An underground mine automatic cartridge pneumatic charging device and a charging method

Abstract

The application discloses an automatic cartridge pneumatic charging device and a charging method for underground mines, and relates to the technical field of underground mine blasting operations.The device comprises a box body, a hopper, a push plate feeding mechanism, a material conveying mechanism, a charging pipe, a control system and multiple photoelectric detection devices.The push plate feeding mechanism is composed of a stepped push plate and a reciprocating air cylinder, which realizes the orderly feeding of cartridges one by one.The material conveying mechanism is provided with a three-chamber structure and a double-gate air path structure, and compressed air is used as the power to push the cartridges.The end of the charging pipe is provided with a film cutting knife, which can cut the cartridge package to realize coupled charging.The application coordinates the feeding and pneumatic conveying timing through a PLC control system, realizes automatic counting and full-process automatic operation in combination with photoelectric detection, effectively improves the charging efficiency and blasting quality, reduces the operation safety risk, and is suitable for the narrow and complex operation environment of underground mines.

Description

Technical Field

[0001] This invention relates to the field of underground mine blasting operation technology, specifically to an automated pneumatic charging device and charging method for underground mine explosive cartridges. Background Technology

[0002] Currently, in most underground mines, tunnel excavations, and chamber construction projects in China, the loading of explosive charges into blast holes is still primarily done manually. Workers use jacks to insert the explosive cartridges one by one into the blast holes. This process is not only tedious and labor-intensive, but also inefficient. Furthermore, it is susceptible to problems such as discontinuous or incomplete loading due to the depth and angle of the blast hole, directly impacting the blasting effect. At the same time, workers must be in close proximity to the blast holes, posing a significant safety risk.

[0003] Existing semi-automatic charging devices mostly use pneumatic methods to push explosive cartridges, but they generally suffer from drawbacks such as excessive manual intervention in the feeding process and the inability to achieve continuous automated operation throughout the entire process. Furthermore, most devices lack a cartridge packaging breaking structure, making it difficult to achieve coupled charging, resulting in insufficient energy utilization of explosives and limited blasting effectiveness. In addition, the integration level of existing devices is poor and their adaptability to tunnel environments is poor, making stable application difficult in the narrow and complex operating scenarios of underground mines.

[0004] Therefore, there is an urgent need for an automated pneumatic charging device and charging method for underground mines to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide an automated pneumatic charging device and method for underground mines to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An automated pneumatic charging device for underground mines includes a housing, and further includes: a hopper, a pusher plate feeding mechanism, a material conveying mechanism, a charging pipe, a control system, and several sets of photoelectric detection devices; The hopper is connected to the housing, and the discharge end of the hopper is connected to the inlet end of the pusher plate feeding mechanism. The pusher plate feeding mechanism is located inside the housing, and its discharge end is connected to the inlet end of the material conveying mechanism. The discharge end of the material conveying mechanism is connected to the drug loading pipe, and the material conveying mechanism is externally connected to compressed air. Several sets of photoelectric detection devices are respectively arranged at each drug roll station of the pusher plate feeding mechanism and the material conveying mechanism. The control system is installed on the housing and is electrically connected to the pusher plate feeding mechanism, the material conveying mechanism, and each set of photoelectric detection devices. The control system is used to receive the position signal of the propellant roll collected by the photoelectric detection device, control the pusher plate feeding mechanism to push the propellant rolls in the hopper one by one to the material conveying mechanism, and control the external compressed air to be introduced into the material conveying mechanism to blow the propellant rolls along the loading pipe into the borehole.

[0007] As a further embodiment of the present invention: the pusher plate feeding mechanism includes: a fixed inclined plate, a reciprocating cylinder, a fixed frame, a pusher plate, a discharge inclined plate, and a discharge chute; The fixed inclined plate is connected to the discharge side of the hopper and to the inner wall of the box. The fixed inclined plate is provided in several groups and arranged in a stepped manner. The fixed inclined plate is inclined. The bottom end of the reciprocating cylinder is connected to the bottom of the box. The top end of the reciprocating cylinder is fixed to the fixed frame. The pusher plate is connected to the fixed frame and is inclined. The pusher plate is provided in several groups and is slidably disposed between two adjacent groups of fixed inclined plates. The discharge inclined plate is connected to the top of the top fixed inclined plate and is inclined downward. The discharge chute is connected to the fixed inclined plate and is inclined downward. The lower end outlet of the discharge chute is connected to the feed end of the material conveying mechanism.

[0008] As a further embodiment of the present invention: the material conveying mechanism includes: a conveying pipe, an upper chamber, a middle chamber, a lower chamber, an upper gate, a lower gate, a connecting air pipe, a partition, an upper air inlet, and a lower air inlet; The upper chamber, middle chamber, and lower chamber are connected from top to bottom and formed inside the conveying pipe. The upper chamber is connected to the lower outlet of the discharge chute, and the lower chamber is connected to the inside of the charging pipe. The upper gate is openably and closably located in the channel between the upper chamber and the middle chamber, and the lower gate is openably and closably located in the channel between the middle chamber and the lower chamber. The connecting air pipe is located inside the conveying pipe and at the top of the middle chamber. The connecting air pipe has a partition inside to divide it into two parts. Both ends of the connecting air pipe are bent towards the side closer to the middle chamber. The side of the connecting air pipe closer to the upper chamber is connected to an upper air inlet, and the side of the connecting air pipe closer to the lower chamber is connected to a lower air inlet. Both the upper and lower air inlets are used to connect to an external compressed air source.

[0009] As a further aspect of the present invention: a slicing blade is provided inside the output end of the charging tube facing the borehole, and the blade of the slicing blade is arranged in the direction of the output of the drug roll, so as to slice the plastic film packaging outside the drug roll at the moment the drug roll is pushed out of the charging tube.

[0010] As a further aspect of the present invention: the control system has a built-in parameter setting unit and a charge counting unit. The parameter setting unit is used to preset the charge amount and delivery air pressure parameters corresponding to different boreholes. The charge counting unit is used to count and display the current number of charge pieces and the cumulative number of charge pieces in real time. The control system supports single-action control mode and linkage automatic control mode.

[0011] An automated pneumatic charging method for underground mines includes an automated pneumatic charging device for underground mines as described above, and further includes the following steps: S1. Material preparation: Load batches of explosive cartridges into the hopper and set the charge amount and air pressure parameters for the corresponding blast hole through the control system. S2, Step-by-step feeding: The control system drives the reciprocating cylinder to move the pusher plate back and forth, pushing the medicine rolls one by one from the fixed inclined plate to the unloading inclined plate, and then they fall into the upper chamber of the material conveying mechanism through the unloading chute; the photoelectric detection device at each station detects the position of the medicine rolls in real time and feeds it back to the control system. S3, Pneumatic conveying: The control system controls the external air source to switch the air intake sequence. First, air is introduced through the upper air inlet to push the upper gate to close and push the medicine roll through the middle chamber to the lower chamber. Then, air is introduced through the lower air inlet to push the lower gate to close and push the medicine roll to the loading tube. S4. Charge into the borehole: The charge roll is conveyed at high speed along the charging tube into the borehole. When it is output, the outer packaging film is cut by the dicing knife to achieve coupled charging. The control system counts synchronously and stops the operation after the preset charge amount is reached.

[0012] Compared with the prior art, the beneficial effects of the present invention are: The efficiency of loading explosives and the safety of operation are significantly improved: the combination of the push plate feeding mechanism and the pneumatic conveying mechanism realizes the automated continuous loading of explosive cartridges, which greatly reduces the intensity of manual labor and the number of workers; the equipment realizes human-machine isolation operation, and personnel do not need to come into close contact with the blast hole, effectively avoiding the safety risks of blasting operations.

[0013] The quality of the explosive charge and the blasting effect are stable and controllable: The use of compressed air to precisely push the explosive cartridge can stably deliver the cartridge to the bottom of the borehole, avoiding the problems of incomplete or discontinuous delivery that occur with manual charging; the slicing knife at the end of the charging tube can break the cartridge packaging at the moment of charging, realizing the coupling of explosive and borehole wall, improving the energy utilization rate of explosive and the uniformity of blasting.

[0014] High degree of automation and strong adaptability: The equipment integrates functions such as automatic feeding, pneumatic conveying, photoelectric detection, and automatic counting. It achieves full-process time-series coordination through the PLC control system and supports single-action and linkage dual-mode debugging and operation. The overall structure is integrated into the box, which is compact and can adapt to complex working environments such as narrow tunnels and water accumulation in underground mines.

[0015] High charging accuracy and good information technology: Through parameter preset and real-time counting functions, the amount of explosives charged in a single hole can be precisely controlled, and operation data can be recorded in real time, providing data support for precision blasting and construction management. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an automated pneumatic charging device for underground mines, as described in an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of the internal structure of an automated pneumatic charging device for underground mines, as described in an embodiment of the present invention.

[0018] Figure 3 This is a schematic diagram of the pusher plate feeding mechanism in an embodiment of the present invention.

[0019] Figure 4 This is a side view of the pusher plate feeding mechanism in an embodiment of the present invention.

[0020] Figure 5 This is a schematic diagram of the internal structure of the material conveying mechanism in an embodiment of the present invention.

[0021] Figure 6 This is a schematic diagram of the slicing knife in an embodiment of the present invention.

[0022] In the diagram: 1. Hopper; 2. Push plate feeding mechanism; 3. Material conveying mechanism; 4. Charging pipe; 5. Control system; 6. Photoelectric detection device; 7. Box body; 201. Fixed inclined plate; 202. Reciprocating cylinder; 203. Fixed frame; 204. Push plate; 205. Discharge chute; 206. Discharge inclined plate; 301. Conveying pipe; 302. Upper chamber; 303. Middle chamber; 304. Lower chamber; 305. Upper gate; 306. Lower gate; 307. Connecting air pipe; 308. Partition plate; 309. Upper air inlet; 310. Lower air inlet; 401. Dictation knife. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] In the embodiments of this invention, please refer to Figures 1 to 6An automated pneumatic loading device for underground mines includes a housing 7, and a hopper 1, a pusher plate loading mechanism 2, a material conveying mechanism 3, a loading pipe 4, a control system 5, and several sets of photoelectric detection devices 6 integrated on the housing 7. The housing 7 serves as the main load-bearing structure of the equipment and is dustproof and moisture-proof, making it suitable for the humid and dusty working environment of underground mines. The hopper 1 is installed at the front of the housing 7 and is used for batch storage of cartridges to be loaded. Its discharge port is connected downward to the inlet end of the pusher plate loading mechanism 2.

[0025] The pusher plate feeding mechanism 2 is entirely housed inside the box 7, and is used to lift and transport the medicine rolls in the hopper 1 one by one to the material conveying mechanism 3. Figures 1 to 4 As shown, the pusher plate feeding mechanism 2 includes a fixed inclined plate 201, a reciprocating cylinder 202, a fixed frame 203, a pusher plate 204, a discharge inclined plate 206, and a discharge chute 205. Multiple sets of fixed inclined plates 201 are fixed in a stepped manner along the inner wall of the box 7, with the inclined direction of the plate surfaces being consistent, allowing the medicine rolls to roll downwards along the inclined plate surfaces. The reciprocating cylinder 202 is vertically installed at the bottom of the box 7, with its piston rod top connected to the fixed frame 203. Multiple pusher plates 204 are correspondingly installed on the fixed frame 203, and each pusher plate 204 is slidably positioned in the gap between two adjacent fixed inclined plates 201. The pusher plates 204 are also inclined, with the inclination angle matching that of the fixed inclined plates 201.

[0026] When the reciprocating cylinder 202 drives the fixed frame 203 and the pusher plate 204 to move upward, the pusher plate 204 lifts the corresponding medicine roll upward, and the medicine roll rolls onto the next fixed inclined plate 201. When the reciprocating cylinder 202 retracts, the pusher plate 204 descends and resets, and the next medicine roll rolls to the push position to wait for pushing. Through the continuous reciprocating motion of the multi-stage pusher plates 204, the medicine roll is pushed upward step by step to the top discharge inclined plate 206, and slides along the discharge inclined plate 206 into the discharge chute 205, and finally falls into the material conveying mechanism 3 below through the lower outlet of the discharge chute 205. This stepped pusher plate feeding structure can ensure that only one medicine roll is pushed at a time, effectively avoiding medicine roll accumulation and jamming problems, and achieving stable and continuous feeding.

[0027] The material conveying mechanism 3 is fixedly installed inside the housing 7, located downstream of the pusher plate feeding mechanism 2, and is used to push the medicine rolls at high speed to the loading tube 4 using compressed air. Figure 1 , Figure 2 and Figure 5As shown, the material conveying mechanism 3 includes a conveying pipe 301, an upper chamber 302, a middle chamber 303, a lower chamber 304, an upper gate 305, a lower gate 306, a connecting air pipe 307, a partition 308, an upper air inlet 309, and a lower air inlet 310. The conveying pipe 301 is a tubular body arranged at an incline downwards, and its interior forms the upper chamber 302, the middle chamber 303, and the lower chamber 304 connected sequentially from top to bottom. The top opening of the upper chamber 302 connects to the outlet of the feeding chute 205, serving as the inlet for the medicine rolls. The bottom outlet of the lower chamber 304 connects to the beginning of the medicine loading pipe 4, serving as the outlet for the medicine rolls.

[0028] The upper gate 305 is hinged to the side wall of the passage between the upper chamber 302 and the middle chamber 303, and is normally open, allowing the drug cartridge to pass through. The lower gate 306 is hinged to the side wall of the passage between the middle chamber 303 and the lower chamber 304, and is also normally open. The connecting air pipe 307 is horizontally positioned at the top of the middle chamber 303, and is internally divided into two independent air passages by a partition 308. Both ends of the connecting air pipe 307 are bent towards the middle chamber 303, corresponding to the driving sides of the upper gate 305 and the lower gate 306, respectively. An upper air inlet 309 is provided on the side of the connecting air pipe 307 near the upper chamber 302, and a lower air inlet 310 is provided on the side near the lower chamber 304. The two air inlets are connected to an external compressed air source through solenoid valves.

[0029] When compressed air is introduced into the upper air inlet 309, the airflow is ejected through the corresponding air path of the connecting air pipe 307. On the one hand, this pushes the upper gate 305 to rotate and close, blocking the feed channel of the upper chamber 302 to prevent backflow of airflow. On the other hand, it generates a downward thrust, pushing the medicine roll from the middle chamber 303 to the lower chamber 304. When compressed air is introduced into the lower air inlet 310, the airflow pushes the lower gate 306 to rotate and close, blocking the upward channel of the middle chamber 303. At the same time, it generates a downward thrust, pushing the medicine roll from the lower chamber 304 at high speed into the loading tube 4. Through the timing coordination of the double gates and the double air paths, continuous and sealed pneumatic conveying of the medicine roll is achieved, ensuring sufficient pushing power and no airflow leakage.

[0030] The charging tube 4 is a long-distance flexible or rigid tube, the length of which can be configured according to the depth of the borehole, generally not less than 10m; its first end is sealed to the outlet of the lower chamber 304 of the material conveying mechanism 3, and its second end extends into the borehole. For example... Figure 6 As shown, a slicing blade 401 is fixedly installed on the inner wall of the output end of the charging tube 4. The blade of the slicing blade 401 faces the output direction of the explosive cartridge and protrudes a certain height from the inner wall of the tube. When the explosive cartridge passes through the end at high speed under air pressure, the outer packaging plastic film is cut by the blade, and the internal explosive is exposed and enters the borehole. It can fit tightly with the borehole wall to achieve coupled charging and improve the explosive transmission performance and energy utilization rate.

[0031] The control system 5 uses a PLC controller, installed on the outer operating surface of the housing 7, and is equipped with a touch screen display and operation buttons. The control system 5 is electrically connected to the solenoid directional valve of the reciprocating cylinder 202, the solenoid directional valve of the air source, and each set of photoelectric detection devices 6. Multiple sets of photoelectric detection devices 6 are installed at each station of the push plate feeding mechanism 2, at the outlet of the feeding chute 205, and at the inlet of the upper chamber 302, respectively, to detect the arrival status of the medicine rolls in real time and feed the detection signals back to the control system 5.

[0032] The control system 5 has a built-in parameter setting unit, which can preset parameters such as single-hole charge amount, conveying air pressure, and feeding speed according to the borehole parameters; it also has a built-in charge counting unit, which counts based on photoelectric detection signals and air supply actions, and displays the current number of charges in the borehole and the cumulative number of charges processed in real time. The system supports two control modes: single-action and linkage. In single-action mode, individual actions such as feeding and air supply can be controlled separately for equipment debugging and troubleshooting; in linkage mode, the system automatically completes the entire charge operation according to a preset sequence, and automatically stops after reaching the set charge amount.

[0033] An automated pneumatic charging method for underground mines includes an automated pneumatic charging device for underground mines as described above, and further includes the following steps: S1. Material preparation: Load batches of explosive cartridges into hopper 1, and set the charge amount and air pressure parameters for the corresponding borehole through control system 5. S2, Step-by-step feeding: The control system 5 drives the reciprocating cylinder 202 to drive the pusher plate 204 to reciprocate, pushing the medicine rolls one by one from the fixed inclined plate 201 to the unloading inclined plate 206, and then falling into the upper chamber 302 of the material conveying mechanism 3 through the unloading inclined chute 205; the photoelectric detection device 6 of each station detects the position of the medicine roll in real time and feeds it back to the control system 5. S3, Pneumatic conveying: The control system 5 controls the external air source to switch the air intake sequence. First, air is introduced through the upper air inlet 309 to push the upper gate 305 to close and push the medicine roll through the middle chamber 303 to the lower chamber 304. Then, air is introduced through the lower air inlet 310 to push the lower gate 306 to close and push the medicine roll to the medicine loading tube 4. S4. Charge into the borehole: The charge roll is conveyed at high speed along the charge tube 4 into the borehole. When it is output, the outer packaging film is cut by the slicing knife 401 to achieve coupled charge loading. The control system 5 counts synchronously and stops the operation after the preset charge amount is reached.

[0034] The working principle of this invention is as follows: Before operation, the operator pours the entire batch of explosive cartridges into the hopper 1. The explosive cartridges roll down the inclined surface of the hopper 1 onto the bottom fixed inclined plate 201. At the same time, the preset charge amount of the current blast hole is input into the control system 5, the compressed air source pressure is adjusted to the working range of 0.2-0.5MPa, and the end of the charging tube 4 is inserted and aligned with the blast hole to be charged. After the linkage operation mode is activated, the control system 5 first controls the reciprocating cylinder 202 to start reciprocating motion. When the reciprocating cylinder 202 extends, it drives the fixed frame 203 and the pusher plates 204 at each level to rise synchronously. The pusher plates 204 lift the single medicine roll of the corresponding level upward. After the medicine roll crosses the step, it rolls to the next level fixed inclined plate 201. When the reciprocating cylinder 202 retracts, the pusher plate 204 descends and resets. The next medicine roll automatically rolls to the pusher position. After multiple stages of pushing, the medicine roll is lifted to the top of the unloading inclined plate 206, slides along the inclined surface into the unloading chute 205, and finally falls into the upper chamber 302 of the material conveying mechanism 3. During this process, the photoelectric detection device 6 of each station monitors the position of the medicine roll in real time. If there is a jam or shortage of material, it immediately reports to the control system 5, and the system triggers an alarm or replenishment action.

[0035] When the photoelectric detection device 6 located in the upper chamber 302 detects that the medicine roll has arrived, the control system 5 controls the solenoid valve corresponding to the upper air inlet 309 to open. Compressed air is ejected through the upper air passage of the connecting air pipe 307. The airflow first pushes the upper gate 305 to rotate around the hinge axis, closing the top feed port of the middle chamber 303 and forming a sealed chamber. Then the airflow pressure acts on the upper end face of the medicine roll, pushing the medicine roll to move downward and quickly enter the lower chamber 304.

[0036] After the drug cartridge enters the middle chamber 303, the control system 5 switches the air path, closing the upper air inlet 309 and opening the lower air inlet 310. Compressed air is ejected through the lower air path of the connecting air pipe 307, pushing the lower gate 306 to rotate and close, sealing the gap between the middle chamber 303 and the lower chamber 304. At the same time, the airflow pushes the drug cartridge downward, causing it to quickly pass through the lower chamber 304 and enter the loading tube 4. After entering the loading tube 4, the drug cartridge moves forward at high speed along the tube under the continuous air pressure until it reaches the end of the loading tube 4.

[0037] As the explosive cartridge exits from the end of the loading tube 4, its plastic film packaging is cleaved by the blade of the slicing knife 401, exposing the explosive inside. The explosive then propels into the borehole with a certain momentum and reaches the bottom of the borehole, achieving tight contact between the explosive and the borehole wall, thus coupling the loading process. After each cartridge is delivered, the counting unit of the control system 5 increments the count. When the count reaches the preset loading amount, the system sequentially closes the air supply solenoid valve and the reciprocating cylinder 202, stopping the feeding and conveying actions, completing the single-hole loading operation. Repeating the above process after changing boreholes enables continuous automated loading operations.

[0038] The entire operation process does not require manual insertion of explosives one by one, but only batch replenishment and parameter setting, which greatly reduces the number of on-site workers and labor intensity. At the same time, through pneumatic precision delivery and end-film structure, the consistency of explosive loading and blasting effect are ensured, realizing the unmanned, automated and efficient loading operation in underground mines.

[0039] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0040] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An automated pneumatic loading device for explosive cartridges in underground mines, comprising a housing, characterized in that, Also includes: The hopper, pusher plate feeding mechanism, material conveying mechanism, charging pipe, control system, and several sets of photoelectric detection devices; The hopper is connected to the housing, and the discharge end of the hopper is connected to the inlet end of the pusher plate feeding mechanism. The pusher plate feeding mechanism is located inside the housing, and its discharge end is connected to the inlet end of the material conveying mechanism. The discharge end of the material conveying mechanism is connected to the drug loading pipe, and the material conveying mechanism is externally connected to compressed air. Several sets of photoelectric detection devices are respectively arranged at each drug roll station of the pusher plate feeding mechanism and the material conveying mechanism. The control system is installed on the housing and is electrically connected to the pusher plate feeding mechanism, the material conveying mechanism, and each set of photoelectric detection devices. The control system is used to receive the position signal of the propellant roll collected by the photoelectric detection device, control the pusher plate feeding mechanism to push the propellant rolls in the hopper one by one to the material conveying mechanism, and control the external compressed air to be introduced into the material conveying mechanism to blow the propellant rolls along the loading pipe into the borehole.

2. The automated pneumatic charging device for underground mines according to claim 1, characterized in that, The pusher plate feeding mechanism includes: a fixed inclined plate, a reciprocating cylinder, a fixed frame, a pusher plate, a discharge inclined plate, and a discharge chute; The fixed inclined plate is connected to the discharge side of the hopper and to the inner wall of the box. The fixed inclined plate is provided in several groups and arranged in a stepped manner. The fixed inclined plate is inclined. The bottom end of the reciprocating cylinder is connected to the bottom of the box. The top end of the reciprocating cylinder is fixed to the fixed frame. The pusher plate is connected to the fixed frame and is inclined. The pusher plate is provided in several groups and is slidably disposed between two adjacent groups of fixed inclined plates. The discharge inclined plate is connected to the top of the top fixed inclined plate and is inclined downward. The discharge chute is connected to the fixed inclined plate and is inclined downward. The lower end outlet of the discharge chute is connected to the feed end of the material conveying mechanism.

3. The automated pneumatic charging device for underground mines according to claim 2, characterized in that, The material conveying mechanism includes: a conveying pipe, an upper chamber, a middle chamber, a lower chamber, an upper gate, a lower gate, a connecting air pipe, a partition, an upper air inlet, and a lower air inlet; The upper chamber, middle chamber, and lower chamber are connected from top to bottom and formed inside the conveying pipe. The upper chamber is connected to the lower outlet of the discharge chute, and the lower chamber is connected to the inside of the charging pipe. The upper gate is openably and closably located in the channel between the upper chamber and the middle chamber, and the lower gate is openably and closably located in the channel between the middle chamber and the lower chamber. The connecting air pipe is located inside the conveying pipe and at the top of the middle chamber. The connecting air pipe has a partition inside to divide it into two parts. Both ends of the connecting air pipe are bent towards the side closer to the middle chamber. The side of the connecting air pipe closer to the upper chamber is connected to an upper air inlet, and the side of the connecting air pipe closer to the lower chamber is connected to a lower air inlet. Both the upper and lower air inlets are used to connect to an external compressed air source.

4. The automated pneumatic charging device for underground mines according to claim 1, characterized in that, The output end of the charging tube facing the borehole is equipped with a slicing knife. The blade of the slicing knife is arranged in the direction of the output of the propellant roll, and is used to slice the plastic film packaging of the propellant roll at the moment the propellant roll is pushed out of the charging tube.

5. The automated pneumatic charging device for underground mines according to claim 1, characterized in that, The control system has a built-in parameter setting unit and a charge counting unit. The parameter setting unit is used to preset the charge amount and delivery air pressure parameters corresponding to different boreholes. The charge counting unit is used to count and display the current number of charge tubes and the cumulative number of charge tubes in real time. The control system supports both single-action control mode and linkage automatic control mode.

6. A method for automated pneumatic charging of explosive cartridges in underground mines, comprising an automated pneumatic charging device for explosive cartridges in underground mines as described in any one of claims 1-5, characterized in that, It also includes the following steps: S1. Material preparation: Load batches of explosive cartridges into the hopper and set the charge amount and air pressure parameters for the corresponding blast hole through the control system. S2, Step-by-step feeding: The control system drives the reciprocating cylinder to move the pusher plate back and forth, pushing the medicine rolls one by one from the fixed inclined plate to the unloading inclined plate, and then they fall into the upper chamber of the material conveying mechanism through the unloading chute; the photoelectric detection device at each station detects the position of the medicine rolls in real time and feeds it back to the control system. S3, Pneumatic conveying: The control system controls the external air source to switch the air intake sequence. First, air is introduced through the upper air inlet to push the upper gate to close and push the medicine roll through the middle chamber to the lower chamber. Then, air is introduced through the lower air inlet to push the lower gate to close and push the medicine roll to the loading tube. S4. Charge into the borehole: The charge roll is conveyed at high speed along the charging tube into the borehole. When it is output, the outer packaging film is cut by the dicing knife to achieve coupled charging. The control system counts synchronously and stops the operation after the preset charge amount is reached.

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