CN103424044A - Automatic emulsion explosive spot mixing-loading trolley for underground mine - Google Patents
Automatic emulsion explosive spot mixing-loading trolley for underground mine Download PDFInfo
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- CN103424044A CN103424044A CN2012101574714A CN201210157471A CN103424044A CN 103424044 A CN103424044 A CN 103424044A CN 2012101574714 A CN2012101574714 A CN 2012101574714A CN 201210157471 A CN201210157471 A CN 201210157471A CN 103424044 A CN103424044 A CN 103424044A
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Abstract
The invention relates to the field of engineering blasting, and particularly discloses an automatic emulsion explosive spot mixing-loading trolley for an underground mine. The automatic emulsion explosive spot mixing-loading trolley for the underground mine comprises a trolley body provided with an underpan, an explosive filling system arranged on the underpan, and an automatic aligning mechanism. The automatic aligning mechanism comprises a horizontally-rotating mechanism, a supporting arm, a first mechanical arm, a second mechanical arm, a multistage telescoping cylinder, a mechanical arm and a control implementing mechanism, wherein the horizontally-rotating mechanism is arranged on the underpan, the bottom end of the supporting arm is connected with the horizontally-rotating mechanism, the top end of the supporting arm is connected with the first mechanical arm, the second mechanical arm, the multistage telescoping cylinder and the mechanical arm in sequence, and the control implementing mechanism is also connected with the mechanical arm so as to adjust the position of the mechanical arm in a fine mode. By means of the automatic emulsion explosive spot mixing-loading trolley for the underground mine, the mechanical arm can be sent to the position beside the mouth of a cannon hole, then the position of the mechanical arm is adjusted in the fine mode through the control implementing mechanism, and an explosive conveying hose clamped by the mechanical arm aligns at the cannon hole and then is loaded into the cannon hole through an automatic hose feeding mechanism.
Description
Technical field
The present invention relates to the engineering explosion field, relate in particular to a kind of Underground emulsion scene and automatically load in mixture car.
Background technology
The on-site mixed car of Underground emulsion of the prior art generally comprises the vehicle main body that is provided with chassis and is arranged on the dynamite charge system on chassis.This car that loads in mixture, by manually the loading hose of dynamite charge system being put into to the big gun hole, then be transported to explosive in the big gun hole by loading hose.Exist automaticity low, lavish labor on, the artificial shortcoming that loading hose is aimed to the big gun hole that is difficult for.
Summary of the invention
Provide hereinafter about brief overview of the present invention, in order to the basic comprehension about some aspect of the present invention is provided.Should be appreciated that this general introduction is not about exhaustive general introduction of the present invention.It is not that intention is determined key of the present invention or pith, and nor is it intended to limit the scope of the present invention.Its purpose is only that the form of simplifying provides some concept, usings this as the preorder in greater detail of discussing after a while.
The present invention aims to provide a kind of Underground emulsion scene that can automatically loading hose be packed into to the big gun hole and automatically loads in mixture car.
Technical solution problem of the present invention adopts following technical scheme:
Underground emulsion of the present invention scene loads in mixture car automatically, comprises the vehicle main body that is provided with chassis and is arranged on the dynamite charge system on chassis, also comprises auto-alignment mechanism, described auto-alignment mechanism comprises horizontal rotary mechanism, support arm, the first mechanical arm, the second mechanical arm, multi-stage expansion cylinder, manipulator and control executing agency, described horizontal rotary mechanism is arranged on chassis, described support arm bottom is connected with described horizontal rotary mechanism, described the first mechanical arm one end and described support arm top are rotationally connected, the other end and the second mechanical arm are rotationally connected, the cylinder body end of described multi-stage expansion cylinder is arranged on the end of the second mechanical arm away from the first mechanical arm, the plunger end of described multi-stage expansion cylinder is connected with described manipulator, described control executing agency also is connected with described manipulator, for the position of manipulator is finely tuned, be provided with between described support arm and the first mechanical arm for driving first rotary drive mechanism of the first mechanical arm with respect to the support arm rotation, be provided with between described the first mechanical arm and the second mechanical arm for driving both counterrotating the second rotary drive mechanisms.
Optionally, described dynamite charge system comprises matrix reservoir vessel and filling control system; Described filling control system comprises sensitizing solution reservoir vessel, rinse water reservoir vessel, dynamical system, matrix pump, sensitization liquid pump, matrix filter, water ring injector, loading hose and static mixer; Described dynamical system provides power for matrix pump and sensitization liquid pump; The charging aperture of described matrix pump is connected with the matrix reservoir vessel, and the discharging opening of described matrix pump is connected with matrix filter and water ring injector successively by pipeline; The charging aperture of described sensitization liquid pump is connected by pipeline with the sensitizing solution reservoir vessel, and the discharging opening of described sensitization liquid pump is connected with described water ring injector by pipeline; The discharging opening of described water ring injector connects described loading hose and described static mixer successively, and described rinse water reservoir vessel is connected with described matrix pump by pipeline.
Optionally, described the first rotary drive mechanism is first piston formula hydraulic jack or first piston formula cylinder, described first piston formula hydraulic jack or first piston formula cylinder comprise the first cylinder body bearing, the first cylinder body and first piston bar, one end of described the first cylinder body connects described the first cylinder body bearing, and the other end connects described first piston bar; Described the first cylinder body bearing is connected with support arm, and described first piston bar is connected with described the first mechanical arm;
Described the second rotary drive mechanism is the second piston-type hydro compressing cylinder or first piston formula cylinder, described the second piston-type hydro compressing cylinder or first piston formula cylinder comprise the second cylinder body bearing, the second cylinder body and the second piston rod, one end of described the second cylinder body connects described the second cylinder body bearing, and the other end connects described the second piston rod; Described the second cylinder body bearing is connected with described the first mechanical arm, and described the second piston rod is connected with described the second mechanical arm.
Optionally, described the second piston rod is bent upwards away from an end of the second cylinder body.
Optionally, described matrix pump and sensitization liquid pump are wholely set as two component pumps.
Optionally, described horizontal rotary mechanism comprises turntable, driving gear set and hydraulic motor; Described turntable is arranged on chassis, and described hydraulic motor drives the turntable rotation by driving gear set.
Optionally, the two component pumps side on described chassis also is provided with coiler and the automatic feed tube mechanism for coiling loading hose, and described coiler and automatic feed tube mechanism are by fluid motor-driven.
Optionally, also comprise power takeoff device, hydraulic system and hydraulic oil container, described power takeoff device is connected with the engine of chassis, and described power takeoff device also is connected to hydraulic system with hydraulic system provides power, described hydraulic oil container is connected with hydraulic system, for hydraulic system provides recycle oil; Described hydraulic system rotarilys actuate machinery for the first rotary drive mechanism, second and described hydraulic motor provides power.
Optionally, also being provided with pressure sensor, temperature in described matrix pump limits and limits module, blank-run prevention control module and temperature from the module that fuses, pressure and limit module.
Optionally, be provided with venting of dust explosion hole and peep hole on described matrix reservoir vessel.
Beneficial effect of the present invention is as follows:
(1) owing to being provided with auto-alignment mechanism, horizontal rotary mechanism by auto-alignment mechanism can drive auto-alignment mechanism and rotate in horizontal plane, between support arm and the first mechanical arm, can relatively rotate, between the first mechanical arm and the second mechanical arm, can relatively rotate, therefore, pass through horizontal rotary mechanism, support arm, the cooperation of the first mechanical arm and the second mechanical arm, not only can in horizontal plane, adjust the position of manipulator, can also adjust up and down the position of manipulator, manipulator is delivered to side, aperture, big gun hole, by controlling executing agency, the position of manipulator is finely tuned again, make the loading hose of manipulator clamping aim at the big gun hole, and then loading hose is packed in the big gun hole.
(2) be provided with automatic feed tube mechanism, after the big gun hole is aimed at by loading hose by auto-alignment mechanism, start automatic feed tube mechanism and just loading hose can be sent in the big gun hole, have automaticity high, powder charge is advantage easily.
The accompanying drawing explanation
Below with reference to the accompanying drawings illustrate embodiments of the invention, can understand more easily above and other objects, features and advantages of the present invention.Parts in accompanying drawing are just in order to illustrate principle of the present invention.In the accompanying drawings, same or similar technical characterictic or parts will adopt same or similar Reference numeral to mean.
Fig. 1 is the side-looking structural representation that Underground emulsion of the present invention scene loads in mixture car automatically;
Fig. 2 is the plan structure schematic diagram that Underground emulsion of the present invention scene loads in mixture car automatically;
Fig. 3 is the Underground emulsion of the present invention scene backsight structural representation that automatically loads in mixture car (not shown auto-alignment mechanism).
In figure, mark is illustrated as: the 1-vehicle main body; The 101-chassis; 2-dynamite charge system; The 3-horizontal rotary mechanism; The 4-support arm; 5-the first mechanical arm; 6-the second mechanical arm; The 7-manipulator; 8-controls executing agency; 10-matrix reservoir vessel; 11-sensitizing solution reservoir vessel; 12-rinse water reservoir vessel; The 13-loading hose; The 14-coiler; 15-automatic feed tube mechanism; 1601a-the first cylinder body bearing; 1602a-the first cylinder body; 1603a-first piston bar; 1601b-the second cylinder body bearing; 1602b-the second cylinder body; 1603b-the second piston rod; The 17-peep hole; 18-venting of dust explosion hole; The 19-multi-stage expansion cylinder; 9-matrix pump; 20-sensitization liquid pump; The 21-dynamical system; 22-matrix filter; 23-water ring injector; 24-matrix return valve; 25-matrix return duct.
The specific embodiment
Embodiments of the invention are described with reference to the accompanying drawings.The element of describing in an accompanying drawing of the present invention or a kind of embodiment and feature can combine with element and feature shown in one or more other accompanying drawing or embodiment.It should be noted that for purposes of clarity, omitted expression and the description of unrelated to the invention, parts known to persons of ordinary skill in the art and processing in accompanying drawing and explanation.
As shown in Figure 1 and Figure 2, the Underground emulsion scene of the present embodiment loads in mixture car automatically, comprises the vehicle main body 1 that is provided with chassis 101 and is arranged on the dynamite charge system 2 on chassis 101, also comprises auto-alignment mechanism.
Described auto-alignment mechanism comprises horizontal rotary mechanism 3, support arm 4, the first mechanical arm 5, the second mechanical arm 6, multi-stage expansion cylinder 19, manipulator 7 and controls executing agency 8.
Described horizontal rotary mechanism is arranged on chassis 101, described support arm 4 bottoms are connected with described horizontal rotary mechanism 3, described the first mechanical arm 5 one ends and described support arm 4 tops are rotationally connected, the other end and the second mechanical arm 6 are rotationally connected, the cylinder body end of described multi-stage expansion cylinder 19 is arranged on the end of the second mechanical arm 6 away from the first mechanical arm 5, the plunger end of described multi-stage expansion cylinder 19 is connected with described manipulator 7, described control executing agency 8 also is connected with described manipulator 7, for the position to manipulator 7, is finely tuned; Be provided with between described support arm 4 and the first mechanical arm 5 for driving the first rotary drive mechanism of the first mechanical arm 5 support arm 4 rotations, be provided with between described the first mechanical arm 5 and the second mechanical arm 6 for driving both counterrotating the second rotary drive mechanisms.
In the present embodiment, described multi-stage expansion cylinder 19 can be multi-stage expansion cylinder or the multistage hydraulic compression cylinder of stretching, and is preferably secondary telescopic cylinder, three grades of telescopic cylinders, 2-level hydraulic telescoping cylinder or three grades of hydraulically extensible cylinders.Owing to being provided with multi-stage expansion cylinder 19, the impulse stroke that described auto-alignment mechanism can obtain growing, in order to reach the position of filling the required work of drug delivery, and the axial length while retracting is shorter, have take up room less, the advantage of compact conformation.
In the present embodiment, described the first rotary drive mechanism is preferably first piston formula hydraulic jack or first piston formula cylinder, described first piston formula hydraulic jack or first piston formula cylinder comprise the first cylinder body bearing 1601a, the first cylinder body 1602a and first piston bar 1603a, the end of described the first cylinder body 1602a connects described the first cylinder body bearing 1601a, and the other end connects described first piston bar 1603a; Described the first cylinder body bearing 1601a is connected with support arm 4, and described first piston bar 1603a is connected with described the first mechanical arm 5.So arrange, by the flexible of first piston bar 1603a, just can promote the first mechanical arm 5, it is rotated with respect to support arm 4.
Described the second rotary drive mechanism is preferably the second piston-type hydro compressing cylinder or first piston formula cylinder, described the second piston-type hydro compressing cylinder or first piston formula cylinder comprise the second cylinder body bearing 1601b, the second cylinder body 1602b and the second piston rod 1603b, the end of described the second cylinder body 1602b connects described the second cylinder body bearing 1601b, and the other end connects described the second piston rod 1603b; Described the second cylinder body bearing 1601b is connected with described the first mechanical arm 5, and described the second piston rod 1603b is connected with described the second machinery 6.The like this setting, just can promote the second mechanical arm 6 by the flexible of the second piston rod 1603b, it rotated with respect to the first mechanical arm 5, thereby realize the expansion of the second mechanical arm 6 and fold.
Horizontal rotary mechanism 3 by auto-alignment mechanism can drive auto-alignment mechanism and rotate in horizontal plane, between support arm 4 and the first mechanical arm 5, can relatively rotate, between the first mechanical arm 5 and the second mechanical arm 6, can relatively rotate, therefore, by horizontal rotary mechanism 3, support arm 4, the cooperation of the first mechanical arm 5 and the second mechanical arm 6, not only can in horizontal plane, adjust the position of manipulator 7, can also adjust up and down the position of manipulator 7, manipulator 7 is delivered to side, aperture, big gun hole, by the position of controlling 8 pairs of manipulators 7 of executing agency, finely tuned again, make the loading hose 13 of manipulator 7 clampings aim at the big gun hole, and then loading hose 13 is packed in the big gun hole.
In the present embodiment, described the second piston rod 1603b is bent upwards away from the end of the second cylinder body 1602b.So arrange, be convenient to the second piston rod 1603b and upwards promote the second mechanical arm 6, be convenient to the second mechanical arm 6 and rotate in the counterclockwise direction.
In the present embodiment, described horizontal rotary mechanism 3 comprises turntable, driving gear set and hydraulic motor; Described turntable is arranged on chassis 101, and described hydraulic motor drives the turntable rotation by driving gear set.
As shown in Figure 1 to Figure 3, in the present embodiment, described dynamite charge system 2 comprises matrix reservoir vessel 10 and filling control system; Described filling control system comprises sensitizing solution reservoir vessel 11, rinse water reservoir vessel 12, dynamical system 21, matrix pump 9, sensitization liquid pump 20, matrix filter 22, water ring injector 23, loading hose 13 and static mixer; Described dynamical system 21 is that matrix pump 9 and sensitization liquid pump carry 20 for power; The charging aperture of described matrix pump 9 is connected with matrix reservoir vessel 10, and the discharging opening of described matrix pump 9 is connected with matrix filter 22 and water ring injector 23 successively by pipeline; The charging aperture of described sensitization liquid pump 20 is connected by pipeline with sensitizing solution reservoir vessel 11, and the discharging opening of described sensitization liquid pump 20 is connected with described water ring injector 23 by pipeline; The discharging opening of described water ring injector 23 connects described loading hose 13 and described static mixer successively, and described rinse water reservoir vessel 12 is connected with described matrix pump 9 by pipeline.
In the present embodiment, stop valve, rinse water switch and rinse water filter preferably are set on the pipeline between rinse water reservoir vessel 12 and matrix pump 9.
Emulsified bases is stored in matrix reservoir vessel 10, sensitizing solution is stored in sensitizing solution reservoir vessel 11, rinse water is stored in rinse water reservoir vessel 12, after opening matrix pump 9, matrix in matrix reservoir vessel 10 enters into matrix pump 9, then enter into matrix filter 22 and filtered under the effect of matrix pump 9, the emulsified bases after filtration enters into water ring injector 23 under the effect of matrix pump 9.After opening sensitization liquid pump 20, sensitizing solution enters into sensitization liquid pump 20 from sensitizing solution reservoir vessel 11, then enter into water ring injector 23 under the effect of sensitization liquid pump 20, formation is wrapped in the outer water ring of emulsified bases, then by water ring injector 23, be injected in loading hose 13, then enter into static mixer by loading hose 13, the big gun hole of just can packing into after mixing in static mixer.
In the present embodiment, preferably on the discharging opening of described matrix pump 9 and the pipeline between matrix filter 22, be provided with matrix return valve 24, described matrix return valve 24 is communicated with by matrix return duct 25 with described matrix reservoir vessel 10, in order to provide backflow for matrix.
In the present embodiment, described matrix pump and sensitization liquid pump preferably are wholely set as two component pumps.Described pair of component pump is preferably the two component plunger interlock pumps that only have a dynamical system, can be also simple sensitization liquid pump and matrix pump are wholely set, still adopt two dynamical systems to be respectively two component pumps that sensitization liquid pump 12 and matrix pump 9 provide power to comprise hybrid power system.
In the present embodiment, be provided with venting of dust explosion hole 18 and peep hole 17 on described matrix reservoir vessel 10, on described peep hole 17, be provided with manhole cover; Described matrix reservoir vessel 10 also is provided with heat-insulation layer; Described matrix pump 9 is provided with automatic device for fusing and blank-run prevention device.
In the present embodiment, the two component pumps side on described chassis 101 also is provided with coiler 14 and the automatic feed tube mechanism 15 for coiling loading hose 13, and described coiler 14 and automatic feed tube mechanism 15 are by fluid motor-driven.After the big gun hole is aimed at by loading hose 13 by auto-alignment mechanism, start automatic feed tube mechanism 15 and just loading hose 13 can be sent in the big gun hole, there is automaticity high, powder charge is advantage easily.
In the present embodiment, also comprise power takeoff device, hydraulic system and hydraulic oil container, described power takeoff device is connected with the engine of chassis 101, described power takeoff device also is connected to hydraulic system with hydraulic system provides power, described hydraulic oil container is connected with hydraulic system, for hydraulic system provides recycle oil; Described hydraulic system rotarilys actuate machinery for the first rotary drive mechanism, second and described hydraulic motor provides power.
In the present embodiment, also be provided with pressure sensor, temperature restriction in described matrix pump from the module that fuses, pressure restriction module, blank-run prevention control module and temperature restriction module.
When the temperature of described matrix pump surpasses the first temperature preset value, described temperature limits from the module that fuses and automatically fuses, and makes described matrix pump 9 quit work.
Described pressure limits the signal that module receives the pressure sensor in the matrix pump; When described pressure signal overpressure preset value, described pressure limits module and cut-off signal is sent to the startup controller of matrix pump 9, stops the work of matrix pump 9.
Described blank-run prevention control module detects piston in matrix pump 9 and is subject to force information and piston movement frequency information; When described piston is subject to force information or described piston movement frequency information and default piston to be subject to force information or to be greater than default piston movement frequency information, described blank-run prevention control module is sent to cut-off signal the startup controller of matrix pump 9, stops the work of matrix pump 9.
Described temperature limits the signal that module receives the temperature sensor of matrix pump 9 outputs; When described temperature signal surpasses the second temperature preset value, described temperature limits module and cut-off signal is sent to the startup controller of matrix pump 9, stops the work of matrix pump 9.
In equipment of the present invention, obviously, each parts reconfigure after can decomposing, combine and/or decomposing.These decomposition and/or reconfigure and should be considered as equivalents of the present invention.Simultaneously, in the above in the description to the specific embodiment of the invention, the feature of describing and/or illustrating for a kind of embodiment can be used in same or similar mode in one or more other embodiment, combined with the feature in other embodiment, or substitute the feature in other embodiment.
Claims (10)
1. a Underground emulsion scene loads in mixture car automatically, comprises the vehicle main body that is provided with chassis and is arranged on the dynamite charge system on chassis, it is characterized in that: also comprise auto-alignment mechanism, described auto-alignment mechanism comprises horizontal rotary mechanism, support arm, the first mechanical arm, the second mechanical arm, multi-stage expansion cylinder, manipulator and control executing agency, described horizontal rotary mechanism is arranged on chassis, described support arm bottom is connected with described horizontal rotary mechanism, described the first mechanical arm one end and described support arm top are rotationally connected, the other end and the second mechanical arm are rotationally connected, the cylinder body end of described multi-stage expansion cylinder is arranged on the end of the second mechanical arm away from the first mechanical arm, the plunger end of described multi-stage expansion cylinder is connected with described manipulator, described control executing agency also is connected with described manipulator, for the position of manipulator is finely tuned, be provided with between described support arm and the first mechanical arm for driving first rotary drive mechanism of the first mechanical arm with respect to the support arm rotation, be provided with between described the first mechanical arm and the second mechanical arm for driving both counterrotating the second rotary drive mechanisms.
2. Underground emulsion according to claim 1 scene loads in mixture car automatically, it is characterized in that: described dynamite charge system comprises matrix reservoir vessel and filling control system; Described filling control system comprises sensitizing solution reservoir vessel, rinse water reservoir vessel, dynamical system, matrix pump, sensitization liquid pump, matrix filter, water ring injector, loading hose and static mixer; Described dynamical system provides power for matrix pump and sensitization liquid pump; The charging aperture of described matrix pump is connected with the matrix reservoir vessel, and the discharging opening of described matrix pump is connected with matrix filter and water ring injector successively by pipeline; The charging aperture of described sensitization liquid pump is connected by pipeline with the sensitizing solution reservoir vessel, and the discharging opening of described sensitization liquid pump is connected with described water ring injector by pipeline; The discharging opening of described water ring injector connects described loading hose and described static mixer successively, and described rinse water reservoir vessel is connected with described matrix pump by pipeline.
3. Underground emulsion according to claim 1 scene loads in mixture car automatically, it is characterized in that:
Described the first rotary drive mechanism is first piston formula hydraulic jack or first piston formula cylinder, described first piston formula hydraulic jack or first piston formula cylinder comprise the first cylinder body bearing, the first cylinder body and first piston bar, one end of described the first cylinder body connects described the first cylinder body bearing, and the other end connects described first piston bar; Described the first cylinder body bearing is connected with support arm, and described first piston bar is connected with described the first mechanical arm;
Described the second rotary drive mechanism is the second piston-type hydro compressing cylinder or first piston formula cylinder, described the second piston-type hydro compressing cylinder or first piston formula cylinder comprise the second cylinder body bearing, the second cylinder body and the second piston rod, one end of described the second cylinder body connects described the second cylinder body bearing, and the other end connects described the second piston rod; Described the second cylinder body bearing is connected with described the first mechanical arm, and described the second piston rod is connected with described the second mechanical arm.
4. Underground emulsion according to claim 4 scene loads in mixture car automatically, it is characterized in that: described the second piston rod is bent upwards away from an end of the second cylinder body.
5. Underground emulsion according to claim 2 scene loads in mixture car automatically, it is characterized in that: described matrix pump and sensitization liquid pump are wholely set as two component pumps.
6. automatically load in mixture car according to the described Underground emulsion of claim 1-5 any one scene, it is characterized in that: described horizontal rotary mechanism comprises turntable, driving gear set and hydraulic motor; Described turntable is arranged on chassis, and described hydraulic motor drives the turntable rotation by driving gear set.
7. Underground emulsion according to claim 6 scene loads in mixture car automatically, it is characterized in that: the two component pumps side on described chassis also is provided with coiler and the automatic feed tube mechanism for coiling loading hose, and described coiler and automatic feed tube mechanism are by fluid motor-driven.
8. Underground emulsion according to claim 6 scene loads in mixture car automatically, it is characterized in that: also comprise power takeoff device, hydraulic system and hydraulic oil container, described power takeoff device is connected with the engine of chassis, described power takeoff device also is connected to hydraulic system with hydraulic system provides power, described hydraulic oil container is connected with hydraulic system, for hydraulic system provides recycle oil; Described hydraulic system rotarilys actuate machinery for the first rotary drive mechanism, second and described hydraulic motor provides power.
9. Underground emulsion according to claim 6 scene loads in mixture car automatically, it is characterized in that: also be provided with pressure sensor, temperature restriction in described matrix pump from the module that fuses, pressure restriction module, blank-run prevention control module and temperature restriction module.
10. Underground emulsion according to claim 2 scene loads in mixture car automatically, it is characterized in that: on described matrix reservoir vessel, be provided with venting of dust explosion hole and peep hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101574714A CN103424044A (en) | 2012-05-18 | 2012-05-18 | Automatic emulsion explosive spot mixing-loading trolley for underground mine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012101574714A CN103424044A (en) | 2012-05-18 | 2012-05-18 | Automatic emulsion explosive spot mixing-loading trolley for underground mine |
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| CN2012101574714A Pending CN103424044A (en) | 2012-05-18 | 2012-05-18 | Automatic emulsion explosive spot mixing-loading trolley for underground mine |
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| CN103983149A (en) * | 2014-05-16 | 2014-08-13 | 中国能源建设集团有限公司工程研究院 | Method, device and system for automatically finding blasthole during charging of blasthole |
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| CN104949594A (en) * | 2015-03-30 | 2015-09-30 | 深圳市金奥博科技有限公司 | Method for loading explosive in fields in mixed manner on basis of underground explosive loading trucks |
| CN107449333A (en) * | 2017-09-06 | 2017-12-08 | 中钢集团马鞍山矿山研究院有限公司 | The mechanization continuous charging system of surface blasting |
| CN107957224A (en) * | 2016-10-17 | 2018-04-24 | 淡水河谷公司 | For the delivery vehicle and application method being deposited on explosive in blast hole |
| CN107966096A (en) * | 2016-10-18 | 2018-04-27 | 山东正元地球物理信息技术有限公司 | Intelligent pipeline detection monitoring device |
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| CN104949594A (en) * | 2015-03-30 | 2015-09-30 | 深圳市金奥博科技有限公司 | Method for loading explosive in fields in mixed manner on basis of underground explosive loading trucks |
| CN107957224A (en) * | 2016-10-17 | 2018-04-24 | 淡水河谷公司 | For the delivery vehicle and application method being deposited on explosive in blast hole |
| CN107966096A (en) * | 2016-10-18 | 2018-04-27 | 山东正元地球物理信息技术有限公司 | Intelligent pipeline detection monitoring device |
| CN107966096B (en) * | 2016-10-18 | 2019-07-23 | 山东正元地球物理信息技术有限公司 | Intelligent pipeline detection monitoring device |
| CN107449333A (en) * | 2017-09-06 | 2017-12-08 | 中钢集团马鞍山矿山研究院有限公司 | The mechanization continuous charging system of surface blasting |
| CN107449333B (en) * | 2017-09-06 | 2019-08-06 | 中钢集团马鞍山矿山研究院有限公司 | The mechanization continuous charging system of surface blasting |
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