked state by water pressure within the water-bearing borehole, if the charging tube 501 is directly lowered into the explosive charge bag from directly above the cut opening, the end of the charging tube will directly contact the inner wall of the stacked bag. Furthermore, the bag body in the accumulated water is easily squeezed, which can cause the charging tube to scratch the bag body when lowered inside, leading to sealing failure. Therefore, this invention includes a pre-expanded pressure-stabilizing tube 502 attached to the charging tube 501, which extends into the explosive charge bag along with the charging tube. Figure 9As shown, the pre-deployed pressure-stabilizing tube 502 is attached and fixed to the drug loading tube by spiral winding or by using a parallel tube structure, and is wound or extended together with the drug loading tube 501 through the drug loading tube unit 500. The fixed end of the pre-deployed pressure-stabilizing tube 502 extends to connect with the air source 503 in the mobile frame. The tube body extending into the inside of the drug loading bag is provided with a positive pressure air outlet. During the lowering of the drug loading tube 501, positive pressure gas is blown out through the pre-deployed pressure-stabilizing tube 502 to expand the stacked drug loading bag body, so that the flexible bag body through which the drug loading tube passes is pre-deployed and the interior is unobstructed, reducing the collapse, folding or twisting of the bag body, reducing the friction of the drug loading tube 501 on the drug loading bag, and achieving the function of protecting the inner wall of the drug loading bag during the lowering of the drug loading tube 501.

[0080] See Figure 8 The fixed end of the charging tube 501 is connected to the explosive supply unit 600 to fill the explosive bag with explosives. In this embodiment, the explosive supply unit 600 includes a storage tank 601, a delivery pump 602, a flow sensor, and an electric regulating valve 603. The storage tank 601 stores the explosives to be filled. The storage tank 601 is connected to the charging tube 501 through the delivery pump 602. The delivery pump delivers the explosives to the charging tube 501. The outlet of the delivery pump 602 is equipped with a flow sensor and an electric regulating valve 603. The flow sensor is used to collect the real-time delivery flow rate of the explosives, and the electric regulating valve is used to adjust the pump outlet flow rate or pipeline opening. It is connected to the control unit 900 and provides feedback adjustment to the output explosive flow rate and the final charge amount through the electric regulating valve. Additionally, a pressure sensor is installed on the charging tube 501 and connected to the control unit 900 for feedback. The pressure sensor is placed on the charging tube to collect the explosive delivery pressure. The control unit 900 controls the opening of the electric regulating valve, the working status of the delivery pump, and the retraction speed of the telescopic charging tube unit based on changes in delivery pressure, thereby achieving feedback regulation of the delivery pressure. When the delivery pressure rises abnormally, the control unit 900 determines that there may be pipeline blockage or increased filling resistance in the bag, and controls the electric regulating valve to reduce its opening, reduce the output of the delivery pump, or slow down the retraction speed. When the delivery pressure drops abnormally, the control unit 900 determines that there may be leakage or a trend of interruption in the delivery, and executes an alarm or shutdown.

[0081] See Figure 10In this embodiment, the detonation charge lowering unit 700 specifically includes a winch mechanism 701, a releasable mounting hook 702, a winch motor 703, and a winch bracket 704. The winch mechanism 701 is fixedly hung above the bag opening fixing and opening mechanism 400 via the winch bracket 704. The winch motor 703 controls the winch mechanism 701 to wind and unwind the winch rope wound on it, and detects the release length and lowering tension of the winch rope. The exit point of the winch rope wound on the winch mechanism 701 is located directly above the cut-off opening of the explosive bag opened by the bag opening fixing and opening mechanism 400. The detonating charge 710 is connected to the winch rope of the winch mechanism 701 via a releasable hook 702. After the detonating charge 710 is connected to the electronic detonator and the fuse 711, the winch motor 703 controls the winch mechanism to lower the detonating charge 710 into the explosive bag. Its fuse extends to the outside of the blast hole to connect to the detonation network. The detonating charge lowering unit 700 is connected to the control unit 900. After the control unit 900 detects that the detonating charge 710 has reached the lowering distance inside the explosive bag through the winch mechanism 701, it controls the releasable hook 702 to release the detonating charge 710 attached to it, and then controls the winch motor 703 to retract the releasable hook 702. The releasable hook 702 is based on existing electric unhooking mechanisms, and the specific unhooking method will not be described in detail in this embodiment.

[0082] See Figure 11 In this embodiment, the orifice filling unit 800 specifically includes a filling material conveying pipe 801, a filling material storage box 802, and a filling material discharge controller 803. The filling material storage box 802 is fixed inside the mobile frame 100 and is connected to the filling material conveying pipe 801 through the filling material discharge controller 803. The filling material conveying pipe 801 extends downward from directly above the cut-off opening of the explosive bag to the bottom outlet of the mobile frame. The filling material discharge controller 803 uses a corresponding filling material conveying component to control the filling material 804 to be conveyed from the filling material storage box 802 through the filling material conveying pipe 801 to the orifice section after the explosive charge is loaded. At the same time, the filling material flow feedback control unit 900 is detected, and the orifice filling unit is closed after the predetermined filling amount is reached. Considering that after the explosive bag structure is used to fill the water-bearing borehole, the water inside will be squeezed to the top of the borehole, the borehole filler 804 in this embodiment uses SAP material, that is, highly absorbent resin particles. The filler 804 is conveyed to the borehole by the borehole filling unit 800. After the water-absorbing resin comes into contact with the water squeezed to the borehole, it absorbs water and expands, automatically filling the gap between the borehole walls and forming a self-sealing structure. At the same time, it can also absorb most of the water at the borehole, preventing the water from seeping into the explosive bag structure and affecting the detonation effect.

[0083] See Figure 12In this embodiment, the mobile frame 100 specifically includes a box door structure 101, a walking chassis 102, and support legs 103. The frame body is mounted on the walking chassis 102 to facilitate movement between blast holes. Support legs 103 are provided at the bottom of the walking chassis 102 to support and fix the frame body during the automatic loading of blast holes. An openable box door structure 101 is provided on the frame body to facilitate opening the internal structure during the loading process, allowing for human-machine interaction with the control parameters of the control unit 900, replacement of consumables such as blast bags, counterweights, and detonating charges, and maintenance of the internal structure.

[0084] See also Figure 1 and Figure 13 In this embodiment, the control unit 900 can be a PLC controller. Its input terminal receives the charging bag pull-out signal from the charging bag roll take-up and unrolling unit 200, the charging bag cut-off and opening signal from the bag opening fixing and opening mechanism 400, the charging tube lowering signal from the charging tube unit 500, the explosive conveying signal from the explosive supply unit 600, the detonating charge lowering signal from the detonating charge lowering unit 700, and the filling material conveying signal from the orifice filling unit 800. The output terminal of the control unit 900 is fed back to the execution drive of each unit and mechanism to form a closed-loop control.

[0085] Specifically, the drug bag pull-out signal of the drug bag roll take-up and unwinding unit 200 includes signals such as the drug bag lowering position, lowering length, and lowering tension detected by the roll control motor during the lowering process of the drug bag roll, to determine whether the drug bag has been lowered into place or whether there is jamming, suspension, or abnormal pull-back state during the lowering process.

[0086] The signal for the opening of the cut bag of the drug-filled bag in the bag-filled bag fixing and opening mechanism 400 includes the use of a position sensor to detect the signal for the opening of the overlapping bag body on both sides of the cut bag opening held by the front and rear opening clamps, so as to determine that the cut bag opening of the drug-filled bag has been opened in place, so as to start the subsequent drug-filling action.

[0087] The loading tube lowering signal of the loading tube unit 500 includes the detection of the loading tube lowering length and loading position signal through the loading tube rewinding drum or telescopic loading tube, determining that the loading tube is lowered into place in the loading bag and then starting the subsequent loading action, and feedback control to gradually raise and retract the loading tube in coordination with the loading process.

[0088] The explosive supply unit 600's explosive delivery signal includes detecting the explosive flow rate and explosive delivery pressure signals through a flow sensor at the outlet of the explosive delivery pump and a pressure sensor on the explosive delivery pipe. The explosive flow rate signal is used to determine the amount of explosive in the explosive bag, and the explosive delivery pressure signal is used to determine whether there is a blockage in the explosive delivery pipe.

[0089] The detonation charge lowering unit 700's detonation charge lowering signal includes the detection of the lowering length, lowering position, and tension signal of the winch rope connected to the detonation charge via the winch motor, to determine whether the detonation charge has been lowered into place, so as to control the release of the detonation charge and the retraction of the winch rope.

[0090] The packing material transmission signal of the orifice packing unit 800 includes detecting the packing material discharge flow rate through the packing material discharge controller to determine the output amount of the packing material.

[0091] The output of the control unit 900 is fed back to the actuators of various units and mechanisms, including but not limited to: feedback to the charge bag roll unwinding unit 200 for controlling the speed of charge bag unwinding; feedback to the transverse cutter of the cutting mechanism 300 for cutting the charge bag body by pulling out the charge bag body from the charge bag roll; feedback to the left and right positioning clamps and front and rear opening clamps of the bag opening fixing and opening mechanism 400 for clamping and fixing the cut bag opening of the charge bag; feedback to the charge tube unit 500 for controlling the charge tube to be lowered from the opened cut bag opening into the charge bag; feedback to the air source connected to the pre-expanding pressure stabilizing pipe 502 for assisting in blowing air to open the bag body during the lowering process of the charge tube; feedback to the delivery pump of the explosive supply unit 600 for controlling the supply speed and controlling the opening of the flow valve; feedback to the hoisting mechanism of the detonating charge lowering unit 700 for controlling the smooth lowering of the detonating charge; and feedback to the filling material discharge controller of the orifice filling unit 800 for controlling the filling material delivery and sealing.

[0092] The control unit 900 is also equipped with a human-machine interface for setting loading parameters, including but not limited to target loading amount, loading height, feeding speed, and downward speed; it is also equipped with an alarm module to provide alarm prompts when abnormalities occur during the loading process.

[0093] Specifically, the steps by which the control unit 900 implements the automatic loading of explosives into water-bearing boreholes by the charging system of the present invention are as follows:

[0094] S1. Move the mobile frame 100 above the borehole to be loaded, aligning its bottom outlet with the borehole opening. Alignment can be achieved manually by visually manipulating the mobile frame 100, or automatically using borehole alignment technology, such as using a laser sensor combined with SLAM for trajectory positioning, or aligning the borehole using machine vision with a vision sensor mounted on the mobile frame. These borehole alignment solutions are based on existing known technologies and are not included in the protection scheme for automatic loading of water-bearing boreholes in this invention; therefore, they will not be elaborated upon in this embodiment.

[0095] S2. The control unit 900 activates the charge bag reeling and unloading unit 200, pulling the charge bag 210 from the charge bag reel 201. After passing through the cutting mechanism 300 and the bag opening fixing and opening mechanism 400, the operator connects a counterweight 220 to the pulling end of the charge bag. Then, the charge bag is pulled and released by the charge bag reel 201, lowering the counterweight through the bottom outlet of the frame into the borehole to be charged. The control unit 900 monitors the charge bag pulling signal of the charge bag reel 201 in real time during the lowering process. After the charge bag reaches the designed charge length, it sends a feedback to the charge bag reel to stop lowering the charge bag. The charge bag needs to be submerged in the water in the borehole by the counterweight to reach the bottom of the borehole.

[0096] S3. The control unit 900 first activates the left and right positioning clamps 401 of the bag opening fixing and opening mechanism 400 to clamp and fix the two sides of the charge bag 210. Then, it activates the cutting mechanism 300 to cut the charge bag 210, which has reached the designed charge length, through the transverse cutter 301. At the cut, a cut bag opening is formed, which is lowered into the gun hole to be charged. The left and right positioning clamps 401 clamp and fix the two sides of the bag body with the cut bag opening. The front and rear opening clamps 402 of the bag opening fixing and opening mechanism 400 are activated to move towards each other and pull open the stacked bag body at the cut bag opening of the charge bag, thus opening the cut bag opening of the charge bag.

[0097] S4. After the control unit 900 detects the signal that the cut-off opening of the explosive bag is in place, it starts the explosive tube unit 500, lowers the explosive tube 501 from the lower cut-off opening of the explosive bag and inserts it into the explosive bag to be loaded into the borehole. At the same time, the pre-deployment pressure stabilizing tube 502 attached to it is turned on to provide positive pressure ventilation into the explosive bag, blowing open the explosive bag bodies stacked inside the borehole. The control unit 900 detects the signal of the explosive tube being lowered in real time until the explosive tube is lowered to the bottom of the explosive bag, and then feeds back to the explosive tube unit 500 to stop the lowering of the explosive tube and shuts off the positive pressure ventilation to the pre-deployment pressure stabilizing tube 502 to avoid the continuous positive pressure ventilation affecting the distribution of the explosives loaded later.

[0098] S5, the control unit 900 starts the explosive supply unit 600, which loads explosives into the explosive bag in the borehole through the loaded tube 501 that has been lowered into place, and detects the explosive transmission signal in real time.

[0099] S6. When the control unit 900 detects that the amount of explosive in the explosive bag has reached the designed position of the detonation charge, it stops loading the explosive and starts the detonation charge lowering unit 700. The detonation charge 710, which is connected to the electronic detonator and the fuse, is lowered from the opening of the explosive bag below and inserted into the explosive bag in the blast hole to be loaded. The control unit 900 detects the detonation charge lowering signal in real time until the detonation charge 710 is lowered to the designed position of the detonation charge. Then, it feeds back to control the detonation charge lowering unit 700 to release the detonation charge and retract the winch rope for lowering the detonation charge.

[0100] S7. The control unit 900 continues to start the explosive supply unit 600 to continuously load explosives. At the same time, based on the loading speed, the control unit 500 gradually retracts the loading tube 501. After the loading reaches the designed loading parameters, the control unit 600 stops loading explosives and controls the loading tube unit 500 to completely retract the loading tube 501.

[0101] S8. The control unit 900 controls the positioning clamp of the bag opening fixing and opening mechanism 400 to loosen the charge bag, and then starts the orifice filling unit 800. The predetermined amount of SAP material is loaded into the blast hole after charge through the filling material conveying pipe 801. The SAP material expands when it comes into contact with water and fills the gap between the top of the charge bag and the blast hole wall to form a self-sealing structure at the orifice. At the same time, the orifice of the blast hole to be charged is sealed, and the loosened charge bag is cut off and buried to seal it, thus completing the automatic charge loading of the blast hole to be charged.

[0102] The above-mentioned charging system of the present invention integrates the charging process of water-bearing boreholes by unwinding the flexible charging bag, lateral cutting, fixing and opening the bag mouth, positioning the bottom of the charging bag to prevent floating, positioning and lowering the detonating charge, quantitative charging flow, pressure closed loop, pipe retraction control and SAP orifice sealing. It solves the technical problems of low-density explosives being difficult to load stably, continuously and quantitatively in water-bearing boreholes, as well as the inconvenience of bag mouth forming and multi-pipeline interface arrangement.

[0103] In this document, the terms "upper," "lower," "front," "back," "left," "right," "top," "bottom," "inner," "outer," "vertical," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used for the clarity of expressing the technical solution and for the convenience of description, and therefore should not be construed as limiting the present invention.

[0104] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0105] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of the invention and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of the invention should be included within the protection scope of the invention. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

[0106] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A smart charging system for water-bearing boreholes, characterized in that, include: Mobile rack (100); The explosive bag roll take-up and unload unit (200) is installed on a mobile frame and is provided with an explosive bag roll (201) for taking up and unloading rolled explosive bags. The explosive bags (210) pulled out from the explosive bag roll (201) are lowered into the blast hole from the outlet below the mobile frame. The cutting mechanism (300) is located below the drug bag roll take-up unit (200) and between the frame outlet, and has a transverse cutter (301) for transversely cutting the lowered drug bag. The bag opening fixing and opening mechanism (400) is located below the cutting mechanism (300) and includes left and right positioning clamps (401) corresponding to the two sides of the lowered medicine bag and front and rear opening clamps (402) for cutting the bag opening and overlapping the bag body to pull the medicine bag open in opposite directions. The drug loading tube unit (500) is located above the cut-off opening of the drug loading bag after it is opened, and has a drug loading tube (501) extending from the opening into the inside of the drug loading bag. An explosive supply unit (600) is connected to a charging tube (501); The detonating charge lowering unit (700) is located above the cut-off opening of the opened charging bag, along with the charging tube unit, and has a winch mechanism (701) for lowering the detonating charge (710) from the opening into the charging bag. The orifice filling unit (800) includes a filling material delivery pipe (801) extending to the outlet below the mobile frame, the filling material delivery pipe (801) being conveyed to a filling material storage box (802) disposed on the mobile frame.

2. The intelligent charging system for water-bearing boreholes according to claim 1, characterized in that: The end of the explosive bag pulled out by the explosive bag roll (201) is connected to a counterweight (220), and is submerged in the water inside the borehole through the counterweight (220). The main body of the counterweight (220) is provided with a one-way claw (221) that extends outward to squeeze the borehole wall.

3. The intelligent charging system for water-bearing boreholes according to claim 1, characterized in that: The loading tube (501) is lowered and wound up by the loading tube winding drum. A pre-deployed pressure stabilizing tube (502) is attached to the loading tube (501) and extends into the loading bag together with the loading tube. The pre-deployed pressure stabilizing tube (502) extends to connect with the air source in the mobile frame. A positive pressure air outlet is provided on the tube body that extends into the loading bag.

4. The intelligent charging system for water-bearing boreholes according to claim 1, characterized in that: The cutting mechanism (300) also includes a transverse guide groove (302) through which the medicine bag pulled out by the medicine bag roll passes. The transverse cutter (301) is slidably mounted on the transverse guide groove (302) via a linear guide rail (303) and is connected to the first linear drive module (304) to drive the transverse cutter (301) to cut the medicine bag passing through the transverse guide groove.

5. The intelligent charging system for water-bearing boreholes according to claim 1, characterized in that: The two sets of left and right positioning clamps (401) are arranged opposite to each other on the moving trajectory of the medicine bag on both sides after it is lowered into place; The two sets of front and rear opening clamps (402) are arranged facing each other on both sides of the surface of the stacked bag body of the medicine bag pulled out. The two sets of front and rear opening clamps (402) are moved towards each other through the second linear moving module (403). By moving towards each other to be fixed to the surface of the stacked bag body of the medicine bag respectively, the cut bag mouth of the medicine bag is pulled open to both sides. The left and right positioning clamps (401) are floating to adapt to the positional changes of the two sides of the bag body facing each other after the cut opening of the medicine bag is opened.

6. The intelligent charging system for water-bearing boreholes according to claim 5, characterized in that: The left and right positioning clamps (401) are mechanical fingers or finger cylinders, and the front and rear opening clamps (402) are suction cups.

7. The intelligent charging system for water-bearing boreholes according to claim 1, characterized in that: In the detonation charge lowering unit (700), the detonation charge (710) is connected to the winch rope of the winch mechanism (701) via a releasable mounting hook (702).

8. The intelligent charging system for water-bearing boreholes according to claim 1, characterized in that: The charge bag roll take-up unit (200) and the cutting mechanism (300) are located on the same side of the bag opening fixing and opening mechanism (400) at an angle above it. The charge bag (210) is pulled out at an angle downward from one side of the charge bag roll (201) of the charge bag roll take-up unit (200) and passes through the cutting mechanism (300) and the bag opening fixing and opening mechanism (400) in sequence. The charge tube unit (500), the detonating charge lowering unit (700) and the filling material conveying pipe (801) are placed directly above the cut bag opening of the opened charge bag.

9. A smart charging system for water-bearing boreholes according to any one of claims 1-8, characterized in that: It also includes a control unit (900), whose input terminal receives the following signals: the charge bag pull-out signal from the charge bag roll take-up unit (200), the charge bag cut-off and opening signal from the bag opening fixing and opening mechanism (400), the charge tube lowering signal from the charge tube unit (500), the explosive delivery signal from the explosive supply unit (600), the detonation charge lowering signal from the detonation charge lowering unit (700), and the filling material delivery signal from the orifice filling unit (800). The output terminal of the control unit (900) is fed back to the actuators of each unit and mechanism.

10. A method for intelligent charging of explosives in water-bearing boreholes, characterized in that: The system described in claim 9 is used to automatically charge explosives into water-bearing boreholes in the following steps: S1. Move the mobile frame (100) above the gun hole to be loaded, so that its bottom outlet is aligned with the opening of the gun hole to be loaded; S2. Start the charging bag roll take-up and release unit (200), pull out the charging bag (210) from the charging bag roll (201), and pass through the cutting mechanism (300) and the bag mouth fixing and opening mechanism (400) in sequence. Then, connect the counterweight (220) to the pull-out end of the charging bag, and then pull out the charging bag through the charging bag roll (201) to lower the counterweight into the gun hole to be charged. The control unit (900) detects the charging bag pull-out signal of the charging bag roll (201) in real time during the lowering process of the charging bag. After the charging bag is lowered to the designed charging length, it feeds back to the charging bag roll to stop the lowering of the charging bag. S3. The control unit (900) first activates the left and right positioning clamps (401) of the bag opening fixing and opening mechanism (400) to clamp and fix the two sides of the drug bag. Then, it activates the cutting mechanism (300) to cut the drug bag (210) that has reached the designed drug length through the transverse cutter (301). At the cutting point, a cut bag opening is formed for the drug bag to be lowered into the gun hole to be loaded. The left and right positioning clamps (401) clamp and fix the two sides of the bag body with the cut bag opening. The front and rear opening clamps (402) of the bag opening fixing and opening mechanism (400) are activated to move towards each other and pull open the stacked bag body at the cut bag opening of the drug bag. The cut bag opening of the drug bag is opened. S4. After the control unit (900) detects the signal that the opening of the cut-off bag of the explosive bag is in place, it starts the explosive tube unit (500) and lowers the explosive tube (501) from the opening of the explosive bag below into the explosive bag to be loaded. At the same time, the pre-expanded pressure stabilizing tube (502) attached to it is opened to provide positive pressure ventilation into the explosive bag, blowing open the explosive bag body stacked inside the blast hole. The control unit (900) detects the signal of the explosive tube being lowered in real time until the explosive tube is lowered to the bottom of the explosive bag and then feeds back to the explosive tube unit (500) to stop the lowering of the explosive tube and close the positive pressure ventilation to the pre-expanded pressure stabilizing tube (502). S5. The control unit (900) starts the explosive supply unit (600), loads explosive into the explosive bag in the gun hole through the loaded tube (501) that is lowered into place, and detects the explosive transmission signal in real time. S6. When the control unit (900) detects that the amount of explosive in the explosive bag has reached the design position of the detonating charge, it starts the detonating charge lowering unit (700) to lower the detonating charge (710) connected to the electronic detonator and the lead wire from the opening of the explosive bag below and insert it into the explosive bag in the blast hole to be loaded. The control unit (900) detects the detonating charge lowering signal in real time until the detonating charge (710) is lowered to the design position of the detonating charge and then feeds back to control the detonating charge lowering unit (700) to release the detonating charge and retract the winch rope for lowering the detonating charge. S7. The control unit (900) continues to start the explosive supply unit (600) to continuously load explosives. At the same time as loading explosives, the loading tube unit (500) is gradually raised and retracted according to the loading speed feedback control. After the loading reaches the designed loading parameters, the explosive supply unit (600) is fed back to stop loading explosives and the loading tube unit (500) is controlled to completely retract the loading tube (501). S8. The control unit (900) controls the positioning clamp of the bag opening fixing and opening mechanism (400) to loosen the charging bag, and then starts the orifice filling unit (800), and fills the pre-determined amount of SAP material into the blast hole after charging through the filling material conveying pipe (801), and completes the sealing of the orifice of the blast hole to be charged, thus completing the automatic charging of the blast hole to be charged.

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