Automatic loading device for explosive, automatic loading system having the same and automatic loading method

Abstract

To improve safety by automating loading operations for explosives.SOLUTION: An automatic loading device 1 automatically loads explosives into bore holes 3 formed by a boring device 2. The automatic loading device 1 receives position coordinates for each bore hole 3 from the boring device 2, receives parking position coordinates for the boring device 2 and the device itself from a total station 11, and converts the position coordinates of each bore hole 3 into coordinates relative to its own position from these coordinates. The device includes a fine adjustment mechanism 22 that supports a loading nozzle 20 so as to be movable in a plane orthogonal to its axial direction at a plurality of positions spaced apart in the axial direction of the loading nozzle 20. After the loading nozzle 20 is automatically set to the position corresponding to the bore hole 3 by an automatic guidance function, the fine adjustment mechanism 22 moves the loading nozzle 20 on the basis of correction data, which is a difference between the position of the bore hole 3 and the position of a tip of the loading nozzle 20, the difference being obtained from an image captured by an imaging device 34. This aligns the tip position of the loading nozzle 20 with the position of the bore hole 3.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an automatic explosives loading device that enables explosives used for blasting mountain tunnels and the like to be automatically loaded into a borehole formed in bedrock, an automatic loading system including the same, and an automatic loading method. [Background technology]

[0002] Traditionally, the construction procedure for mountain tunnels has generally been to drill holes in the rock at the face, load them with explosives, plug them, and connect the wires, then retreat to a safe location and excavate by blasting. After confirming safety, the process is carried out in stages: removal of debris → drilling → erection of supports → application of shotcrete → installation of rock bolts.

[0003] The work of charging and packing holes drilled at the tunnel face requires long periods of work while close to the tunnel face, and is therefore known to be one of the tasks with a high risk of skin-fall accidents. If this charging and packing work could be automated, the amount of time spent close to the tunnel face would be reduced, and the safety of mountain tunnel construction would be improved.

[0004] Examples of means for loading explosives into drilled holes in a blasting face include Patent Documents 1 and 2 listed below. Patent Document 1 listed below discloses a loading device for bulk water-containing explosives or intermediates thereof, which is composed of a motor, a pump, and a loading hose and is equipped with wheels so that it can be moved by one person at the blasting site. Patent Document 2 listed below also discloses an explosive loading device in which a work cage is supported at the tip of a boom of a jumbo drill that drills a charge hole for loading explosives, and a loader that loads explosives into the charge hole is disposed on the work cage. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-83700 [Patent Document 2] Japanese Patent Application Laid-Open No. 2012-17952 Summary of the Invention [Problem to be solved by the invention]

[0006] However, with the loading devices disclosed in the above Patent Documents 1 and 2, workers must either be in close contact with the face of the drilling hole and insert the loading nozzle directly into the drilling hole, or climb into a work cage and approach the face to load explosives into the drilling hole, so there is still a risk of being caught in falling rocks, etc.

[0007] Furthermore, if an attempt is made to forcefully insert the explosive loading nozzle during automatic loading while it is misaligned with the borehole, the main die or add-on die may rub against the inner surface of the borehole, damaging the leg wire or fuse, resulting in a failure to detonate, and in the worst case scenario, there is a risk of fire or explosion due to friction.

[0008] SUMMARY OF THE INVENTION It is therefore a primary object of the present invention to provide an automatic explosives loading device that automates the explosives loading process to improve safety, an automatic explosives loading system including the same, and an automatic explosives loading method. [Means for solving the problem]

[0009] In order to solve the above problem, the present invention according to claim 1 provides an automatic explosives loading device that automatically loads explosives into a hole formed by a drilling device, the automatic explosives loading device comprising: The automatic loading device is an interface and a control device that receives position coordinates of each drilling hole obtained during drilling from the drilling device; an interface and control device that receives coordinates of the parking positions of the drilling device and the aircraft itself, and converts the coordinates of the position of each drilling hole into coordinates relative to the aircraft itself; a loading nozzle whose tip is inserted into the borehole and which loads explosives into the borehole; a fine adjustment mechanism that supports the loading nozzle movably in a plane perpendicular to the axial direction at a plurality of positions spaced apart in the axial direction of the loading nozzle; a slide base that moves the loading nozzle back and forth; a guide cell on which the fine adjustment mechanism and the slide base are mounted; An automatic guidance function that moves the guide cell and automatically sets the tip of the loading nozzle to a position corresponding to the perforation to be charged; an analysis device that detects the actual position of the perforation while the loading nozzle is automatically set to a position corresponding to the perforation by the automatic guidance function, and obtains correction data that is the difference between the actual position of the perforation and the position of the tip of the loading nozzle; An automatic explosive loading device is provided, characterized in that, based on the correction data obtained by the analysis device, the loading nozzle is moved by the fine adjustment mechanism without changing the position of the guide cell, thereby aligning the tip position of the loading nozzle with the position of the drilling hole, and then the slide base is operated to insert the loading nozzle into the drilling hole.

[0010] In the invention described in claim 1 above, after a hole is formed by a drilling device, explosives and filler are automatically loaded into the hole by an automatic loading device separate from the drilling device, and the work from drilling to loading of explosives is automated by using separate devices for the drilling and loading work.

[0011] After receiving the position coordinates of each drilling hole obtained during drilling from the drilling device, the automatic loading device converts the position coordinates of each drilling hole into coordinates relative to the aircraft's position using the coordinates of the drilling device and each parking position of the aircraft.

[0012] The automatic loading device is equipped with a loading nozzle, a fine adjustment mechanism that supports the loading nozzle so that it can move in a plane perpendicular to the axial direction at multiple positions spaced apart in the axial direction of the loading nozzle, a slide base that moves the loading nozzle back and forth, a guide cell on which the fine adjustment mechanism and slide base are mounted, and an automatic guidance function that moves the guide cell to automatically set the tip of the loading nozzle at a position corresponding to the perforation to be charged.

[0013] The automatic guidance function then automatically sets the loading nozzle to a position corresponding to the drilling hole. At this time, errors inevitably occur due to the transfer of coordinates from the drilling device to the automatic loading device, resulting in a slight error between the automatically set position and the drilling position. To correct this error, the automatic loading device detects the position of the drilling hole and obtains correction data representing the difference between the detected position and the position of the tip of the loading nozzle. Based on this correction data, the automatic loading device moves the loading nozzle using the fine adjustment mechanism without changing the position of the guide cell, thereby aligning the tip of the loading nozzle with the position of the drilling hole, and then operates the slide base to insert the loading nozzle into the drilling hole.

[0014] In this way, the tip of the loading nozzle can be automatically aligned accurately with the position of the drill hole, and then the loading nozzle can be automatically inserted into the drill hole to load explosives into it. This significantly reduces the amount of work that workers need to do in close contact with the drill face, making it possible to safely load explosives.

[0015] As a second aspect of the present invention, the automatic loading device includes an imaging device for imaging the rock surface including the drilling hole and the tip of the loading nozzle, An automatic explosives loading device as described in claim 1 is provided, wherein the automatic guidance function automatically sets the loading nozzle to a position corresponding to the perforation, and the analysis device detects the actual position of the perforation from the image taken by the photographing device, and obtains the correction data which is the difference from the position of the tip of the loading nozzle.

[0016] The invention described in claim 2 above provides a first means for obtaining correction data, which is the difference between the position of the tip of the loading nozzle and the actual position of the perforation, when the loading nozzle is automatically set to the position corresponding to the perforation by the automatic guidance function. This first means detects the position of the perforation by analyzing the image taken by the imaging device.

[0017] As a third aspect of the present invention, the automatic loading device includes a line sensor that scans the rock surface linearly, sequentially moves the scanning position, and synthesizes successively captured images to obtain a continuous three-dimensional image, An automatic explosives loading device as described in claim 1 is provided, wherein the automatic guidance function automatically sets the loading nozzle to a position corresponding to the perforation, and the analysis device detects the actual position of the perforation from the three-dimensional image obtained by the line sensor, and obtains the correction data which is the difference from the position of the tip of the loading nozzle.

[0018] The invention described in claim 3 above provides a second means for obtaining correction data, which is the difference between the position of the tip of the loading nozzle and the actual position of the drilling hole, when the loading nozzle is automatically set to the position corresponding to the drilling hole by the automatic guidance function. This second means detects the position of the drilling hole from a three-dimensional image of the rock surface obtained by a line sensor.

[0019] The present invention according to claim 4 provides an automatic explosive loading device according to claim 1, which is equipped with a laser irradiation device for confirming the tip position of the loading nozzle and for measuring the distance to the rock surface.

[0020] The invention described in claim 4 above is provided with a laser irradiation device for confirming the current position of the tip of the loading nozzle and for accurately measuring the distance to the rock surface.

[0021] The present invention according to claim 5 provides an automatic explosive loading device according to claim 1, which is equipped with both or one of an ultrasonic sensor and a microwave sensor for measuring the distance from the tip position of the loading nozzle to the rock surface.

[0022] In the invention described in claim 5 above, an ultrasonic sensor and / or a microwave sensor is provided to grasp the accurate distance from the tip of the loading nozzle to the uneven rock surface.

[0023] According to a sixth aspect of the present invention, there is provided an automatic explosive loading device according to the first aspect, wherein the loading nozzle can be manually moved in the axial direction.

[0024] In the invention described in claim 6 above, since it may be difficult to automatically control all operations, the axial movement of the loading nozzle can be manually operated.

[0025] According to a seventh aspect of the present invention, there is provided an automatic explosive loading system including the automatic explosive loading device according to any one of the first to sixth aspects, There is provided an automatic explosives loading system comprising the drilling device, the automatic loading device, and a total station that measures the position coordinates of the drilling device and the automatic loading device.

[0026] The invention described in claim 7 above comprises a drilling device and an automatic loading device that automatically perform the operations from drilling holes to loading explosives into the holes, as well as a total station that measures the position coordinates of these devices, thereby forming an automatic loading system.

[0027] According to an eighth aspect of the present invention, there is provided an automatic explosives loading system as set forth in the seventh aspect, which includes an aerial work vehicle equipped with a device for supplying explosives and charge material to the automatic loading device.

[0028] In the invention described in claim 8, the automatic loading system further comprises an aerial work vehicle equipped with a device for supplying explosives and charge material to the automatic loading device.

[0029] The present invention according to claim 9 provides a method for automatically loading explosives, in which a hole is formed by a drilling device, and then an explosive is automatically loaded into the hole by an automatic loading device, comprising: The automatic loading device includes a loading nozzle having a tip inserted into the borehole for loading explosives into the borehole; a fine adjustment mechanism that supports the loading nozzle movably in a plane perpendicular to the axial direction at a plurality of positions spaced apart in the axial direction of the loading nozzle; a slide base that moves the loading nozzle back and forth; a guide cell on which the fine adjustment mechanism and the slide base are mounted, a first step of forming the holes by the hole-punching device and acquiring position coordinates of each hole; a second step in which the automatic loading device receives position coordinates of each drill hole from the drilling device; a third step in which the automatic loading device receives coordinates of the drilling device and each parking position of the aircraft, and corrects the position coordinates of each drilling hole from these coordinates to coordinates relative to the aircraft's position; A fourth step of automatically setting the tip of the loading nozzle at a position corresponding to the perforation to be charged by moving the guide cell using an automatic guiding function provided in the automatic loading device; a fifth step of detecting the actual position of the perforation while the loading nozzle is automatically set at a position corresponding to the perforation by the automatic guidance function, and obtaining correction data that is the difference between the actual position of the perforation and the position of the tip of the loading nozzle; a sixth step of aligning a tip position of the loading nozzle with a position of the perforation by moving the loading nozzle using the fine adjustment mechanism without changing the position of the guide cell based on the correction data; a seventh step of inserting the loading nozzle to the end of the drilled hole by operating the slide base, and then loading explosives while withdrawing the loading nozzle and preparing the leg wires and fuse; There is provided a method for automatically loading explosives, characterized in that the fourth to seventh steps are repeated for the next drilling hole.

[0030] The invention of claim 9 provides for a method for automatically loading explosives using the automatic loading device. After the tip position of the loading nozzle provided in the automatic loading device is automatically aligned with the position of the drill hole in steps 1 to 6, in step 7, the slide base is operated to insert the loading nozzle to the end of the drill hole, and then the loading nozzle is pulled out while loading explosives and treating the running wires and fuse, thereby completing work on one drill hole, and then steps 4 to 7 are repeated for the next drill hole, thereby loading explosives into all of the drill holes. [Effects of the Invention]

[0031] As explained above in detail, according to the present invention, it is possible to provide an automatic explosives loading device that automates the explosives loading work to improve safety, an automatic explosives loading system including the same, and an automatic explosives loading method. [Brief explanation of the drawings]

[0032] [Figure 1] (A) is a diagram of the system configuration during drilling, and (B) is a diagram of the system configuration during charging. [Figure 2] The coordinate axes of the tunnel are shown in (A) vertical cross section and (B) horizontal cross section. [Figure 3] FIG. 1 is a side view showing the loading equipment mounted on the guide cell 15. [Figure 4] 1A shows a parent die holder 25, in which (A) is a side view, (B) is a front end view, (C) is a rear end view, and (D) is a side view in a state where a parent die 27 is held. [Figure 5] 1A shows a parent die 27, in which (A) is a side view, (B) is a cross-sectional view, and (C) is a CC cross-sectional view of (B). [Figure 6] FIG. 2 is a structural diagram showing a means for supplying explosives and charge materials to the loading nozzle 20. [Figure 7] 1A and 1B are a side view and a cross-sectional view of the loading nozzle 20 when it is placed in a neutral position by the fine adjustment mechanism 22, and in a downward position. [Figure 8]10 is a cross-sectional view showing another moving mechanism of the slide base 23. FIG. [Figure 9] 10 is an example of an image captured by the image capture device 34. [Figure 10] 10 is an example of an image captured by the line sensor 39. [Figure 11] 10A and 10B show a state in which the automatic guidance function has automatically guided the tool to a position corresponding to the drilling hole 3, where (A) is a side view and (B) is a front view. [Figure 12] 2 is a flow chart of an automatic loading method according to the present invention. [Figure 13] 1 is a cross-sectional view showing a procedure (part 1) for loading explosives into a borehole 3. FIG. [Figure 14] 10 is a cross-sectional view showing a procedure (part 2) for loading explosives into a borehole 3. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0033] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0034] [Automatic loading system] The automatic loading system of the present invention automates most of the series of tasks associated with blasting, such as filling a hole with explosives and filler after drilling a hole in rock at the working face, for example, in blast excavation work for mountain tunnels. This reduces the number of times that workers have to come close to the working face as much as possible, increasing safety, and at the same time, the high level of automation makes it possible to carry out blasting work without relying on the personal know-how of skilled workers.

[0035] As shown in Figure 1, the automatic loading system is composed of a drilling device 2 that forms a drilling hole 3 in the working face S, an automatic loading device 1 that automatically loads explosives into the drilling hole 3, a total station 11 that measures the position coordinates of the drilling device 2 and the automatic loading device 1, and an aerial work vehicle 12 equipped with a device that supplies explosives and filler to the automatic loading device 1.

[0036] Below, an automatic loading system equipped with the automatic loading device 1 will be explained using the example of mountain tunnel excavation work, but the use of the automatic loading system is not limited to this and can be widely applied to any work that involves loading a charge into a drill hole and blasting it.

[0037] As shown in Figure 1, the automatic loading device 1 is a device that automatically loads explosives into a drilled hole 3 formed in a working face S by a drilling device 2 and also packs the mouth of the hole with filler. This automatic loading device 1 is not equipped with any drilling function, and the drilling work is performed solely by the drilling device 2. This automatic loading device 1 will be described in detail later.

[0038] In the present invention, a drilling hole 3 is formed at the face S using a dedicated drilling device 2, separate from the automatic loading device 1. The Explosives Control Act stipulates that drilling and charging operations should not be performed simultaneously. To prevent the risk of accidental explosion if the parent die is crushed by the drilling device, the charging operation should be performed after all drilling operations are completed. In the present invention, drilling operations are performed using a dedicated drilling device 2, and then charging operations for the drilled holes are performed using a dedicated automatic loading device 1, thereby ensuring safety in accordance with the Explosives Control Act. Furthermore, because drilling operations are performed using a dedicated drilling device 2, the drilling operation is completed much faster than when a device that can perform both drilling and charging is used. In other words, compared to a dual-purpose device equipped with both a drilling boom and a charging boom, the dedicated drilling device 2 used in the present invention does not require a charging boom and can be equipped with only a drilling boom, allowing multiple drilling operations to be performed simultaneously and shortening the time required for drilling operations. Furthermore, since it is dedicated to drilling, the man gauge can be eliminated and replaced with a drilling boom, which will further increase the speed. Also, with a dual-purpose device that is equipped with both a drilling boom and a charge boom, when charging with the charge boom, there are cases where the charge cannot be loaded with the charge boom due to interference with the drilling boom, and two devices, one right-handed and one left-handed, are required to load all the holes, but by using dedicated devices for drilling and charge respectively, these problems will no longer occur.

[0039] As shown in Figure 1(A), the drilling device 2 is a heavy drilling machine such as a typical drill jumbo, in which a rock drill 7 is mounted on a guide cell 6 via an articulated boom 5 on a mobile carriage 4. The rock drill 7 comprises a drifter 8 mounted on the guide cell 6 so as to be able to move forward and backward, and a drilling rod 10 connected to the drifter 8 via a shank rod and equipped with a drilling bit 9 at its tip. The drilling rod 10 is struck and rotated by the drifter 8, and the drilling bit 9 at its tip drills the natural ground. Multiple sets of the articulated boom 5, guide cell 6, and rock drill 7 are provided on the carriage 4, allowing multiple drilling operations to be performed simultaneously in the same position.

[0040] The Computer Jumbo, which can perform boom positioning and drilling operations under computer control, is equipped with various sensors that can automatically obtain data such as the coordinates of the drilling start position (hole mouth position) and drilling end position (hole tail position), drilling length, angle, date and time, as well as parameters directly related to drilling, such as rotational speed, impact force, and delivery pressure during drilling.

[0041] As shown in Fig. 1(A), the parking position of the drilling device 2 is measured by a total station 11 provided at the rear. One or more collimation targets are attached to the drilling device 2 at appropriate positions, and are sighted by the total station 11. The coordinates of the parking position of the drilling device 2 measured by the total station 11 are transmitted from the total station 11 to the automatic loading device 1.

[0042] As shown in Figure 2, each drilling hole 3 is numbered sequentially starting from No. 1. For example, for No. 1 drilling hole 3, the coordinates (Xa1, Ya1, Za1) of the drilling start position (hole mouth 3a position) by the drilling device 2 and the coordinates (Xb1, Yb1, Zb1) of the drilling end position (hole tail 3b position) are recorded in a recording device provided on the drilling device 2. Similarly, for No. N drilling hole 3, the coordinates (XaN, YaN, ZaN) of the hole mouth 3a position and the coordinates (XbN, YbN, ZbN) of the hole tail 3b position are also recorded in the recording device. In addition to the coordinates of these drilling holes 3, data groups including the construction date and time, water conditions, coordinates of drilling failure holes, and face observation images can also be recorded in the recording device.

[0043] Here, as shown in Figure 2, the coordinate system is set as follows: the horizontal line along the tunnel spring line SL is the X axis, the vertical center line extending vertically through the center of the tunnel width direction is the Y axis, and the intersection of these X and Y axes is the line extending in the tunnel axis direction as the Z axis, and this intersection is set as the reference point (0,0,0). S It is preferable to set this virtual face S S Since the actual face S has irregularities and the calculated position of the face is not constant, this is made up of a flat virtual surface set on the hole mouth side from the most convex part of the actual face S. This virtual face S S The distance in the Z-axis direction from the target point to the actual drilling is measured each time by providing a separate distance measurement sensor (such as an ultrasonic sensor 37 or microwave sensor 38 described later).

[0044] As shown in Figure 2(B), in the case of a borehole 3 (No. 1 borehole 3) that is nearly parallel to the Z axis, the coordinates of the hole mouth 3a and the hole tail 3b are related by a change in the value of Z, but in the case of a borehole 3 (No. N borehole 3) that is inclined in the X-axis direction relative to the Z axis, the coordinates of the hole tail 3b change in the X and Z values ​​relative to the coordinates of the hole mouth 3a. Also, in the case of a borehole 3 that is inclined in the Y-axis direction, the values ​​of X, Y, and Z change.

[0045] Since the drilling operation varies greatly depending on the rock conditions, a casing pipe may be attached to the hole mouth 3a as necessary, and the drilling operation may be carried out while removing any loose stones or obstructing debris as needed.

[0046] Information on drilling in which the drilling face S has been drilled but the condition of the hole wall is poor and the explosive charge is not suitable for the blasting design before drilling, and therefore the charge is discontinued, is also handed over to the automatic loading device 1 and reflected during the explosive loading work.

[0047] As shown in Figure 2(A), a coating material 16 may be applied as a marker to the face S along the periphery of the opening 3a of the drilled hole 3 formed by the drilling device 2, thereby improving the detection efficiency of the position of the drilled hole 3 by the camera 34, which will be described in detail later. The coating material 16 may be applied either before drilling, during the drilling operation, or after the drilling is completed.

[0048] Next, the aerial work platform 12 equipped with a device for supplying explosives and charge materials to the automatic loading device 1 will be described. As the aerial work platform 12, a general type can be used, in which a platform that can be raised and lowered by a hydraulic or pneumatic power source is mounted on a self-propelled carriage using wheels or crawlers. The aerial work platform 12 is positioned behind the automatic loading device 1 and at a safe position sufficiently away from the working face S. The aerial work platform 12 is equipped with an additional die and charge material supply device 26, which will be described in detail later.

[0049] [Automatic loading device 1] Next, the automatic loading device 1 will be described in detail. The automatic loading device 1 may use a different type of heavy equipment from the drilling device 2, but it is preferable to use the same type of heavy equipment from the perspective of improving control accuracy. As shown in FIG. 1(B), the automatic loading device 1 is a heavy equipment in which loading equipment is mounted on a guide cell 15 via an articulated boom 14 on a carriage 13 that is movable like the drilling device 2. Compared to the drilling device 2, the automatic loading device 1 differs in that the drilling device 2 mounts drilling equipment on a guide cell 6, while the automatic loading device 1 mounts loading equipment on a guide cell 15. The articulated boom 14, guide cell 15, and loading equipment may be installed as a single set for the carriage 13, but installing multiple sets can improve the efficiency of the loading operation.

[0050] The automatic loading device 1 is equipped with an interface and a control device (not shown) that receive the position coordinates of each hole 3 (the coordinates of the hole mouth 3a and the coordinates of the hole tail 3b) acquired during drilling from the hole punching device 2. The interface can be one or more means selected from short-range wireless communication means such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), wired communication means such as a multi-core cable, and transfer means for storing data in an external storage means such as a USB memory. The control device issues a command to the hole punching device 2 to transmit the acquired data and receives data transmitted via the interface.

[0051] The automatic loading device 1 also has an interface and control device (not shown) that receives coordinates of the drilling device 2 and each parking position of its own aircraft, and converts these coordinates into coordinates for the position of each drilling hole 3 relative to its own aircraft position. The coordinates of these parking positions are measured by a total station 11 provided at the rear, as shown in Fig. 1, and transmitted from this total station 11 to the automatic loading device 1. A collimation target that the total station 11 aims at is attached at an appropriate position to the automatic loading device 1.

[0052] The interface is as described above. The control device issues a command to transmit acquired data to the total station 11 and receives data transmitted through the interface. The control device also recalculates the position coordinates of each drill hole 3 acquired by the drilling device 2, including the difference between the coordinates of the parking position of the drilling device 2 and the coordinates of the parking position of the automatic loading device 1, and converts the position coordinates of the drill holes 3 into coordinates relative to the new parking position of the drilling device itself.

[0053] In the event of a communication failure or reception error in the interface, the operator may manually input or correct position coordinates by operating a keyboard or mouse.

[0054] As shown in Figure 3, the automatic loading device 1 comprises a loading nozzle 20 whose tip is inserted into the borehole 3 to load explosives and filler into the borehole 3, a fine adjustment mechanism 22 that supports the loading nozzle 20 so that it can move in a plane perpendicular to the axial direction at multiple positions spaced apart in the axial direction of the loading nozzle 20, a slide base 23 that moves the loading nozzle 20 back and forth, and a guide cell 15 on which the fine adjustment mechanism 22 and slide base 23 are mounted.

[0055] The loading nozzle 20 is composed of a hollow straight tube made of hard plastic or metal with an outer diameter of 30 to 50 mm, and has an inner space through which an extension die 28 and a filling material 29 can be inserted, and is long enough to be inserted up to the end 3b of the perforation 3.

[0056] A parent die holder 25 for holding a parent die 27 (an explosive for detonation) is provided at the tip of the loading nozzle 20. This parent die holder 25 may be separately attached to the tip of the loading nozzle 20, or may be formed integrally with the tip of the loading nozzle 20.

[0057] As shown in FIG. 4, the parent die holder 25 has an inner diameter approximately equal to or slightly larger than the outer diameter of the parent die 27, which is formed in a substantially cylindrical shape. The front end 25a of the parent die holder 25 is formed in a semicircular shape with the upper half cut out in the axial direction, and the rear end 25b is formed in a cylindrical shape. The boundary between these is formed so that the height of the upper half gradually increases from the front end 25a to the rear end 25b, forming a curve in side view. The axial length of the front end 25a is preferably approximately half the total length of the parent die 27. With respect to the parent die holder 25 formed in this shape, the parent die 27 is positioned so that a portion of its rear side is inserted into the hollow space of the rear end 25b of the parent die holder 25, and its front end protrudes forward beyond the front end 25a of the parent die holder 25, as shown in FIG. 4(D).

[0058] A paper-packaged water-containing explosive is used for the parent die 27. Examples of the water-containing explosive that can be used include emulsion-type and gel-type water-containing explosives, and water-containing explosives containing aluminum powder or the like can also be used. As shown in Figure 5, the parent die 27 has a parent die body 27a containing a water-containing explosive, a detonator 27b consisting of an electric detonator, a detonator with a fuse, or an electronic detonator inserted into the center of the tip, and the tip including the detonator 27b is covered with a safety cap 27c made of a shock-absorbing material such as paper, rubber, resin, foam rubber, or foam resin. The safety cap 27c is disposed so as to integrally cover the end face and peripheral surface of the tip end of the parent die 27. It is a cap-shaped cap with an inner diameter equal to or slightly smaller than the outer diameter of the parent die body 27a, an outer diameter approximately 3 to 6 mm larger than that of the parent die body 27a, and an axial length approximately 1 / 2 to 3 times the outer diameter of the parent die body 27a. A leg wire 27d extends from the detonator 27b if the detonator is an electric or electronic detonator, or a fuse 27d extends if the detonator is a fuse-equipped detonator. The leg wire or fuse 27d can be fixed to the parent die body 27a by wrapping it with tape, if necessary. The leg wire 27d may also be wrapped around the body.

[0059] The add-on die 28 typically uses a paper-packaged water-containing explosive, but plastic-packaged water-containing explosives may also be used. Fluid explosives or granular explosives may also be used as the add-on die 28. The filler 29 may be clay molded into a cylindrical shape and wrapped in polymer film or paper, or sand packed in a polymer film bag. The filler 29 is formed with the same diameter as the explosive used but slightly larger, and its length is appropriately adjusted so that it weighs the same as the explosive used. The following explanation uses explosives packaged in paper or polymer film and filler molded from clay as examples. However, the method can also be applied to fluid water-containing explosives, filler made of non-flammable foam resin, or filler made of moistened sand or clay by combining it with a suitable supply system.

[0060] To attach the parent die 27 to the parent die holder 25, a worker attaches a safety cap 27c to the parent die 27, and then extends the folded leg wire 27d or the bundled fuse 27d, and then manually places the parent die on the parent die holder 25. In this way, attaching the parent die 27 simply involves placing the parent die 27 on the parent die holder 25, which takes only a short time, so even if a worker approaches the face to perform work, there is an extremely low risk of being caught in falling rocks or the like. The worker extends the leg wire or fuse 27d to the rear end of the loading nozzle 20, aligning it along the outside of the loading nozzle 20.

[0061] A flexible loading hose 21 can be connected to the rear end of the loading nozzle 20, and the additional die 28 and filling material 29 are pressurized through the inner space of this loading hose 21 and discharged from the tip into the inside of the drilling hole 3 through the inner space of the loading nozzle 20 inserted into the drilling hole 3.

[0062] As shown in Figures 1(B) and 6, the loading hose 21 is a flexible hose made of soft rubber or plastic and having an inner diameter equal to or slightly larger than that of the loading nozzle 20, one end of which is connected to the rear end of the loading nozzle 20, and the other end of which is connected to an additional die / filling material supply device 26 that supplies an additional die 28, a filling material 29, etc.

[0063] The die / fill supply device 26, which supplies the die 28 and fill material 29 to the loading nozzle 20, is connected to the rear end of the loading hose 21 and includes a die / fill temporary holding section 32 for temporarily holding the die 28 and fill material 29 to be loaded. It also includes a compressed air supply device 30 for supplying compressed air from the rear end of the die / fill temporary holding section 32. By supplying compressed air from the compressed air supply device 30, the die 28 and fill material 29 held in the die / fill temporary holding section 32 are pressure-fed through the loading hose 21 and the loading nozzle 20 and loaded into the drilling hole 3. The die / fill supply device 26 is further provided with a water supply device 31 for preventing static electricity during pressure-fed feeding by the compressed air supply device 30 and for providing lubrication. The water supply device 31 supplies 100 ml to 1,000 ml of water per loading. The additional die / filling material supply device 26 may be the device disclosed in the above-mentioned Patent Document 2, or the like.

[0064] An add-on die / filling material storage section 33 is provided near the add-on die / filling material supply device 26 to store add-on dies 28 and filling materials 29 for loading, and the add-on dies 28 or filling materials 29 are supplied automatically or manually from this add-on die / filling material storage section 33 to the add-on die / filling material temporary holding section 32.

[0065] As shown in Figure 1 (B), the above-mentioned additional die / filling material supply device 26 and additional die / filling material storage section 33 are located behind the automatic loading device 1 and are mounted on an aerial work platform 12 that moves and operates in conjunction with the automatic loading device 1.

[0066] The automatic loading device 1 is provided with an automatic guiding function that moves the guide cell 15 by extending and retracting the articulated boom 14, and automatically sets the tip of the loading nozzle 20 to a position corresponding to the hole opening 3a of the drilling hole 3 to be charged. The position of the tip of the loading nozzle 20 set by this automatic guiding function is determined by the virtual face S shown in FIG. S This automatic guidance function moves the guide cell 15 by extending and retracting the articulated boom 14 based on the position coordinates of the drilling hole 3 recorded in the automatic loading device 1, thereby guiding the tip of the loading nozzle 20 to the virtual face S near the mouth 3a of the drilling hole 3 where explosives are to be loaded. S The automatic loading device 1 is automatically set on the workpiece. This automatic guidance function aligns the workpiece by extending and retracting the articulated boom 14, so only a rough alignment is possible, and an error occurs on the XY plane between the drilling device 3 and the tip of the loading nozzle 20 due to an error that occurs when the coordinates are transferred from the drilling device 2 to the automatic loading device 1. To correct this error, the automatic loading device 1 is equipped with a fine adjustment mechanism 22, which will be described next.

[0067] The fine adjustment mechanism 22 that movably supports the loading nozzle 20 will now be described. As shown in detail in FIG. 7 , the fine adjustment mechanism 22 supports the loading nozzle 20 at a plurality of positions, preferably five or fewer positions, spaced apart in the axial direction of the loading nozzle 20 (two positions, one on the front side and one on the rear side, in the illustrated example), such that the loading nozzle 20 can be independently moved in a plane perpendicular to the axial direction of the loading nozzle 20. Any mechanism may be used for the fine adjustment mechanism 22 as long as it is configured to move the loading nozzle 20 up, down, left, and right within a predetermined range in a plane perpendicular to the axial direction of the loading nozzle 20. In the illustrated example, however, the fine adjustment mechanism 22 is configured such that a pair of movable supports 22b, 22b, 22c, 22c extend parallel to each other in the up and down directions and the left and right directions so as to sandwich the loading nozzle 20 within a hollow frame 22a having a substantially square cross section, and are provided inside the frame 22a so as to be movable in the left and right directions or up and down, respectively. The movement of the movable supports 22b and 22c can be achieved by an electric actuator, an air cylinder, a hydraulic cylinder, or the like.

[0068] The front fine adjustment mechanism 22 and the rear fine adjustment mechanism 22 can move independently. For example, to change the loading nozzle 20 from a neutral state in which it is supported at the center of each fine adjustment mechanism 22 as shown in Figure 7(A) to an inclined state in which the tip of the loading nozzle 20 is pointing downward as shown in Figure 7(B), this can be achieved by moving the movable supports 22c, 22c extending in the left-right direction of the front fine adjustment mechanism 22 downward and moving the movable supports 22c, 22c extending in the left-right direction of the rear fine adjustment mechanism 22 upward.

[0069] The range of movement of the movable supports 22b, 22c in the fine adjustment mechanism 22 is preferably set to about 15 cm on either side from the neutral state, that is, about ±15 cm.

[0070] The movement ranges of the front fine adjustment mechanism 22 and the rear fine adjustment mechanism 22 may be the same or different. If they are different, the movement range of either the front or rear fine adjustment mechanism 22 may be larger, but it is preferable to make the movement range of the rear fine adjustment mechanism 22 larger than that of the front fine adjustment mechanism 22, as this makes it easier to correct misalignment in the Z-axis direction between the perforation 3 and the loading nozzle 20. If the movement range is large, it is best to keep it to about ±30 cm.

[0071] Since the fine adjustment mechanisms 22 are provided at multiple positions spaced apart in the axial direction of the loading nozzle 20, the loading nozzle 20 can be supported in a state inclined at an angle parallel to the three-dimensional inclination angle of the perforation 3, and the loading nozzle 20 can be inserted parallel to the axial direction of the perforation 3. As a result, when the loading nozzle 20 is inserted into the perforation 3 with a parent die attached to its tip, the parent die is less likely to come into contact with the hole wall and cause friction that could damage or cut the leg wire or fuse.

[0072] The locations where the fine adjustment mechanisms 22 are installed are not particularly limited as long as they are located at multiple positions spaced apart in the axial direction of the loading nozzle 20. When the loading nozzle 20 is fully pulled out of the drilling hole 3, all of the fine adjustment mechanisms 22 may be installed forward of the axial center (center in the length direction) of the loading nozzle 20, or at least one may be installed forward and one behind the axial center of the loading nozzle 20.

[0073] As shown in Figure 3, the rear end of the loading nozzle 20 is provided with a slide base 23 that moves the loading nozzle 20 back and forth to insert and remove it into the drilling hole 3. In other words, the loading nozzle 20 moves back and forth as the slide base 23 moves back and forth along the guide cell 15. The slide base 23 has a built-in flexible holding mechanism that can hold the loading nozzle 20 at the angle adjusted by the fine adjustment mechanism 22, maintaining that angle. Even if the extension direction of the guide cell 15 (the direction in which the slide base 23 moves) does not coincide with the axial direction of the loading nozzle 20, an automatic control device is provided that changes the holding position of the loading nozzle 20 in accordance with the movement of the slide base 23 along the guide cell 15, so that the loading nozzle 20 can move axially by moving the slide base 23.

[0074] The mechanism for moving the slide base 23 back and forth may use any mechanism as long as the slide base 23 can be moved back and forth. For example, as shown in FIG. 3, legs 23a, 23a extending inside the guide cell 15 are provided at the front and rear of the slide base 23, respectively, and a continuous chain 23b with its ends connected to the legs 23a, 23a is provided. This chain 23b is engaged with the front end sprocket 23c and the rear end power sprocket 23d at the rear side. By driving the rear end power sprocket 23d in the forward and reverse directions by the drive motor 23e shown in FIG. 3(B), a mechanism that enables the slide base 23 to move back and forth can be used. To measure the movement amount of the slide base 23, a position detection sensor 23f fixed to the slide base 23 with the tip of a sensing line 23g extending forward from the main body fixed to the rear end of the guide cell 15 can be mentioned, among others.

[0075] As another mechanism for moving the slide base 23 back and forth, as shown in FIG. 8, a method by rotating a screw shaft 23h can be mentioned. That is, a screw shaft 23h extending along the front and rear directions of the guide cell 15 is provided, and a rotation motor 23i for the screw shaft capable of forward and reverse rotation is provided at its rear end. Threaded portions that can be screwed with the screw shaft 23h are formed on the legs 23a, 23a extending from the slide base 23, respectively. With the screw shaft 23h screwed into these threaded portions, the screw shaft 23h is rotated by the rotation motor 23i for the screw shaft to move the slide base 23 back and forth. To measure the movement amount of the slide base 23, the method using the position detection sensor 23f as described above may be used, or the movement amount of the slide base 23 may be obtained by detecting the rotation speed of the screw shaft 23h with a rotation speed sensor. The thread of the screw shaft 23h can be used without limitation to known ones, and examples include square threads, triangular threads, round threads, etc.

[0076] The fine adjustment mechanism 22 and slide base 23 are mounted on a guide cell 15, which is further supported by a carriage 13 via an articulated boom 14.

[0077] As shown in Figure 3, a sensor group storage box 40 containing various sensors for detecting the position of the drilling hole 3 when the tip of the loading nozzle 20 is automatically inserted into the drilling hole 3 formed in the working face S is provided at the front end of the guide cell 15.

[0078] The sensor group storage box 40 can be equipped with a camera 34 for capturing images of the borehole 3 to be charged and the rock surface, including the tip of the loading nozzle 20. This camera 34 is the first of the drilling position detection means for detecting the actual position of the borehole 3 when the tip of the loading nozzle 20 is automatically set to a position corresponding to the borehole 3 to be charged by the automatic guidance function. By analyzing the images captured by the camera 34, correction data can be obtained from the difference between the position of the tip of the loading nozzle 20 and the position of the borehole 3, as will be described in detail later. The camera 34 is fixed to the front end of the guide cell 15 so as not to move when the loading nozzle 20 is moved by the fine adjustment mechanism 22, thereby improving the visibility of the borehole 3 and the tip of the loading nozzle 20. The camera 34 can be a commercially available digital camera or digital video camera, or a stereoscopic camera or wide-angle camera. Figure 9 shows an example of an image captured by the camera 34.

[0079] The sensor group storage box 40 can also be provided with an illumination device 35 that brightly illuminates the rock surface to be photographed by the photographing device 34. The illumination device 35, like the photographing device 34, is fixed to the front end of the guide cell 15 near the photographing device 34. When photographing with the photographing device 34, illuminating the rock surface with the illumination device 35 increases the contrast of the photographed image, and makes it possible to improve the recognition of the position of the drilling hole 3 and the position of the tip of the loading nozzle 20.

[0080] The sensor group storage box 40 can also include a line sensor 39 that scans the rock surface linearly, sequentially moving the scanning position, and synthesizes successively captured images to obtain a continuous three-dimensional image. This line sensor 39 is the second of the drilling position detection means. By analyzing the three-dimensional image obtained by the line sensor 39, the position coordinates of the drilling hole 3 can be obtained. As described below, correction data can be obtained from the difference between the current position coordinates of the tip of the loading nozzle 20 and the position coordinates of the drilling hole 3. Because the line sensor 39 can detect unevenness on the face, even drilling holes 3 located at the bottom of a recess (the oval area indicated by the dotted line in Figure 10(B)), which are difficult to distinguish using contrast enhancement or binarization processing of images captured by the camera 34, can be distinguished by the discontinuous portions of the depth information, as shown in Figure 10(A). Furthermore, drilling holes formed in dark places or in the shadow of uneven surfaces can be detected more easily than drilling holes 3 detected using the camera 34.

[0081] The perforation position detection means using the above-mentioned photographing device 34 and the perforation position detection means using the line sensor 39 may be provided as either one of them, or both may be provided and data from either one may be adopted.

[0082] The sensor group storage box 40 may also be equipped with a laser irradiation device 36 for checking the tip position of the loading nozzle 20 and for measuring the distance to the rock surface (face S). The laser irradiation device 36 measures the distance to the rock surface, and then, when the loading nozzle 20 is advanced with the tip of the loading nozzle 20 aligned with the position of the drilling hole 3 using the fine adjustment mechanism 22, irradiates and marks the expected position where the tip of the loading nozzle 20 will reach the rock surface. The marking by the laser irradiation device 36 may be a single point at the center of the tip of the loading nozzle 20, or may be at positions spaced a predetermined distance above, below, left, and right from the center of the tip, preferably four points at top, bottom, left, and right positions slightly outside the diameter of the drilling hole 3 (see marking 41 in Figure 9).

[0083] In addition, the sensor group storage box 40 is provided with a tip position of the loading nozzle 20 (virtual face S S ) to the rock surface (actual working face S). Since the surface of the working face S is uneven and the position from the tip of the loading nozzle 20 to the working face surface differs for each drilling hole 3, the ultrasonic sensor 37 and / or microwave sensor 38 is used to measure the accurate distance in the Z-axis direction to the working face surface for each drilling hole 3.

[0084] Here, if a detonator with a fuse is used as the parent die 27, there is no risk of accidental detonation due to electromagnetic waves, so distance measurement can be done using either the ultrasonic sensor 37 or the microwave sensor 38. However, if an electric detonator or IC detonator, which has restrictions on the use of electromagnetic waves, is used as the parent die 27, it is necessary to avoid using the microwave sensor 38 and instead measure distance using the ultrasonic sensor 37 to avoid accidental detonation due to electromagnetic waves.

[0085] Furthermore, with the ultrasonic sensor 37, there is a risk of performance degradation due to contamination or water droplets on the ultrasonic wave emitting or receiving surfaces, but with the microwave sensor 38, by applying a fluororesin coating to the antenna cover surface, it is possible to prevent muddy water and the like from adhering, and there is little risk of performance degradation.

[0086] The automatic loading device 1 is equipped with an analysis device that automatically sets the loading nozzle 20 to a position corresponding to the perforation 3 using the automatic guidance function, detects the position of the perforation 3, and obtains correction data which is the difference between the position of the tip of the loading nozzle 20 and the position of the perforation 3.

[0087] 11, the analysis device measures the deviation (separation distance on the XY plane) between the position coordinates (X1, Y1, Z1) of the tip of the loading nozzle 20, which are automatically guided by the automatic guidance function of the automatic loading device 1, and the actual position coordinates (X2, Y2, Z2) of the hole orifice 3a. The X-axis, Y-axis, and Z-axis components of this deviation (correction data) are expressed from the difference between the two coordinates as ΔX=X2-X1, ΔY=Y2-Y1, and ΔZ=Z2-Z1.

[0088] As a first means for obtaining the correction data, the analysis device detects the position of the drilling hole 3 from an image taken by the photographing device 34, and obtains the correction data by calculating the difference between the position of the tip of the loading nozzle 20 and the detected position. ΔX and ΔY can be obtained from the image taken by the photographing device 34, and ΔZ can be detected by an ultrasonic sensor 37 or a microwave sensor 38. Alternatively, a stereoscopic camera may be used as the photographing device 34, so that ΔX, ΔY, and ΔZ can be obtained from the image taken by this stereoscopic camera. Furthermore, the distance to the working face S measured by the laser irradiation device 36 may be used as the value of ΔZ.

[0089] A second method for obtaining the correction data is to use the analysis device to detect the position of the drill hole 3 from the stereoscopic image obtained by the line sensor 39 and calculate the difference between the position and the tip of the loading nozzle 20. A digital camera or other imaging device 34 requires a high number of pixels to capture even the finest details, but this generally results in longer image processing times. In contrast, using the line sensor 39 requires only linear scanning of the target face at a specified pitch, resulting in less computational complexity and faster image processing. Furthermore, since the drill holes 3 for blasting are approximately 48 mm in diameter, scanning at a typical pitch of 2–5 mm will not miss any drill holes 3. Therefore, using the line sensor 39 allows for more accurate detection of the position of the drill hole 3 than using the imaging device 34.

[0090] Based on the correction data (ΔX, ΔY, ΔZ) obtained by the analysis device, the loading nozzle 20 is moved by the fine adjustment mechanism 22, thereby aligning the tip position of the loading nozzle 20 with the position of the perforation 3. At this time, the loading nozzle 20 is aligned with the position of the perforation 3 by adjustment by the fine adjustment mechanism 22 without moving the guide cell 15, making it possible to accurately adjust the position of the loading nozzle 20. The position adjustment of the loading nozzle 20 by the fine adjustment mechanism 22 can be performed at any time while the loading nozzle 20 is inserted into the perforation 3.

[0091] In addition, if automatic control is difficult, such as when analysis by the analysis device is not possible, the operator may operate the fine adjustment mechanism 22 while looking at the image taken by the imaging device 34 to manually fine-tune the tip position of the loading nozzle 20.

[0092] Furthermore, when the guide cell 15 is moved by the automatic guidance function provided in the automatic loading device 1 and the tip of the loading nozzle 20 is automatically set to a position corresponding to the perforation 3 to be loaded, if the position of the perforation 3 is out of the visible range of the photographing device 34 or out of the scanning range of the line sensor 39, the guide cell 15 is moved again to adjust the perforation 3 so that it is within the visible range of the photographing device 34 or the scanning range of the line sensor 39. After such readjustment by the guide cell 15 is performed, the fine adjustment mechanism 22 is operated to fine-adjust the tip of the loading nozzle 20 to the position of the perforation 3.

[0093] [Automatic loading method] Next, a method for automatically loading explosives into the borehole 3 using an automatic loading system including the automatic loading device 1 will be described with reference to FIG.

[0094] 12, in the first step of the automatic loading method according to the present invention, the drilling device 2 forms drill holes 3 in the working face S, and acquires the position coordinates of each drill hole 3. The position coordinates of the hole mouth 3a and the hole tail 3b are acquired for each drill hole 3.

[0095] In the second step, the automatic loading device 1 receives the position coordinates of each punch hole 3 from the punching device 2. Data is exchanged through interfaces provided in each device 1, 2, and the data received from the punching device 2 is stored in the control device of the automatic loading device 1.

[0096] In the third step, the automatic loading device 1 receives the coordinates of the parking positions of the drilling device 2 and its own aircraft, and converts the position coordinates of each drilling hole 3 from these coordinates into coordinates relative to the aircraft's position. The coordinates of the parking positions of the drilling device 2 and the automatic loading device 1 are measured by a total station 11 installed behind them, and are transmitted from this total station 11 to the automatic loading device 1.

[0097] In the fourth step, the automatic guidance function provided in the automatic loading device 1 extends and retracts the articulated boom 14 to move the guide cell 15, thereby automatically setting the tip of the loading nozzle 20 to a position corresponding to the drilling hole 3 to be charged. The position corresponding to the drilling hole 3 is the XY coordinate of the drilling hole 3 converted into coordinates relative to the machine's position in the third step, and the Z coordinate is the position of the virtual face S S With only the automatic guidance function provided in this automatic loading device 1, an error of about ±5 to 15 cm occurs in the XY plane between the position of the drilling hole 3 and the position of the tip of the loading nozzle 20 due to errors in coordinate conversion, etc.

[0098] In the fifth step, the position of the perforation 3 is detected by a predetermined perforation position detection means, and correction data is obtained, which is the difference from the tip of the loading nozzle 20. The perforation position detection means can be the imaging device 34 or the line sensor 39.

[0099] In addition, when the misalignment cannot be automatically analyzed from the image taken by the photographing device 34, an operator waiting at a position sufficiently distant from the working face S manually identifies the position of the drilling hole 3 and the position of the tip of the loading nozzle 20 from the image, measures the misalignment, and transmits this misalignment to the automatic loading device 1 as correction data.

[0100] In the sixth step, based on the correction data, the loading nozzle 20 is moved by the fine adjustment mechanism 22 without changing the position of the guide cell 15, thereby aligning the tip position of the loading nozzle 20 with the position of the perforation 3.

[0101] In the seventh step, the slide base 23 is operated to insert the loading nozzle 20 up to the end of the perforation 3, and then the loading nozzle 20 is pulled out while the extension die 28 is loaded and the mouth is sealed with a filler 29, and the leg wire or fuse 27d is treated.

[0102] Before operating the slide base 23 to move the loading nozzle 20, a safety cap 27c is attached to the parent die 27, and the folded leg wires 27d or the bundled fuses 27d are extended, and then the parent die 27 is set on the parent die holder 25 at the tip of the loading nozzle 20.

[0103] Once the setting of the parent die 27 is complete, the slide base 23 is operated to insert the loading nozzle 20 into the drill hole 3, as shown in FIG.

[0104] When inserting the loading nozzle 20 into the drilling hole 3, if the loading nozzle 20 is advanced while the axial direction of the drilling hole 3 and the axial direction of the loading nozzle 20 are misaligned, the nozzle tip will come into contact with the inner wall of the drilling hole 3, causing a reaction force on the slide base 23 and also on the fine adjustment mechanism 22, and a difference in reaction force will occur between the front fine adjustment mechanism 22 and the rear fine adjustment mechanism 22. By detecting these reaction forces and the difference in reaction forces and adjusting the fine adjustment mechanisms 22, 22 to adjust the axial direction of the loading nozzle 20 in a direction that reduces the reaction forces and the difference in reaction forces while inserting the loading nozzle 20, the loading nozzle 20 can be inserted along the axial direction of the drilling hole 3.

[0105] As shown in Figure 13(B), when the detection result of the position detection sensor 23f that detects the amount of movement of the slide base 23 indicates that the tip of the loading nozzle 20 has reached the end of the perforation hole 3, the forward movement of the slide base 23 is stopped, and as shown in Figure 13(C), the loading nozzle 20 is pulled out about 10 cm, dragging it along the underside of the hole wall of the perforation hole 3, and the main die 27 is set at the end of the perforation hole 3. Thereafter, as shown in Figure 13(D), while the loading nozzle 20 is being pulled out, an additional die 28 is loaded from the additional die / filling material supply device 26, and then a filler 29 is loaded into the hole opening, and then the loading nozzle 20 is completely pulled out of the perforation hole 3 (Figure 13(E)).

[0106] As shown in Figure 14, when a fluid explosive or granular explosive is used as the additional die 28, after the main die 27 is set at the end of the bore hole 3 in the same manner (Figures 14(A) to (C)), the additional die 28 made of a fluid explosive or granular explosive is loaded into the bore hole 3 while the loading nozzle 20 is withdrawn. Thereafter, a filler 29 may be loaded into the mouth of the bore hole 3, or this step can be omitted. In the case where this step is omitted, the additional die 28 made of a fluid explosive or granular explosive is loaded up to the vicinity of the mouth of the bore hole 3.

[0107] When the loading of explosives is completed and the loading nozzle 20 is pulled out of the drilling hole 3, the forward and backward positions of the loading nozzle 20 are returned to their initial positions, and the fine adjustment mechanisms 22, 22 are each returned to their neutral positions.

[0108] Thereafter, the worker connects the ends of the leg wires or fuses 27d extending from the drilling holes 3 by twisting the conductors at the ends of the leg wires, and by connecting the fuses to the connectors with clips. This completes the loading work for one drilling hole 3.

[0109] Next, the fourth to seventh steps are repeated for the next perforation 3, and the loading operation for all perforations 3 is completed. [Explanation of symbols]

[0110] 1...automatic loading device, 2...drilling device, 3...drilling, 4...cart, 5...articulated boom, 6...guide cell, 7...rock drill, 8...drifter, 9...drilling bit, 10...drilling rod, 11...total station, 12...aerial work platform, 13...cart, 14...articulated boom, 15...guide cell, 16...painting material, 20...loading nozzle, 21...loading hose, 22...fine adjustment mechanism, 23...slide base, 25...parent die Holder, 26...additional die / filling material supply device, 27...parent die, 28...additional die, 29...filling material, 30...compressed air supply device, 31...water supply device, 32...additional die / filling material temporary holding section, 33...additional die / filling material storage section, 34...photography device, 35...lighting device, 36...laser irradiation device, 37...ultrasonic sensor, 38...microwave sensor, 39...line sensor, 40...sensor group storage box, 41...marking

Claims

1. An automatic explosive loading device that automatically loads explosives into a perforation formed by a perforation device, The automatic loading device is an interface and a control device that receives position coordinates of each drilling hole obtained during drilling from the drilling device; an interface and control device that receives coordinates of the parking positions of the drilling device and the aircraft itself, and converts the coordinates of the position of each drilling hole into coordinates relative to the aircraft itself; a loading nozzle whose tip is inserted into the borehole and which loads explosives into the borehole; a fine adjustment mechanism that supports the loading nozzle at a plurality of positions spaced apart in an axial direction of the loading nozzle so as to be movable in a plane perpendicular to the axial direction; a slide base that moves the loading nozzle back and forth; a guide cell on which the fine adjustment mechanism and the slide base are mounted; An automatic guidance function that moves the guide cell and automatically sets the tip of the loading nozzle to a position corresponding to the perforation to be charged; an analysis device that detects the actual position of the perforation while the loading nozzle is automatically set to a position corresponding to the perforation by the automatic guidance function, and obtains correction data that is the difference between the actual position of the perforation and the position of the tip of the loading nozzle; An automatic explosive loading device characterized in that, based on the correction data obtained by the analysis device, the loading nozzle is moved by the fine adjustment mechanism without changing the position of the guide cell, thereby aligning the tip position of the loading nozzle with the position of the drilling hole, and then the slide base is operated to insert the loading nozzle into the drilling hole.

2. the automatic loading device is provided with an imaging device for imaging the rock surface including the drilling hole and the tip of the loading nozzle; An automatic explosive loading device as described in claim 1, wherein, with the loading nozzle automatically set to a position corresponding to the perforation by the automatic guidance function, the analysis device detects the actual position of the perforation from the image taken by the photographing device and obtains the correction data which is the difference from the position of the tip of the loading nozzle.

3. The automatic loading device is equipped with a line sensor that scans the rock surface linearly, sequentially moves the scanning position, and synthesizes successively captured images to obtain a continuous three-dimensional image; An automatic explosives loading device as described in claim 1, wherein, with the loading nozzle automatically set to a position corresponding to the perforation by the automatic guidance function, the analysis device detects the actual position of the perforation from the three-dimensional image obtained by the line sensor and obtains the correction data which is the difference from the position of the tip of the loading nozzle.

4. 2. An automatic explosive loading device according to claim 1, further comprising a laser irradiation device for confirming the position of the tip of said loading nozzle and for measuring the distance to the surface of the rock.

5. 2. An automatic explosive loading device according to claim 1, further comprising an ultrasonic sensor and / or a microwave sensor for measuring the distance from the tip of the loading nozzle to the surface of the rock.

6. 2. An automatic explosive loading device according to claim 1, wherein the axial movement of said loading nozzle can be manually operated.

7. An automatic explosive loading system comprising the automatic explosive loading device according to any one of claims 1 to 6, An automatic explosives loading system comprising: the drilling device; the automatic loading device; and a total station that measures the position coordinates of the drilling device and the automatic loading device.

8. 8. The automatic explosives loading system according to claim 7, further comprising an aerial work platform on which is mounted a device for supplying explosives and charge material to said automatic loading device.

9. 1. A method for automatically loading explosives, comprising: forming a hole by a drilling device; and then automatically loading an explosive into the hole by an automatic loading device, The automatic loading device includes a loading nozzle having a tip inserted into the borehole for loading explosives into the borehole; a fine adjustment mechanism that supports the loading nozzle at a plurality of positions spaced apart in an axial direction of the loading nozzle so as to be movable in a plane perpendicular to the axial direction; a slide base that moves the loading nozzle back and forth; a guide cell on which the fine adjustment mechanism and the slide base are mounted, a first step of forming the holes by the drilling device and acquiring position coordinates of each hole; a second step in which the automatic loading device receives position coordinates of each drill hole from the drilling device; a third step in which the automatic loading device receives coordinates of the parking positions of the drilling device and its own aircraft, and corrects the position coordinates of each drilling hole from these coordinates to coordinates relative to the position of its own aircraft; A fourth step of automatically setting the tip of the loading nozzle at a position corresponding to the perforation to be charged by moving the guide cell using an automatic guiding function provided in the automatic loading device; a fifth step of detecting the actual position of the perforation while the loading nozzle is automatically set at a position corresponding to the perforation by the automatic guidance function, and obtaining correction data that is the difference between the actual position of the perforation and the position of the tip of the loading nozzle; a sixth step of aligning a tip position of the loading nozzle with a position of the perforation by moving the loading nozzle using the fine adjustment mechanism without changing the position of the guide cell based on the correction data; a seventh step of inserting the loading nozzle to the end of the drilled hole by operating the slide base, and then loading explosives while withdrawing the loading nozzle and preparing the leg wires and fuse; A method for automatically loading explosives, characterized in that steps 4 to 7 are repeated for the next drilling hole.

Images