System and method for detonating explosives in a hole

Abstract

Systems, methods, and apparatus are disclosed that facilitate mechanization and / or automation of blasting processes in mining and civil engineering applications. The disclosure includes a trigger assembly for triggering an explosive in a rock cavity. The disclosure also includes a mining or civil engineering vehicle for working proximate to an end face. The vehicle includes a positioning unit for moving a functional unit to a selected position relative to the end face. The positioning unit may include (a) a coarse positioning module and a fine positioning module, and / or (b) a vision module that monitors the position of the functional unit to facilitate guiding the functional unit to the selected position, and / or (c) may be configured to independently move from an initial position to a second position closer to the selected position while the vehicle is stationary.

Description

Technical Field

[0001] The present invention relates to systems, methods, and vehicles for loading and detonating explosives in holes for underground and surface mining and civil engineering applications.

[0002] More specifically, but not exclusively, the systems, methods, and equipment of the present invention facilitate the mechanization and / or automation of blast processing.

Background Art

[0003] The following description of the present invention is, for example, in the context of development tunneling to extend underground mine drives at the mining level of a block cave mine.

[0004] However, the present invention is not limited to this application, and in general, it is emphasized that it extends to loading and triggering explosives in holes for either surface or underground applications, including, by way of example, drill and blast mining in benches of surface mines, quarrying of upper and lower holes, and civil tunneling applications including development tunneling and production operations.

[0005] It is desirable to reduce the manual processes and remove personnel from the operation of loading and activating explosives in blast holes of underground mining drives.

[0006] There is limited space in the drives of underground mines, and this space limitation has a significant impact on the development of the drives, and conventional mechanical and automated methods are not suitable for reducing manual processes and personnel.

[0007] Therefore, there is a need for new methods and systems for loading explosives into blast holes in rock formations and triggering said explosives in order to enable the mechanization of the blasting process.

[0008] Typically in underground drive-driven development, each blast can crush and / or displace up to 200–400 tons of rock. Each blast may require loading explosives into multiple separate blast holes at the end face, i.e., in the direction of the drive mechanism's bow. Typically, 70–80 drill holes are required for blasting larger drive mechanisms. Usually, fewer holes are required for smaller drives. The number of holes varies depending on factors including geology, mineralogy, and the choice of explosives. Typically in drive-driven filling of underground mining, blast holes range from 3–6 m in depth with a hole size of 45–50 mm in diameter, but the size and depth can be larger or smaller depending on the application and / or the explosives used.

[0009] The speed of drive development is crucial. In a typical mining operation, it takes 45 minutes for the operator to position and connect the detonators and other explosion triggers, as well as the emulsions for each detonation sequence, in the direction of the drive's movement.

[0010] One conventional approach to expanding underground mining operations is as follows: (a) Drill several holes into the end face of the drive (i.e., the head). (b) Place explosives (typically emulsion explosives, but not limited to them) in the excavated hole. (c) Connect an electric and / or non-electric detonator to the explosive in the hole in the face. (d) Detonate the explosives via the detonation system to generate explosives.

[0011] This process is typically repeated multiple times to establish the required drive length.

[0012] This process typically requires several different operator-controlled vehicles at the end face. Removing multiple vehicles from an established drive is a time-consuming process.

[0013] A further factor is that, for safety reasons, vehicles working underground to carry out excavation and blasting operations must be located outside the high-risk zone with respect to the heading, typically at least 5 meters from the heading.

[0014] Step (c) of the underground charge-up / blasting process described above generally includes either (i) a trigger cord (e.g., a detonation cord, wire, or a physical connection via a non-electric shock ("nonel") tube, e.g., in the form of a small diameter tube for transporting the detonation signal to the explosive by means of a shock wave traveling along the length of the tube), or (ii) a chemical reaction connection between an external trigger system and the respective explosive trigger, such as a detonator.

[0015] The explosion trigger (also referred to herein as the “trigger unit”) may be in any suitable form.

[0016] For example, the explosion trigger may be a detonator that itself can contain a small explosive, such as a booster, which is also placed inside the hole. The term "small" means is less appropriate compared to the main explosive unit of the blast-generated explosive. The detonator and the small explosive may be separate components or a single assembly.

[0017] To produce the required explosion, the explosive trigger must be precisely controlled. This requires accurate and careful positioning of the explosion trigger within the hole. In any given situation, the selected position of the explosion trigger may be at the end or in the middle along the length of the hole.

[0018] One example of an explosion trigger is an assembly consisting of a booster and a detonator.

[0019] The term "booster" is understood herein to mean a highly sensitive explosive that acts as a bridge between a relatively weak conventional detonator and a low-sensitivity, high-volume explosive.

[0020] The challenge to mechanizing and / or automating the loading system is the placement of multiple explosion triggers in multiple holes at required locations within the end face, without physical, i.e., direct human intervention, or with only minimal human intervention.

[0021] A further factor is that current standards stipulate that explosives of different classes must not be in close contact (assembled) until immediately before insertion into the hole. Typically, in situations where the explosion trigger is an assembly of a booster and a detonator, these components are of different explosive classes and must be assembled immediately before insertion into the hole.

[0022] The insertion and connection of the explosion trigger to each explosive (typically a two-wire system for the explosion trigger, but may be a non-electric shock tube or chemical reaction connection), as well as the interconnection of the explosion triggers to provide controlled blasting of the explosives in multiple holes, are performed by a human operator and are difficult to achieve with machine-based loading systems because they are not the dexterity generally required during conventional loading processes.

[0023] In addition, careful management of, for example, 40 to 60 loose detonation cords, or other trigger cords protruding from the charged blast holes at the end face of each explosion, is difficult with mechanically based loading systems for explosive triggers.

[0024] The present invention provides a method and apparatus for inducing explosives in both underground and above-ground mining holes, replacing current practices.

[0025] The above description does not constitute an endorsement of common knowledge in Australia or elsewhere.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Any methods, vehicles, and other equipment and devices, and materials similar or equivalent to those described herein may also be used in the practice or testing of the present invention, but a limited number of exemplary methods, vehicles, and other equipment and devices, and materials are described herein.

Summary of the Invention

[0027] The present invention is an improvement of conventional drilling and blasting operations in underground and surface mines, such as drilling and blasting mining in benches in surface mines, uphole and downhole stoping mining in underground mines including development tunnel drilling and production operations.

[0028] As described above, the present invention extends to other underground and surface applications, including, for example, civil tunnel applications.

[0029] Conventional drilling and blasting operations in underground mines (e.g., block cave mines) involve forming holes for explosives at the head of the drive in the block cave mine, then placing the explosives and primer in the holes, and then initiating the explosives to form development and production drives at the extraction level of the block cave mine.

[0030] The present invention mechanizes at least some of these conventional operations.

[0031] The present invention has several different aspects as follows.

[0032] 1. Use of at least one mining vehicle or civil engineering vehicle to perform the necessary actions to facilitate the placement of explosives and / or explosive triggers such as explosives in holes drilled in a head, the vehicle having an arm such as a multi-joint arm (but may be any other suitable element for functional requirements), which can form the explosives and support a functional unit on the end of the arm, the vehicle having a positioning unit which includes (a) a module (may be described as a system) for coarse positioning the functional unit relative to the hole, and (b) a module (may be described as a system) on the end of the arm for precise positioning the functional unit relative to the hole. The coarse and precise positioning modules enable the rapid and safe deployment of the functional unit to the required location so that the functional unit can perform the necessary actions for each hole. The coarse and precise positioning modules enable the functional unit to be positioned in a hole drilled in the heading, for example, a small hole, typically 20-50 mm (but may be larger), at which point the operator remains at a safe distance, typically at least 5 m away. At the handover point, the selected functional unit is operable to perform heading-related actions, such as inserting a trigger assembly into a hole. Coarse positioning modules typically have a large range of motion and range of motion, allowing functional units to be positioned close to the hole. Precision positioning modules typically have high resolution and a more limited range of motion, thus allowing functional units to be aligned and positioned relative to the hole in the head. Note that both coarse and precision positioning modules can be a single module with two functions: coarse positioning and precision positioning.

[0033] 2. As an alternative to item 1, at least one mining or civil engineering vehicle only needs to work with a precision positioning module to transport the functional unit(s) to a handover point, for example, to a location to perform heading-related actions such as inserting a trigger assembly into a hole.

[0034] 3. The configuration of the functional unit(s) allows for the handling and deployment of sensitive components such as detonators (detonators) and other types of explosive triggers via the functional unit(s), while the vehicle's own coarse and precise positioning modules remain stationary or "parked." This may include picking up the trigger assembly from a storage compartment. This may also include inserting the trigger assembly into a hole in the head. This combination of coarse positioning, precise positioning, and handover via the functional unit offers significant advantages over conventional explosive handling systems. For example, the applied torque and force acting on the sensitive components are solely those of the functional unit(s) themselves and therefore far lower than those of the vehicle's own coarse and precise positioning modules.

[0035] 4. A trigger assembly for triggering an explosive in a blast hole to generate an explosive blast, configured to be positioned in an end face, i.e., a hole in a heading, the trigger assembly comprising a connecting unit that simplifies the process of connecting an external explosive activation system to the detonator of the trigger assembly in order to initiate the explosive in the hole.

[0036] 5. A method and system for loading a trigger assembly into a blast hole and connecting the trigger assembly to an external explosion actuation system.

[0037] Aspects of the present invention will be described below, although in a different order from the items in the list above.

[0038] A. Trigger Assembly - Detonation Code

[0039] In one embodiment, the present invention relates to a trigger assembly for triggering an explosive in a hole in a rock to generate an explosive blast, wherein the trigger assembly is configured to be located in the hole in the rock, for example, at the end face of a drive unit, i.e., in the direction of the aircraft's nose, and the trigger assembly includes: (a) Explosive unit body configured to be positioned at or near the open end of the hole; (b) A trigger unit (as described above as an explosion trigger) that can be at least partially positioned within the body of the explosion unit to trigger an explosive in a hole, the trigger unit including a trigger cord connected to the proximal end of the body of the explosion unit; (c) A connecting unit for connecting the detonation code of an external explosion activation system to the trigger unit to facilitate the detonation within the hole.

[0040] The term “trigger code” is understood herein to include, for example, (a) an initiation code, (b) an electric wire, or (b) a non-electric shock tube (Nonel tube), for example, a small diameter tube for transporting an initiation signal to an explosive by means of a shock wave traveling along the length of the tube.

[0041] The connection unit may be configured to accept the detonation code of an external explosion activation system and, when coupled to it, physically connect the detonation code to the trigger code.

[0042] In one embodiment, the connection unit may include elements such as an elastic element for receiving the detonation code and connecting it to the trigger code.

[0043] The elastic element can receive the detonation code and connect to the trigger code, and may be in any suitable form that utilizes the elasticity of the element to facilitate the connection of the detonation code to the trigger code.

[0044] For example, the elastic element may have a substantially keyhole-shaped passage having two opposing open sides and two opposing closed sides, the passage having a circular base portion for receiving the detonation cord and connecting it to the trigger cord, and a narrower, elongated throat portion communicating with the circular base portion at one end and having an opening at the other end, and in use, the detonation cord is moved into the throat portion, along the throat portion to the circular base portion, and can come into contact with the trigger cord.

[0045] The elastic element may comprise a base and a pair of opposing arms extending from the base that define a passage, with the base defining a circular base portion and the arms defining a throat portion.

[0046] The arm may be an elastic arm that inserts the detonator cord into the opening and moves the detonator cord through the throat to the circular base, thereby forcing the arm away from its original position relative to the arm's elasticity, and the arm returns to its original position after the detonator cord is in the circular base, and the returned arm resists the release of the detonator cord from the circular base, contributing to keeping the detonator cord in contact with the trigger cord.

[0047] In another embodiment, the connection unit may be configured to be movable relative to the explosion unit body from a first non-operating position in which the explosion code of the external explosion activation system is not connected to the trigger unit, to a second operating position in which the explosion code is connected to the trigger unit, but this is not the case in other embodiments.

[0048] For example, the connection unit may include a sleeve that fits into the proximal end of the trigger unit body when viewed through the hole, and the sleeve is configured to receive the detonation cord and, when coupled thereto, physically connect the detonation cord to the trigger cord.

[0049] For example, the sleeve may be movable relative to the main body of the explosive unit from a first non-operating position where the detonation cord is not connected to the trigger cord, to a second operating position where the detonation cord is connected to the trigger cord of the trigger assembly.

[0050] When the sleeve is in the second operating position, the detonation cord can be secured between the sleeve and the explosion unit body by contacting the trigger cord of the trigger assembly.

[0051] The connection unit and trigger unit body may include complementary fitting members that guide the connection unit and detonation cord from a first non-operational position to a second operating position, and that can bias both the trigger cord and the detonation cord to the second operating position.

[0052] The complementary mating member may comprise (i) a plurality of protruding members extending axially away from the proximal end of the sleeve and defining a plurality of channels between them for receiving a detonation cord, and (ii) a plurality of posts extending from the proximal end of the explosive unit body and defining a slot between them, the channels and slot being aligned axially when the connecting unit is in a first non-operational position.

[0053] Each protruding member may be shaped to have a taper from its tip, the width of the protruding member increasing with distance from the tip, and the increasing width of the taper guides the detonation cord into the channel.

[0054] The protruding member may be spade-shaped (or any other suitable shape).

[0055] The protruding member may include a notch for receiving a detonation cord when the connecting unit is in a second operating position after being guided into the channel, and the detonation cord is held in contact with the trigger cord of the trigger assembly when it is within the notch.

[0056] The post may be configured to cause rotation and axial movement of the connecting unit relative to the explosive unit body when the connecting unit is moved from a first non-operating position to a second operating position relative to the explosive unit body, and this movement facilitates the movement of the detonation cord located in one of the channels so as to make contact with the trigger cord.

[0057] Each post may include an inclined portion that defines a cam surface along which a protruding member moves when the connecting unit is moved axially toward the detonation unit, and the movement of the protruding member along the inclined portion causes rotational and axial motion.

[0058] During use, the detonator cord is received between a first pair of protruding members and a second pair of protruding members of the connecting unit, contacting the trigger cord of the trigger assembly, and may extend from the connecting unit to a second connecting unit of a second trigger assembly, where the trigger cord is received between a first pair of protruding members and a second pair of protruding members of the second connecting unit, contacting the trigger cord of the second trigger assembly. These connections may be repeated so that the detonator cord connects multiple trigger assemblies within the end face to each other.

[0059] The connecting unit and the explosion unit body may include complementary engaging members that connect the connecting unit to the explosion unit body.

[0060] The engaging member may include a plurality of tabs on the connecting unit that engage with grooves at the proximal end of the explosion unit body when the connecting unit is coupled to it, thereby forming a one-way connection with it.

[0061] The tab may be located at the distal end of the connection unit, or within an opening that is positioned toward the distal end.

[0062] The opening facilitates the insertion of the clip member, disengaging the tab member from the groove, and enabling the connection unit to be detached from the explosion unit body.

[0063] B. Trigger Assembly - Wireless Receiver

[0064] In another embodiment, the present invention relates to a trigger assembly for triggering an explosive in a hole in a rock to generate an explosive blast, wherein the trigger assembly is configured to be located in a hole in a rock, for example, in the end face of a drive, i.e., in the forward direction, and the trigger assembly includes: (a) Explosive unit body configured to be positioned at or near the open end of the hole; (b) A trigger unit (also called an explosion trigger) that can be at least partially positioned within the body of the explosion unit to trigger the explosive in the hole; (c) A connection unit for facilitating the connection of an external explosive triggering device to a trigger unit to trigger an explosion in a hole, the connection unit comprising a wireless receiver that communicates with an external triggering means that can be triggered by a laser, WiFi, Bluetooth®, or another communication medium.

[0065] The connection unit and / or trigger assembly may include a power source, such as a battery, to supply power to the receiver.

[0066] C. Trigger Assembly - General

[0067] In both embodiments, the trigger unit body of the trigger assembly may include a compartment for housing the trigger unit of the trigger assembly.

[0068] As described above, the trigger code of the trigger assembly may include, for example, (a) an incendiary cord, (b) an electric wire, or (c) a non-electric shock tube in the form of a small diameter tube for transporting an incendiary signal to the explosive by means of a shock wave traveling along the length of the tube.

[0069] The trigger unit of the trigger assembly may also include (i) a booster containing a small explosive, typically a booster containing a small explosive compared to the rock mass to be blasted, and (ii) a detonator for detonating the small explosive. Note that the trigger unit (also referred to as the explosion trigger) may be any suitable trigger unit and is not limited to the detonator / booster device.

[0070] The booster may include an elongated chamber for receiving a detonator, so that the booster can be inserted into the main body of the explosive unit after the detonator has already been installed inside it.

[0071] The trigger unit may include a carrier configured to mount a detonator, booster, and trigger cord within a compartment.

[0072] The carrier is configured to be inserted into and closed at the open end of the detonator body, and the detonator and booster are located within the housing.

[0073] The carrier is detachable from the main explosive unit, which allows the compartment to be opened and the trigger unit to be released when a force exceeding the threshold force is applied there.

[0074] The trigger assembly may include an adapter that can work with a carrier to facilitate the use of the trigger assembly with any suitable trigger unit.

[0075] The trigger assembly may include retaining means for holding the explosive unit body in its initial position within the hole toward its open end.

[0076] The retaining means may include a portion with a diameter wider than the diameter of the explosion unit body.

[0077] In one embodiment, the retaining means may include a collar or other suitable member having a diameter wider than the diameter of the explosion unit body and configured to engage with a portion of the inner wall of the hole near the opening end of the hole.

[0078] The retaining collar is positioned around the housing of the explosive unit body and may be configured to (a) engage with the inner wall of the hole to prevent axial movement relative to the housing, and (b) allow the explosive unit body to rotate around the central longitudinal axis of the housing during use as the trigger cord is unwound when the carrier moves forward from the initial position of the hole away from the explosive unit body.

[0079] In another embodiment, the retaining means may be mounted on the detonation unit housing and include a collar having (i) a positioning flange that contacts a portion of the heading defining the hole, and (ii) an elastic biasing element that contacts the side wall of the hole and is configured to hold the trigger assembly in place within the hole.

[0080] Alternatively, the collar may provide only a biasing element, and the positioning flange may be incorporated into the explosion unit body.

[0081] The collar may be mounted for relative rotational motion around the longitudinal axis of the explosive unit body, allowing the body to rotate as the trigger cord unwinds as the carrier moves forward from the initial position of the hole away from the explosive unit body.

[0082] The trigger assembly may be configured such that the trigger unit can be moved forward into the blast hole to a desired blasting position, so that the trigger cord (if any) is rewound to maintain a physical connection between the trigger unit and the blasting unit body, and the trigger unit is activated by the actuating means, thereby triggering the explosives in the hole and generating an explosive blast wave.

[0083] The explosive unit body may include an elongated housing that defines a compartment, extends into the hole, and is configured to receive and support the trigger unit within the compartment in the initial position of the trigger assembly within the hole.

[0084] The elongated housing may include a first housing portion that provides a sleeve-shaped (or spool-shaped) housing that is positioned outside the hole when in use and around which the trigger cord is wound.

[0085] The elongated housing may include a first housing portion that is positioned inside the hole during use and provides a sleeve-shaped (or spool-shaped) housing around which the trigger cord is wound.

[0086] D. Methods for inducing an explosive blast wave

[0087] In another aspect, the present invention provides a method for inducing explosive blasting in rock, such as rock at the end of a drive unit, at the extraction level of an underground block tunnel drilling machine, in which a plurality of holes are formed: (a) A step of locating the detonation code for the external explosive actuation system in relation to the connection unit of the trigger assembly described above; (b) The step of physically connecting the detonation code to the trigger unit of the trigger assembly; (A step of triggering an explosive within a trigger assembly, thereby initiating the detonation of the explosive using an external actuation means.)

[0088] The method may include repeating steps (a) and (b) sequentially with respect to several other trigger assemblies, thereby connecting the trigger assemblies together with the detonation code before performing step c).

[0089] E. Vehicles used for mining or civil engineering

[0090] In another embodiment, a mining vehicle or civil engineering vehicle is provided for working in close proximity to an end face, for example, in close proximity to an end face, i.e., in close proximity to the drive head, the vehicle comprising a positioning unit for moving a functional unit, further described below, to a selected location, for example, a hole in the end face, the positioning unit comprising (i) a coarse positioning module (also referred to as a system) configured to position the functional unit in close proximity to a selected location, such as a hole in the end face, and (ii) a precision positioning module (also referred to as a system) configured to position the functional unit more precisely relative to the selected location, such as a hole.

[0091] In one embodiment, two vehicles are used, one optimized for hole and heading cleaning functions, and the other optimized for trigger assembly and emulsion delivery and detonation code tie-in functions.

[0092] In another embodiment, one vehicle is used.

[0093] The selected location may be the aforementioned hole on the end face. The selected location may be any other location within the end face. The selected location may be any other necessary location, such as a location for picking up the trigger assembly stored in the vehicle.

[0094] The positioning unit may include a control system that can track selected locations, such as holes, by means of a video servo method or similar hole monitoring option, and operate a precision positioning module to continuously adjust the position of the functional unit, typically. This feature allows the precision positioning module to "float" in the "correct" position if the vehicle moves for any reason, keeping the functional unit aligned in the selected position.

[0095] The positioning unit may further include a visual module for monitoring the position of at least one of the coarse positioning module and the precision positioning module, in order to facilitate guiding the functional unit to the selected position.

[0096] The vision module may include a first range sensor mounted on the vehicle body.

[0097] The vision module may further include a second range sensor mounted on the precision positioning module.

[0098] In one embodiment, the positioning unit is A first on-vehicle vision-based system for monitoring the position of a coarse positioning module relative to a selected position, A second vision-based system on the end of a precision positioning module, the second vision-based system monitoring the position of the precision positioning module relative to a selected position, It may include a visual module that contains [this element].

[0099] The precision positioning module may be coupled to the coarse positioning module.

[0100] The coarse positioning module may include an articulated arm.

[0101] The precision positioning module may comprise a hub configured to be coupled to a functional unit, and a number of elongated links, each link connected to the hub at one end.

[0102] Each link may be independently movable so that the hub can move both translationally and rotationally relative to the vehicle.

[0103] The hub may include an opening that is aligned coaxially with the hole when in use.

[0104] The positioning unit can be operator-controlled, for example, when it is located inside the vehicle cabin, or when it is remotely, autonomously, or semi-autonomously controlled.

[0105] In some embodiments, the vehicle may include at least one functional unit configured to perform a series of tasks on an end face and an end face hole, such as preparing a selected trigger assembly and loading it into the end face hole.

[0106] At least one functional unit may be configured to move a trigger assembly relative to an end face, independently of the vehicle's positioning unit.

[0107] At least one functional unit may be configured to move a trigger assembly relative to an end face, independently of the vehicle's coarse positioning module.

[0108] At least one functional unit may be coupled to a precision positioning unit and configured to move a trigger assembly relative to an end face, independently of the vehicle's coarse positioning unit.

[0109] The vehicle may typically include a first functional unit that can be coupled to a precision positioning module, and may be configured, for example, to support a selected trigger assembly when the trigger assembly is moved to an aligned position relative to a hole, and when the trigger assembly is moved to an initial position within the hole.

[0110] The vehicle may include a housing for storing multiple trigger assemblies.

[0111] The first functional unit may include (a) a housing for protecting a selected trigger assembly when the functional unit is in use and for positioning the selected trigger assembly in a hole, and (b) a gripper unit positioned in an opening of the housing, the gripper unit being movable between a closed position and an open position to allow insertion of the trigger assembly into the housing.

[0112] The first functional unit may include a movable member that moves coaxially with the hole during use to move the selected trigger assembly from a pre-insertion position adjacent to the hole to an initial position inside the hole.

[0113] The first functional unit may include an insertion mechanism that can move a removable portion of a selected trigger assembly forward from its initial position to its operational position within the hole.

[0114] The insertion mechanism may include an emulsion-filled hose that is unwound to push the removable portion from its initial position to its working position. The emulsion-filled hose may extend through an opening in the base of the precision positioning module.

[0115] The functional unit may be coupled to a precision positioning module and may be a second functional unit in the form of a tie-in module configured to connect the detonation code to the trigger assembly after the trigger assembly is placed in the hole.

[0116] The tie-in module may include a movable head that can engage with the fixed portion of the selected trigger assembly. When in use, the forward movement of the movable head can secure the detonator cord to the trigger assembly.

[0117] The head may include a guide that supplies the detonation code toward a fixed portion of the selected trigger assembly.

[0118] The head may be disc-shaped, and the guide may be centrally located with the guide so that when the detonation cord is connected to the trigger assembly, the guide is coaxial with the hole.

[0119] The tie-in module may include a rotatable drum from which detonation cord can be selectively distributed.

[0120] In some embodiments, the vehicle may be configured to clean and inspect the hole and / or adjacent rock surface in preparation for inserting the trigger assembly.

[0121] The functional unit may be a third functional unit, which is typically connectable to a precision positioning module and may be configured to remove debris from a rock surface adjacent to a hole.

[0122] The third functional unit may include a rake member configured to be pulled along the rock surface, thereby wiping away clean fragments from the holes.

[0123] The functional unit may be coupled to a precision positioning module and may be a fourth functional unit configured to remove debris from inside a hole.

[0124] A fourth functional unit may include a first hose selectively supplied to the hole from a rotatable spool to measure its depth. The end of the first hose can provide an air jet for removing light debris from the hole. The air jet may be directed away from the respective hose ends, thereby propelling the debris toward the opening of the hole.

[0125] A fourth functional unit may include a second hose having a terminal configured to grasp heavy debris and remove it from the hole.

[0126] The vehicle may further include separate storage compartments for storing each of the functional units.

[0127] In another embodiment, a mining or civil engineering vehicle is provided for working in close proximity to the end face of a drive, i.e., the head, and the vehicle comprises a positioning unit for moving the aforementioned functional unit with respect to a selected location, the positioning unit comprising a visual module for monitoring the position of the functional unit and facilitating the guidance of the functional unit to the selected location.

[0128] In another embodiment, a mining or civil engineering vehicle is provided which is equipped with a functional unit for working on an end face, the vehicle being configured to move the functional unit to an initial position close to a selected location, and the functional unit being configured to move independently from the initial position to a second position closer to the selected location while the vehicle is stationary.

[0129] Various features, aspects, and advantages of the present invention will become more apparent from the following description of embodiments of the invention, along with the accompanying drawings in which similar figures represent similar components.

[0130] Embodiments of the present invention are shown by reference to the accompanying drawings, not as limitations, but as examples. [Brief explanation of the drawing]

[0131] [Figure 1a] Figure 1a shows a trigger assembly according to an embodiment of the present invention, and its main components, namely the explosion unit body, trigger cord, connection unit, and trigger unit housed within the explosion unit body. [Figure 1b] Figure 1b shows a trigger assembly according to an embodiment of the present invention, and its main components, namely the explosion unit body, trigger cord, connection unit, and trigger unit housed within the explosion unit body. [Figure 2]Figure 2 is a front cross-sectional view of the end face of the drive unit of an underground mine, illustrating multiple trigger assemblies (Figures 1a and 1b) inserted into holes drilled in the end face, and multiple wiring connections in a daisy-chain arrangement between the detonator and activation system (not shown) of the trigger assemblies. [Figure 3a] Figure 3a is a schematic cross-sectional view of the trigger assembly from Figure 1 in use, showing that the trigger unit has been moved from its initial position in the hole to a detonation position along the hole. [Figure 3b] Figure 3a is a schematic cross-sectional view of the trigger assembly from Figure 1 in use, showing that the trigger unit has been moved from its initial position in the hole to a detonation position along the hole. [Figure 4a] Figure 4a is a perspective view of the trigger unit body and its components of a trigger assembly as shown in Figure 3a. [Figure 4b] Figure 4b is a perspective view of the trigger unit body and its components of the trigger assembly shown in Figure 3a. [Figure 4c] Figure 4c is a perspective view of the trigger unit body and its components of a trigger assembly as shown in Figure 3a. [Figure 4d] Figure 4d is a perspective view of the trigger unit body and its components of a trigger assembly as shown in Figure 3a. [Figure 5] Figure 5 is a perspective view of the explosion unit body shown in Figure 4a, and shows the trigger code being supplied through the passages within it as part of the process of assembling the trigger assembly shown in the figure. [Figure 6a] Figure 6a is a perspective view of the collar that fits into the main body of the explosion unit when in use. [Figure 6b] Figure 6b is a perspective view of the collar that fits into the main body of the explosion unit when in use. [Figure 7a]Figure 7a shows the process of assembling the trigger unit of the trigger assembly, which includes inserting the booster into the main body of the explosion unit, the booster enclosing the detonator that is pre-installed inside. [Figure 7b] Figure 7b shows the process of assembling the trigger unit of the trigger assembly, which includes inserting the booster into the main body of the explosion unit, the booster enclosing the detonator that is pre-installed inside. [Figure 7c] Figure 7c shows the process of assembling the trigger unit of the trigger assembly, which includes inserting the booster into the main body of the explosion unit, the booster enclosing the detonator that is pre-installed inside. [Figure 7d] Figure 7d shows the process of assembling the trigger unit of the trigger assembly, which includes inserting the booster into the main body of the explosion unit, the booster enclosing the detonator that is pre-installed inside. [Figure 8a] Figure 8a is a perspective view of the trigger assembly connection unit according to that embodiment. [Figure 8b] Figure 8b is a perspective view of the connection unit of the trigger assembly according to that embodiment. [Figure 9a] Figure 9a is a perspective view showing a clip member inserted into the opening of the connection unit in Figure 10a, which facilitates the removal of the connection unit from the explosion unit body. [Figure 9b] Figure 9b is a perspective view showing a clip member inserted into the opening of the connection unit in Figure 10a, which facilitates the removal of the connection unit from the explosion unit body. [Figure 10a] Figure 10a is a side view showing the process by which the connection unit is coupled to the trigger unit body. [Figure 10b] Figure 10b is a side view showing the process by which the connection unit is coupled to the trigger unit body. [Figure 10c]Figure 10c is a side view showing the process by which the connection unit is coupled to the trigger unit body. [Figure 11] Figure 11 is an isometric view of an embodiment of a vehicle according to the present invention, which can be used to prepare a rock face and blast hole for receiving a trigger assembly. [Figure 12] Figure 12 is an isometric view of another vehicle embodiment according to the present invention, which can be used to insert a trigger assembly into a blast hole. [Figure 13a] Figure 13a is a perspective view of a functional unit for use with the vehicle shown in Figure 11, and the functional unit is equipped with a scooping member for cleaning rock surfaces. [Figure 13b] Figure 13b is a perspective view of a functional unit for use with the vehicle shown in Figure 11, and the functional unit is equipped with a scooping member for cleaning rock faces. [Figure 13c] Figure 13c is a perspective view of a functional unit for use with the vehicle shown in Figure 11, the functional unit comprising a scooping member for cleaning rock surfaces. [Figure 14a] Figure 14a is a perspective view of another functional unit for use with the vehicle in Figure 11, and includes a hose used to remove debris from the blast holes. [Figure 14b] Figure 14b is a perspective view of another functional unit for use with the vehicle in Figure 11, and includes a hose used to remove debris from the blast holes. [Figure 14c] Figure 14c is a perspective view of another functional unit for use with the vehicle in Figure 11, and includes a hose used to remove debris from the blast holes. [Figure 15] Figure 15 is an isometric view of the slider of the vehicle shown in Figure 12, which is used to support and load the trigger assembly. [Figure 16a]Figure 16a shows another functional unit for use with the vehicle in Figure 12, the gripper comprising a gripper used to load the trigger assembly into the blast hole and a process used by the gripper to transport the trigger assembly from the vehicle to the detonation position in the hole. [Figure 16b] Figure 16b shows another functional unit for use with the vehicle in Figure 12, the gripper comprising a gripper used to load the trigger assembly into the blast hole and a process used by the gripper to transport the trigger assembly from the vehicle to the detonation position in the hole. [Figure 16c] Figure 16c shows another functional unit for use with the vehicle in Figure 12, the gripper comprising a gripper used to load the trigger assembly into the blast hole and a process used by the gripper to transport the trigger assembly from the vehicle to the detonation position in the hole. [Figure 16d] Figure 16d shows another functional unit for use with the vehicle in Figure 12, the gripper comprising a gripper used to load the trigger assembly into the blast hole and a process used by the gripper to transport the trigger assembly from the vehicle to the detonation position in the hole. [Figure 16e] Figure 16e shows another functional unit for use with the vehicle in Figure 12, the gripper comprising a gripper used to load the trigger assembly into the blast hole and a process used by the gripper to transport the trigger assembly from the vehicle to the detonation position in the hole. [Figure 17a] Figure 17a illustrates another functional unit for use with the vehicle in Figure 12, which includes a tie-in module used to connect multiple trigger assemblies to each other via detonation cords. [Figure 17b] Figure 17b illustrates another functional unit for use with the vehicle in Figure 12, which includes a tie-in module used to connect multiple trigger assemblies to each other via detonation cords. [Figure 18a] Figure 18a illustrates the process by which the ties in the modules shown in Figures 17a and 17b are used to physically connect the detonation code to the trigger assembly. [Figure 18b] Figure 18b illustrates the process by which ties in the modules of Figures 17a and 17b are used to physically connect the detonation code to the trigger assembly. [Figure 18c] Figure 18c illustrates the process by which the ties in the modules of Figures 17a and 17b are used to physically connect the detonation code to the trigger assembly. [Figure 18d] Figure 18d illustrates the process by which ties in the modules shown in Figures 17a and 17b are used to physically connect the detonation code to the trigger assembly. [Figure 19a] Figure 19a shows the coupling in the modules of Figures 17a and 17b, which are used to interconnect multiple trigger assemblies. [Figure 19b] Figure 19b shows the coupling in the modules of Figures 17a and 17b, which is used to interconnect multiple trigger assemblies. [Figure 20] Figure 20 is a side view showing a trigger assembly according to another embodiment, although it is not another embodiment of the present invention. [Figure 21] Figure 21 is a perspective view showing a trigger assembly according to another embodiment, although it is not another embodiment of the present invention. [Figure 22] Figure 22 is a cross-sectional view of the operating configuration and pre-assembled configuration of the trigger assembly shown in Figures 20 and 21. [Figure 22a] Figure 22a is a cross-sectional view of the operating configuration and pre-assembled configuration of the trigger assembly shown in Figures 20 and 21. [Figure 23] Figure 23 is an enlarged perspective view of the connection unit at the end of the trigger assembly shown in Figures 21 and 22. [Figure 24]Figure 24 is an enlarged perspective view of the connection unit shown in Figure 22, with the detonation code for the external explosive activation system held by the connection unit. [Figure 25] Figure 25 is a side view of the trigger assembly shown in Figures 20 to 24, illustrating the components of the trigger assembly. [Figure 26] Figure 26 is a side view of the trigger assembly shown in Figures 20-25, which is positioned in the opening of a perforated hole on the end face of the drive unit of the underground mine. [Modes for carrying out the invention]

[0132] The embodiments of the present invention will be described more fully below with reference to the accompanying drawings, which illustrate various embodiments, though not limited to all possible embodiments. It should be noted that the present invention can be implemented in various forms and is not limited to the embodiments described below.

[0133] The present invention generally relates to the induction of explosives in underground and above-ground mining holes, as well as in civil engineering applications such as drive systems.

[0134] This invention relates, in particular, to detonating explosives in underground mine shafts, but is not limited thereto. For example, a) When developing a horizontally extending drive unit in an underground mine for the purpose of blasting rocks and extending the drive unit, b) For mining and production purposes where explosives and detonators need to be positioned in a combination of diagonal, horizontal, or vertical to blast rocks (e.g., block cave development / infrastructure development).

[0135] The following explanation is in the context of underground block cavern mines.

[0136] It is understood that the vehicles, methods, and trigger assemblies described herein are also applicable to other civil engineering and mining applications, such as civil tunnel mining and stone mining.

[0137] term: "Drive" - ​​Rear (i.e., roof), side, shoulder transitioning from side to roof. "Heading" - The end face of a drive that drills a hole and explodes. "Burn" - The central part of the headline, which explodes first. The rock expands due to the blast and collapses from the excavation surface. The outer part explodes, and the rock falls inward in sequence.

[0138] In a broader sense, the present invention has several different embodiments, as follows:

[0139] 1. Use of at least one mining vehicle or civil engineering vehicle to perform actions necessary to facilitate the placement of explosives and subsequent formation of explosives in holes drilled in a head, for example, a vehicle having an arm, for example, a multi-jointed arm with a functional unit at the end of the arm, the vehicle having a positioning unit which includes (a) a module (which may also be described as a system) for coarse positioning of the functional unit relative to the hole, and (b) a module (which may also be described as a system) at the end of the arm for precise positioning of the functional unit relative to the hole. The functional unit is essentially a tool or end effector configured to perform specific functions or tasks related to operating / cleaning the head and / or loading trigger assemblies into drilled holes, and connecting detonation cords to multiple trigger assemblies. The coarse and precise positioning modules allow for the rapid and safe deployment of the functional unit to the required location so that the functional unit can perform the required actions for each hole. The functional units may, in some cases, be configured to be movable independently of the fine and coarse positioning modules of the vehicle. Coarse and fine positioning modules allow a functional unit to align with a selected handover point, for example, a small drill hole, typically 40-50 mm in diameter, while the operator maintains a safe distance outside the high-risk zone for the head, typically at least 5 m away from the head. At the handover point, the selected functional unit is operable to perform actions related to the head, such as inserting a trigger assembly into the hole. Coarse positioning modules typically have a large range of motion and movement, allowing the functional unit(s) to be positioned close to the hole. Fine positioning modules typically have high resolution and a more limited range of motion, thus allowing the functional unit(s) to be aligned and positioned relative to the hole in the head. It is understood that coarse and fine positioning modules combine heavy and light "touch" movements.

[0140] 2. The configuration of the functional unit allows for the handling and deployment of sensitive components such as detonators via the functional unit, while the vehicle's own coarse and precise positioning modules remain stationary or "parked." This may include picking up the trigger assembly from the storage compartment. This may also include inserting the trigger assembly into the head hole. This combination of coarse positioning, precise positioning, and handover via the functional unit offers significant advantages over conventional explosive handling systems. For example, the applied torque and force acting on sensitive components are only those of the functional unit itself, and therefore far lower than those of the vehicle's own coarse and precise positioning modules. In some cases, the force and torque are orders of magnitude lower to facilitate safe handling.

[0141] 3. A trigger assembly for triggering an explosive in a blast hole to generate an explosive blast, configured to be positioned in an end face, i.e., a hole in a heading, the trigger assembly comprising a connecting unit that simplifies the process of connecting an external explosion actuation system to the detonator of the trigger assembly in order to start the explosive in the hole.

[0142] 4. A method and system for loading multiple trigger assemblies into holes and connecting the trigger assemblies to the detonation code of an external explosion activation system.

[0143] Overview of the trigger assembly embodiment

[0144] The embodiments of the trigger assembly shown in Figures 1-10 and 20-26 are improvements on the trigger assembly shown in International Publication No. 2020 / 232506. The disclosures in the International Publication are incorporated herein by cross-reference.

[0145] Embodiment of the trigger assembly shown in Figure 1-10

[0146] Overview - Figures 1-10

[0147] Referring to Figures 1a to 1b, the main components of the embodiment of the assembly for triggering an explosive in a blast hole to generate an explosive blast wave (i.e., a “trigger assembly”) shown in Figures 1 to 10 are as follows: (a) Detonation body unit 21 - In the assembled trigger assembly, a trigger cord 31 in the form of a nonel cord (or any other suitable trigger option) is wrapped around the detonation unit body. The detonation unit body has a proximal end for receiving a portion of the nonel cord. to It includes a peripheral channel that opens to the rear. When the nonel cord is positioned to extend across the opening, regardless of the orientation of the detonator cord relative to the crown, it extends around the entire perimeter for contact at both ends with the compartment of the detonator cord of the external explosive actuation system. (b) A trigger unit 17 in the form of the Nonel cord described above, which forms the booster 19, the detonator 15, and the trigger cord 31. The Nonel cord is (i) connected at one end to the detonator 15 and (ii) connected at the other end to the proximal end of the explosive unit body, and the Nonel cord is positioned so as to be contacted by the detonator cord of the external activation system described above when the connecting unit is moved from the initial position to the locked position, as will be further described below. The explosive unit body includes an opening in the wall and an internal channel for the portion of the Nonel cord that extends between the portion of the Nonel cord wrapped around the explosive unit body and the portion of the Nonel cord connected to the connecting unit. (c) Carrier 29 - Located at the front end of the trigger unit body, and configured to attach the detonator and trigger cord, in this example a non-electrical cord, which are connected to the detonator. (d) In the embodiments of Figures 1-10 described above, at least in part, a collar provides a retaining means attached to the body of the explosion unit. The collar may have (i) a positioning flange that contacts a heading portion defining a hole, and (ii) an elastic biasing element that contacts the side wall of the hole and is configured to hold the trigger assembly in place within the hole. In other embodiments, the flange may be incorporated into the body of the explosion unit itself. In addition, the collar is attached for relative rotational motion around the body of the explosion unit so as the trigger cord, such as a nonel cord, is unwound as the carrier moves forward from the initial position of the hole away from the body of the explosion unit—the collar facilitates the efficient unwinding of the trigger cord from the body of the explosion unit—and accommodates the internal elasticity of the trigger cord. (e) Connection Unit 27 - Located at the rear end of the trigger assembly. The connection unit is configured to provide a connection between the trigger unit 17 and an external activation means used to trigger (i.e., fire) the booster. In the embodiments shown in Figures 1 to 10, the connection unit is configured to respond to an axial forward rotational motion around an axis from an initial position to a locked position, and this motion moves the detonator cord to make physical contact with the nonel cord. The connection unit includes a plurality of channels between projections extending to the rear of the connection unit, the channels are formed to receive the detonator cord of the external activation system, the detonator cord extends across the central hollow portion of the connection unit and is positioned to move the detonator cord as described above to make contact with the nonel cord. The connection unit is configured such that a predetermined clamping force exists between the nonel cord and the detonator cord to prevent pinching or other damage to the detonator cord and nonel cord that could impair detonation. The connection unit includes a compressible element that responds to a clamping force applied by the detonator cord to control the clamping force. In other embodiments (not shown), the connection unit may include a wireless receiver that provides a wireless connection between the trigger unit 17 of the trigger assembly 7 and the external activation means.

[0148] Trigger Assembly 7 - Figures 1-10

[0149] Figure 2 shows the detonation code in a daisy-chain configuration in the operating system (not shown). 13 interconnected via exposed edge rock surface Exposed end of drive unit 5 at extraction level of underground block excavation mining having multiple trigger assemblies 7 in a drill hole 9 (see Figures 3a and 3b) extending into the rock mass 11 of 3 rock This is the front view of the aircraft, specifically the nose-facing section.

[0150] This invention relates to the arrangement of perforated holes 9 and the detonation code in a daisy-chain configuration. 13 Not limited to, the perforated hole 9 and the detonation cord 13 Please note that it extends to any appropriate placement.

[0151] Referring to Figures 4a-4d, 6a-6b, 7a-7d, and 8a-8b, each trigger assembly 7 is an assembly of the following components: a. Explosive unit body commonly identified by code 21; b. Retention color 25; c. A trigger unit 17 in the form of a booster 19 and a detonator 15, and a trigger cord 31 (in the form of a nonel tube) with one end connected to the explosion unit body 21 and the other end connected to the detonator 15; d. Carrier cap 29 supporting the trigger unit 17; e. A connection unit 27 for physically (i.e., via detonation code 13) or wirelessly connecting the trigger code 31 and the external activation system.

[0152] The separate components assembled together to form the trigger assembly 7 can be made from any suitable material and by any suitable manufacturing method. For example, the components may be 3D printed from a polymer material.

[0153] Each trigger assembly 7 can be positioned at the open end of the hole 9 in its initial position as a trigger assembly within the hole 9. In this initial position, the trigger assembly 7 is assembled to house the explosion unit body 21, support the trigger unit 17, and have the trigger cord 31 at least partially wrapped around or wrapped around the explosion unit body 21.

[0154] Figure 18d shows in more detail than Figure 1 one of the trigger assemblies 7 of the external actuator and the detonation code. 13 This shows the interconnection point. As will be explained further below, the detonation code 13 It is positioned to extend across the trigger assembly 7 and is held in contact with the first end 31a of the trigger cord 31 by the connecting unit 27. Thus, when in use, when the trigger unit 17 is in the explosion position, the actuator is activated and the hole 9 Trigger the explosives inside and generate explosives within bedrock 11.

[0155] In this context, the term "open end" is understood to mean the exposed end of the hole 9 that typically faces the operator when the trigger assembly 7 is inserted into it.

[0156] Explosive unit body 21 - Figures 1-10

[0157] Here, the main body of the explosion unit 21 will be described in detail with particular reference to Figures 4a to 4d.

[0158] The explosion unit body 21 is formed from three parts, including a drum 24 (located at its proximal end) and an elongated housing 23 (see Figure 4a) that extends into the hole 9 and is configured to receive and support the trigger unit 17 in a compartment 22 defined by the housing 23 at the initial position of the trigger assembly 7 within the hole 9. The trigger unit 17 is shown in the compartment 22 in Figure 1b.

[0159] The housing 23 is a tubular housing extending from the proximal end to the distal end. The tubular shape of the housing 23 facilitates easy insertion into the blast hole 9, and it approximates the shape of a conventional blast hole, requiring no particular or specific rotational orientation. However, it is understood that other geometric shapes are also possible. In this description, the term “proximal” end refers to the end of the trigger assembly 7 into the hole. 9 It refers to the end closest to the operator when inserted. In other words, the proximal end of housing 23 is the proximal or anterior end, while the distal end of housing 23 is the distal or posterior end of housing 23.

[0160] In the illustrated embodiment, the housing 23 is formed from two housing sections 23a and 23b joined to each other. The drum 24 is also joined to the first housing section 23a. The profiles of these sections are best shown in Figures 4b-4d. It should be understood that this is only one way of forming the housing 23 and that it can alternatively be formed as a single piece.

[0161] The drum 24 of the explosion unit body 21 is shown in Figure 4b and has a larger diameter than the housing 23. The drum 24 has a barrel shape and includes a plurality of open-end slots 71 that extend axially along its length. The slots are defined by posts 73. The upper ends of the posts 73 form inclined portions that slope axially from one side to the other, serving as guides to assist in the coupling of the connecting unit 27 to the explosion unit body 21. The drum 24 also includes a plurality of circumferential grooves 61. The grooves 61 form part of the coupling mechanism that connects the connecting unit 27 to the explosion unit body 21.

[0162] The housing portions 23a and 23b of the housing 23 are shown in Figures 4c and 4d, respectively. These portions are tubular and together provide a sleeve-shaped housing 23 around which the trigger cord 31 can be wound. The first portion 23a may include features such as a tab configured to engage with a collar 25 and hold the collar 25 in place around the housing 23. Alternatively, the collar 25 may be friction-fitted with the first portion 23a. The second housing portion 23b is open at the end and serves as an end piece that accommodates the carrier cap 29 of the trigger unit 17 (see, for example, Figure 1b). The interior of the end of the second housing portion 23b is lined with a raised projection 26 configured to engage with the carrier cap 29 and hold it by friction fit. Together, the two housing portions 23a and 23b define a compartment 22 in which the trigger unit 17 is received and housed.

[0163] As best shown in Figures 1a and 1b, the trigger cord 31 of the trigger unit 17 is connected at one end 31a to the detonator 15 of the trigger unit 17, and at the other end 31b to the proximal end of the detonator body 21, and the end 31b It extends from the end. When the trigger assembly 7 is in the assembled form, the trigger code 31 is detonator It is wrapped in a spiral arrangement around at least a portion of the length of the main body 21. Specifically, in the illustrated embodiment, the trigger cord 31 is wrapped around the central portion of the housing 23 and rear part 23a, 23b It wraps around it.

[0164] Referring here to Figure 4c, the first housing portion 23a includes an axially extending channel 47 that provides a passage for the trigger cord 31 to pass through the collar 25, as shown in Figure 5. Thus, the first end 31a of the trigger cord 31 is connected to the detonator 15 of the trigger unit 17 within the hole 9, while the second end 31b of the trigger cord 31 is exposed outside the hole 9, while the entire trigger assembly 7 is held in the hole via the collar 25.

[0165] Therefore, it is understood that the trigger cord 31 has a length selected to extend to the distance between the explosive 15 of the trigger unit 17 and the proximal end of the explosion unit body 21 when the trigger unit 17 is in the detonation position of the trigger assembly 7 in the hole 9, as shown in Figure 1b. Thus, when the trigger unit 17 is in the detonation position, it remains operably connected to the proximal end of the explosion unit body 21.

[0166] Retaining collar 25 - Figures 1-10

[0167] Referring to Figures 6a and 6b, the retaining collar 25 is positioned around the housing 23 of the explosion unit body 21 and can rotate around the central longitudinal axis of the housing 23, but its axial movement relative to the housing 23 is restricted. Specifically, the collar 25 is rotatably coupled around the housing 23.

[0168] The retaining collar 25 has two main functions.

[0169] The main function is to contact the inner wall of hole 9 to further restrict the insertion of housing 23 into hole 9. The collar 25 has a flap 26 for this function. a It includes multiple protrusions of the form. The flaps 26 are arranged in a circular arrangement around the outer surface of the retaining collar 25. a It is designed to engage with the rock formation 11 on the inner wall of the hole 9 to hold the housing 23 in place axially and resist forward and backward movement. Furthermore, since the retaining collar 25 is rotatably coupled to the housing 23, detonator The main body 21 can rotate while being held in a predetermined position in the axial direction during deployment.

[0170] It should be understood that the geometric shape of the flap 26 in the illustrated embodiment is merely one example of the configuration of the retaining collar 25. Other geometric shapes that provide similar functionality are also possible and intended within the scope of the present invention.

[0171] Second The function is to restrict the insertion of the trigger assembly 7 into the hole 9 of the housing 23. The retaining collar 25 may include a circumferential flange for this function. However, it should be noted that this second function can also be provided by the explosion unit body 21 itself, i.e., by incorporating the flange into the explosion unit body 21 itself. In the illustrated embodiment, the flange 24a is incorporated into the drum 24.

[0172] Trigger unit 17 - Figures 1-10

[0173] Here, the trigger unit 17 will be described in detail, with particular reference to Figures 7a to 7d.

[0174] figure 7d In the embodiment shown, the detonator 15 of the trigger unit 17 is positioned in front of the booster 19 in the housing 23, with the trigger assembly 7 being inserted into the hole 9. It should be understood that the positions of the detonator (detonator) 15 and the booster 19 can be reversed, with the booster 19 positioned in front of the detonator 15.

[0175] The detonator 15 and booster 19 are configured to receive the detonator 15 and house it within the booster 19. Specifically, the booster 19 includes an elongated chamber 39 (see Figures 7c and 7d) with one end open to receive the detonator 15, which is pre-mounted within the trigger assembly 7 and attached to the carrier 29. The booster 19 can be inserted into the housing 23 and moved forward to enclose the pre-mounted detonator 15 within the trigger assembly 7. Insertion may be performed by a T-shaped pusher device 28, as shown in Figure 7a. At this point, the detonator 15 is fully housed within the booster 19, forming the trigger unit 17. In this way, the explosive (i.e., the booster 19) is kept separated from the detonator 15, and the trigger assembly 7 is used to detonate the blast hole. 9It is positioned inside the trigger assembly 7 only immediately before being inserted.

[0176] The explosion unit body 21 is configured to release the trigger unit 17 from it, and the trigger unit 17, which includes the booster 19 and detonator 15, is separated from the explosion unit body 21 and moved from its initial position in the hole 9 shown in Figure 3a to the operating or detonation position in the hole 9 shown in Figure 3b. Thus, the trigger unit 17 is a removable part of the trigger assembly 7. In this separated form of the trigger assembly 7, the detonator unit body 21 functions as a fixed part of the trigger assembly 7, which remains at the open end of the hole 9, while, Removable parts , trigger unit 17 teeth Further located within hole 9 is required to detonate the explosives in hole 9 at the detonation site. The explosion site is typically a hole 9 It is the closed end or its vicinity. The term "closed end" refers to the hole. 9 It is the end or terminal of something.

[0177] The release of the trigger unit 17 from the explosion unit body 21 is facilitated by a fragile wall 35 that extends radially across the interior of the housing 23 toward its distal end. The fragile wall 35 defines the front end of the compartment 22 and prevents the trigger unit 17 from moving forward into the hole 9. The fragile wall 35 is configured to be detached or otherwise fractured when a force exceeding a threshold force is applied to the wall 35. In this configuration, when the trigger unit 17 is held within the housing 23 in the initial position of the trigger assembly 7 in the hole 9, the wall 35 is a barrier to the movement of the explosion trigger from within the compartment 22. Further forward movement of the trigger unit 17 toward the explosion position requires the destruction of the fragile wall 35. Thus, the trigger assembly is moved forward from the initial position of the trigger assembly 7 in the hole 9 to the detonation position of the trigger assembly 7 in the hole 9, for example, by the application of an axial force.

[0178] Connection unit 27 - Figures 1-10

[0179] Next, the connection unit 27 will be described in detail with reference to the embodiments shown in Figures 8a and 8b.

[0180] The connecting unit 27 is a cylindrical sleeve that is coupled to the proximal end of the explosion unit body 21 when in use. In the illustrated embodiment, the distal end of the connecting unit 27 has an inner diameter larger than the dimensions of the proximal end of the housing 23 of the explosion unit body 21, allowing the connecting unit 27 to fit around the housing 23 as a cuff.

[0181] The distal end of the connecting unit 27 includes an engagement mechanism for coupling with the proximal end of the explosion unit body 21. As best shown in Figure 8b, the engagement mechanism is provided as a plurality of tabs 55 that are swivelably mounted to the sleeve within an opening 57 in the sleeve toward the distal end of the connecting unit 27. In the illustrated embodiment, there are three tabs 55, positioned within three corresponding openings 57 that are equally spaced around the sleeve of the connecting unit 27, but more or less. The tabs 55 are removable and swivelably mounted to the connecting unit 27. This is beneficial as it facilitates the replacement of damaged and / or worn tabs 55 without requiring the complete replacement of the connecting unit 27.

[0182] Each tab 55 is a pair of lips that protrude inward relative to the connection unit 27. 54 Includes. Lip 54 The lip is configured to engage with a circumferential groove 61 located around the proximal end of the housing 23 of the explosion unit body 21 (as shown in Figure 4b). 54This defines a V-shaped opening oriented toward the proximal end of the connecting unit 27. Thus, the engagement between the tab 55 and the groove 61 provides a ratchet-like unidirectional connection between the connecting unit 27 and the explosion unit body 21. In this way, the connecting unit 27 can engage with the explosion unit body 21 by sliding its distal end on the proximal end of the housing 23 and sliding it axially along it, but once the tab 55 engages in the groove 61, backward axial movement is prevented.

[0183] However, if necessary, the connecting unit 27 can be disengaged from the trigger unit body 21 by inserting the clip member 63 into the opening 57. The clip member 63 has a contour complementary to the tab 55, and when inserted into the opening 57, it moves the tab 55 outward relative to the force explosion unit body 21, resulting in the lip 54 The clip is released from the groove 61. The clip members are shown in Figures 9a and 9b.

[0184] In other embodiments not shown, the connecting unit 27 may be coupled to the explosion unit body 21 by means other than the clip-and-groove connection described herein as a preferred embodiment of secure coupling.

[0185] Returning to Figures 8a and 8b, the connection unit 27 includes a plurality of protruding members 65 extending from the proximal end of the connection unit 27. The protruding members 65 are configured to receive the detonation code 13 of the external explosion activation system between them. Each of the protruding members 65 has a spade-like shape, tapering from a spike-like tip to both sides of the base. The taper of the protruding members 65 is Trigger code 31 It is guided into the channel 67 between adjacent protruding members 65. 67 This provides a passage for the detonation code 13 to move radially through the connecting unit 27. In the illustrated embodiment, there are six protruding members 65, which are arranged at equal intervals around the outer circumference of the connecting unit 27. 6 One channel 67 is defined, but it may exist to a greater or lesser extent.

[0186] In other embodiments, the connecting unit 27 is a protruding member 65 of a different shape, and / or Trigger code 31 It is understood that this may include different morphological positioning means for guiding it to a predetermined position.

[0187] Each protruding member 65 also includes a notch 69 positioned toward its base. The notch 69 is crescent-shaped, Trigger code 31 It is configured to be confined within it.

[0188] As best shown in Figure 4b, the proximal end of the explosion unit body 21, i.e., the drum 24, is end Extending axially from As mentioned above It includes multiple open-end slots 71, each slot 71 defined on both sides by two concentric rows of upright posts 73. or channel 47 It extends circumferentially around the proximal end of the housing 23, between the concentric rows of posts 73. Channel 47 The housing provides a passage through which the second end 31b of the trigger cord is wound so that the trigger cord 31 extends around the entire circumference of the proximal end of the housing 23. This wound portion of the trigger cord 31 is positioned to be in contact with the detonation cord 13.

[0189] Each slot 71 has a profile complementary to the profile of the protruding member 65, thereby biasing them together and guiding the connecting unit 27 into a configuration coupled with the explosion unit body 21. Specifically, as described above, the end of each post 73 is formed as an inclined ramp 75 that provides a cam surface on which the base of the protruding member 65 moves when the connecting unit 27 moves from a non-operating position to an operating position. The inclined surface 75 defines a helical path that aligns the protruding member 65 with each slot 71 in the axial and rotational directions.

[0190] In other embodiments, if the connection point between the trigger assembly 7 and the external detonation means is not a physical connection point, the connection unit 27 may instead include a wireless receiver. The wireless receiver is operably connected to the trigger unit 17 via the trigger code 31 when the connection unit 27 is coupled to the explosive unit body 21, and the detonation code as described above 13 It may be arranged to provide a connection and equivalent functionality between it and trigger code 31.

[0191] Connect the connection unit 27 to the explosion unit body 21 - Figures 1-10

[0192] Refer to Figures 10a to 10c and connect the connection unit 27 to the explosion unit body. 21 The method for combining them is described below.

[0193] In the first coupling step, the connecting unit 27 (see Figure 10a), which is a separate component from the explosion unit body 21 at this stage, is coupled to the proximal end of the explosion unit body 21 in a first non-operating position. In this first non-operating position, the tab 55 of the connecting unit 27 engages with the groove 61 of the first row of the explosion unit body 21. The first non-operating position of the connecting unit 27 is shown in Figure 10b. In the second coupling step, the connecting unit 27 is then moved axially along the explosion unit body 21 to a second operating position. In the second operating position, the tab 55 engages with the groove 61 of the subsequent row, which is distal to the first row. 27 The second operating position is shown in Figure 10c. In both positions, the connecting unit 27 is located on the main body of the explosion unit. 21 The trigger assembly 7 (including both the explosion unit body 21 and the connecting unit 27) is coupled to the trigger assembly 7 and is therefore handled and moved together as an integrated unit. ru .

[0194] When the connecting unit 27 is in the second operating position, each of the protruding members 65 abuts against one of the posts 73. In this position, each notch 69 and the associated post 73 form an opening into which the detonation cord 13 is restrained and held, and this opening communicates with the trough 79. Thus, the detonation cord 31 is trapped within the notches 69 of the connecting unit 27, and when the connecting unit 27 is in the second coupling position relative to the explosive unit body 21, the detonation cord 13 is physically connected to the trigger cord 31. This interconnection is best captured by Figure 18d, which will be described in more detail later.

[0195] Furthermore, if it is necessary to connect the trigger unit 17 to a subsequent trigger unit 17, the free end of the detonation cord 13 is passed through the gap 67 of the connecting unit 27. Next The trigger unit 17' can be supplied to a second or further connecting unit 27'. The detonation code 13 is then received by the connecting unit 27', and the coupling step is repeated, thereby heading the trigger unit 17. 11 They can be linked together in an operable manner.

[0196] Therefore, hole 9 The internal explosive blast can be initiated in a subsequent step by using an activator to activate the boosters 19 of one or more trigger units 17, the activator being operably connected to the boosters 19 via detonation code 13 and trigger code 31. This interconnection is best captured by Figure 19b, which will be described in more detail later.

[0197] Furthermore, connection unit 27 If the trigger is wirelessly connected to an external activation means, the first coupling step may be all that is required to operably connect the external activation means to the trigger unit 17 of the trigger assembly 7. The two-stage coupling movement from the first non-operational position to the second operational position is before the wireless connection unit 27 is "activated" for handling / loading the trigger assembly 7Such embodiments are still useful in order to enable fitting into.

[0198] Trigger Assembly 7 Assembly - Figures 1-10

[0199] In summary, the trigger assembly 7 is assembled in a multi-stage process. Some or all of these steps can be performed off-site (i.e., before the trigger assembly is loaded onto the vehicle and transported to the work site).

[0200] The general stages are as follows: - Attach one end of the trigger cord 31 to the connection unit 27. - The detonator 15 is placed inside the carrier cap 29. - Wrap the trigger cord 31 around the housing 23. - The connection unit 27 is positioned in its initial position relative to the housing 23. - The carrier cap 29 is inserted into the end of the housing 23 by an internal ratchet so that the detonator 15 is inside the housing 23.

[0201] Mechanism of the blasting process - Figures 1-10

[0202] The trigger assembly 7 can be manually inserted into the blast hole 9 by an operator, but the design of the trigger assembly 7, particularly the design of the connecting unit 27, is driven with mechanization in mind.

[0203] Referring to Figures 11-18, the trigger assembly 7 is at least one functional unit that is specifically adapted to do this. 89 It is intended to be inserted into the blast hole 9 using at least one vehicle 70 equipped with [a specific component].

[0204] Vehicle 70 may be a dedicated vehicle, or it may be a modified standard mining vehicle such as a mining jumbo.

[0205] Embodiments of the trigger assembly 7 are shown in Figures 20 to 26.

[0206] The following description highlights the main differences between the embodiments of the trigger assembly 7 shown in Figures 1-10 and Figures 20-26, and the same reference numbers are used to describe the same structural features using the same headings used above.

[0207] One of the main differences between the two embodiments is that in the embodiments of Figures 20-26, the trigger cord 31 of the trigger assembly is located at least substantially outside the hole 9 when the trigger assembly 7 is first positioned inside the hole 9, i.e., in the initial position of the trigger assembly 7 inside the hole 9, see Figure 26. This is a completely different arrangement from that of the embodiments of Figures 1-10. This feature means that there are fewer components in the trigger assembly 7 inside the hole 9, which simplifies the manufacture of the trigger assembly. In addition, positioning the trigger cord 31 outside the hole 9 means that when in use, the trigger cord 31 unwinds as a straighter length than in the embodiments of Figures 1-10. Specifically, the trigger cord 31 unwinds in a spiral motion as the emulsion hose pushes the trigger unit 17 into the hole, rather than in a spiral motion as in the embodiments of Figures 1-10, and enters the hole as a straighter length. This is advantageous in that it minimizes the risk of the trigger cord 31 becoming contaminated when it is unwound.

[0208] Another key difference between the two embodiments is the structure of the connection unit 27. In the embodiments shown in Figures 20–26, the connection unit 27 is an elastic element that receives the detonation code 13 of an external explosive actuation system (not shown) and connects to the trigger code 31. This connection unit is configured to respond to axial forward rotational motion around the axis of the trigger assembly 7 from an initial position to a locked position. 27This configuration is entirely different from the embodiments shown in Figures 1 to 10, depending on the specific part. Note that the reference to “elastic element” does not mean that the entire connecting unit is formed from an elastic material, although this may be the case. The term is intended to focus on the working portion of the elastic element involved in connecting the detonation code 13 to the trigger code 31.

[0209] As is best seen in Figures 23 and 24, the connecting unit 27 is generally crown-shaped and comprises a tubular body 97 that engages with the first housing portion 23a, and a circular array of arms 99 spaced apart around the proximal end of the body 97. The continuous arms 99 define a roughly keyhole-shaped passage with two opposing open sides and two opposing closed sides (the open sides are arranged so that the portion of the detonation code 13 extends across the passage from one side to the other), and the passage is held by the connecting unit 27 (see Figure 24) by the trigger code 31a (see Figure 24). The first end A circular base portion 101 for receiving and connecting the detonator cord 13, and one end of the trigger cord 31a is in communication with the circular base portion 101, and when in use, the detonator cord 13 moves into the pharyngeal portion 103 and along the pharyngeal portion to the circular base portion 101, and the trigger cord 31a The first end It has a narrow, elongated pharyngeal portion 103 with an opening 105 at the other end so that it can make contact with the trigger code 31a. Figure 24 shows a detonator cord 13 in a predetermined position on one circular base portion 101 and being moved to be inserted into the opposing circular base portion 101. The arm 99 is an elastic arm and pushes the arm away from its original position relative to the elasticity of the arm by inserting the detonator cord 13 into the opening 105 and moving the detonator cord 13 through the throat portion 103 to the circular base portion 101, and the arm 99 returns to its original position after the detonator cord 31 is in the circular base portion 101, and the returned arm resists the release of the detonator cord 31 from the circular base portion 101 and pushes the detonator cord 13 into the trigger code 31a The first endThis contributes to maintaining contact with the arm. It can be understood that the detonator cord 13 overcomes the elasticity of the arm 99 and can be released from the circular base portion 101 by applying sufficient force to remove the detonator cord 13 through the throat 103.

[0210] Another major difference lies in the structure of the explosion unit body 21 and the retaining collar 25. This is partly due to the differences mentioned above.

[0211] The main body of the explosion unit 21 connects to the connection unit 27. proximal Supported at the end and within the compartment 22 defined by the housing 23 distal An elongated housing 23 (see Figure 22), configured to receive and support the trigger unit 17 at its end, is included in the initial position of the trigger assembly 7 within the hole 9. The trigger unit 17 is shown in compartment 22 in Figure 22.

[0212] The retaining collar 25 is positioned around the housing 23 of the explosion unit body 21 and is configured to engage with a portion of the inner wall of the hole 9 to prevent axial movement relative to the housing 23, and is also configured to allow the explosion unit body 21 to rotate around the central longitudinal axis of the housing 23.

[0213] The elongated housing 23 is a tubular housing extending from the proximal end to the distal end. The tubular shape of the housing 23 facilitates easy insertion into the hole 9, and it approximates the shape of a conventionally perforated hole, requiring no particular or specific rotational orientation. However, it is understood that other geometric shapes are also possible.

[0214] In this explanation, the term “proximal” end refers to the end of the trigger assembly 7 closest to the operator when it is inserted into the hole 11. In other words, the proximal end of the housing 23 is the proximal or anterior end, while the distal end of the housing 23 is the distal or rear end of the housing 23.

[0215] The housing 23 is formed from two housing portions 23a and 23b joined together. The profiles of these portions are best shown in Figures 22 and 22a. It should be understood that this is only one way of forming the housing 23 and that it can alternatively be formed as a single piece.

[0216] The housing portions 23a and 23b of the housing 23 are tubular.

[0217] The first housing portion 23a provides a sleeve-shaped housing 23 around which the trigger cord 31 can be wound. Unlike the embodiments shown in Figures 1 to 10, as described above, the trigger assembly shown in Figures 20 to 26 has a hole in the first housing portion 23a and the trigger cord 31 wound around the first housing portion 23a when in use. 9 It is formed so as to be on the outside.

[0218] The second housing portion 23b is open at the end, trigger assembly The carrier cap 29 of the second housing portion 23b (see, for example, Figure 20) serves as an end piece that accommodates it. The interior of the end of the second housing portion 23b has a raised projection configured to engage with the carrier cap 29 and hold it in place by friction fit. 26 This is supported by [something].

[0219] Both housing portions 23a and 23b define a compartment 22 in which the trigger unit 17 is housed.

[0220] In addition, the housing portions 23a and 23b may include features such as tabs (not shown) configured to engage with the retaining collar 25 and hold the collar 25 in place around the housing 23.

[0221] As can be seen best from Figures 24 and 25, the trigger cord 31 of the trigger unit 17 is connected at one end 31a to the detonator 15 of the trigger unit body 17 (Figure 25), and at the other end 31b to the proximal end of the trigger unit body 21 (Figure 24).

[0222] Referring here to Figures 22 and 22a, housing portions 23a and 23b include axially extending channels (not shown, but can be inferred from the figures) that provide a passage for the trigger cord 31 to traverse beneath the retaining collar 25. Furthermore, the first housing portion 23a includes an axially extending channel (not shown) that provides a passage for the trigger cord 31 to traverse beneath the connection unit 27.

[0223] In this way, the first end 31a of the trigger cord 31 is connected to the detonator 15 of the trigger unit 17 within the hole 9, while the second end 31b of the trigger cord 31 is exposed outside the hole 9 and held in place by the connecting unit 27, while the trigger assembly 7 is held within the hole 9 via the collar 25.

[0224] It is understood that the trigger cord 31 has a length selected to extend to the distance between the detonator 15 of the trigger unit 17 and the proximal end of the trigger unit body 21 when the trigger unit 17 is in the detonation position of the trigger assembly 7 in the hole 9. Thus, when the trigger unit 17 is in the detonation position, it remains operably connected to the proximal end of the explosive unit body 21.

[0225] Embodiments shown in Figures 20 to 26 Trigger Unit 17 The carrier cap 29 is basically the same as in the embodiments shown in Figures 1 to 10. Trigger Unit 17 It comprises a detonator 15 and a booster 19 configured to receive the detonator 15 and be housed inside the booster 19. The carrier cap 29 has a main body 107 having a tapered front end, Trigger Unit 17 Includes a sleeve 109 for receiving and holding.

[0226] The trigger assembly 7 of the embodiments of FIGS. 20-26 is configured to be generally used as described above in connection with the embodiments of FIGS. 1-10.

[0227] Vehicle

[0228] The embodiments described in connection with the figures include two vehicles, one optimized for hole and heading cleaning and the other optimized for trigger assembly and emulsion delivery and primer cord tying-in.

[0229] figure shown in 11 1 Vehicle 70 is an embodiment of a "surface inspection vehicle" configured to provide a hole 9 for receiving the trigger assembly 7. Surface inspection vehicle 70 is a dedicated mining vehicle designed to perform preparations including cleaning of the blast hole 9 and / or the heading 11 surrounding the hole 9 and / or other inspections.

[0230] On the other hand, shown in FIG. 12 2nd Vehicle 70' is configured to (i) prepare and place the trigger assembly 7 in the blast hole 9, (ii) pump or otherwise deliver explosive into the blast hole 9 to trigger via the trigger assembly 7, and (iii) couple together all of the trigger assemblies 7 of an external explosive activation system (not shown). Referring to step (iii), this connection may be a physical connection via a primer cord 14 (as shown in the illustrated embodiment) or may be wireless via a connection unit equipped with a radio receiver.

[0231] Each vehicle 70 、70’ can have a cabin for an operator to perform surface inspection, trigger assembly positioning, explosive charging, and primer cord tying-in functions. Alternatively, vehicle 70 、70’ is also contemplated to be an autonomous or semi-autonomous (i.e., remotely controlled) vehicle that does not require a passenger compartment.

[0232] This invention relates to two vehicles 70 、70’ Not limited to the use of, other possible embodiments include all necessary functional units in any given situation. 89 This is a single vehicle embodiment that carries [the [unclear].]

[0233] Specifically, both the functions of a "surface inspection vehicle" and an "explosives charging vehicle" may be performed by a single multi-purpose mining vehicle. This multi-purpose vehicle is not shown in the diagram.

[0234] Also, the first vehicle 70 There are also situations where this is unnecessary. For example, there may be circumstances where the "surface inspection vehicle" function is not required or can be performed through another option.

[0235] Vehicle 1

[0236] One embodiment of the first vehicle 70 is a robotic excavator (REX) (see Figure 11).

[0237] Vehicle 1 70 The hole was cleaned to remove any blockages or debris, and the nose 11 Remove the loosened metal shavings from the nose 11 By pulling the shavings back from the nose 11 It is a special mining vehicle configured to clean its face and floor. This is a basic quality issue.

[0238] Vehicle 1 70 This is a functional unit configured to perform the hole cleaning and debris removal functions described above. 89 It is configured to support and operate (which will be further explained below).

[0239] The first vehicle shown in Figure 11 70 It has articulated arms that can move up and down, forward and backward, and left and right. 98 And, arm 98 The arm has a precision positioning unit 100 attached to its front end so as to rotate around an axis. 98 is a vehicle70 serves as the coarse positioning module 68 and functions as such.

[0240] Both the coarse positioning module 68 and the fine positioning module 100 form part of the 70 positioning unit of the vehicle 94 and are configured to position the functional unit

[0241] The coarse positioning module 68 is configured to position the functional unit 89’ (described below and shown as 100' in FIG. 12) close to the hole 、 in the end face. The fine positioning module 100 is configured to position and align the functional unit 3 more precisely with respect to the hole 9 The positioning unit of the first vehicle 89’ The positioning unit of the first vehicle (and of the second vehicle 9 ) also includes a control system (not shown) capable of tracking the hole

[0242] by, for example, video servo methods or similar hole monitoring options, and operates the fine positioning module 100 to typically continuously adjust the position of the functional unit 70 (and any other selected functional units). This feature allows the fine positioning module 70’ to "float" to the "correct" position when the vehicle moves for any reason, keeping the functional unit 9 aligned with the hole 89’ The positioning unit of the first vehicle 70 (see FIG. 11) (and of the second vehicle 100 ) also includes a vision module that includes the following: 89’ - monitors the position of the coarse positioning module 68 with respect to the hole 9 to keep the functional unit

[0243] The positioning unit of the first vehicle 70 (see FIG. 11) (and of the second vehicle 70’ ) also includes a vision module that includes the following: - monitors the position of the coarse positioning module 68 with respect to the hole 9 to keep the functional unit 98’ aligned with the hole 9A visual-based system 76 on the vehicle facilitates guiding the vehicle to the required position; - hole 9 The position of the precision positioning module 100 relative to the functional unit is monitored. 98’ to hole 9 A second vision-based system 80 on the end of the precision positioning module 100 facilitates guiding it to the required position relative to the object.

[0244] For example, Vehicle 1 70 This is a +50mm Cartesian-based X, Y, and Z vision system. 76 It can have, and this is a functional unit 98’ This makes it easy to roughly position the object within 100-200 mm from the center of the hole.

[0245] Typically, the first vehicle 70 Visual-based systems 76 All-around (automobile) 70 See the lighting provided by [the company / organization].

[0246] Vehicle 1 70 The above vision-based system 76 teeth, Nose 11 The topology of Nose 11 (or Nose 11 To create a "live" image (of a part of it).

[0247] Vehicle 1 70 The above is a visual-based system 76 The image is displayed on the "touchscreen," and the operator touch Holes on the screen 9 It points to the position of the vehicle arm 98 Activate the movement of the arm 98 Functional unit on the end 89’ to hole 9 It is configured to allow for rough alignment, that is, positioning within 100-200 mm of the center of the hole.

[0248] As described above, the precision positioning module 100 then functions as a functional unit 98’ to hole 9 To position and / or align more accurately.

[0249] In the illustrated example, the precision positioning module 100 includes a delta positioning system robot unit 74, and it should be noted that the present invention is not limited to the use of a delta positioning system.

[0250] The delta positioning system includes a hydraulic system for moving the adjustment arm of the delta system. The present invention is not limited to the use of hydraulics.

[0251] The Delta System Unit operates with three degrees of freedom: up, down, and forward / backward.

[0252] Other embodiments operate with six degrees of freedom—pitch, roll, and yaw—in addition to the three degrees of freedom described above.

[0253] The Delta System Unit incorporates a video-based vision system that uses AI-powered deep learning techniques to search for patterns in images. The applicant adapted an open-source training package for use in underground block cave mining applications.

[0254] The delta system unit is preferably driven by a servo motor and / or controller. During use, the video-based vision system is driven by the delta system unit using a video servo method or similar Hall monitoring and feedback technology. Hole 9 This allows tracking and continuously correcting the position accordingly. This enables the precision positioning module 100 to "float" in the correct position (i.e., aligned with the hole) if the vehicle (or coarse positioning arm) is moved incorrectly. 70、70’ Furthermore, the coarse positioning arm is particularly useful in unstable terrain where its position may fluctuate.

[0255] An alternative to using video-based vision systems to detect holes is to use drill data logs. This data is generated during drilling and provides precise information about the hole's location. Instead of detecting the hole, there is an opportunity to use the information to enable precise positioning, while the vision system simply checks and verifies that the hole is in the expected location.

[0256] hole 9 To clean the hole 9 To ensure there is no blockage, or to identify a blockage, 9 Selecting the appropriate emulsion explosion volume is crucial.

[0257] The currently preferred non-blocking system is an air / water nozzle – a nozzle directed backward. If blocked, air is used first, then water is added, and then air is used again to pull out the debris.

[0258] Vehicle No. 2

[0259] The second vehicle shown in Figure 12 70’ is arm 98 Articulated arm on the end 98 The first vehicle has a precision positioning module 100. 70 It is similar to the vehicle 70’ is, hole 9 The aforementioned visual-based positioning system for monitoring the movement of the coarse positioning module 68 relative to the hole 9 An arm for further monitoring the movement of the precision positioning module 100 at a closer position. 98 Delta positioning system unit on the end 80 It has the following characteristics.

[0260] Vehicle No. 2 70’ teeth, (a) Emulsion explosive disposal device and hose reel 72 and, (b) Multiple trigger assemblies 7 (without booster 19) StorageAnd typically, given Nose 11 Trigger assembly required 7 The number of trigger assembly memory units 96a and (c) Multiple boosters 19 (typically) Nose 11 Boosters needed 19 A booster memory unit 96b that stores the number of, (d) Tie-in module 85 A detonation cord tie-in module storage unit for storing the head 11 Trigger assembly inside 7 Detonator cord long enough to tie in 13 A detonation code tie-in module storage unit having, This also includes.

[0261] Vehicle No. 2 70’ It is configured to perform the following functions: (a) Trigger assembly 7 to hole 9 To place it there; (b) Fill the hole with emulsion explosive; (c) hole 9 detonation code 13 Secure it with an appropriate detonation system such as other codes. See the triggers in the assembly portfolio. Also note that wireless can be used, and therefore no tying is required.

[0262] The process described above is presented here in broad terms, with further details to be provided later.

[0263] hole 9 The procedure for placing the trigger assembly 7 (with booster 19) inside is as shown in Figure 7a, by the operator manually removing the booster 19 and trigger assembly 7 from their separate storage compartments 96a, 96b and using a T-shaped pusher tool 28The first step involves inserting the booster 19 into the trigger assembly 7 using [a specific method / tool]. Note that this step may be automated.

[0264] The process for assembling the trigger assembly 7 is preferably carried out by the vehicle 70 Supported via the handoff unit.

[0265] As shown in Figure 15, the handoff unit 91 This provides a carriage-shaped support for the assembled trigger assembly 7, a slider 91a Includes. Booster 19 is the main body of the explosion unit. 21 Once inserted, it activates the carriage, moving the assembled trigger assembly 7 from its initial assembly position to the functional unit. 89’ (Figures 16a-16d) The trigger assembly 7 can be moved to the "handoff" position, which allows it to be picked up.

[0266] One such functional unit, as best shown in Figure 16a 89’ (a) Functional Unit 89’ Trigger assembly during use Protect the trigger assembly 7 (including booster 19) to position 7 (including booster 19) within the hole 9. (b) includes a housing 93 and a gripper unit 95 positioned in the opening of the housing 93, wherein the gripper unit 95 is located in the housing of the trigger assembly 7. 93 It is movable between a closed position and an open position to allow insertion into the interior.

[0267] Referring to Figure 16b, the functional unit 89’ is a vehicle 70’ positioning unit 94 It is moved to the pickup position adjacent to the slider 91 via this. The gripper 95 is opened, and then the slider 91 is operated again to insert the assembled trigger assembly 7 into the housing 93 and move the gripper unit 95 to the closed position. When in the closed position, the functional unit 89’ is a hole 9It can be understood that the assembled trigger assembly 7 is held securely and reliably while moving to the aligned position relative to the object.

[0268] In other embodiments, the handoff unit 91 may incorporate a magazine-type structure that allows it to hold several trigger assemblies 7 and / or trigger units 17 simultaneously and continuously.

[0269] As shown in the figure, positioning unit 94 This is the coarse positioning module 68 part Joint arms that form 98 It includes this, but it is understood that other configurations are also possible.

[0270] The assembled trigger assembly 7 is a functional unit 89’ When placed inside the housing 93, the articulated arm 98 Next up is the second vehicle. 70’ From a loading position close to the end face 3 It moves to an unloading position located in close proximity to the positioning unit. This is shown in Figure 16c. This movement is understood to be a positioning movement of the coarse positioning module 68. Once this initial positioning movement is complete, the positioning unit 94 The precision positioning module 100 is a functional unit 89’ to hole 9 It operates to align with the positioning unit 94 That is, coarse positioning module 68 and precision positioning module 100 It will be "parked".

[0271] Next, the assembled trigger assembly 7 is a functional unit 89’ Using the pusher mechanism (shown in Figure 16d) to open a hole 9 It is inserted into. Precision positioning module 100 and coarse positioning module 68 Both are the second vehicle. 70’ positioning unit 94 It forms.

[0272] In the unloaded position, after the assembled trigger assembly 7 is inserted, the emulsion explosive disposal unit and hose reel 72 The emulsion explosive is delivered to hole 9, and the emulsion hose 86 delivers the trigger unit 17 (having a detonator 15 and a booster 19) from the trigger assembly 7 to hole 9. 9 Move the emulsion explosive to the required position (shown in Figure 16e) inside the hose. 86 is a hole 9 As you retreat from the hole 9 It is injected into.

[0273] All trigger assemblies 7 have holes 9 When placed inside and at the explosion site, tie-in modules 85 Another functional unit in a different form 89’’ (Alternatively, Gripper 95 A multi-functional unit with the same capabilities 89、89’ ) are the trigger codes of each trigger assembly 7 31 It is configured to connect to an external activation means. In the case of a physical connection point, Tie in module 85 This is the first hole 9 It is aligned with the trigger assembly 7 inside, and that trigger assembly 7 Nonel Code 13 of Tie in It is moved to a continuous connection point position, and then to the continuous trigger assembly 7, Tie in Repeat the steps. These steps are best illustrated in Figures 18a and 18d, which will be explained in more detail later.

[0274] Here, various aspects of this process will be explained in more detail below.

[0275] Positioning unit

[0276] Each vehicle 70, Positioning unit 94 Includes: Positioning unit 94 is a functional unit 89’It is configured to move and position the functional unit relative to its operating position. 89’ But for example, Nose 11 or hole 9 It enables the execution of necessary functions for the functional unit. 89’ The unit itself is a positioning unit. 94 It should be noted that it may be independently movable relative to the other, and therefore provides a third "level" or movement step.

[0277] Positioning unit 94 It comprises a coarse positioning module 68 and a precision positioning module 100.

[0278] The different positioning modules 100 and 68 are associated with different levels of applied force and torque, as well as range and resolution / precision. Specifically, the coarse positioning module 68 is designed for broad / heavy "positioning" motion, while the precision positioning module 100 is designed for light / soft "positioning" or "alignment" motion. Thus, the combined positioning unit 94 The dexterity of this system allows more movement to be handled by the coarse positioning module 68, while more positioning tasks are handled by the precision positioning module 100.

[0279] The coarse positioning module 68 is a functional unit 89’ blast holes 9 It is configured to be positioned in close proximity to the functional unit. In this sense, the term "close proximity" refers to the functional unit 89’ It provides rough or approximate positioning. The coarse positioning module 68 provides rough positioning for the articulated arm It has 98 In some embodiments, the coarse positioning module 68 is an articulated arm or boom of a jumbo or other conventional mining vehicle.

[0280] The precision positioning module 100 operates with the coarse positioning module 68 stationary or "stopped" at the end face 3 Functional unit for 89’It is configured to adjust the position of the functional unit relative to the blast hole. Specifically, such adjustment is configured to adjust the position of the functional unit relative to the blast hole. 89’ This includes positioning and aligning the components. Furthermore, the precision module 100 is a vehicle. 70、70’ and / or when the coarse positioning module 68 moves or drifts from its position, the hole 9 It is configured to maintain a "floating" alignment with the other element.

[0281] To achieve a "floating" configuration, positioning unit 94 For example, by video servo method or similar hole monitoring option, holes 9 Track and precision positioning module 100 To operate, typically, a functional unit 89’ It includes a control system that can continuously adjust the position of [the object].

[0282] The precision positioning module 100 has a base (i.e., a hub) at one end. 59 Multiple elongated parts that are pivotally attached to it. Arm or 60 Equipped with each link 60 This is a functional unit 89’ These are coupled to each other at a connectable central hub or mobile platform 77. In the embodiment shown in the figure, the precision positioning module 100 includes a delta robot. Elongated links 60 Each of them can move independently, and the links 60 The relative movement between them results in the movement of platform 77. The precision positioning module 100 is best shown in Figures 16 and 18.

[0283] The mobile platform 77 is capable of both translational and rotational motion, and the functional unit 89’ Align and position it with respect to hole 9. The moving platform 77 includes a central opening 78. The central aperture 78 is a functional unit 89’ A passage is provided through which an element or part of the structure can be extended and passed. When in use, the central opening 78 is aligned coaxially with the hole 9.

[0284] Base of precision positioning module 100 59 It is directly coupled to the coarse positioning module 68. In this way, the movement of the coarse positioning module 68 results in the movement of the precision positioning module 100. This allows the precision positioning module 100 to reduce its total range of motion so that it can increase the resolution of motion and control. This increased resolution allows the precision positioning module 100 to be coupled to the functional unit 89’ This allows for adjustment of the position of the coarse positioning module 68, while the coarse positioning module 68 remains stationary or otherwise parked, so that only the force and / or torque applied is to the precision positioning module 100. Thus, the precision positioning module 100 and the coarse positioning module 68 function relative to the hole 9. 89’ Please understand that we will be collaborating to determine the position.

[0285] Visual Module 76、80 This is used to monitor and guide the movement of each positioning module 100, 68. each The visual module is a video-based system that utilizes sensors to provide feedback on the position of the blast hole 9. In this way, the positioning unit 94 This can be an autonomous positioning unit. Alternatively, a positioning unit 94 This may be a semi-autonomous positioning unit, and the operator controls the positioning unit remotely via a camera.

[0286] Visual Module 76、80 This is a rough distance sensor mounted on the body or chassis of the vehicle 70. 76a (See Figures 13 and 14) and a precision distance sensor 80 attached to the precision positioning module 100. In this way, a coarse range sensor 76a The coarse positioning module 68 is used to monitor and guide the coarse positioning module 68, while the precision range sensor 80 monitors and guides the precision positioning module 100. The range sensor could be, for example, a 3D imaging sensor, a camera, or a proximity sensor.

[0287] Functional Unit 89’ , 89’’

[0288] Functional Unit 89’、89’’ Essentially, vehicle 70 、70’ positioning unit 94 It is a tool or end effector that can be selectively combined.

[0289] Each functional unit 89’、89’’ is the bedrock surface 3 Vehicle 70 is configured to undertake specific functions or tasks related to the operation and / or loading of the trigger assembly 7 into the blast hole 9. 、70’ This is several different functional units 89’、89’’ Storage compartment or container for holding 58 It can include...

[0290] Functional Unit 89’、89’’ It is configured to handle all movements that directly interact with the trigger assembly 7. In this way, Precision positioning module 100 and coarse positioning module 68 It does not directly interact with trigger assembly 7.

[0291] Therefore, several functional units 89’、89’’ This is a vehicle positioning unit. 94 It is understood that it is configured to be independently movable relative to the functional unit. 89’、89’’ For example, vehicles 70、70’ positioning unit 94 While the precision and coarse positioning modules 100 and 68 remain parked, the trigger assembly 7 is blasted through the holes. 9 It can be moved forward within the vehicle. 70、70’ arm 98 The force and torque applied to the trigger assembly 7 by the functional unit 89’、89’’ It is limited to its own force and torque. Such forces are limited to each positioning module. 94Its force is significantly (in some cases, orders of magnitude) lower than that of explosives, and it is protected from careless handling of explosives and / or other delicate components.

[0292] Figures 13 and 14 show the functions of the first vehicle 70. Unit 89 This is shown. This function unit 89 This is an integrated surface and hole preparation unit. Functional unit 89’ This is a scooping member coupled to the precision positioning module 100. 56 The scooping member comprises at least one hose assembly 66. 56 That is the scooping member 56 For when it is not in use, the positioning module can move between a movable extended position for operating rock face 3 (shown in Figure 13b) and a retracted or stowed position (shown in Figure 13a). 100 It may be attached in a hinged manner.

[0293] In other embodiments (not shown), the surface and hole preparation units are separate functional units. 89 , in other words, bedrock surface 3 Functional unit for preparing 89 The blast holes 9 may also be provided as a separate functional unit.

[0294] When in use, Vehicle No. 1 70 (Functional unit attached to it) 89 (Having) located outside the safety hazard zone, typically Nose 11 Stepping in at least 5m from there. Scooping member 56 With the positioning module extended (as shown in Figure 13b), 94 Through the rock face adjacent to or near the blast hole 9 3 Slide along it. In this way, Rock face 3 The area is cleaned and wiped to remove debris in preparation for inserting the trigger assembly or assemblies 7 into their respective blast holes 9. The cleaning step is shown in Figure 13(c).

[0295] Referring to Figures 14a to 14c, the hose assembly 66 is an integrated functional unit. 89 Rotatable spool 82a It includes a hose 82 supplied via the hole 9. The hose 82 is configured to wash the debris out of the hole 9. Specifically, after the debris has been removed from the rock surface 3, the scooping member 56 The functional unit was moved back. 89 This allows the hose 82 to be positioned close to the hole 9. The hose 82 is then selectively supplied into the hole 9. 82 This is an air hose, which includes an air jet 81 positioned at its end. The operation of the air jet 81 creates fluid pressure in the hole 9, loosening and removing debris from the hole 9. The air jet 81 is directed backward, resulting in the debris being blown toward and out of the open or proximal end of the hole 9. The components of the hose assembly 66 are best shown in Figure 14a.

[0296] The hose 82 is supplied into the hole 9, and the spool has an encoder or other mechanism for determining the length of the hose 82 supplied into the hole 9. 82a This is a selective supply operation. In this way, the length of the hose 82 in the hole 9 can be determined and compared with the known pre-drilled depth of the hole 9. This acts as a verification that the hole 9 does not contain any debris or other obstructions, and is therefore ready for the trigger assembly 7 to be inserted therein, and that its trigger unit 17 can be moved to the detonation position.

[0297] However, if an obstruction or debris is detected (i.e., if the length of the hose distributed into the hole is less than the known depth of the pre-drilled hose), a second hose 83 of the functional unit may be required. Referring to Figures 14b and 14c, the second hose 83 is used to remove heavy debris, such as rocks, from inside the hole 9. The second hose 83 includes claws 84 configured to grip the heavy debris and remove it from the hole. Once the heavy debris has been removed, the first hose 82 is reinserted to ensure that the hole 9 is now cleared and ready to receive the trigger assembly 7.

[0298] With the fragments removed from each of the holes 9, the same hole cleaning function is repeated for each of the holes 9. Once all the holes 9 are cleaned, the first vehicle 70 is pulled out from the drive unit, and the second vehicle 70’ It will be pulled to a location outside the safe hazard zone.

[0299] Vehicle No. 2 70’ is precise Mobile module 100 Another functional unit combined 89’ Includes.

[0300] This alternative function unit 89’ These are shown in Figures 16a to 16d. Functional Unit 89’ This includes the aforementioned housing 93 and a gripper unit 95 configured to hold and support the trigger assembly 7 located within the hole 9.

[0301] As described above, the procedure for positioning the trigger assembly 7 (with the booster 19) in the hole includes a first step in which the operator manually removes the booster 19 and the trigger assembly 7 from their separate storage compartments 96a and 96b, and inserts the booster 19 into the trigger assembly 7. It should be noted that this step may be automated in the future.

[0302] Next, the assembled trigger assembly 7 is a functional unit 89’ It is loaded into the housing 93 and held by the housing 93, and the second vehicle70’ Functional unit in close proximity 89’ It is held in the loaded position by the closed gripper arm unit 95. This loading step is shown in Figure 16b.

[0303] When the trigger assembly 7 is inside the housing 93, the articulated arm 98 This moves the trigger assembly 7 out of the assembly area on the vehicle 70 and the functional unit 89’ It is operable to position the functional unit in an aligned position relative to hole 8. 89’ Next, the trigger assembly is placed in hole 9 at its initial deployment position within hole 9. 7 It is operable to move the functional unit. To do so, the coarse positioning module 68 is activated, and as shown in Figure 16c, the functional unit 89’ The trigger assembly (and the housed trigger assembly 7) is moved to a pre-insertion position close to the hole 9. Next, the precision positioning module 100 is activated so that the trigger assembly 7 is coaxially aligned with the hole 9. Finally, Emulsion Hose 86 is activated and extends through the opening of the gripper unit 95, pushing the trigger assembly 7 into the hole 9 to its initial position, the collar 25 engages with the rock face 3, and the trigger assembly 7 is held in place therein. This initial position is best shown in Figure 16c.

[0304] When the trigger assembly 7 is in its initial position close to the opening of hole 9, the trigger unit 7 is pusher or It is pushed forward to the detonation position within the hole 9 via the insertion mechanism 87. This is achieved by the emulsion-filled hose 86, as best shown in Figures 16d and 16e. In use, the emulsion-filled hose 86 is passed through the opening 78 of the platform 77 of the precision positioning module 100, through the opening at the proximal end of the explosion unit body 21, and out through the housing 23. As the hose 86 passes through the housing 23, it pushes the trigger unit 17, biasing it forward against the fragile wall. 35The force exerted by the trigger unit 17 is sufficient to displace the wall 35 so that the trigger unit 17 is pushed to the explosion position by the hose 86. At this point, the emulsion-filled hose 86 can be withdrawn, releasing the explosive emulsion into the hole. 9 It is delivered and ready to be triggered via the trigger unit 17.

[0305] Here, the second vehicle 70’ Further functional units coupled to the precision module 100 89’ Referring to Figures 17a and 17b, the functional unit 89’’ It includes a tie-in module 85 configured to physically interconnect multiple deployed trigger assemblies 7 with one another via a detonation code 13. When in use, the tie-in module 85 connects to a precision positioning module 100 when each of the required trigger assemblies 7 is placed in its respective blast hole 9.

[0306] The tie-in module 85 consists of a disc-shaped movable head 88 and a rotatable drum. 50 It includes a rotatable drum. 50 This provides the supply of the detonation code 13. The movable head is best shown in Figure 17a. 88 It includes a guide 90 to which the detonation code 13 can be selectively distributed. The head 88 is attached to a telescopic tube 92. function unit 89’’ The unit itself remains stationary, providing independent forward and backward movement. Figure 17b shows the extension of the telescopic tube 92, and as a result, the head 88 It is driven forward toward the trigger assembly 7.

[0307] Refer to Figures 18a to 18d here. The movable head 88 is configured to engage with the connecting unit 27 of the trigger assembly 7. Specifically, in use, the movable head 88 is configured to apply an axial force to the connecting unit 27, moving the connecting unit 27 from a first non-operating position to a second operating position. As shown in Figures 18a and 18b, the head 88 is moved toward the connecting unit 27 by the telescopic tube 92.

[0308] When the detonation code 13 comes into contact with the connection unit 27, it activates the rotatable drum. 50 The detonation cord 13 is selectively distributed and passed through opposing channels 67 of the connecting unit 27 of the trigger assembly 7. After the detonation cord 13 is distributed, the head 88 moves forward again, pushing the connecting unit 27 axially along the explosive unit body 27 from a first non-operational position to a second operational position. As the connecting unit 27 is driven forward, it rotates into place, the protruding member 65 aligns with the slot 71, and the detonation cord 13 is fixed and locked within its notch 69. In this way, the detonation cord 13 is physically locked into place in the notch of the respective connecting unit 27 of each trigger assembly 7. The detonation cord 13 is then connected as shown in Figure 18c. Unit 27 The head 88 is retracted while remaining in its designated position above.

[0309] As shown in Figure 18d, the detonation code 13 is physically connected to the trigger code 31 of the trigger assembly. As can be understood from Figure 18d and the preceding sections of this specification, for example, Figure 4c, the detonation code 13 is physically connected to the trigger code 31 of the trigger assembly located within the channel 47. Therefore, the trigger unit 17 of each trigger assembly 7 is operably connected to the actuation means, and is ready for controlled blasting.

[0310] Referring to Figures 19a and 19b, this tie-in process is then repeated, and the detonation code 13 is Rock face 3 Each trigger assembly 7 inside is continuously passed through the connecting unit 27, and the vehicle 70’ positioning unit 94 This is a functional unit 89’Move it and align it with each of the subsequent trigger assemblies 7. In this way, Rock face 3 Each of the trigger assemblies 7 inside is operably coupled to the activator via the detonation code 13.

[0311] Note that the tie-in module 85 described is used when the connection point of the trigger unit 17 to the external activation means is a physical connection point. If the connection point is a wireless connection point, the tie-in module 85 is used with a rotatable drum 50 and related detonation codes 13 It is not necessary to have a tie-in module 85 such that the external connection means is operably connected to the trigger unit 17 of the trigger assembly 7. 27 The means are limited to mechanical means for moving it to the operating position.

[0312] Operation and work of vehicle 70

[0313] Next, two vehicles 70 、70’ A preferred or exemplary work process is described, which generally includes the following steps or stages: i. Rock face at heading direction 11 3 The examination; ii. Rock face 3 Cleaning up debris from; iii. Inspection of the hole 9 in which the trigger assembly 7 will be installed; iv. Trigger Assembly 7 Cleaning of hole 9 in preparation for receiving; v. Each trigger assembly 7 Assembly of the detonation system; vi. Trigger assembly into hole 9 7 Installation / placement; vii. Delivery of emulsion explosive to hole 9; viii. Tie-in of each detonation system into trigger assembly 7.

[0314] The above steps are somewhat similar to the steps of the conventional blast method for drive forward. The difference in this method is that each of the above steps (i) to (viii) is different for the vehicle 70 、70’ The fact lies in the fact that it is mechanized with the use of [something]. In this way, the worker / person is head 11 It allows us to maintain a safe distance, while the efficiency of automation leads to faster progress.

[0315] Although not limited to this preferred method, it is understood that steps (i) to (iv) utilize a "front inspection" or the first vehicle 70, and steps (v) to (viii) utilize an "explosive charging" or the second vehicle 70.

[0316] During step (i), the facial inspection vehicle 70 is driven or moved along the drive mechanism to a position close to the head 11. This may be an autonomous or semi-autonomous process, thereby enabling the visual module 76 This provides position-related feedback to the operator or controller or vehicle 70. In particular, the coarse range sensor 76a This is used for this purpose. Once placed in place, the articulated arm of the vehicle 70 98 is a precision range sensor 80a It is extended so that it moves to a position close to or adjacent to the nose 11. Next, the coarse positioning module 68 is activated and the articulated arm 98 It is moved across the surface of heading 11. During this movement, the visual module 76 This is used to perform a preliminary surface scan of heading 11. This scan is used to determine the presence of surface debris and any specific areas that require smoothing and removal. During this movement, the visual module 76 Also, head 11 Rock face 3The scanning operation identifies the pre-drilled holes 9 and places them in the plane. This position data is stored in the controller of the vehicle 70. The scanning operation identifies the holes in the plane based on an algorithm in the controller. Alternatively, the controller may already have predetermined hole position data stored, in which case the scanning operation is used to confirm or verify the position of the holes 9. Note that this identification / positioning of the hole positions can also be performed after the heading 11 has been cleared as part of step (iii).

[0317] bedrock surface 3 Once the scanning is complete, step (ii) begins. During this step, the rock surface 3 Alternatively, the fragment is removed from the heading 11. Step (ii) is the integrated functional unit 89 Scoop member 56 Use the scooping member. 56 The joint arm of the vehicle 70 is extended to an operational position, and the coarse movement module 68 is activated. 98 with a sweeping motion Rock face 3 Move across it. The sweeping motion may be substantially vertical or horizontal. This sweeping motion is Rock face 3 Brush away any debris. Removing debris is a quality issue and is important to allow for the safe and accurate placement of the trigger assembly into hole 9. The ground surface of the drive unit adjacent to heading 11 is also cleaned in a similar process. 56 It is flattened and removed by this process.

[0318] The heading orientation 11 is at the time of step (iii), when the debris is removed, and the hole 9 is inspected for debris. Specifically, the precision positioning module 100 is activated and used to position the opening 78 of the platform 77 coaxially with the hole 9. Then the first hose 82 is, spool 82a A hose is selectively supplied from the opening 78 into the hole 9. 82 When it is supplied to hole 9, the hose 82 The length is the spool 82aDetermined via the encoder or similar device shown above. Hose 9 is fed until it encounters resistance. The resistance may be, for example, the end of hole 9. Then, spool Not done (unspooled) hose 82 The length of the hose is compared to the known depth or length of hole 9. The known depth of hole 9 is stored in the vehicle 70's controller or on a chart available to its operator. 82 If the length is substantially the same as the known length, then the hole 82 It is determined to be clear. However, the distributed hose 9 If the length of the hole is less than the known length of the hole, it can be determined that there is an obstacle that needs to be removed. 9 Leaving space open is important, trigger assembly 7 It needs to be positioned at a known location, nominally toward the end of hole 9.

[0319] Step (iv) includes removing debris and obstacles from hole 9. A first aspect of step (iv) is performed simultaneously with the depth measurement in step (iii). Specifically, the air jet 81 is used in the hose. 82 It is incorporated into the end or head of the hose. 82 As the first hose retracts toward the front or proximal end of the hole 9, the air jet 81 is activated, blowing away any gentle or small debris such as sand and pebbles toward the hole surface. However, a second embodiment of removing debris from the hole 9 includes a separate or distinct cleaning step, which is performed when an obstruction is detected during step (iii). Specifically, the first hose 82 After retracting the first hose, the second hose 83 is fed into the hole 9. If an obstruction previously detected is encountered, the claw 84 is activated to grasp the obstruction (i.e., stone, rock, or debris) within it. The hose 83 is then retracted, and the debris is obtained along with it. This can be repeated several times as needed. Step (iii) can be repeated after the second hose 83 has been used to ensure that the blockage has been cleared.

[0320] When steps (i) through (iv) are completed, the trigger assembly 7 is prepared and inserted into all holes 9 in the heading 11. The first vehicle 70 is the second vehicle 70’ The trigger is driven or driven in a position close to the heading 11, or while in a driven position, it is driven or driven. The second vehicle includes a first housing compartment or housing 96a that houses a plurality of pre-assembled trigger assemblies 7 (the booster 19 is housed in a separate compartment or housing 96b of the second vehicle 70). The connecting unit 27 of the pre-assembled assembly 7 is in a first non-operational position, i.e., partially engaged with the detonation unit.

[0321] The pre-assembled trigger assembly 7 is fitted with a color-coded connection unit 27. The color coding is used to help the operator / controller of the vehicle 70 position the correct trigger assembly 7 in the correct hole 9. For example, the color coding may indicate the type of booster to be installed therein, or the length of the wrapped nonel cord (i.e., determining the depth to which each trigger assembly should be positioned). Alternatively, or additionally, the color coding may indicate the timing of the explosion in the case of the trigger unit 17, i.e., the "sequence" in which the trigger assembly 7 is fired after being activated via an external triggering means. Alternatively, the trigger assembly 7 may be a programmable trigger assembly with firing timing based on the position of the hole 9 into which the trigger assembly 7 is inserted, and for example, the positioning of a particular trigger assembly in a particular hole based on firing timing / sequence is no longer required.

[0322] Step (v) includes assembling each trigger unit 17 of the trigger assembly 7. In particular, the booster 19 is inserted into the compartment of the trigger assembly. Once positioned within the compartment 22, the detonator 15 (pre-installed within the trigger assembly 7) is placed in the chamber of the booster 19. 22It is at least partially enclosed within. In particular, prior to this step, the trigger unit 17 of each trigger assembly 7 is not operational / assembled with the explosive (i.e., booster 19) separated from the detonator 15. This step may be a manual step performed by an operator. The operator uses a T-shaped insertion tool 28 The booster can be pushed into place in the compartment 22 through the connection unit 27 and housing 23. Alternatively, this can be used in a second vehicle. 70’ Functional unit 89’ The steps may be automated and performed by the vehicle. In either case, during assembly, the trigger assembly 7 is used by the vehicle 70’ Handed off at the assembly position away from the positioning unit / joint arm. Unit 91 Slider 91a It is preferable that it be supported from above. The trigger unit 17 is a booster 19 When assembled, the hand-off slider 91a carriage 91b The mechanism activates, and the assembled trigger assembly 7 moves to the handoff position.

[0323] When the assembled trigger assembly 7 is in the handoff position, it is when the trigger assembly 7 is placed in the hole 9. During step (vi), the functional unit 89’ The Gripper 95 is a hand-off slider. 91a It is first moved to a loading position close to the trigger. In this loading position, the opening of the housing 93 is aligned concentrically with the connecting unit 27 of the trigger assembly 17. Hand-off slider 91a carriage 91b is It is activated again, the gripper 95 opens, and the trigger assembly 7 is fed into the housing 93. The gripper 95 is then closed so that the trigger assembly 7 is secured inside the housing 93. Next, the slider 91a carriage 91b It is retracted away from the gripper 95. Then the coarse movement module 68 is activated, and the articulated arm 98This moves the gripper 95 to an unloaded position close to the hole 9. Then, the precision positioning module 100 is activated so that the gripper 95 (and the trigger assembly 7 in its housing 93) are aligned coaxially with the hole 9. At this point, the jaws of the gripper 95 open, and the pusher 86 pushes the trigger assembly 7 into the hole 9 Insert into the initial position inside. This initial position. Each connection unit 27 protrudes outward from the hole 9, while the housing 23 of the trigger assembly 7 is in the hole 9 It extends into the hole and is held in place relative to the hole via a collar 25 that engages with the side surface of the hole 9.

[0324] Once it enters its initial position, the trigger unit 17 The booster 19 is moved forward toward its operating or detonation position via the emulsion-filled hose 86. Specifically, the charging hose 86 is supplied through the opening of the connecting unit 27 and makes contact with the proximal end of the booster 19. Continued supply of the charging hose 86 pushes the trigger unit 17 of the trigger assembly 7 away from the housing 23 toward the detonation position, and the housing 23 is held in place by the proximal end of the hole 9 via the collar 25.

[0325] With the trigger unit 17 in the detonation position, step (vii) includes pumping emulsion explosive into hole 9 via the charging hose 86. Advantageously, the charging hose 86 is connected to the trigger unit 17 Since it is used to position the hose at the explosion site, the charging hose 86 is already placed inside the hole 9, otherwise the hose 86 This saves the time and effort required to supply it into the hole. Once the emulsion explosive is supplied to the hole, hose 86 retracts.

[0326] Next, steps (i) to (vii) are repeated for all trigger assemblies 7, so that each hole 9 in the heading 11 receives the trigger assembly 7.

[0327] Finally, step (viii) is to each of the trigger assembly 7 trigger code 31 This step includes "tie-in". 89’’ This is done via the coupling module 85. Therefore, it is understood that an intermediate step of modifying or "swapping out" the functional unit 100' may be required for the functional unit 100 to be coupled to the articulated arm, or the functional unit 100 may be adapted to work together with the functional unit 100'. For example, the tie-in module 85 may be adapted to be receptive around the outside of the housing 93 of the functional unit 100'. In such an embodiment, the tie-in module can be positioned in place via the slider unit 91 in a manner similar to how the trigger assembly 7 is received within the housing 93.

[0328] Next, the tie-in module 85 is moved to an operable tie-in position, close to the first connection unit 27 of the trigger assembly 7. As previously mentioned, in the case of a physical connection between the external activating means and the trigger unit 17, the detonation cord 13 is connected to a rotatable drum (body) 50 The wires are selectively distributed and passed through opposing channels 67 of the first connection unit 27 of the trigger assembly 7. The connection unit 27 is then moved from a non-operational position to an operational position via the movable head 88 of the tie-in module 85.

[0329] Next, this process is repeated, the tie-in module 85 is moved to a second tie-in position, and the detonation code 13 is sent to the rock face. 3 It is passed continuously through the connection unit 27 of each trigger assembly 7 inside. In this way, Rock face 3 Each of the internal trigger assemblies 7 is operably coupled together to the activator via the detonation code 13, ready for detonation.

[0330] In summary, the present invention is understood to provide a device for installing protective lining on underground drive devices, such as mining drive devices, which offers significant improvements in safety and productivity compared to existing manual methods. Conventional industrial practices require workers to manually deploy and secure protective mesh on the drive surface, a difficult task with a high level of injury risk. The present invention overcomes these problems by providing an assembly that enables this work to be performed by other conventional drilling jumbos. The assembly includes a pair of arms that can be coupled to the boom of the jumbo and for holding rolls of protective lining between them. The arms are configured so that throughout the installation process, the rolls of lining are held away from the boom and the rest of the jumbo, reducing the possibility of damage to both the jumbo and the lining itself.

[0331] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by practitioners of the art to which this invention pertains. Any methods and materials similar or equivalent to those described herein may also be used in the practice or testing of this invention, but only a limited number of exemplary methods and materials are described herein.

[0332] Where any prior art publication is referenced herein, it should be understood that such references do not constitute an acknowledgment that such publications form part of the common general knowledge in the relevant art in Australia or any other country.

[0333] In the following claims and the preceding description of the invention, unless the context requires otherwise by explicit wording or necessary implication, variations of the word such as “comprise,” “comprises,” or “comprising” are used in a comprehensive sense, that is, to identify the presence of the described features but not to exclude the presence or addition of further features in various embodiments of the invention.

[0334] Many modifications can be made to the embodiments described above in relation to the drawings without departing from the spirit and scope of the present invention.

[0335] For example, the present invention is not limited to a two-vehicle solution, and other possible embodiments include a single-vehicle embodiment having a separate arm carrying a functional unit for, for example, hole cleaning.

Claims

1. A vehicle for mining or civil engineering to work in close proximity to a hole, The vehicle is equipped with a positioning system for moving a functional unit to a selected position. The positioning system is (i) A coarse positioning module configured to position a functional unit in close proximity to the selected position, (ii) A precision positioning module configured to facilitate adjustment of the position of the functional unit and to more accurately position and align the functional unit in relation to a selected position, vehicle.

2. The coarse positioning module and the precision positioning module are a single module having two functions. The vehicle according to claim 1.

3. The vehicle according to claim 1, further comprising a control system that can operate the precision positioning module to track the selected position and continuously adjust the position of the functional unit by video servo method or similar hole monitoring option.

4. The vehicle according to claim 1, wherein the positioning system further includes a system for monitoring the position of at least one of the coarse positioning module and the precision positioning module.

5. The vehicle according to claim 4, wherein the system includes at least one of a first range sensor mounted on the body of the vehicle and a second range sensor mounted on the precision positioning module.

6. The vehicle according to claim 1, wherein the precision positioning module comprises a hub configured to be coupled to the functional unit and a plurality of elongated links, each link connected to the hub at one end.

7. The vehicle according to claim 6, wherein each of the links is independently movable such that the hub is able to translate and rotate relative to the vehicle.

8. The vehicle according to claim 6, wherein the hub includes an opening that is aligned coaxially with the hole when in use.

9. Further comprising at least one functional unit configured to handle explosives connected to a trigger assembly, The vehicle according to claim 1, wherein the at least one functional unit is configured to move the trigger assembly relative to the hole independently of the positioning system of the vehicle.

10. It includes a first functional unit, the first functional unit is (a) A housing for protecting the trigger assembly when the functional unit is in use and for positioning the trigger assembly in the hole, (b) a gripper unit positioned in the opening of the housing, The gripper unit is movable between a closed position and an open position to allow insertion of the trigger assembly into the housing. The vehicle according to claim 9.

11. The vehicle according to claim 10, wherein the first functional unit is typically connectable to the precision positioning module and is configured to support the trigger assembly when the trigger assembly is moved to the initial position in the hole.

12. The vehicle according to claim 10, wherein the first functional unit includes a movable member that moves coaxially with the hole during use to move the trigger assembly from a pre-insertion position close to the hole to the initial position within the hole.

13. The vehicle according to claim 10, wherein the first functional unit includes an insertion mechanism that is operable to move the removable portion of the trigger assembly forward from the initial position to the operating position within the hole.

14. The insertion mechanism includes a hose extending to push the removable portion from the initial position to the operating position, The vehicle according to claim 13, wherein the hose extends through the opening of the hub of the precision positioning module.

15. The vehicle according to claim 9, comprising a second functional unit in the form of a tie-in module, which is coupled to the precision positioning module and configured to connect the detonation cord to the trigger assembly after the trigger assembly is positioned in the hole.

16. The tie-in module includes a movable head that can engage with a fixed portion of the trigger assembly, and when in use, the forward movement of the movable head secures the detonation cord to the trigger assembly. The vehicle according to claim 15, wherein the movable head is attached to an expandable tube to facilitate forward movement.

17. The vehicle according to claim 16, wherein the movable head includes a guide that supplies the detonation cord toward the fixed portion of the selected trigger assembly.

18. The vehicle according to claim 15, wherein the tie-in module includes a rotatable drum on which the detonation cord can be selectively distributed.

19. The vehicle according to claim 9, further comprising a third functional unit configured to clean and inspect the hole and at least one of the rock surface adjacent to the hole in preparation for the insertion of a trigger assembly.

20. It includes a fourth functional unit that can be coupled to the precision positioning module and is configured to remove fragments from the hole, The fourth functional unit includes a first hose that is selectively supplied from a rotatable spool to the hole, The vehicle according to claim 9, wherein the end of the first hose provides an air jet for removing light debris from the hole.

21. The vehicle according to claim 20, wherein the air jet is directed away from each of the ends of the first hose so that the fragments are propelled toward the opening of the hole.

22. The vehicle according to claim 20, wherein the fourth functional unit includes a second hose having a terminal configured to grasp heavy debris and remove it from the hole.

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