Automatic charging device for tunnel blast hole

Abstract

The utility model belongs to the technical field of blasting explosive filling, and provides an automatic charging device for a tunnel blast hole, which comprises a mechanical arm provided with a soft guide pipe and used for being butted with a blast hole to be charged; the supply device is connected with the mechanical arm and is used for storing the cartridges and conveying the cartridges to the guide pipe so as to push the cartridges into a blast hole to be charged; wherein the mechanical arm comprises a blast hole recognition unit and a position adjusting unit, and the blast hole recognition unit is connected to the output end of the position adjusting unit, so that after information of a to-be-charged blast hole in the tunnel face is recognized, the guide pipe is in butt joint with the to-be-charged blast hole through coarse adjustment and fine adjustment of the position adjusting unit. Through identification of the to-be-charged blast hole by the blast hole identification unit and coarse adjustment and fine adjustment of the position adjustment unit, the supply device can accurately push the cartridge into the to-be-charged blast hole, mechanical automation of cartridge filling can be achieved, manpower is saved, meanwhile, the construction time can be greatly shortened, potential safety hazards of a construction site are reduced, and the construction efficiency is improved. And the cartridge filling efficiency and the cartridge filling quality are improved.

Description

Technical Field

[0001] This utility model relates to the field of explosive loading technology, specifically to an automatic explosive loading device for tunnel blast holes. Background Technology

[0002] Drill-and-blast method (DBM) refers to the method of excavating rock by drilling, loading explosives, and blasting. As the name suggests, this method involves drilling holes of fixed depth and spacing on the rock face according to the design, inserting explosives into the holes, connecting detonators, and then detonating them. Utilizing the advantages of explosives not dissipating their force within the holes and fully exerting their power, this method can shatter large amounts of rock, allowing for rapid progress and easier control of the construction schedule. Therefore, it is used in most rail transit engineering tunnel construction and mining excavation.

[0003] Tunnel blasting typically uses emulsion explosive cartridges as the explosive material to fill the blast holes. These cartridges come in two types: sausage-shaped or capsule-shaped initiating cartridges and explosive cartridges. Initiating cartridges contain pre-embedded electronic detonators, whose leads extend from the blast hole and connect to a junction box. Explosive cartridges, on the other hand, do not contain electronic detonators; their cylindrical coating only contains emulsion explosive. Each blast hole is generally filled with one initiating cartridge and several explosive cartridges. After all blast holes on the tunnel face are loaded, the junction boxes at the leads of the electronic detonators from each initiating cartridge are connected to a busbar. Finally, a detonation signal is emitted through the busbar, detonating the initiating cartridge first, followed by the explosive cartridges, thus achieving blasting excavation. Therefore, the loading of initiating and explosive cartridges is the most crucial step in the entire construction process; the efficiency and quality of cartridge loading directly affect the progress of blasting excavation and the overall quality of tunnel construction.

[0004] Currently, in tunnel blasting construction, drilling of blast holes at the working face has been mechanized, but loading explosives into the blast holes is still mainly done manually. Depending on the size of the working face, the number of blast holes varies from dozens to hundreds, and the number of explosive cartridges loaded into each hole also differs. Manual loading requires the erection of a mobile frame on-site and multiple people working at heights, resulting in low loading efficiency, long construction time, significant safety hazards from working at heights, and a generally poor quality of explosive cartridge loading due to the harsh on-site environment.

[0005] Therefore, how to develop an automatic blast hole loading device for tunnel blasting has become an urgent technical problem that needs to be solved on the construction site. Utility Model Content

[0006] To address the shortcomings of existing technologies, this utility model provides an automatic charging device for tunnel blast holes, which solves the problems of high labor costs, long construction time, significant safety hazards, low charging efficiency, and poor charging quality associated with the existing manual charging method for tunnel blasting.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] An automatic explosive loading device for tunnel blast holes includes:

[0009] A robotic arm with a flexible guide tube for aligning the receiving gun port; and

[0010] A supply device, connected to the robotic arm, is used to store the cartridge and convey it to the guide tube for pushing into the gun port to be loaded;

[0011] The robotic arm includes a borehole identification unit and a position adjustment unit. The borehole identification unit is connected to the output end of the position adjustment unit so that after identifying the information of the borehole to be loaded on the tunnel face, the guide tube is aligned with the borehole to be loaded through the coarse and fine adjustment of the latter.

[0012] In one embodiment disclosed in this application, the output end of the position adjustment unit is provided with a bracket, and the guide tube is detachably mounted on the bracket;

[0013] The borehole identification unit includes a binocular camera, which is mounted on the bracket and located directly below the guide tube, and is used to accurately identify the position, depth, and angle information of the borehole to be loaded with explosives.

[0014] In one embodiment disclosed in this application, the position adjustment unit includes a rotary mechanism, a lifting mechanism, and a three-axis positioning mechanism arranged sequentially.

[0015] The rotary mechanism is fixedly installed on a workbench;

[0016] One end of the lifting mechanism is rotatably connected to the rotary mechanism, and a first pitching mechanism is hinged between the two.

[0017] The three-axis positioning mechanism is rotatably connected to the other end of the lifting mechanism, and a second pitching mechanism is hinged between the two.

[0018] The bracket is fixedly connected to the three-axis positioning mechanism.

[0019] In one embodiment disclosed in this application, the rotary mechanism includes a base and a rotary table connected to each other. The base is fixedly connected to the worktable, and the rotary table can rotate 360° without dead angles around the base.

[0020] The lifting mechanism includes a telescopically connected cylinder and a movable arm, with one end of the cylinder away from the movable arm rotatably connected to the top of a support block provided on one side of the rotary table.

[0021] One end of the first pitch mechanism is hinged to the bottom of the support block, and the other end is hinged to the cylinder body;

[0022] The three-axis positioning mechanism includes a base plate, a three-axis rotating component and an output shaft connected in sequence, and the base plate is rotatably connected to the end of the movable arm away from the cylinder.

[0023] The second pitch mechanism is hinged at one end to the movable arm and at the other end to the base plate;

[0024] The bracket is fixedly connected to the output shaft.

[0025] In one embodiment disclosed in this application, both the first pitch mechanism and the second pitch mechanism are hydraulic telescopic rods.

[0026] In one embodiment disclosed in this application, the supply device includes a conveying mechanism and a first medicine roll storage mechanism arranged sequentially;

[0027] The conveying mechanism can convey a number of first cartridges stored in the first cartridge storage mechanism to the guide tube and push them into the gun hole to be loaded, one at a time.

[0028] In one embodiment disclosed in this application, the conveying mechanism is provided with a storage tray for automatic retraction and extension of the flexible hose and a traction machine for providing power to the flexible hose. The storage tray is connected to the worktable, and the traction machine is connected to the rotary table on one side adjacent to the support block. The flexible hose extends into the traction machine from the input port to obtain power.

[0029] The first medicine roll storage mechanism is provided with a storage bin for horizontal placement of the first medicine roll and a dispensing wheel driven by a first servo motor. The storage bin is connected to the rotary table. The dispensing wheel is rotatably located at the outlet of the storage bin and has multiple circumferentially distributed dispensing grooves. The dispensing grooves are matched with the first medicine rolls. A receiving groove is suspended directly below the dispensing wheel. One end of the receiving groove is connected to the output port of the traction machine, and the other end is connected to a flexible conveying pipe. The flexible conveying pipe extends to the support and is connected to the guide pipe.

[0030] In one embodiment disclosed in this application, the supply device further includes a second drug roll storage mechanism mounted on the support;

[0031] The second medicine roll storage mechanism is equipped with a track driven by a second servo motor;

[0032] The track is provided with multiple slots at equal intervals. Except for one of the slots, the other slots are all horizontally placed with a second drug roll that is different from the first drug roll.

[0033] Each of the aforementioned slots can be moved between the flexible transmission tube and the guide tube under the drive of the second servo motor to connect the two.

[0034] In one embodiment disclosed in this application, the first explosive cartridge is an explosive cartridge without an electronic detonator;

[0035] The second explosive cartridge is an initiating explosive cartridge containing an electronic detonator.

[0036] In one embodiment disclosed in this application, a wire-passing groove is formed on the guide tube along its axial direction for the lead wire of the electronic detonator of the detonating charge.

[0037] Compared with the prior art, the beneficial effects of this utility model are:

[0038] 1. Through the identification of the blast hole to be loaded by the blast hole identification unit and the coarse and fine adjustment of the position adjustment unit, the supply device can accurately push the blast hole to be loaded, realize the mechanical automation of blast hole loading, save manpower, greatly shorten construction time, reduce safety hazards at the construction site, and improve the efficiency and quality of blast hole loading.

[0039] 2. The three-axis rotating component allows the guide tube to fully adapt to the unevenness of the tunnel face and effectively avoid protruding rock obstacles around the blast hole to be charged, thereby ensuring accurate positioning while ensuring that the explosive cartridge can be smoothly inserted under the push of the supply device.

[0040] 3. Through the cooperation of the conveying mechanism with the first and second drug cartridge storage mechanisms, it can replace manual labor and realize the intelligent and mechanized automatic filling of different drug cartridges, further improving the filling efficiency and quality of drug cartridges; moreover, the three are arranged in sequence, with a compact structure, which can significantly reduce the weight of this automatic drug filler and reduce manufacturing costs. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0043] Figure 2 for Figure 1 A magnified schematic diagram of section A in the middle;

[0044] Figure 3 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0045] Figure 4 for Figure 3 A magnified schematic diagram of part B in the middle section. Detailed Implementation

[0046] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0047] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0049] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0050] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0051] The following disclosure provides many different embodiments or examples for implementing various structures of this invention. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this invention.

[0052] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0053] See Figures 1-4 As shown, this utility model provides an automatic charging device for tunnel blast holes, comprising:

[0054] A robotic arm, equipped with a flexible guide tube 261, is used for aligning the receiving gun port (not shown in the figure); and

[0055] A supply device, connected to a robotic arm, is used to store the cartridge and convey it to the guide tube 261 to push it into the gun port to be loaded;

[0056] The robotic arm includes a borehole identification unit 100 and a position adjustment unit 200. The borehole identification unit 100 is connected to the output end of the position adjustment unit 200 so that after identifying the information of the borehole to be loaded on the tunnel face, the guide tube 261 is aligned with the borehole to be loaded through the latter's coarse and fine adjustments.

[0057] Specifically, the output end of the position adjustment unit 200 is provided with a bracket 260, and the guide tube 261 is detachably installed on the bracket 260; the borehole recognition unit 100 includes a binocular camera 110, which is installed on the bracket 260 and located directly below the guide tube 261, and is used to accurately identify the position, depth and angle information of the borehole to be loaded (mainly by using the binocular camera 110 for three-dimensional vision detection combined with software algorithms to accurately locate and identify the information of the borehole to be loaded; since the technology is mature and belongs to the prior art, it will not be described in detail here). Based on the area division of the tunnel face, after the binocular camera 110 identifies the approximate location information of the blast hole to be loaded, the position adjustment unit 200 first performs coarse adjustment to move the blast hole identification unit 100 to the vicinity of the blast hole to be loaded, and then performs fine adjustment to continuously correct the spatial position of the binocular camera 110 so that it gradually moves closer to the blast hole to be loaded, thereby accurately identifying the specific location, depth and angle information of the blast hole to be loaded, so as to obtain the loading requirements of the blast hole to be loaded (such as the number of cartridges to be loaded, the loading spacing, etc.). During the fine adjustment process, the blast hole identification unit 100 and the position adjustment unit 200 provide positive feedback to each other until the guide tube 261 is precisely aligned with the blast hole to be loaded. At this time, the supply device is activated, and the stored cartridges are sequentially conveyed to the guide tube 261 and pushed into the blast hole to be loaded according to the loading requirements of the blast hole to be loaded, thereby realizing the automatic loading of cartridges into the tunnel blast hole. In other words, through the identification of the blast hole to be loaded by the blast hole identification unit 100 and the coarse and fine adjustment of the position adjustment unit 200, the supply device can accurately push the blast hole to be loaded, which can realize the mechanical automation of blast hole loading, save manpower, greatly shorten construction time, reduce safety hazards at the construction site, and improve the efficiency and quality of blast hole loading.

[0058] See Figure 1 and Figure 3As shown, the position adjustment unit 200 includes a rotary mechanism 210, a lifting mechanism 220 and a three-axis positioning mechanism 230 arranged in sequence. The rotary mechanism 210 is fixedly installed on a workbench (not shown in the figure). One end of the lifting mechanism 220 is rotatably connected to the rotary mechanism 210 and a first pitch mechanism 240 is hinged between the two. The three-axis positioning mechanism 230 is rotatably connected to the other end of the lifting mechanism 220 and a second pitch mechanism 250 is hinged between the two. The bracket 260 is fixedly connected to the three-axis positioning mechanism 230. Specifically, the rotary mechanism 210 includes a base 211 and a rotary table 212 connected to each other. The base 211 is fixedly connected to the worktable, and the rotary table 212 can rotate 360° without dead angles around the base 211. The lifting mechanism 220 includes a cylinder 221 and a movable arm 222 that are telescopically connected. The end of the cylinder 221 away from the movable arm 222 is rotatably connected to the top of a support block provided on one side of the rotary table 212. One end of the first pitch mechanism 240 is hinged to the bottom of the support block, and the other end is hinged to the cylinder 221. The three-axis positioning mechanism 230 includes a base plate 231, a three-axis rotating component 232, and an output shaft 233 connected in sequence. The base plate 231 is rotatably connected to the end of the movable arm 222 away from the cylinder 221. One end of the second pitch mechanism 250 is hinged to the movable arm 222, and the other end is hinged to the base plate 231. The bracket 260 is fixedly connected to the output shaft 233. The rotary table 212 of the rotary mechanism 210 drives the lifting mechanism 220 to rotate 360°. The lifting mechanism 220 drives the three-axis positioning mechanism 230 to move up and down in a telescopic manner. The first pitch mechanism 240 drives the lifting mechanism 220 to swing around the rotation point of its cylinder 221 and the rotary table 212 to adjust the tilt angle of the lifting mechanism 220 over a wide range. That is, the cooperation between the rotary mechanism 210, the lifting mechanism 220 and the first pitch mechanism 240 is used to coarsely adjust the spatial position of the binocular camera 110 and the guide tube 261, and move the borehole identification unit 100 and the bracket 260 to a general range near the borehole to be loaded, thereby achieving coarse positioning of the guide tube 261. Subsequently, the second pitch mechanism 250 drives the three-axis positioning mechanism 230 to swing around the rotation point of its base plate 231 and movable arm 222 to adjust the tilt angle of the binocular camera 110 and guide tube 261 within a small range. The three-axis rotating component 232 corrects the spatial position of the binocular camera 110 and guide tube 261 through three-axis rotation. That is, the cooperation between the second pitch mechanism 250 and the three-axis positioning mechanism 230 finely adjusts the spatial position of the binocular camera 110 and guide tube 261, thereby achieving precise positioning of the guide tube 261 to ensure its accurate docking with the gun hole to be loaded.The three-axis rotating component 232 (it should be noted that the three-axis rotating component 232 has three degrees of rotational freedom in three directions, and its structure is existing technology, so it will not be described in detail here) rotates in three axes, so that the guide tube 261 can fully adapt to the unevenness of the tunnel face and effectively avoid protruding rock obstacles around the blast hole to be charged, thereby ensuring accurate positioning and ensuring that the explosive cartridge can be smoothly inserted under the push of the supply device.

[0059] In order to expand the working range of the robotic arm so that the automatic loader can cover more blast holes to be loaded on the tunnel face, the lifting mechanism 220 is preferably a two-stage telescopic structure, and its movable arm 222 can reach a maximum extension range of 6m through the two-stage telescopic mechanism.

[0060] The first pitch mechanism 240 and the second pitch mechanism 250 are preferably telescopic rods. In this way, they can adjust the pitch angle of the lifting mechanism 220 and the three-axis positioning mechanism 230 respectively by telescopic movement.

[0061] In this embodiment, the slewing mechanism 210, the lifting mechanism 220, the first pitch mechanism 240, and the second pitch mechanism 250 are all hydraulically driven. Hydraulic drives offer high stability and reliability, high transmission efficiency, and are relatively easy to maintain.

[0062] See Figure 2As shown, the supply device includes a conveying mechanism 300 and a first cartridge storage mechanism 400 arranged sequentially. The conveying mechanism 300 can convey a number of first cartridges stored in the first cartridge storage mechanism 400 to the guide tube 261 and push them into the loading port one at a time. Specifically, the conveying mechanism 300 is provided with a storage tray 310 for automatic retraction and extension of the flexible hose 320 and a traction machine 330 for providing power to the flexible hose 320. The storage tray 310 is connected to the worktable, and the traction machine 330 is connected to the side of the rotary table 212 adjacent to the support block. The flexible hose 320 extends into the traction machine 330 from the input port to obtain power. The first cartridge storage mechanism 400 is provided with a storage bin 410 for horizontal placement of the first cartridge 420 and a storage bin powered by a first servo motor ( (Not shown in the figure) Driven by a material distribution wheel 430, the storage bin 410 is connected to the rotary table 212. The material distribution wheel 430 is rotatably located at the discharge port of the storage bin 410 and has multiple circumferentially distributed material distribution grooves. The material distribution grooves are matched with the first medicine roll 420. A receiving groove 440 is suspended directly below the material distribution wheel 430. One end of the receiving groove 440 is connected to the output port of the traction machine 330, and the other end is connected to a flexible conveying pipe 340. The flexible conveying pipe 340 extends to the bracket 260 and is connected to the guide pipe 261. Before loading the propellant, several first propellant rolls 420 are placed horizontally in the storage bin 410 in a front-to-back direction until the bin is full. After the guide tube 261 is aligned with the borehole to be loaded, the first servo motor starts, causing the distributing wheel 430 to rotate. The first propellant rolls 420 in the storage bin 410 are then output one by one into the receiving trough 440 through multiple evenly distributed circumferential distributing troughs. At this time, the first servo motor stops, the traction machine 330 runs forward, the receiving tray 310 automatically unwinds the rolls, and the flexible hose 320 is driven by the traction machine 330. The first cartridge 420 is pushed into the receiving trough 440 and into the flexible conveying tube 340 to lift it to the guide tube 261 until the first cartridge 420 is pushed into the corresponding position inside the gun hole to be loaded. This completes the automatic loading of one first cartridge 420. Afterward, the traction machine 330 runs in reverse, the receiving tray 310 automatically rewinds, and the flexible hose 320 retracts into the traction machine 330. At this time, the first servo motor starts again and repeats the above actions to complete the loading of the required number of cartridges in the gun hole to be loaded.

[0063] It should be noted that the traction machine 330 includes multiple sets of pressure rollers driven by motors to rotate, which provide power to the flexible hose 320 through the friction between them and the flexible hose 320. Its structure is existing technology, so it will not be described in detail here.

[0064] See Figure 4As shown, the supply device also includes a second drug roll storage mechanism 500 mounted on the bracket 260. The second drug roll storage mechanism 500 is provided with a track 510 driven by a second servo motor (not shown in the figure). The track 510 is provided with multiple slots at equal intervals. Except for one slot, the other slots are horizontally placed with a second drug roll 520 that is different from the first drug roll 420. Each slot can be moved between the flexible conveying tube 340 and the guide tube 261 under the drive of the second servo motor to connect the two. When the first propellant cartridge 420 is loaded into the blast hole, the second servo motor drives the track 510 to rotate in both forward and reverse directions, moving the slot without the second propellant cartridge 520 to between the flexible conveying tube 340 and the guide tube 261. At this time, the slot can receive the first propellant cartridge 420, which is lifted out of the flexible conveying tube 340 by the flexible hose 320. Then, the flexible hose 320 extends into the slot and continues to push the first propellant cartridge 420 through the guide tube 261 into the corresponding position of the blast hole to be loaded. When filling the second cartridge 520, the second servo motor drives the track 510 to run in both forward and reverse directions, moving the slot containing the second cartridge 520 between the flexible conveying tube 340 and the guide tube 261. At this time, the first servo motor stops, the distributing wheel 430 does not output the first cartridge 420, the receiving slot 440 is empty, and the flexible hose 320, under the action of the traction machine 330, comes out of the flexible conveying tube 340 and extends into the slot, pushing the second cartridge 520 through the guide tube 261 to push it into the corresponding position of the gun hole to be loaded. That is to say, through the cooperation of the conveying mechanism 300 with the first cartridge storage mechanism 400 and the second cartridge storage mechanism 500, manual labor can be replaced to realize the intelligent and mechanized automatic loading of different cartridges, further improving the loading efficiency and loading quality; moreover, the three are arranged in sequence, with a compact structure, which can significantly reduce the weight of this automatic loading device and reduce manufacturing costs.

[0065] In this embodiment, the first explosive cartridge 420 is an explosive cartridge without an electronic detonator (lead wire), and the second explosive cartridge 520 is an initiating explosive cartridge with an electronic detonator (lead wire).

[0066] To prevent the lead wire of the electronic detonator of the detonating charge from being blocked and damaged during the loading process, a wire-passing groove is provided on the guide tube 261 along its axial direction for the wire of the electronic detonator of the detonating charge to pass through.

[0067] In summary, this automatic loading device adjusts the robotic arm toward the corresponding area of ​​the tunnel face through the rotary mechanism 210. Combined with the binocular camera 110, lifting mechanism 220, first pitch mechanism 240, second pitch mechanism 250, and three-axis positioning mechanism 230, it moves the bracket 260 at the output end of the position adjustment unit 200 to the vicinity of the blast hole to be loaded after coarse and fine adjustments, and makes the guide tube 261 precisely aligned with the blast hole to be loaded. Then, the conveying mechanism 300 pushes the first cartridge 420 and the second cartridge 520 stored in the first cartridge storage mechanism 400 and the second cartridge storage mechanism 500 into the corresponding positions of the blast hole to be loaded, thus realizing the automatic loading of the cartridges.

[0068] The above embodiments are merely preferred embodiments of this utility model and are not intended to limit the technical solutions of this utility model. Any technical solution that can be implemented based on the above embodiments without creative effort should be considered to fall within the scope of protection of this utility model patent.

Claims

1. A tunnel shot hole automatic charger characterized by, The tunnel hole automatic charging device comprises a mechanical arm with a soft guide pipe for docking a hole to be charged, and a supply device connected with the mechanical arm for storing and conveying a cartridge to the guide pipe to push into the hole to be charged. The mechanical arm comprises a hole recognition unit and a position adjusting unit, and the hole recognition unit is connected to the output end of the position adjusting unit to dock the guide pipe to the hole to be charged through coarse and fine adjustment of the latter after recognizing information of the hole to be charged on the tunnel face.

2. The tunnel hole automatic charging device according to claim 1, wherein the output end of the position adjusting unit is provided with a bracket, and the guide pipe is detachably mounted on the bracket; and the hole recognition unit comprises a binocular camera mounted on the bracket and located directly below the guide pipe for accurately recognizing position, depth and angle information of the hole to be charged.

3. The tunnel hole automatic charging device according to claim 2, wherein the position adjusting unit comprises a rotating mechanism, a lifting mechanism and a three-axis positioning mechanism arranged in sequence; the rotating mechanism is fixedly mounted on a workbench; one end of the lifting mechanism is rotatably connected with the rotating mechanism and a first pitching mechanism is hinged between the two; the three-axis positioning mechanism is rotatably connected with the other end of the lifting mechanism and a second pitching mechanism is hinged between the two; and the bracket is fixedly connected with the three-axis positioning mechanism.

4. The tunnel hole automatic charging device according to claim 3, wherein the rotating mechanism comprises a base and a rotating table connected with each other, the base is fixedly connected with the workbench, and the rotating table can rotate 360° without dead angle with the base as the center; the lifting mechanism comprises a cylinder and a movable arm connected in extension, one end of the cylinder away from the movable arm is rotatably connected with a top of a support block arranged on one side of the rotating table; one end of the first pitching mechanism is hinged with a bottom of the support block and the other end is hinged with the cylinder; the three-axis positioning mechanism comprises a base plate, a three-axis rotating piece and an output shaft connected in sequence, the base plate is rotatably connected with one end of the movable arm away from the cylinder; one end of the second pitching mechanism is hinged with the movable arm and the other end is hinged with the base plate; and the bracket is fixedly connected with the output shaft. The first and second pitching mechanisms are both hydraulic telescopic rods.

6. The tunnel hole automatic charging device according to claim 4, wherein the supply device comprises a conveying mechanism and a first cartridge storage mechanism arranged in sequence; and the conveying mechanism can convey a plurality of first cartridges stored in the first cartridge storage mechanism to the guide pipe and push into the hole to be charged one by one each time.

7. The tunnel hole automatic charging device according to claim 6, wherein the conveying mechanism is provided with a storage disc for automatically winding and unwinding a flexible hose and a traction machine for providing power for the flexible hose, the storage disc is connected with the workbench, the traction machine is connected with the rotating table adjacent to one side of the support block, and the flexible hose extends into the traction machine to obtain power. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 5. A tunnel shot initiator according to claim 3 or 4, characterised in that, ​ ​ ​ ​ ​ ​ The first cartridge storage mechanism is provided with a storage bin for horizontally placing the first cartridge and a distributing wheel driven by a first servo motor, the storage bin is connected with the rotating table, the distributing wheel is rotationally arranged at a discharge port of the storage bin and has a plurality of circumferentially distributed distributing grooves matched with the first cartridge, a receiving groove is hung below the distributing wheel, one end of the receiving groove is connected with the output port of the traction machine and the other end is connected with a flexible conveying pipe, the flexible conveying pipe extends to the rear of the support and is connected with the guide pipe.

8. The automatic charging device for tunnel blast hole according to claim 7, characterized in that: The supply device further comprises a second cartridge storage mechanism mounted on the support; The second cartridge storage mechanism is provided with a caterpillar driven by a second servo motor; A plurality of clamping grooves are equidistantly arranged on the caterpillar, and except one of the clamping grooves, the rest clamping grooves horizontally place second cartridges different from the first cartridges; Each of the clamping grooves can move to the space between the flexible conveying pipe and the guide pipe under the drive of the second servo motor to connect the two pipes.

9. The automatic charging device for tunnel blast hole according to claim 8, characterized in that: The first cartridge is an explosive cartridge without electronic detonator; The second cartridge is an initiating cartridge with electronic detonator.

10. The tunnel shot hole automated charger of claim 9, wherein, A wire slot is formed on the guide pipe along the axial direction of the guide pipe for the wire of the electronic detonator of the initiating cartridge.

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