Blast hole blocking device and blast hole blocking system

Abstract

The utility model provides a blast hole blocking device and a blast hole blocking system, the blast hole blocking device comprises a movable chassis, a rotating device, a feeding mechanism and a controller, the feeding mechanism is used for storing blocking materials and filling the blocking materials into a blast hole; the feeding mechanism is arranged on the chassis, and the rotating device is arranged between the chassis and the feeding mechanism; the feeding mechanism is provided with a discharging port, and the rotating device is used for driving the feeding mechanism to horizontally rotate so that the discharging port of the feeding mechanism can be aligned with a blast hole. The controller is connected with the chassis, the rotating device and the feeding mechanism and used for controlling operation of the chassis, the rotating device and the feeding mechanism. The blasthole blocking device can improve the safety and efficiency of blasthole blocking operation.

Description

Technical Field

[0001] This utility model relates to the field of blasting technology, and in particular to a borehole plugging device and borehole plugging system. Background Technology

[0002] Open-pit mining technology is widely used in mining operations. The main processes of open-pit mining are: drilling, blasting, loading, transportation, dumping, and unloading; among them, the drilling and blasting stage can be further divided into three steps: drilling, plugging, and blasting.

[0003] Currently, significant progress has been made in drilling speed, blasting effect, and blasting quality. However, the hole plugging process is often neglected, and manual filling is still the most common method. During hole plugging, manual filling is extremely dangerous because the explosives and detonators have already been installed inside the hole. Furthermore, manual filling requires unloading the plugging material near the hole before manually filling it into the already explosive-filled hole. This process is time-consuming and labor-intensive, significantly impacting the efficiency of mineral mining. Utility Model Content

[0004] The purpose of this invention is to provide a borehole plugging device and a borehole plugging system, which can improve the safety and efficiency of borehole plugging operations.

[0005] This utility model provides a borehole plugging device, including a movable chassis, a rotating device, a feeding mechanism, and a controller. The feeding mechanism is used to store plugging material and fill the borehole with the plugging material. The feeding mechanism is disposed on the chassis, and the rotating device is disposed between the chassis and the feeding mechanism. The feeding mechanism has a discharge port, and the rotating device is used to drive the feeding mechanism to rotate horizontally so that the discharge port of the feeding mechanism is aligned with the borehole. The controller is connected to the chassis, the rotating device, and the feeding mechanism respectively, and the controller is used to control the operation of the chassis, the rotating device, and the feeding mechanism.

[0006] Furthermore, the feeding mechanism includes a hopper, a feeding pipe, and a feeding device. The hopper is used to store the sealing material. One end of the feeding pipe is connected to the hopper, and the discharge port is located at the other end of the feeding pipe. The feeding device is used to transport the sealing material in the hopper to the feeding pipe, so as to fill the sealing material into the borehole through the feeding pipe. The controller is connected to the feeding device and is used to control the operation of the feeding device.

[0007] Furthermore, the feeding device includes a drive mechanism and a screw, the screw being disposed inside the hopper and corresponding to the feeding pipe, the drive mechanism being fixedly disposed on the outer wall of the hopper; the drive mechanism is connected to the screw and is used to drive the screw to rotate, so as to transport the sealing material in the hopper to the feeding pipe; the controller is connected to the drive mechanism and is used to control the operation of the drive mechanism.

[0008] Furthermore, the feeding pipe includes a horizontally extending first pipe section, a bent-extending second pipe section, and a vertically downward extending third pipe section. One end of the first pipe section is connected to the hopper, the other end of the first pipe section is connected to one end of the second pipe section, the other end of the second pipe section is connected to the upper end of the third pipe section, and the discharge port is located at the lower end of the third pipe section.

[0009] Furthermore, the feeding mechanism also includes a weighing sensor, which is used to detect the mass of the sealing material in the hopper. The controller is connected to the weighing sensor. The controller is used to control the mass of the sealing material actually loaded into the borehole by the feeding mechanism based on the mass of the sealing material in the hopper detected by the weighing sensor.

[0010] Furthermore, the feeding mechanism also includes a support base, which is disposed on the rotary device, and the rotary device is used to drive the support base to rotate horizontally; the hopper is disposed on the support base, and the weighing sensor is disposed between the hopper and the support base.

[0011] Furthermore, the borehole plugging device also includes an identification module, which includes a depth camera. The identification module is used to identify the borehole, and the controller is connected to the identification module. The controller is used to control the rotation device to operate according to the identification result of the identification module, so as to drive the feeding mechanism to rotate horizontally and align the discharge port of the feeding mechanism with the borehole.

[0012] Furthermore, the borehole plugging device also includes a positioning module, which is used to acquire the position information of the borehole plugging device. The controller is connected to the positioning module. The controller is used to control the chassis movement according to the position information of the borehole, the position information of the borehole plugging device, and the recognition result of the recognition module, so that the borehole plugging device moves to the position of the borehole.

[0013] Furthermore, the borehole plugging device also includes a communication module, which is connected to the controller and is used for remote communication with the control center.

[0014] This utility model also provides a borehole plugging system, including a control center and at least one borehole plugging device as described above. The control center is capable of remote communication with the communication module. The control center is used to remotely transmit plugging parameter information, as well as the number and location information of the boreholes to be plugged, to the corresponding borehole plugging devices.

[0015] The borehole plugging device provided by this utility model features a chassis that enables automatic movement, allowing the device to be positioned at the borehole. A rotating mechanism drives a feeding mechanism to rotate horizontally, aligning the feeding mechanism's outlet with the borehole. The feeding mechanism stores and fills the borehole with plugging material, thus plugging it. The coordinated operation of the chassis, rotating mechanism, and feeding mechanism enables efficient borehole plugging operations. Compared to manual filling, this significantly improves the safety and efficiency of borehole plugging, thereby increasing the efficiency of mineral mining and reducing construction costs. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the borehole plugging device in an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of the feeding mechanism in an embodiment of the present invention.

[0018] Figure 3 This is a schematic diagram of the control logic of the command center, control center, and borehole blocking device in this embodiment of the present invention.

[0019] Figure 4 This is a schematic diagram of the structure of the blast hole after it has been filled with explosives and sealing materials in an embodiment of this utility model. Detailed Implementation

[0020] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0021] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and claims of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0022] The directional terms such as "up," "down," "left," "right," "front," "back," "top," and "bottom" (if present) used in the specification and claims of this utility model are defined according to the position of the structures in the drawings and the relative positions of the structures, and are only for the purpose of clarity and convenience in expressing the technical solution. It should be understood that the use of directional terms should not limit the scope of protection claimed in this application.

[0023] like Figures 1 to 4 As shown, this utility model embodiment provides a borehole plugging device 1, including a movable chassis 11, a rotating device 12, a feeding mechanism 13, and a controller 17. The feeding mechanism 13 is used to store plugging material 4 and fill the borehole 3 with the plugging material 4. The feeding mechanism 13 has a discharge port 130, through which the plugging material 4 stored in the feeding mechanism 13 can be discharged and filled into the borehole 3.

[0024] The feeding mechanism 13 is mounted on the chassis 11, and the rotating device 12 is located between the chassis 11 and the feeding mechanism 13. The rotating device 12 is connected to both the chassis 11 and the feeding mechanism 13 (i.e., the rotating device 12 is mounted on the chassis 11, and the feeding mechanism 13 is mounted on the rotating device 12). The rotating device 12 is used to drive the feeding mechanism 13 to rotate horizontally relative to the chassis 11, so that the discharge port 130 of the feeding mechanism 13 is aligned with the blast hole 3, thereby enabling the feeding mechanism 13 to fill the blast hole 3 with sealing material 4 through the discharge port 130.

[0025] The controller 17 is connected (specifically, via electrical signals) to the chassis 11, the rotating device 12, and the feeding mechanism 13. The controller 17 controls the operation of the chassis 11, the rotating device 12, and the feeding mechanism 13. Specifically, the controller 17 controls the movement of the chassis 11, enabling the automatic movement of the borehole plugging device 1 to the location of the borehole 3; the controller 17 controls the rotation of the rotating device 12, aligning the discharge port 130 of the feeding mechanism 13 with the borehole 3; and the controller 17 controls the operation of the feeding mechanism 13, filling the borehole 3 with sealing material 4. Through the cooperation of the chassis 11, the rotating device 12, and the feeding mechanism 13, the sealing operation of the borehole plugging device 1 is achieved. The controller 17 can be specifically mounted on the chassis 11.

[0026] Furthermore, in this embodiment, the chassis 11 is a tracked chassis, specifically an electric rubber tracked chassis, to improve the passability of the chassis 11; the controller 17 is specifically connected to the walking motor (not shown) in the chassis 11. The chassis 11 is provided with an installation interface (not shown) to facilitate the installation of the slewing device 12. The chassis 11 is provided with a power battery system (not shown), which, in addition to providing power to the chassis 11 itself, can also provide power to the slewing device 12 and the feeding mechanism 13 (i.e., the power battery system is electrically connected to the slewing device 12 and the feeding mechanism 13) to ensure the continuous operation of the borehole plugging device 1. The chassis 11 is provided with an unmanned driving system (not shown) to realize the automatic movement and autonomous operation of the borehole plugging device 1.

[0027] Furthermore, in this embodiment, the slewing device 12 is an electric slewing bearing (i.e., an electric rotary table), and the controller 17 is specifically connected to the slewing motor (not shown) in the slewing device 12. This electric slewing bearing specifically adopts a worm gear transmission form, enabling 360° rotation, high driving torque, smooth operation, low impact, and self-locking capability, thereby facilitating the hole alignment operation of the feeding mechanism 13.

[0028] Furthermore, such as Figures 1 to 4 As shown, in this embodiment, the feeding mechanism 13 includes a hopper 131, a feeding pipe 132, and a feeding device 133. The hopper 131 is used to store the sealing material 4. The feeding pipe 132 is located outside the hopper 131, with one end connected to the hopper 131 and the outlet 130 located at the other end. At least part of the feeding device 133 is located inside the hopper 131. The feeding device 133 provides conveying power for the sealing material 4 and is used to convey the sealing material 4 from the hopper 131 to the feeding pipe 132, so as to fill (add) the sealing material 4 into the borehole 3 through the feeding pipe 132. The controller 17 is connected to the feeding device 133 and is used to control the operation of the feeding device 133, thereby controlling the filling operation of the feeding mechanism 13.

[0029] Furthermore, such as Figures 1 to 4As shown, in this embodiment, the feeding device 133 includes a drive mechanism 1331 and a screw 1332. The screw 1332 is disposed inside the hopper 131, and the screw 1332 is positioned corresponding to the feeding pipe 132 (i.e., the rotation axis of the screw 1332 is aligned with the inlet of the feeding pipe 132). The drive mechanism 1331 is fixedly disposed on the outer wall of the hopper 131. The drive mechanism 1331 is connected to the screw 1332 and is used to drive the screw 1332 to rotate, so as to convey the sealing material 4 in the hopper 131 to the feeding pipe 132 (when the screw 1332 rotates, it can push the sealing material 4 in the hopper 131 to the feeding pipe 132). The controller 17 is connected to the drive mechanism 1331 and is used to control the operation of the drive mechanism 1331.

[0030] Specifically, in this embodiment, the drive mechanism 1331 and the feeding pipe 132 are located on opposite sides of the hopper 131. One end of the spiral 1332 extends into the hopper 131 near the drive mechanism 1331 and is connected to the drive mechanism 1331. The other end of the spiral 1332 extends to the inlet of the feeding pipe 132 (the spiral 1332 can also extend into the feeding pipe 132). The spiral 1332 is a shaftless spiral (i.e., it adopts a design without a central shaft). Using a shaftless spiral can improve the adaptability of the feeding device 133 to the sealing material 4. Specifically, the shaftless spiral can adapt to waste materials after mineral processing, such as sticky tailings and tailings sand, and can also use materials such as drill cuttings from borehole drilling rigs, thereby saving material costs for sealing construction. Of course, in other embodiments, the spiral 1332 can also be a shafted spiral. For the specific structure and working principle of the spiral 1332, please refer to the prior art, which will not be elaborated here.

[0031] Furthermore, in this embodiment, the drive mechanism 1331 includes a drive motor (not labeled) and a reducer (not labeled). The output end of the drive motor is connected to the input end of the reducer, and the output end of the reducer is connected to the helical body 1332. The drive motor provides driving force, while the reducer reduces speed and increases torque. The controller 17 is connected to the drive motor. During operation, the controller 17 controls the drive motor to operate. The driving force of the drive motor is reduced and increased in torque by the reducer and then transmitted to the helical body 1332, thereby driving the helical body 1332 to rotate.

[0032] Furthermore, such as Figure 1 and Figure 2As shown, in this embodiment, the hopper 131 is located directly above the chassis 11, and the feeding pipe 132 extends to one side of the chassis 11. The hopper 131 has a top-opening structure, through which sealing material 4 can be loaded into the hopper 131. Since the hopper 131 is set on the chassis 11, the hopper 131 has a certain height, which facilitates the loading of sealing material 4 into the hopper 131. Specifically, the sealing material 4 can be loaded into the hopper 131 by equipment such as loaders or excavators. The loaded sealing material 4 can be bulk materials such as sand, gravel, dry soil, dry tailings, and tailings sand, or it can be materials such as rock powder and debris after on-site drilling.

[0033] Furthermore, such as Figure 1 and Figure 2 As shown, in this embodiment, the feeding pipe 132 includes a horizontally extending first pipe section 1321, a bent-extending second pipe section 1322, and a vertically downward extending third pipe section 1323. One end of the first pipe section 1321 is connected to the hopper 131, the other end of the first pipe section 1321 is connected to one end of the second pipe section 1322, the other end of the second pipe section 1322 is connected to the upper end of the third pipe section 1323, and the discharge port 130 is located at the lower end of the third pipe section 1323. This arrangement allows the sealing material 4 in the hopper 131 to be fed into the borehole 3 more smoothly and accurately.

[0034] Specifically, during the borehole plugging operation, after adjusting the discharge port 130 on the feeding pipe 132 to align with the borehole 3, the discharge port 130 is positioned above the borehole 3; the controller 17 controls the feeding device 133 to operate, and transports the plugging material 4 in the hopper 131 sequentially through the first pipe section 1321, the second pipe section 1322 and the third pipe section 1323 to the discharge port 130, and then adds it into the borehole 3 through the discharge port 130 to complete the borehole plugging operation.

[0035] Furthermore, such as Figure 1 and Figure 2 As shown, in this embodiment, the feeding pipe 132 is a circular pipe. The third pipe section 1323 is a tapered pipe with a gradually decreasing diameter from top to bottom. This allows the diameters of the first pipe section 1321 and the second pipe section 1322 to be set relatively large, facilitating the flow of the sealing material 4 within the feeding pipe 132. Simultaneously, it allows the diameter of the discharge port 130 to be relatively small, ensuring that the diameter of the discharge port 130 is smaller than the diameter of the borehole 3, thus guaranteeing that the sealing material 4 can be fed into the borehole 3 as completely as possible. The diameter of the discharge port 130 can be designed according to the diameter of different boreholes 3.

[0036] Furthermore, such as Figures 1 to 3As shown, in this embodiment, the feeding mechanism 13 further includes a weighing sensor 134, which is used to detect the mass of the sealing material 4 in the hopper 131. The controller 17 is connected to the weighing sensor 134 (specifically, an electrical signal connection). The controller 17 is used to control the actual mass of the sealing material 4 loaded into the borehole 3 by the feeding mechanism 13 based on the mass of the sealing material 4 detected by the weighing sensor 134 (specifically, the mass of the sealing material 4 in the hopper 131 can be obtained by detecting the sum of the mass of the sealing material 4 and the mass of the hopper 131, and then subtracting the mass of the hopper 131).

[0037] Specifically, when filling the blast hole 3 with sealing material 4, the controller 17 obtains the mass change of the sealing material 4 in the hopper 131 before and after the filling operation through the weighing sensor 134, and can calculate the actual mass of the sealing material 4 filled into the blast hole 3 by the feeding mechanism 13. By controlling the actual mass of the sealing material 4 filled into the blast hole 3 by the feeding mechanism 13, the actual filling mass and the mass of the sealing material 4 required to block the blast hole 3 are controlled within the error range, thereby accurately controlling the sealing depth and sealing volume of the blast hole 3 to meet the design requirements of blasting construction, improve the subsequent blasting efficiency, and help control the fragmentation of the rock after blasting, reducing the consumption of equipment and personnel caused by secondary rock crushing construction, thereby further improving construction efficiency and reducing construction costs (when the sealing operation is carried out manually, the sealing parameters are usually uncontrollable, resulting in uncontrollable fragmentation of the rock after blasting, which usually requires secondary crushing on site before loading and transportation).

[0038] Furthermore, such as Figure 1 and Figure 2 As shown, in this embodiment, the feeding mechanism 13 further includes a support base 135, which is mounted on a rotary device 12. The rotary device 12 drives the support base 135 to rotate horizontally, thereby causing the hopper 131, the feeding pipe 132, and the feeding device 133 to rotate. The hopper 131 is mounted on the support base 135, and the weighing sensor 134 is mounted between the hopper 131 and the support base 135.

[0039] Specifically, in this embodiment, the support base 135 is a support plate. A plurality of support legs 136 are spaced apart on the hopper 131 (in this embodiment, there are four support legs 136, respectively located at the four corners of the hopper 131). All support legs 136 are connected to the support base 135, and the hopper 131 is suspended in mid-air, supported by the support legs 136. A plurality of weighing sensors 134 are disposed between the support legs 136 and the support base 135; the mass of the sealing material 4 inside the hopper 131 is the sum of the mass data detected by the multiple weighing sensors 134. Of course, in other embodiments, the weighing sensors 134 can also be arranged in other ways.

[0040] Furthermore, such as Figures 1 to 3 As shown, in this embodiment, the borehole plugging device 1 further includes an identification module 14, which is used to identify the borehole 3. The controller 17 is connected to the identification module 14 (specifically, through an electrical signal connection). The controller 17 is used to control the rotation device 12 to operate according to the identification result of the identification module 14, so as to drive the feeding mechanism 13 to rotate horizontally, thereby aligning the discharge port 130 of the feeding mechanism 13 with the borehole 3.

[0041] Specifically, in this embodiment, the identification module 14 includes a depth camera. The depth camera typically uses two cameras to capture the same scene from different angles, and then calculates depth information through parallax to identify whether a borehole 3 exists on the ground. In this embodiment, the identification module 14 can align the borehole. After the identification module 14 identifies the borehole 3, based on the identification result, the controller 17 obtains the orientation information of the borehole 3 relative to the borehole blocking device 1. The controller 17 controls the rotation device 12 to operate based on this orientation information, aligning the discharge port 130 of the feeding mechanism 13 with the borehole 3. Of course, in other embodiments, the identification module 14 can also employ an ultrasonic device, or a combination of multiple identification devices.

[0042] Furthermore, such as Figure 1 and Figure 2 As shown, in this embodiment, the identification module 14 is disposed on the feeding pipe 132; preferably, the identification module 14 is disposed on the third pipe section 1323 to facilitate borehole identification and alignment. Of course, in other embodiments, the identification module 14 can also be disposed in other locations.

[0043] Furthermore, such as Figures 1 to 3As shown, in this embodiment, the borehole plugging device 1 further includes a positioning module 15, which is used to acquire the position information of the borehole plugging device 1. The controller 17 is connected to the positioning module 15 (specifically, through an electrical signal connection). The positioning module 15 can be specifically installed on the chassis 11 or similar location. The controller 17 can control the chassis 11 to move according to the position information of the borehole 3, the position information of the borehole plugging device 1, and the identification result of the identification module 14, so that the borehole plugging device 1 moves to the position of the borehole 3.

[0044] Specifically, the positioning module 15 can be a GPS positioning module, a BD (BeiDou) positioning module, etc. During the loading operation, the borehole plugging device 1 receives the location information of the borehole 3 and obtains the current location information of the borehole plugging device 1 through the positioning module 15. The controller 17 performs path planning based on the location information of the borehole 3 and the location information of the borehole plugging device 1, and controls the chassis 11 to move accordingly, so that the borehole plugging device 1 moves to the area where the borehole 3 is located. However, due to the limitations of the positioning technology accuracy, the borehole plugging device 1 generally cannot accurately reach the vicinity of the borehole 3 (the distance between the borehole plugging device 1 and the borehole 3 is generally about 10 meters to 30 meters). At this time, it is necessary to use the identification module 14 to identify the borehole 3. After the identification module 14 identifies the borehole 3, the controller 17 obtains the azimuth information of the borehole 3 relative to the borehole plugging device 1 based on the identification result of the identification module 14. The controller 17 controls the chassis 11 to move according to the azimuth information, so that the borehole plugging device 1 moves to the location (near) of the borehole 3.

[0045] Furthermore, such as Figures 1 to 3 As shown, in this embodiment, the borehole plugging device 1 further includes a communication module 16, which is connected to the controller 17 (specifically, via electrical signal connection). The communication module 16 can be mounted on the chassis 11 or similar location. The communication module 16 is used for remote communication with the control center 2, enabling remote control of the borehole plugging device 1, sending data parameters to the borehole plugging device 1, and receiving data parameters from the borehole plugging device 1. The communication module 16 can specifically be a 4G network communication module, a 5G network communication module, etc.

[0046] This utility model embodiment also provides a borehole plugging method for the aforementioned borehole plugging device 1; wherein, the controller 17 in the borehole plugging device 1 can implement the borehole plugging method when executing a computer program (that is, the borehole plugging method can be controlled and executed by the controller 17).

[0047] The methods for plugging blast holes include:

[0048] Obtain the sealing parameter information, which includes the structural parameters of the borehole 3 and the density ρ of the sealing material 4; calculate the mass Δm of the sealing material 4 required to seal the borehole 3 based on the sealing parameter information;

[0049] The feeding mechanism 13 is controlled to fill the blast hole 3 with sealing material 4, and the mass m1 of the sealing material 4 actually filled into the blast hole 3 by the feeding mechanism 13 is controlled so that the difference between m1 and Δm is within a preset range.

[0050] Specifically, by controlling the actual mass m1 of the sealing material 4 loaded into the borehole 3 by the feeding mechanism 13, the mass m1 and the mass Δm of the sealing material 4 required to block the borehole 3 are controlled within the error range. This accurately controls the sealing depth (i.e., the height of the sealing material 4) and the sealing volume of the borehole 3, meeting the design requirements of the blasting operation, improving subsequent blasting efficiency, and helping to control the fragmentation of the rock after blasting. This reduces the equipment and personnel consumption caused by secondary rock crushing, thereby further improving construction efficiency and reducing construction costs. The preset range can be ±5% of Δm, meaning m1 does not exceed Δm * ±5%; of course, this preset range can be set according to actual needs.

[0051] Furthermore, such as Figure 4 As shown, in this embodiment, the borehole 3 is a cylindrical hole. The structural parameters of the borehole 3 include the radius r of the borehole 3 and the sealing depth h of the borehole 3, where Δm = π*r. 2 *h*ρ (i.e., the structural parameters of the borehole 3 include the sealing volume V of the borehole 3, Δm = V*ρ); where the radius r and sealing depth h of different boreholes 3 may be different, and the density ρ of different types of sealing materials 4 may also be different. Of course, in other embodiments, the borehole 3 may also be a non-circular hole, such as a frustum-shaped structure, etc. In this case, it is necessary to calculate the mass Δm of the sealing material 4 required to block the borehole 3 based on the actual shape of the borehole 3.

[0052] Furthermore, in this embodiment, the aforementioned feeding mechanism 13 fills the blast hole 3 with sealing material 4, and controls the actual mass m1 of the sealing material 4 filled into the blast hole 3 by the feeding mechanism 13, so that the difference between m1 and Δm is within a preset range, specifically including:

[0053] The feeding device 133 is controlled to operate so as to fill the sealing material 4 in the hopper 131 into the borehole 3 through the feeding pipe 132; and the mass of the remaining sealing material 4 in the hopper 131 is detected in real time by the weighing sensor 134, so as to calculate the mass m1 of the sealing material 4 actually filled into the borehole 3 by the feeding mechanism 13.

[0054] When the difference between m1 and Δm is within the preset range, the feeding device 133 is controlled to stop operating, thereby stopping the filling of sealing material 4 into the borehole 3.

[0055] Specifically, during the filling operation, before filling the sealing material 4 into the borehole 3, the mass m of the sealing material 4 in the hopper 131 is detected by the weighing sensor 134. q During the process of filling the sealing material 4 into the borehole 3, the mass m of the remaining sealing material 4 in the hopper 131 is detected in real time by the weighing sensor 134. x According to the m q With the m x The difference between the two values ​​can be used to calculate the mass m1 of the sealing material 4 actually loaded into the borehole 3 by the feeding mechanism 13 (i.e., m1 = m q -m x ).

[0056] Furthermore, in this embodiment, before the aforementioned feeding mechanism 13 fills the borehole 3 with sealing material 4, the borehole plugging method further includes:

[0057] Obtain the position information of the borehole 3; control the chassis 11 to move according to the position information of the borehole 3, so that the borehole blocking device 1 moves to the position of the borehole 3.

[0058] Furthermore, in this embodiment, obtaining the location information of the borehole 3 specifically includes:

[0059] The communication module 16 is used to communicate remotely with the control center 2, and the location information of the blast hole 3 sent by the control center 2 is received through the communication module 16.

[0060] Furthermore, in this embodiment, the aforementioned control of the chassis 11 to move according to the position information of the borehole 3, so that the borehole blocking device 1 moves to the position of the borehole 3, specifically includes:

[0061] Based on the location information of borehole 3 and borehole plugging device 1, plan the movement path of borehole plugging device 1;

[0062] According to the moving path, the chassis 11 is controlled to move, so that the borehole blocking device 1 moves to a distance within a first distance range between itself and the borehole 3.

[0063] The identification module 14 identifies the blast hole 3, and the chassis 11 is controlled to move according to the identification result of the identification module 14, so that the blast hole blocking device 1 moves to a distance within a second distance range between itself and the blast hole 3. The second distance range is smaller than the first distance range, and for example, it is 10 meters to 30 meters, or 0.5 meters to 2 meters. Once the blast hole blocking device 1 has moved to the second distance range between itself and the blast hole 3, the discharge port 130 on the feeding pipe 132 is aligned with the blast hole 3 when the rotating device 12 rotates, based on the designed length of the feeding pipe 132, to facilitate the next feeding action.

[0064] Furthermore, in this embodiment, before the aforementioned feeding mechanism 13 fills the borehole 3 with the sealing material 4 and after the borehole blocking device 1 moves to the location of the borehole 3, the borehole blocking method further includes:

[0065] The discharge port 130 of the feeding mechanism 13 is aligned with the blast hole 3.

[0066] Furthermore, in this embodiment, the discharge port 130 of the aforementioned control feeding mechanism 13 is aligned with the borehole 3, specifically including:

[0067] The identification module 14 is used to identify the blast hole 3. Based on the identification result of the identification module 14, the rotary device 12 is controlled to operate, so as to drive the feeding mechanism 13 to rotate horizontally, so that the discharge port 130 of the feeding mechanism 13 is aligned with the blast hole 3.

[0068] Furthermore, in this embodiment, after the feeding mechanism 13 fills the borehole 3 with sealing material 4, the borehole sealing method further includes:

[0069] After the sealing material 4 is filled into the previous blast hole 3, the mass m2 of the remaining sealing material 4 in the feeding mechanism 13 is obtained (specifically, the mass m2 of the remaining sealing material 4 in the hopper 131 is obtained), and the mass Δm1 of the sealing material 4 required to block the next blast hole 3 is calculated (the mass of the sealing material 4 required for different blast holes 3 may be different).

[0070] If m2≥Δm1, the borehole plugging device 1 is controlled to fill the next borehole 3 with plugging material 4; if m2<Δm1, the borehole plugging device 1 is controlled to replenish material (i.e., to load plugging material 4 into the borehole plugging device 1).

[0071] When the borehole blocking device 1 needs to be replenished, it can travel to the material loading area to replenish the material, or the sub-loading vehicle can travel to the location of the borehole blocking device 1 to replenish it (at this time, the borehole blocking device 1 can be controlled to send a replenishment request message to the sub-loading vehicle).

[0072] Furthermore, in this embodiment, the acquisition of the blocking parameter information specifically includes:

[0073] The communication module 16 is used to communicate remotely with the control center 2, and the blocking parameter information sent by the control center 2 is received through the communication module 16.

[0074] like Figure 3 As shown, this utility model embodiment also provides a borehole plugging system, including a control center 2 (i.e., a back-end server) and at least one borehole plugging device 1 as described above (generally multiple devices). The control center 2 is capable of remote communication with the communication module 16. The control center 2 is used to remotely transmit plugging parameter information, as well as the number and location information of the boreholes 3 to be plugged, to the corresponding borehole plugging devices 1.

[0075] Specifically, control center 2 is used to perform at least the following operations:

[0076] Based on the borehole location distribution map (not shown) and the actual number of borehole plugging devices 1, the task is allocated to determine the number and location of boreholes 3 that each borehole plugging device 1 needs to plug; wherein, the borehole 3 location distribution map contains the number of boreholes 3 and the location information of each borehole 3.

[0077] The sealing parameter information, as well as the number and location information of the boreholes 3 to be sealed, are remotely transmitted to the corresponding borehole sealing device 1 (the control center 2 can integrate the number, location, and sealing parameter information of the boreholes 3 to be sealed by each borehole sealing device 1 into a borehole operation diagram, and then remotely transmit each borehole operation diagram to the corresponding borehole sealing device 1); wherein, the sealing parameter information includes the structural parameters of the borehole 3 and the density ρ of the sealing material 4.

[0078] Therefore, the control center 2 can cooperate with multiple borehole plugging devices 1 to achieve automated and unmanned operation, improve the efficiency of plugging operation, and avoid repetitive operation of each borehole plugging device 1.

[0079] like Figures 1 to 4 As shown, the working process of the borehole plugging system and borehole plugging device 1 can be as follows:

[0080] (1) Before the operation, the command center remotely uploads the location distribution map of the blast holes in the open-pit mine blasting area and the sealing parameter information to the control center 2. The control center 2 allocates tasks according to the location distribution map of the blast holes and the number of blast hole blocking devices 1 actually used in the operation, determines the number and location of the blast holes 3 that each blast hole blocking device 1 needs to block, and generates a blast hole operation map. The control center 2 remotely transmits each blast hole operation map to the controller 17 of each corresponding blast hole blocking device 1. Each blast hole blocking device 1 performs autonomous sealing operation according to the set blast hole operation map.

[0081] The borehole plugging device 1 uses a weighing sensor 134 to detect whether the hopper 131 is full of plugging material 4 to determine whether to start the plugging operation. When the hopper 131 is not full, the borehole plugging device 1 can be replenished with material by a loader or a loading vehicle. During the plugging operation, multiple borehole plugging devices 1 can work together to improve construction efficiency.

[0082] (2) After the blast hole plugging device 1 is loaded with the plugging material 4, the chassis 11 is controlled to move by the position information of the blast hole 3 and the position information of the blast hole plugging device 1 obtained by the positioning module 15, so that the blast hole plugging device 1 drives into the plugging construction area; then the blast hole 3 is identified by the identification module 14, so as to control the chassis 11 to drive to the vicinity of the blast hole 3 that needs to be plugged, and then the rotary device 12 is controlled to operate to adjust the position of the feeding pipe 132 so that the discharge port 130 on the feeding pipe 132 is aligned with the blast hole 3.

[0083] (3) The borehole plugging device 1 calculates the mass Δm of the plugging material 4 required to plug the borehole 3 based on the plugging parameter information. The feeding device 133 is controlled to operate, and the plugging material 4 in the hopper 131 is transported to the feeding pipe 132 through the feeding device 133, and then the plugging material 4 is filled into the borehole 3 through the feeding pipe 132. At this time, since the borehole 3 is pre-filled with explosives 5, the plugging material 4 will be filled above the explosives 5. During the plugging operation, the mass of the remaining plugging material 4 in the hopper 131 is detected in real time by the weighing sensor 134, and the mass m1 of the plugging material 4 actually filled into the borehole 3 by the feeding mechanism 13 is calculated. When the difference between m1 and Δm is within the preset range (m1≈Δm), the feeding device 133 is controlled to stop operating, so as to stop filling the borehole 3 with plugging material 4. Therefore, by detecting the filling quality of the sealing material 4, the sealing depth h is indirectly guaranteed to meet the requirements of the blasting parameter settings, so as to realize precise sealing construction according to the sealing parameters, thereby improving blasting efficiency and accuracy.

[0084] (4) After the sealing material 4 is filled into the previous blast hole 3, the mass m2 of the remaining sealing material 4 in the hopper 131 is detected, and the mass Δm1 of the sealing material 4 required to block the next blast hole 3 is calculated. If m2≥Δm1, the blast hole blocking device 1 is controlled to continue filling the next blast hole 3 with sealing material 4. If m2<Δm1, the blast hole blocking device 1 is controlled to replenish the material.

[0085] The blast hole plugging device 1, blast hole plugging method, and blast hole plugging system provided in this embodiment of the invention can realize automated and unmanned operation of open-pit blast hole plugging construction, freeing up labor, improving work efficiency, reducing plugging construction costs, and improving the profitability of mining blasting construction; its specific advantages include:

[0086] (1) By controlling the blast hole plugging device 1 to fill the blast hole 3 with sealing material 4, the blast hole 3 is plugged. Compared with the manual filling method, the safety and efficiency of the blast hole plugging operation can be greatly improved, thereby improving the efficiency of mineral mining.

[0087] (2) By setting a weighing sensor 134 to detect the mass of the sealing material 4 in the hopper 131, the mass of the sealing material 4 actually loaded into the blast hole 3 by the feeding mechanism 13 is controlled, thereby accurately controlling the sealing depth and sealing amount of the blast hole 3 to meet the design requirements of blasting construction, improve the subsequent blasting efficiency, and help control the fragmentation of the rock after blasting, reduce the consumption of equipment and personnel caused by secondary rock crushing construction, thereby further improving construction efficiency and reducing construction costs.

[0088] (3) By setting up a chassis 11, a rotating device 12, a positioning module 15 and an identification module 14, the automatic hole finding and automatic hole alignment functions of the borehole blocking device 1 can be realized.

[0089] (4) Multiple borehole plugging devices 1 can be used in a coordinated manner to improve the efficiency of plugging construction.

[0090] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model 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 this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A blast hole stemming device, characterized in that, The device comprises a movable chassis (11), a rotating device (12), a feeding mechanism (13) for storing and filling the sealing material (4) into the blast hole (3), and a controller (17).

2. The borehole plug of claim 1 wherein, The feeding mechanism (13) comprises a hopper (131) for storing the sealing material (4), a feeding pipe (132) with one end communicating with the hopper (131) and the other end provided with the discharge port (130), and a feeding device (133) for conveying the sealing material (4) in the hopper (131) into the feeding pipe (132) to fill the sealing material (4) into the blast hole (3) through the feeding pipe (132).

3. The borehole plug of claim 2 wherein, The feeding device (133) comprises a driving mechanism (1331) fixedly arranged on the outer wall of the hopper (131) and a spiral body (1332) arranged in the hopper (131) and corresponding to the feeding pipe (132), the driving mechanism (1331) being connected with the spiral body (1332) and used to drive the spiral body (1332) to rotate to convey the sealing material (4) in the hopper (131) into the feeding pipe (132), the controller (17) being connected with the driving mechanism (1331) and used to control the operation of the driving mechanism (1331).

4. The borehole plug of claim 2 wherein, The feeding pipe (132) comprises a first pipe section (1321) extending horizontally, a second pipe section (1322) extending in a bent manner, and a third pipe section (1323) extending vertically downward, one end of the first pipe section (1321) is communicated with the bin (131), the other end of the first pipe section (1321) is communicated with one end of the second pipe section (1322), the other end of the second pipe section (1322) is communicated with the upper end of the third pipe section (1323), and the discharge port (130) is arranged at the lower end of the third pipe section (1323).

5. The borehole plug of claim 2 wherein, The feeding mechanism (13) further comprises a weighing sensor (134) for detecting the mass of the blocking material (4) in the bin (131), and the controller (17) is connected with the weighing sensor (134); the controller (17) is used for controlling the mass of the blocking material (4) actually filled into the blast hole (3) by the feeding mechanism (13) according to the mass of the blocking material (4) in the bin (131) detected by the weighing sensor (134).

6. The borehole plug of claim 5 wherein, The feeding mechanism (13) further comprises a support seat (135) arranged on the rotating device (12), and the rotating device (12) is used for driving the support seat (135) to rotate horizontally; the bin (131) is arranged on the support seat (135), and the weighing sensor (134) is arranged between the bin (131) and the support seat (135).

7. The borehole plug of claim 1 wherein, The blast hole plugging device (1) further comprises an identification module (14) comprising a depth camera, the identification module (14) is used for identifying the blast hole (3), and the controller (17) is connected with the identification module (14); the controller (17) is used for controlling the rotating device (12) to operate to drive the feeding mechanism (13) to rotate horizontally according to the identification result of the identification module (14), so that the discharge port (130) of the feeding mechanism (13) is aligned with the blast hole (3).

8. The borehole plug of claim 7 wherein, The blast hole plugging device (1) further comprises a positioning module (15) for acquiring position information of the blast hole plugging device (1), and the controller (17) is connected with the positioning module (15); the controller (17) is used for controlling the chassis (11) to move according to the position information of the blast hole (3) and the position information of the blast hole plugging device (1) and the identification result of the identification module (14), so that the blast hole plugging device (1) moves to the position where the blast hole (3) is located.

9. The borehole plug of any one of claims 1-8, wherein, The blast hole plugging device (1) further comprises a communication module (16) connected with the controller (17), and the communication module (16) is used for remotely communicating with the control center (2).

10. A borehole stemming system characterized by, The system comprises a control center (2) and at least one borehole plugging device (1) as claimed in claim 9, the control center (2) being capable of remote communication with the communication module (16); the control center (2) being used for remote transmission of plugging parameter information and the number and position information of the boreholes (3) to be plugged to each corresponding borehole plugging device (1).

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