Intelligent standard-emulsion-explosive charging robot suitable for underground engineering

Abstract

An intelligent standard-emulsion-explosive charging robot suitable for underground engineering. The charging robot comprises a blast hole identification device (1), an air blowing and pushing device (2), a robotic arm (3), an air compressor (4), a detonator device (5) and a charging device (6), wherein the blast hole identification device comprises an industrial camera (7) and a fill light (8); the air blowing and pushing device comprises the air compressor, an air blowing and pushing tube (10) and servo electric motors (11-1, 11-2); the detonator device comprises a detonator compartment (15), a servo electric motor (16), a coupling (17), a robotic gripper (19), a steering gear (20) and a ball screw (21); and the charging device comprises a driving device and an explosive compartment (24). The intelligent charging robot has a compact structure and a high degree of automation, and can simultaneously push a plurality of emulsion explosives in a single operation, thereby reducing the labor intensity and improving the tunnel construction efficiency.

Description

A standard emulsion explosive intelligent loading robot suitable for underground engineering

[0001] Cross-reference to related applications

[0002] This invention claims priority to Chinese Patent Application No. 202410908783.7, filed with the China National Intellectual Property Administration on July 8, 2024, entitled "An Intelligent Filling Robot for Standard Emulsion Explosives Applicable to Underground Engineering", the entire contents of which are incorporated herein by reference and constitute a part of this invention for all purposes. Technical Field

[0003] This invention relates to the field of civil engineering, and more specifically, to a standard emulsion explosive intelligent loading robot suitable for underground engineering. Background Technology

[0004] Drill-and-blast (DBM) is a method of tunnel excavation involving a series of processes including drilling, charging, blasting, ventilation, support, and muck removal. Compared to other methods, DBM offers greater flexibility, wider adaptability, higher reliability, and better economy. However, the DBM operation still heavily relies on manual charging and filling of blast holes. If this situation is not fundamentally changed, it will inevitably hinder the development of tunnel construction technology and fail to fundamentally improve tunnel construction safety. The most likely locations for major accidents involving mass casualties in tunnel construction are near the tunnel face, and the most dangerous stage is the DBM operation. Therefore, the era of relying on sheer manpower in DBM operations must be ended as soon as possible. This highlights the significant importance of developing intelligent emulsion explosive charging robots for improving construction efficiency and accelerating construction progress. Summary of the Invention

[0005] In response to the current situation where explosive loading processes are time-consuming and labor-intensive, this invention aims to provide a standardized intelligent emulsion explosive loading robot suitable for underground engineering. This robot addresses the issues of high labor requirements and time consumption in the drill-and-blast method of explosive loading, thereby promoting safe, efficient, and high-quality tunnel construction. The purpose of this invention is to provide a standardized intelligent emulsion explosive loading robot suitable for underground engineering.

[0006] To achieve the above-mentioned objectives, the present invention discloses the following technical solution:

[0007] This invention discloses a standard emulsion explosive intelligent loading robot suitable for underground engineering, including a borehole identification device, an air blowing device, a robotic arm, a detonator device, and a loading device;

[0008] The robotic arm is equipped with a charging device at its end. The charging device contains a charge cartridge and includes a drive unit and an explosive chamber. The explosive chamber contains the charge cartridge, and the drive unit moves the charge cartridge upward. A guide tube is provided at the top of the explosive chamber, and an air-blowing device is provided at the rear end of the guide tube. The air-blowing device is used to clean the borehole and push the charge cartridge in the guide tube into the borehole. A borehole identification device is also provided at the top of the guide tube, and a detonator device is provided on the side of the explosive chamber.

[0009] As a further technical solution, the borehole identification device includes an industrial camera and a supplementary light; the industrial camera is mounted on the supplementary light, and the supplementary light is mounted on a robotic arm; the industrial camera accurately identifies the position, depth, and angle information of the borehole.

[0010] As a further technical solution, the air blowing device includes an air compressor, an air blowing tube, and a servo motor; the servo motor drives the air blowing tube to move through a gear rotation device, and the air blowing tube is also connected to the air compressor.

[0011] As a further technical solution, a wire encoder is also provided on one side of the gas pushing tube to ensure the precise pushing distance of the emulsion explosive.

[0012] As a further technical solution, the driving device includes a servo motor and lead screws arranged on both sides of the explosive compartment. The servo motor drives the two lead screws to rotate through a transmission device, and the two lead screws drive the explosive cartridge tray to move up or down.

[0013] As a further technical solution, a laser sensor is also installed on the explosives chamber to detect whether the emulsion explosives are in place.

[0014] As a further technical solution, the explosive magazine is a magazine-type structure.

[0015] As a further technical solution, a flange is also provided at the bottom of the explosives compartment. The flange is connected to a rotating device, which is mounted on a robotic arm, so that the loading device can rotate relative to the robotic arm to adapt to the loading needs of different directions.

[0016] As a further technical solution, the robotic arm drive mechanism is a servo motor, which transmits power through servo motor accessories to drive the rotating robotic arm to rotate.

[0017] As a further technical solution, the detonator device includes a detonator compartment, a servo motor, a coupling, a robotic arm, a servo motor, and a ball screw; the servo motor is connected to the ball screw via the coupling, the ball screw is connected to the robotic arm, and the robotic arm is used to grip the detonator from the detonator compartment.

[0018] The operating principle of this invention is:

[0019] Construction workers place the emulsion explosives and detonators, inputting the borehole parameters (the required quantity of explosives and detonators, for example, the first borehole requires 5 sections of explosives, and the second borehole requires a combination of explosives and detonators, and so on). After completing the preparations, the automatic loading mode of the standard emulsion explosive intelligent loading robot is activated. An industrial camera identifies the relevant borehole information (position, angle, and depth), and the 5-DOF robot moves the relevant joints to the borehole position. After positioning, the servo motor starts, driving the air-blowing pusher tube towards the borehole through gear meshing. When the distance to the borehole is 100mm, the air compressor starts, and the air-blowing pusher tube moves forward to clean the borehole. After cleaning, the air-blowing pusher tube returns to its initial position. The explosives magazine is activated. A laser sensor detects whether the emulsion explosive is in position. If no abnormality is detected (or if an abnormality is detected, the robot will alarm), the relevant motors start. The coupling transmits the motor motion to the ball screws (double ball screws, with a synchronous pulley and belt for synchronized movement). The pallet moves upward under the action of the ball screws, thus moving the emulsion explosive upward. When the laser sensor detects the explosive, the motors stop, and the servo motor starts, delivering an air-push tube towards the borehole. The air-push tube moves forward, pushing the emulsion explosive towards the borehole. A pressure sensor at the front of the air-push tube monitors the pushing pressure in real time. Once the emulsion explosive is pushed to the designated depth, the air-push tube retracts to its initial position. The laser sensor then detects whether the air-push tube is in position. After positioning and detection, the second explosive charge is delivered (the second explosive charge requires a detonator). The servo motor is activated, rotating the robotic arm to the designated position in the detonator compartment. The robotic arm grasps the detonator (pressure sensors monitor the grasping force in real time). After grasping, the servo motor rotates to a position on the same axis as the detonator, activating the motor to deliver the detonator towards the explosive charge. During delivery, the pressure sensor monitors the pushing force in real time. The detonator moves forward and inserts into the explosive charge. The motor reverses direction, positioning the robotic arm. After positioning, the explosive charge delivery motor starts (consistent with the first explosive charge's operating state), pushing the explosive charge to the designated position. The sensor checks if the position is correct. Once completed, the motor starts, and the air-push tube moves towards the borehole, pushing the explosive charge to the designated position. After positioning, the air-push tube retracts from the designated position. The next explosive charge delivery begins.

[0020] Compared with the prior art, the present invention has achieved the following beneficial effects:

[0021] 1) The present invention installs a charging device at the end of a robotic arm. The charging device is used to place the explosive cartridges. It is also used in conjunction with an air blowing device, a borehole identification device, a detonator device, etc., which improves the charging efficiency and completes the explosive loading and detonator insertion processes in one go. It also overcomes the traditional manual charging and detonator insertion methods, greatly reduces the intensity of manual labor, has a high degree of automation, and is highly applicable.

[0022] 2) In the explosive loading process, the present invention adopts a clip-type device; the clip can load multiple explosives at once, improving the efficiency of pushing explosives into the borehole.

[0023] 3) This invention uses an industrial camera to identify borehole information, which can identify the position, angle and depth of the borehole at one time, which helps to solve the defects of inaccurate and unreliable traditional borehole identification information. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention.

[0025] Figure 1 is a structural schematic diagram of the intelligent emulsion explosive loading robot of the present invention.

[0026] Figures 2 and 3 are structural schematic diagrams of the standard emulsion explosive intelligent loading robot of the present invention from another viewpoint.

[0027] Figure 4 is a schematic diagram of the borehole recognition device in the standard emulsion explosive intelligent loading robot of the present invention.

[0028] Figures 5 and 6 are schematic diagrams of the air blowing and pushing device in the intelligent emulsion explosive loading robot of the present invention.

[0029] Figures 7 and 8 are schematic diagrams of the detonator device in the intelligent emulsion explosive loading robot of the present invention.

[0030] Figures 9 and 10 are schematic diagrams of the loading device in the intelligent emulsion explosive loading robot of the present invention.

[0031] Figure 11 is a partial structural schematic diagram of the loading device in the intelligent emulsion explosive loading robot of the present invention.

[0032] Figure 12 is a schematic diagram of the connection between the loading device and the manipulator of the intelligent emulsion explosive loading robot of the present invention.

[0033] Figure 13 is a schematic diagram of the manipulator of the intelligent emulsion explosive loading robot of the present invention.

[0034] Figure 14 is a schematic diagram of the manipulator of the intelligent emulsion explosive loading robot of the present invention.

[0035] Figure 15 is a schematic diagram of the manipulator of the intelligent emulsion explosive loading robot of the present invention.

[0036] In the diagram, 1. Hole identification device; 2. Air blowing device; 3. Robotic arm; 4. Air compressor; 5. Detonator device; 6. Charging device; 7. Industrial camera; 8. Fill light; 9. Cable chain; 10. Air blowing tube; 11-1 Servo motor; 11-2 Servo motor; 12-1 Coupling; 12-2 Coupling; 13-1 Gear; 13-2 Gear, 13-4 Gear; 13-3 Gear, 13-4 Gear; 13-5 Horizontal gear; 14. Wire encoder; 15. Detonator compartment; 16. Servo motor; 17. Coupling; 18. Detonator; 19. Robotic arm; 19- 1. Motor; 19-2. First mechanical gripper; 19-3. Second mechanical gripper; 19-4. Connecting rod; 19-5. Connecting seat; 20. Servo motor; 21. Ball screw; 22. Guide tube; 23. Explosives magazine cover; 24. Explosives magazine; 25. Explosives pusher controller; 26. Laser sensor; 27-1. Ball screw; 27-2. Ball screw; 28. Emulsion explosive; 29. ​​Explosive cartridge tray; 30. Synchronous pulley; 31. Flange; 32. Synchronous belt; 33. Servo motor; 34. Coupling; 35. Support seat; 36. Large gear; 37. Small gear; 38. Servo motor; 39. Connecting plate. Detailed Implementation

[0037] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, 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 pertains.

[0038] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In addition, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0040] As described in the background section, in view of the problems of high labor intensity and low construction efficiency in drill-and-blast construction, the present invention aims to provide a standard emulsion explosive intelligent loading robot suitable for underground engineering, so as to improve the lack of explosive loading equipment in the prior art that can efficiently and once push explosives in, so as to realize the automation and intelligence of explosive loading and reduce the number of construction personnel required.

[0041] Example

[0042] This embodiment discloses a standard emulsion explosive intelligent loading robot suitable for underground engineering, including a borehole identification device 1, an air-blowing and pushing device 2, a robotic arm 3, an air compressor 4, a detonator device 5, and a loading device 6. The detonator device 5, the loading device 6, the air-blowing and pushing device 2, and the borehole identification device 1 are installed on the robotic arm 3, and the air compressor 4 is set on one side of the robotic arm 3. The loading device 6 is installed at the end of the robotic arm and contains a plurality of emulsion explosives 28. The air-blowing and pushing device 2 is installed on the top rear side of the loading device 6. The air-blowing and pushing device 2 has two functions: one is to clean the borehole, and the other is to push the emulsion explosives 28 in the loading device 6 toward the borehole. The detonator device 5 is installed on the upper side of the loading device 6 and is used to place the detonator into the borehole.

[0043] As shown in Figure 4, the borehole identification device 1 includes an industrial camera 7 and a supplementary light 8; the industrial camera 7 is used to accurately identify the position, depth and angle information of the borehole; the supplementary light 8 is used to provide supplementary lighting for the camera.

[0044] Furthermore, the air blowing and pushing device 2 in this embodiment includes an air compressor 4, a cable chain 9, an air blowing and pushing pipe 10, a servo motor 11-1, a coupling 12-1, a gear 13-1, a gear 13-2, a gear 13-3, a gear 13-4, a horizontal gear 13-5, a servo motor 11-2, a coupling 12-2, and a wire encoder 14;

[0045] The servo motor 11-1 is connected to the gear 13-1 via the coupling 12-1. The gear 13-1 meshes with the gear 13-2. The gear 13-2 meshes with the gear 13-3. The gear 13-3 is located on one side of the air blowing tube 10.

[0046] The servo motor 11-2 is connected to the gear 13-4 via the coupling 12-2. The gear 13-4 meshes with the gear 13-5. The gear 13-5 meshes with the gear 13-6. The gear 13-6 is located on one side of the air blowing tube 10.

[0047] The air-blowing tube 10 is driven to move forward by gears located on both sides of the air-blowing tube 10.

[0048] The wire encoder 14 is connected to the gear housing via threads;

[0049] The cable chain 9 is connected to the air push tube 10 via a flexible hose. The cable chain is usually composed of a series of interconnected links, which serve to guide, protect and support, so that the air push tube will not be pulled off or damaged when it moves or extends, while also reducing friction and wear and extending the service life of the equipment.

[0050] As shown in Figures 5 and 6, the pull-wire encoder 14 is used to ensure the precise pushing distance of the emulsion explosive.

[0051] Furthermore, the aforementioned air-blowing push tube 10 can be made of PVC pipe.

[0052] As shown in Figures 6 and 7, the detonator device 5 in this embodiment includes a detonator compartment 15, a servo motor 16, a coupling 17, a detonator 18, a robotic arm 19, a servo motor 20, and a ball screw 21; the detonator compartment 15 is fixed to the side of the upper part of the explosive compartment 24 by a connecting plate, and a plurality of detonators are provided inside the detonator compartment 15.

[0053] The servo motor 16 is connected to the ball screw 21 via a coupling 17. The ball screw 21 is connected to the robot arm 19, which is used to hold the detonator 18. When the servo motor 16 is powered on, it drives the ball screw 21 to rotate. The nut on the ball screw 21 drives the robot arm 19 to make linear motion through the connecting parts. The robot arm 19 is used to hold the detonator 18.

[0054] The drive mechanism of the robotic arm 19 is a servo motor 20, which can rotate within 0-360 degrees. The servo motor 20 transmits power through servo motor accessories to drive the rotating robotic arm 19 to rotate. This is used to precisely control the robotic arm 19 to insert the detonator into the explosive. Specifically, as shown in Figures 13 and 14, the robotic arm 19 includes a motor 19-1, a first mechanical gripper 19-2, a second mechanical gripper 19-3, a connecting rod 19-4, and a connecting seat 19-5. The servo motor 20 drives the connecting seat 19-5. The robot arm 19 rotates, and a motor 19-1, a first mechanical claw 19-2, a second mechanical claw 19-3, and a connecting rod 19-4 are mounted on the connecting seat 19-5. The motor 19-1 drives the first mechanical claw 19-2 to rotate relative to the second mechanical claw 19-3 through the connecting rod 19-4. The second mechanical claw 19-3 is fixed to the connecting seat 19-5, and the first mechanical claw 19-2 and the second mechanical claw 19-3 are connected by gear teeth. The entire robot arm 19 is connected to the lead screw through the connecting plate 39.

[0055] As shown in Figures 10 and 11, the charging device 6 in this embodiment includes an explosive chamber cover 23, an explosive chamber 24, an explosive pusher controller 25, a laser sensor 26, ball screws 27-1 and 27-2; emulsion explosive 28, explosive cartridge tray 29, synchronous pulley 30, flange 31, synchronous belt 32, servo motor 33, and coupling 34; the upper side of the explosive chamber 24 is the explosive chamber cover 23, which is rotatably connected to the explosive chamber 24. The purpose of the explosive chamber cover 23 is to allow it to be opened. The explosive chamber 24 is open at the top and has a servo motor 33 at the bottom. The servo motor 33 is connected to a ball screw 27-1 via a coupling 34. A synchronous pulley 30 is installed on the ball screw 27-1. The synchronous pulley 30 drives another ball screw 27-2 to rotate via a synchronous belt 32. The two ball screws are connected to the same explosive cartridge tray 29. The rotation of the two ball screws drives the explosive cartridge tray 29 to move upward along the explosive chamber 24, thereby pushing the explosive out of the explosive chamber 24 and the explosive chamber cover 23.

[0056] A flange 31 is also installed at the bottom of the explosives magazine 24 for mounting at the end of the robotic arm. Specifically, a support base 35 is installed at the end of the robotic arm, and a large gear 36 is fixed on the support base 35. The flange 31 is fixedly connected to the large gear 36. The outer ring of the large gear 36 meshes with two small gears 37, which are driven by two motors 38. The two motors 38 drive the two small gears 37, which in turn drive the large gear 36 to rotate. The large gear 36 enables the entire explosives loading device 6 to rotate relative to the robotic arm.

[0057] A guide tube 22 extending from both ends of the explosive magazine 24 is fixed at the top of the explosive magazine 24. The bottom of the guide tube 22 is connected to the explosive magazine 24. After the explosive is driven to the guide tube 22 by the explosive cartridge tray 29, the explosive is pushed into the borehole by the air blowing device 2.

[0058] A laser sensor 26 is also installed on the top of the explosives chamber 24. The laser sensor 26 is used to detect whether the emulsion explosive is in place.

[0059] In this embodiment, the explosive magazine 24 of the charging device 6 is a magazine-type structure.

[0060] It is not difficult to understand that the belt drive mentioned above can also be replaced by chain drive or gear drive, with the servo motor 33 connected to the end of the sprocket or gear.

[0061] As shown in Figure 4, the industrial camera 7 is mounted on the supplementary light 8; the supplementary light 8 is mounted on the top of the drug loading device 6.

[0062] Furthermore, the industrial camera 7 accurately identifies the position, depth, and angle information of the borehole.

[0063] Furthermore, the servo motor 20 is connected to the robot arm 19 by a detachable bolt; of course, it is easy to understand that in other embodiments, a non-detachable connection can also be used, for example, by direct welding together.

[0064] In this embodiment, the detonator device 5 uses a servo motor 20 mainly because the servo motor is an intermittent motion mechanism that can realize periodic movement and pause. It can transform the continuous rotation of the driving element into a mechanism that allows the driven element to move and pause periodically. It has the characteristics of simple structure and smooth movement. When the detonator is inserted into the explosive, it needs to be done at a fixed time and at a fixed point. The servo motor has a clear advantage in achieving this requirement.

[0065] It should be noted that the rotation angle of the servo motor 20 in this embodiment is related to the position of the detonator when it is inserted into the explosive. For example, the detonator is inserted when it is parallel to the explosive.

[0066] Furthermore, the robotic arm is a 5-DOF robotic arm.

[0067] As shown in Figure 9, the gas blowing tube 10 is arranged laterally in the standard emulsion explosive intelligent loading robot.

[0068] As shown in Figure 10, the explosive pusher controller 25 is used to detect and determine the quantity of emulsion explosives, etc., so as to replenish them in time and ensure continuous loading.

[0069] As shown in Figure 11, the laser sensor 26 is used to detect whether the emulsion explosive is in place.

[0070] The specific implementation method of this embodiment is as follows:

[0071] Construction workers place the emulsion explosives and detonators, input the borehole parameters (the required number of explosives and detonators, for example: the first borehole requires 5 sections of explosives, and the second borehole requires a combination of explosives and detonators, and so on). After completing the preparations, the automatic loading mode of the standard emulsion explosive intelligent loading robot is activated. The industrial camera 7 identifies the relevant borehole information (position, angle, and depth), and the 5-DOF robot moves the relevant joints to the borehole position. After positioning, servo motors 11-1 and 11-2 are activated, and the air-blowing push tube 10 moves towards the borehole through the meshing of gears. When the distance to the borehole is 100mm, the air compressor 4 is activated, and the air-blowing push tube 10 moves forward to clean the borehole. After cleaning, the air-blowing push tube 10 returns to its initial position.

[0072] The explosives magazine is activated. Laser sensor 26 detects whether emulsion explosive 28 is in position. If no abnormality is detected (in case of an abnormality, the robot will alarm, and other components will not operate; please check the alarm status), servo motor 33 starts. Coupling 34 transmits the motion of servo motor 33 to ball screws 27-1 and 27-2 (double ball screws, with synchronous pulley 30 and synchronous belt 32 installed for synchronized movement). The pallet moves upward under the action of ball screws 27-1 and 27-2, thus moving the emulsion explosive 28 upward. When laser sensor 26 detects the emulsion explosive, servo motor 33 stops working. Servo motors 11-1 and 11-2 start, delivering the air-push tube 10 towards the borehole. The air-push tube 10 moves forward, pushing the emulsion explosive 28 towards the borehole. A pressure sensor installed at the front end of the air-push tube 10 monitors the pushing pressure value in real time. When the emulsion explosive 28 is pushed to the designated depth, the air-push tube 10 retracts to its initial position. The laser sensor 26 detects whether the air-blowing push tube 10 is in position. After the detection is completed, the second explosive is transported (the second explosive needs to be fitted with a detonator). The servo motor 20 is started, and the robotic arm 19 is rotated to the designated position in the detonator compartment. The robotic arm 19 grabs the detonator 18 (the pressure sensor monitors the grabbing force in real time). After the grabbing is completed, the servo motor 20 rotates to the same axis position as the detonator 18. The servo motors 11-1 and 11-2 are started, and the detonator 18 is transported towards the explosive. During the transport process, the pressure sensor monitors the pushing force in real time. The detonator 18 moves forward and inserts the explosive. The servo motor 16 moves in the opposite direction to position the robotic arm. After positioning, the servo motor 33 is started (consistent with the working state of the first explosive) and pushes it to the designated position. The laser sensor 26 detects whether it is in position. After completion, the servo motors 11-1 and 11-2 are started, and the air-blowing push tube 10 moves towards the borehole to push the explosive to the designated position. After positioning, the air-blowing push tube 10 exits the designated position. The next explosive charge delivery has begun.

[0073] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

[0074] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A standard emulsion explosive intelligent loading robot suitable for underground engineering, characterized in that, Includes borehole identification device, air blowing device, robotic arm, detonator device and charging device; The robotic arm is equipped with a charging device at its end. The charging device contains a charge cartridge and includes a drive unit and an explosive chamber. The explosive chamber contains the charge cartridge, and the drive unit moves the charge cartridge upward. A guide tube is provided at the top of the explosive chamber, and an air-blowing device is provided at the rear end of the guide tube. The air-blowing device is used to clean the borehole and push the charge cartridge in the guide tube into the borehole. A borehole identification device is also provided at the top of the guide tube, and a detonator device is provided on the side of the explosive chamber.

2. The intelligent emulsion explosive loading robot suitable for underground engineering as described in claim 1, characterized in that, The borehole identification device includes an industrial camera and a supplementary light; the industrial camera is mounted on the supplementary light, which is mounted on a robotic arm, and the industrial camera accurately identifies the position, depth, and angle information of the borehole.

3. The intelligent emulsion explosive loading robot suitable for underground engineering as described in claim 1, characterized in that, The air blowing device includes an air compressor, an air blowing tube, and a servo motor; the servo motor drives the air blowing tube to move through a gear rotation device, and the air blowing tube is also connected to the air compressor.

4. The intelligent emulsion explosive loading robot suitable for underground engineering as described in claim 1, characterized in that, A wire encoder is also provided on one side of the gas-blowing push tube to ensure the precise pushing distance of the emulsion explosive.

5. The intelligent emulsion explosive loading robot suitable for underground engineering as described in claim 1, characterized in that, The drive device includes a servo motor and lead screws on both sides of the explosive compartment. The servo motor drives the two lead screws to rotate through a transmission device, and the two lead screws drive the explosive cartridge tray to move up or down.

6. The intelligent emulsion explosive loading robot suitable for underground engineering as described in claim 1, characterized in that, A laser sensor is also installed on the explosives chamber to detect whether the emulsion explosives are in place.

7. The intelligent emulsion explosive loading robot suitable for underground engineering as described in claim 1, characterized in that, The explosive magazine is a magazine-type structure.

8. The intelligent emulsion explosive loading robot suitable for underground engineering as described in claim 1, characterized in that, A flange is also provided at the bottom of the explosives compartment. The flange is connected to a rotating device, which is mounted on a robotic arm, so that the explosives loading device can rotate relative to the robotic arm.

9. The intelligent emulsion explosive loading robot suitable for underground engineering as described in claim 1, characterized in that, The robotic arm drive mechanism is a servo motor, which transmits power through servo motor accessories to drive the rotating robotic arm to rotate.

10. The intelligent emulsion explosive loading robot for underground engineering as described in claim 1, characterized in that, The detonator device includes a detonator compartment, a servo motor, a coupling, a robotic arm, a servo motor, and a ball screw; the servo motor is connected to the ball screw via the coupling, the ball screw is connected to the robotic arm, and the robotic arm is used to hold the detonator.

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