Robotic Feed Unit for Remote Blast Hole Preparation

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Solution Overview

Problem

Mining operations using drilling and blasting techniques pose safety risks as personnel need to be close to the rock face during blast hole preparation, inspection, and explosive loading, which can be hazardous.

Innovation Solution

An apparatus with a feed unit and articulated arm system that deploys and retracts tools from a safe distance, using a common tool outlet with multiple tool stations, sensors, and a controller to manage force and torque, allowing for remote operation and reducing the need for personnel proximity.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If personnel manually inspect and clear blast holes close to the rock face, then the blast hole preparation can be performed with simple equipment, but the safety of mining personnel deteriorates due to proximity to hazardous rock face

Engineering Contradiction:

Improvesafety of mining personnelVSAvoidcomplexity of tool deployment system

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

A robotic arm system acts as an intermediary between the operator and the blast hole, allowing tool deployment and inspection tasks to be performed remotely. The robotic arm with articulated joints and end effector enables personnel to clear and inspect blast holes without direct proximity to the hazardous rock face, thus improving safety while managing system complexity through automated control

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

Manual mechanical operations of inspecting and clearing blast holes are replaced with an automated robotic system. The robotic arm with controlled movement and tool attachment replaces human hands and tools, eliminating the need for personnel to be in close proximity to the rock face while performing these tasks

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Productivity

If multiple tools are kept ready at multiple tool stations, then the productivity of blast hole preparation improves, but the device complexity increases due to multiple tool stations and drive mechanisms

Engineering Contradiction:

Improveefficiency of blast hole preparationVSAvoidnumber of tool stations and drive mechanisms

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The robotic arm system is designed with multiple tool stations, each capable of holding different tools required for blast hole preparation. This multi-functional design allows the same robotic system to perform various tasks (inspection, clearing, loading) by switching between different tools at the end effector, improving productivity while consolidating operations into a single versatile platform rather than requiring separate systems for each task

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

Multiple tools are pre-loaded into the tool stations before the robotic arm is deployed to the rock face. This preliminary preparation allows for quick tool changes and continuous operation without returning to a tool room or storage area, thereby improving the efficiency of blast hole preparation while managing complexity through advance organization of tools

Inventive Principle:

Principle #10Preliminary action

3Force

If the drive mechanism exerts high driving force on the tool, then the tool can effectively clear debris from the blast hole, but the risk of exceeding predetermined force limits and causing damage or safety issues increases

Engineering Contradiction:

Improvedriving force on toolVSAvoidcontrol over driving force

Core Design Contradiction:

ForceVSReliability

Solution Approach 1:

The drive mechanism incorporates force sensing and control systems that provide feedback on the driving force applied to the tool. This feedback mechanism allows the system to monitor and adjust the force in real-time, ensuring that the tool exerts sufficient force to clear debris from the blast hole while preventing excessive force that could cause damage to the tool, the blast hole, or create safety hazards

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The drive mechanism is designed with controllable force parameters, allowing the driving force to be adjusted based on the specific task and conditions. By changing the force parameter dynamically rather than using a fixed high force, the system can effectively clear debris while maintaining control and avoiding damage, thus balancing the need for sufficient force with safety and reliability

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS11773719B2Apparatus and method for preparing a blast hole in a rock face during a mining operation

Publication Date: 2023.10.03 1854081 ONTARIO LTD

AI summary

Apparatus and methods for preparing a blast hole in a rock face during a mining operation are disclosed. An exemplary method comprises: deploying a first tool toward the blast hole in the rock face via a common tool outlet of a feed unit using a first tool station of the feed unit; retracting the first tool from the common tool outlet using the first tool station of the feed unit and retaining the first tool in the first tool station; and while the first tool is retained in the first tool station, deploying a second tool toward the blast hole in the rock face through the common tool outlet of the feed unit using a second tool station of the feed unit.