CN104949593B - Underground on-site mixed explosives truck - Google Patents
Underground on-site mixed explosives truck Download PDFInfo
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- CN104949593B CN104949593B CN201510143585.7A CN201510143585A CN104949593B CN 104949593 B CN104949593 B CN 104949593B CN 201510143585 A CN201510143585 A CN 201510143585A CN 104949593 B CN104949593 B CN 104949593B
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- 239000002360 explosive Substances 0.000 title claims abstract description 43
- 239000000843 powder Substances 0.000 claims abstract description 130
- 239000000839 emulsion Substances 0.000 claims abstract description 70
- 239000011159 matrix material Substances 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000008520 organization Effects 0.000 claims abstract description 16
- 239000000203 mixture Substances 0.000 claims abstract description 10
- 239000004816 latex Substances 0.000 claims description 37
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- 238000002347 injection Methods 0.000 claims description 10
- 239000007924 injection Substances 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 8
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- 238000005422 blasting Methods 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 4
- 230000001804 emulsifying effect Effects 0.000 claims 1
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- 206010070834 Sensitisation Diseases 0.000 description 2
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- 230000008313 sensitization Effects 0.000 description 2
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Abstract
The present invention relates to the technical field of underground explosive truck, disclose a kind of underground on-site mixed explosives truck, including vehicle body, chassis on vehicle body and the mechanical arm on chassis look for holes mechanism and powder charge conveying mixed organization automatically, also include the hydraulic system and electric control system that holes mechanism and powder charge conveying mixed organization cooperation are looked for automatically with mechanical arm, wherein, powder charge conveying mixed organization is included for loading in mixture emulsion matrix to form the automatic powder charge module of emulsion, it is connected with automatic powder charge module and for conveying the powder charge pipe of emulsion, and for the automatic feed tube device of automatic transport powder charge pipe, mechanical arm looks for holes mechanism and automatic feed tube device to carry out blasthole position centering to the head end to powder charge pipe with merging automatically.Underground on-site mixed explosives truck in the embodiment of the present invention, realizes mechanization and looks for hole, automatic sending and receiving pipe and automatic Loading blasthole, not only increase loading rate, reduce the labor intensity of operating personnel, also effectively improve the safety condition of operating personnel.
Description
Technical field
The present invention relates to the technical field of Underground charging vehicle, more particularly to a kind of underground on-site mixed explosives truck.
Background technology
Explosion be using explosive explode in empty gas and water, native stone medium or object produced by compression, loosenings, destruction, throwing
Throw and lethal effect, a special kind of skill for accomplishing the end in view.In mine operation, explosion is requisite link.
At present, during underground mine bursting work, most domestic underground mine generally all adopts manual charging, uses
Tamper discloses web-like explosive one by one into blasthole, and only minority underground mine adopts simple explosive loader or Underground charging vehicle,
But artificial and simple explosive loader loading rate is low, safety condition is poor, and the coupling of high labor intensive, powder stick and blasthole
Difference, demolition effect are poor, in addition, the Underground charging vehicle of existing application still send pipe powder charge on big gun heap using people's station or stands on hanging basket
Pipe powder charge is manually sent, so there is high labor intensive, filling blast hole depth is limited, and operator are long in the deathtrap activity duration
The problems such as.
The content of the invention
It is an object of the invention to provide a kind of underground on-site mixed explosives truck, it is intended to solve in prior art, mine big gun
Hole charging has that by the way of artificial high labor intensive, loading rate be low, demolition effect is poor and poor stability.
The invention provides a kind of underground on-site mixed explosives truck, including vehicle body, and the bottom being arranged on the vehicle body
Disk, is provided with mechanical arm and looks for automatically holes mechanism and powder charge conveying mixed organization, the powder charge to convey mixed organization on the chassis
Including for emulsion matrix being loaded in mixture to form the automatic powder charge module of emulsion, be connected and be used for the automatic powder charge module
The powder charge pipe of conveying emulsion, and for the automatic feed tube device of powder charge pipe described in automatic transport, the mechanical arm is looked for automatically
Holes mechanism matches somebody with somebody to merge with the automatic feed tube device carries out blasthole position centering to the head end to the powder charge pipe；The underground is existing
Field explosives mix-load truck also includes looking for automatically the hydraulic pressure system that holes mechanism and powder charge conveying mixed organization coordinate with the mechanical arm
System and electric control system.
Preferably, the automatic powder charge module includes installing rack, is arranged on the installing rack and for containing latex base
The latex feed bin of matter, is connected with the latex feed bin and for pumping the latex pump of emulsion matrix, is arranged on the installing rack
And for containing the sensitizer case of sensitizer, connect with the sensitizer case and for pumping the sensitizer pump of sensitizer, and divide
The control valve of the latex pump and the sensitizer pump is not connected, the control valve is connected to the powder charge pipe.
Preferably, the automatic powder charge module also include on the installing rack and for contain rinse water water tank and
Connect with the water tank and for pumping the water pump of rinse water, the water pump is connected with the control valve.
Further, water ring device is provided between the control valve and the powder charge pipe.
Preferably, the automatic feed tube device includes mounting bracket, and be arranged in the mounting bracket transmission component,
Drive component, to drive the transmission component to be driven, the transmission component is to clamp and transmit for the drive component
The powder charge pipe, is additionally provided with the mounting bracket for detecting the transmission component kinestate and measuring the powder charge pipe
The detection gauge assembly of sending and receiving length.
Preferably, the transmission component includes that order is arranged and the active wheels of sending and receiving is carried out to clamp the powder charge pipe
And driven wheels；The drive component includes the power packages for being arranged at the active wheels side and being connected with which.
Preferably, the detection gauge assembly is included located at the active wheels side and to detect what whether which rotated
First sensor, and located at the driven wheels side and to measure the second sensor of the powder charge pipe sending and receiving length,
The first sensor and second sensor are coordinated with the electric control system.
Preferably, the mechanical arm looks for holes mechanism to include the support arm on the chassis automatically, located at the support
The telescopic arm of arm outer end, and the actuating arm to drive the automatic feed tube device to swing in perpendicular, it is described to send automatically
Pipe device is arranged at the actuating arm front end, and the actuating arm is arranged between the automatic feed tube device and the telescopic arm front end,
It is provided with to promote on the support arm hydraulic stem of telescopic arm lifting and swinging in the perpendicular.
Preferably, the mechanical arm looks for holes mechanism also to include the camera head being arranged on the automatic feed tube device automatically,
The display being arranged on the vehicle body, the display electrically connect cooperation with the camera head.
Further, the head end of the powder charge pipe is provided with for static mixing emulsion matrix to form the quiet of emulsion
State blender, the outer end of the static mixer are connected with for spraying the injection adhesion-promoting device of emulsion.
Based on above-mentioned technical proposal, the embodiment of the present invention is automatic by hydraulic system, electric control system control machinery arm
Look for holes mechanism and powder charge conveying mixed organization to carry out blast hole projectile filling operation, realize automated job, specifically, by dress automatically
Medicine module carries out blast hole charging, realizes automatic powder charge and powder charge speed is adjustable；By automatic feed tube device automatic transport powder charge pipe,
Realize automatic sending and receiving pipe；Automatically look for holes mechanism to carry out blasthole position with automatic feed tube device and powder charge pipe by mechanical arm to look for
Just, realize mechanization and look for hole；As described above, the underground on-site mixed explosives truck not only increases loading rate, also reduce
The labor intensity of operating personnel, in addition, operating personnel may be located remotely from blasthole position being operated, improves the safety of operating personnel
Condition.
Description of the drawings
Fig. 1 is the partial structural diagram of underground on-site mixed explosives truck in the embodiment of the present invention；
Fig. 2 is a partial structural diagram of automatic powder charge module in the embodiment of the present invention；
Fig. 3 is another partial structural diagram of automatic powder charge module in the embodiment of the present invention；
Fig. 4 stretches into the schematic diagram in blasthole for powder charge pipe head end in the embodiment of the present invention；
Fig. 5 is the dimensional structure diagram of automatic feed tube device in the embodiment of the present invention；
Fig. 6 is the perspective diagram of automatic feed tube device in the embodiment of the present invention；
Fig. 7 is the partial perspective schematic view of automatic feed tube device in the embodiment of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, and
It is not used in the restriction present invention.
It is described in detail below in conjunction with realization of the specific embodiment to the present invention.
As shown in Figures 1 to 7, the embodiment of the present invention proposes a kind of underground on-site mixed explosives truck, and the explosive truck includes
Vehicle body 1 and chassis 2, chassis 2 are fixed and are erected on vehicle body 1, be provided with mechanical arm and look for automatically holes mechanism 3 and dress on the chassis 2
Medicine conveys mixed organization 4, and the powder charge conveying mixed organization 4 includes automatic powder charge module 41, powder charge pipe 42 and automatic feed tube device
43, wherein, automatic powder charge module 41 is fixed on chassis 2, and automatic feed tube device 43 is arranged on before mechanical arm looks for holes mechanism 3 automatically
On the part of end, here, the head end of powder charge pipe 42 is folded on automatic feed tube device 43, and end and the automatic powder charge of the powder charge pipe 42
Module 41 connects and connects, and herein, automatic powder charge module 41 is used to load in mixture emulsion matrix to form emulsion and for big gun
Hole automatic powder charge, for emulsion is conveyed in blasthole, automatic feed tube device 43 is used for automatic transport powder charge pipe to powder charge pipe 42
42 protrude in blasthole or which is withdrawn from blasthole；For mechanical arm looks for holes mechanism 3 automatically, which is used for automatic feed tube
Device 43 carries out blasthole position centering with mobile and to powder charge pipe 42 head end；In addition, the underground on-site mixed explosives truck is also wrapped
Hydraulic system and electric control system (being not drawn in accompanying drawing) are included, and hole are looked for automatically by the two system robotically controlled arm being
Mechanism 3 and powder charge conveying mixed organization 4 carry out on-site mixed emulsion, mechanization and look for hole, automatic sending and receiving pipe, automatic Loading
Blasthole etc..
On-site mixed emulsion filling operation is carried out using above-mentioned underground on-site mixed explosives truck, with following features：
The embodiment of the present invention looks for holes mechanism 3 and powder charge defeated by hydraulic system, electric control system control machinery arm automatically
Send mixed organization 4 to carry out blast hole projectile filling operation, realize the automatization of operation, specifically, conveyed in mixed organization 4 by powder charge
Automatic powder charge module 41 carry out blast hole charging, realize the mixed loading emulsion explosive automatic powder charge and powder charge speed it is adjustable；
By 43 automatic transport powder charge pipe 42 of automatic feed tube device, the automatic sending and receiving of powder charge pipe 42 are realized；Hole is looked for automatically by mechanical arm
Mechanism 3 carries out blasthole position centering with automatic feed tube device 43 and powder charge pipe 42, realizes mechanization and looks for hole；As described above,
The underground on-site mixed explosives truck not only increases loading rate, also reduces the labor intensity of operating personnel, in addition, operation people
Member may be located remotely from blasthole position and be operated, and improves the safety condition of operating personnel, improves safety.
In embodiments of the present invention, above-mentioned automatic powder charge module 41 includes installing rack 411, latex feed bin 412, sensitizer case
417th, latex pump 414, sensitizer pump 418 and control valve 416, wherein, installing rack 411 is fixed on above-mentioned chassis 2, meanwhile,
Latex feed bin 412, sensitizer case 417, latex pump 414 and sensitizer pump 418 are fixedly mounted on installing rack 411, specifically
Ground, latex feed bin 412 are located at the side of installing rack 411, and sensitizer case 417 is located at one end of 411 opposite side of installing rack, latex pump
414 and sensitizer pump 418 be disposed adjacent the other end in 411 opposite side of installing rack；For latex feed bin 412, which is used to contain
Emulsion matrix, herein, latex feed bin 412 is in funnel-form, and certainly, the latex feed bin 412 can also be other shapes, specifically,
The lower end of the latex feed bin 412 is connected with latex pump 414, and latex pump 414 is for the emulsion matrix that will contain in latex feed bin 412
Pumped；For sensitizer case 417, which is used to contain sensitizer, and the sensitizer case 417 is connected with sensitizer pump 418, sensitization
Agent pump 418 is for the sensitizer contained in sensitizer case 417 is pumped；In addition, for control valve 416, which is respectively communicated with
Latex pump 414 and sensitizer pump 418, the control valve 416 are used to control connecting or disconnected for latex pump 414 and sensitizer pump 418
Open, herein, the control valve 416 is preferably high accuracy proportioning valve, meanwhile, the outfan of the control valve 416 and above-mentioned powder charge pipe 42
End connection and connect, so, pumped emulsion matrix and the sensitizer etc. for coming by latex pump 414 and sensitizer pump 418 respectively
Emulsion component, is then passed through controlling valve 416, afterwards into conveying in powder charge pipe 42, herein, by high accuracy proportional valve control
Latex pump 414 and sensitizer pump 418, herein, emulsion matrix and sensitizer are output as closed loop control, powder charge speed and closed tube speed
Degree is adopted as closed loop control.Certainly, according to practical situation and demand, in other embodiments of the invention, above-mentioned automatic powder charge
Module 41 can also be other compositions, not make unique restriction herein.
As described above, by latex feed bin 412, sensitizer case 417,414 and of latex pump are installed on above-mentioned installing rack 411
Sensitizer pump 418 and control and are combined cooperation at valve 416 so that the on-site mixed operation of emulsion realizes automatization,
Wherein, the emulsion matrix contained in latex feed bin 412 is pumped by latex pump 414, will be contained by sensitizer pump 418
Sensitizer in sensitizer case 417 is pumped, and controls the logical of latex pump 414 and sensitizer pump 418 by controlling valve 416
It is disconnected, then pass through powder charge pipe 42 and the emulsion component such as emulsion matrix and sensitizer is conveyed, so not only increase breast
Change the efficiency of blasting agent mixing, also improve the safety of emulsification blasting agent mixing；In addition, emulsion matrix and sensitizer are output as closing
Ring is controlled, and this ensure that emulsion matrix is delivered to the static mixing of blasthole end with sensitizer by strict process ratio requirement
Device, powder charge error control so as to improve the precision of emulsification blasting agent mixing, improve demolition effect within 1%；Powder charge speed
Closed loop control is adopted as with closed tube speed, both Auto-matchings, it is ensured that be packed into the line density of emulsion matrix in blasthole, such as
This, using accurate closed loop control, improves the accuracy of powder charge, improves the global blowup effect of emulsion.
In embodiments of the present invention, above-mentioned automatic powder charge module 41 also includes water tank 413 and water pump 415, wherein, water tank
413 are also fixedly mounted on above-mentioned installing rack 411, and positioned at the side of above-mentioned sensitizer case 417, the water tank 413 and water pump 415
Connection, water pump 415 connected with above-mentioned control valve 416, and herein, water tank 413 is used to containing rinse water, and water pump 415 is for by water tank
The rinse water contained in 413 is pumped.When charging closes to an end, stop latex pump 414 and sensitizer pump 418, and
Control valve 416 is switched to into water outgoing position thereon, then starts water pump 415, will be filled using its high-pressure wash water for producing
Emulsion in pencil 42 is ejected and cleans 42 inwall of powder charge pipe.By arranging water tank 413 and water pump 415 so that powder charge
Pipe 42 is effectively cleaned when charging closes to an end, leave remaining emulsion in powder charge pipe 42 so as to avoiding and
The precision of charging next time is affected, so as to improve the degree of accuracy of powder charge.Certainly, according to practical situation and demand, at this
In the other embodiment of invention, it is also possible to which auxiliary cleans powder charge pipe 42 by other means, unique restriction is not made herein.
In embodiments of the present invention, above-mentioned automatic powder charge module 41 also includes water ring device 419, and the water ring device 419 sets
Put between above-mentioned control valve 416 and above-mentioned powder charge pipe 42, and three be connected, the effect of the water ring device 419 be avoid by
Control the vortex mixing between the emulsion components such as conveying comes at valve 416 emulsion matrix and sensitizer so that latex base
Matter keeps good performance when blasthole is delivered to, and reduces the pressure loss in emulsion matrix course of conveying, reduce resistance and
Conveying difficulty, herein, in powder charge process, sensitizer forms moisture film on the inwall of powder charge pipe 42 and plays lubrication drag reduction effect,
Reduce the transporting resistance of high-viscosity latex substrate.Thus, emulsion matrix conveying is using water ring drag reduction technology, it is ensured that high viscosity
The long-distance sand transport of emulsion matrix, improves the safety of course of conveying, and protects the sensitization point of emulsion matrix well.When
So, according to practical situation and demand, in the other embodiment of invention, it is also possible to improve emulsion matrix by other means defeated
The safety sent.
As described above, above-mentioned powder charge conveying mixed organization 4 is manufactured into one using modularized design by the embodiment of the present invention
Module, the module are mountable on the chassis of different structure, the integrated latex feed bin of the module, latex pump and induction system, quick
Agent case, sensitizer pump and induction system, in one, which pacifies water tank, water pump and induction system, water ring device etc. critical component
Dress size is little, applied range.
In embodiments of the present invention, above-mentioned automatic feed tube device 43 includes mounting bracket 431, transmission component 432 and drives
Component 433, wherein, mounting bracket 431 is fixedly mounted on above-mentioned mechanical arm and is looked on the fore-end of holes mechanism 3 automatically, transmission group
Part 432 and drive component 433 are arranged in the mounting bracket 431, specifically, and drive component 433 is located at the one of transmission component 432
Side is simultaneously connected with which, and the drive component 433 is used to drive transmission component 432 to be driven, and transmission component 432 is to clamp
And transmit above-mentioned powder charge pipe 42；In addition, be located in mounting bracket 431 on the position of 432 side of transmission component being additionally provided with inspection
Gauge assembly 434 is surveyed, herein, during drive component 433 drives the transmission powder charge of transmission component 432 pipe 42, detection metering
Component 434 is used to detecting and controlling the kinestate of transmission component 432, that is, detect the whether opening movement of transmission component 432, such as not
Motion then controls its startup, while also measuring the sending and receiving length of powder charge pipe 42.Certainly, according to practical situation and demand, at this
In bright other embodiment, above-mentioned automatic feed tube device 43 can also be other compositions, not make unique restriction herein.
As described above, driving transmission component 432 to be moved by drive component 433, and pressed from both sides by the transmission component 432
It is tight and transmit powder charge pipe 42, while by detecting that gauge assembly 434 detects, controls the kinestate of transmission component 432, and measure
The sending and receiving length of powder charge pipe 42, it is achieved thereby that the automatic transport and precise control of powder charge pipe 42, that is, realize underground blasthole machine
Operation is filled out in tool makeup, and then significantly improves the accuracy of the mixed loading emulsion explosive filling fashionable dress pencil sending and receiving metering and the effect of sending and receiving
Rate, improves loading rate, also reduces operation labor intensity, meanwhile, improve operational security.
In embodiments of the present invention, above-mentioned transmission component 432 can include active wheels 4321 and driven wheels 4322,
The active wheels 4321 and direction of transfer of the driven wheels 4322 along above-mentioned powder charge pipe 42 in above-mentioned mounting bracket 431 are in
Sequence interval is arranged, and herein, active wheels 4321 and driven wheels 4322 are to clamp powder charge pipe 42 and which is transmitted.When
So, according to practical situation and demand, in other embodiments of the invention, above-mentioned transmission component 432 can also be other transmissions
Mechanism, does not make unique restriction herein.
Above-mentioned drive component 433 includes power packages 4331, and the power packages 4331 are arranged on and are arranged on above-mentioned mounting bracket 431
The upper side positioned at above-mentioned active wheels 4321, and be connected cooperation with the active wheels 4321, herein, power packages 4331 are excellent
Elect hydraulic motor group as.Certainly, according to practical situation and demand, in other embodiments of the invention, above-mentioned drive component 433
Can also be other drive mechanisms.
In embodiments of the present invention, above-mentioned detection gauge assembly 434 can include that first sensor 4341 and second is passed
Sensor 4342, wherein, first sensor 4341 be arranged on the side of above-mentioned active wheels 4321 and with the active wheels 4321
One drivewheel wheel abdomen is vertical, and the first sensor 4341 is matched somebody with somebody with above-mentioned electric control system and merges to detect active wheels 4321
Whether rotate, specifically, when first sensor 4341 detects active wheels 4321 not to rotate, by signal transmission to electricity
Gas control system, control after electric control system receives the signal start active wheels 4321；In addition, second sensor 4342 sets
Put in the side of above-mentioned driven wheels 4322 and vertical with a driven pulley wheel abdomen of the driven wheels 4322, the second sensor
4342 match somebody with somebody the sending and receiving length for merging to measure powder charge pipe 42 with electric control system, and then measure emulsion matrix conveying capacity, lead to
Cross emulsion matrix conveying capacity of the electric control system according to default emulsion amount with actual metered to contrast, and then controlled loading of explosive pipe
42 sending and receiving.Certainly, according to practical situation and demand, in other embodiments of the invention, above-mentioned detection gauge assembly 434
Can be other compositions, not make unique restriction herein.
As described above, by two sensorses to active wheels 4321 and driven wheels 4322 during 42 sending and receiving of powder charge pipe
Detection and metering, carry out the conveying capacity of emulsion matrix in accurate measurement course of conveying, improve the mixed loading emulsion explosive filling fashionable dress
The accuracy and sending and receiving efficiency of 42 sending and receiving of pencil metering, reduces work high intensity, sending and receiving pipe remote operation when realizing powder charge；
In addition, by reel 5 and active wheels 4321 on Underground charging vehicle are matched with sensor and power packages 4331 in powder charge pipe 42
Speed during sending and receiving, realizes the accurately mate of speed between active wheels 4321 and reel.
In embodiments of the present invention, above-mentioned mechanical arm looks for holes mechanism 3 to include support arm 31, telescopic arm 32, hydraulic stem automatically
33 and actuating arm 34, wherein, for support arm 31, which includes the first large arm 311 and the second large arm 312, and the first large arm 311 can
It is rotatably installed on above-mentioned chassis 2, first large arm 311 can be horizontally rotated on chassis 2, the second large arm 312 is rotated
The top of the first large arm 311 is arranged on, which is used for transition connection telescopic arm 32；For telescopic arm 32, which is rotatably connected
The top of two large arm 312, herein, the telescopic arm 32 can carry out the flexible of certain length, can so be suitable for certain distance
Blasthole finds operation accurately, and the above-mentioned automatic feed tube device 43 for sending and receiving powder charge pipe 42 is arranged on actuating arm 34 foremost；For liquid
Depression bar 33, which is arranged between the first large arm 311 and the second large arm 312, by the above-mentioned HYDRAULIC CONTROL SYSTEM hydraulic stem 33, can
To promote telescopic arm 32 to swing in the perpendicular, i.e., be swung up in perpendicular, or to lower swing, so equivalent to
The lifting or sinking of certain altitude are realized, this makes it possible to adaptation differing heights blasthole finds operation accurately；For actuating arm
34, which is arranged between automatic feed tube device 43 and telescopic arm 32, and the two ends of the actuating arm 34 respectively with automatic feed tube device 43 and
Telescopic arm 32 is flexibly connected, the actuating arm 34 to drive automatic feed tube device 43 to be swung in perpendicular at a certain angle, i.e.,
Pendulum and the bottom in perpendicular can be realized, so so that blasthole is found accurately more accurate；Hydraulic system and electrical control system
System is coordinated with support arm 31, telescopic arm 32, hydraulic stem 33 and actuating arm 34, by the two system control operations support arms
31st, the action of telescopic arm 32, hydraulic stem 33 and actuating arm 34, in addition, the two systems also control operation automatic feed tube device 43
Unlatching, close and rotary motion.Certainly, according to practical situation and demand, in other embodiments of the invention, above-mentioned machine
It can also be other structure compositions that tool arm looks for holes mechanism 3 automatically, not make unique restriction herein.
As described above, being rotatably connected with chassis 2 by support arm 31, realize the mechanical arm and look for automatically holes mechanism 3 overall
The regulation of certain angle in the horizontal plane, promotes telescopic arm 32 to swing in perpendicular by hydraulic stem 33, realizes difference
Blasthole height finds operation accurately, and by the stretching motion of telescopic arm 32, realize certain distance looks for hole operation, by actuating arm
34 drive automatic feed tube devices 43 are swung in perpendicular at a certain angle so that automatic feed tube device 43 can apart from blasthole compared with
Realize closely adjusting near position so that blasthole is found accurately more accurately, by the control of hydraulic system and electric control system
Coordinate, realize the remote operation of support arm 31, telescopic arm 32, hydraulic stem 33, actuating arm 34 and automatic feed tube device 43, improve
The safety of operator.Sum it up, the mechanical arm described in the embodiment of the present invention looks for holes mechanism 3 automatically, by hydraulic pressure system
System and electric control system control the work of each hydraulic manipulator, automatic feed tube device 43 and powder charge pipe 42 are delivered to be loaded
Blasthole position, realizes mechanization and looks for automatically hole, and the mechanical arm looks for holes mechanism 3 interior realization can look for automatically hole on a large scale automatically, carries
It is high to look for hole ability and efficiency, meanwhile, as long as operator can just realize finding blasthole position accurately and powder charge pipe dress
Fill out, considerably reduce the number and labor intensity of operator, improve the safety of whole powder charge process.
Operator are delivered to powder charge pipe 42 near blasthole by remote control control mechanical arm, will by automatic feed tube device 43
, to blasthole bottom, in course of conveying, automatic gauge send length of tube for powder charge pipe 42 and priming bomb automatic transport, and herein, automatic feed tube can
Up to more than 40 meters；Meanwhile, the automatic closed tube in powder charge process, for closed tube speed, automatic feed tube device 43 according to powder charge speed from
Dynamic matching；Powder charge pipe 42 is automatically retracted by remote control control automatic feed tube device 43 after the completion of powder charge, during closed tube automatically
Metering closed tube length；Hole and automatic sending and receiving pipe are looked in mechanical arm remote control, are realized the automatic and mechanical filling operation of deep hole, are improved
Conveying powder charge pipe and the efficiency of powder charge, reduce the labor intensity of operator；Operator can stand from one spacing of blasthole
From relatively safety where operated, be effectively protected the job safety of operator.
In embodiments of the present invention, above-mentioned mechanical arm is looked for automatically holes mechanism 3 also to include and finds picture accurately for monitoring blasthole
Monitor component (is not drawn in accompanying drawing), and the monitor component includes camera head (being not drawn in accompanying drawing) and display (in accompanying drawing not
Draw), wherein, camera head is arranged on above-mentioned automatic feed tube device 43, and the camera head is used for live captured in real-time and looks for hole to draw
Face, display are arranged on above-mentioned vehicle body 1, and the display is electrically connected with camera head, and operator are by observing display, real
When understand look for poroid condition, so as to operate above-mentioned electric control system to send in the blasthole for treating powder charge, so powder charge pipe 42 exactly
Filling operation is carried out to blasthole afterwards.By arranging monitor component, the accuracy for looking for hole is effectively improved, is improve and is looked for hole to imitate
Rate.Certainly, according to practical situation and demand, in other embodiments of the invention, monitor component can also include other assemblies,
Unique restriction is not made herein.
In embodiments of the present invention, static mixer 4101 is installed at the head end of above-mentioned powder charge pipe 42, by the static state
Blender 4101 carries out static mixing to emulsion matrix and sensitizer, and at the same time chemistry occurs between emulsion matrix and sensitizer
Reaction forms the mixed loading emulsion explosive.When emulsion matrix and sensitizer are transported in static mixer 4101, static mixer
Emulsion matrix and sensitizer can be sufficiently mixed uniformly by 4101, which enhance the matter of formed the mixed loading emulsion explosive
Amount, and then improve demolition effect.Certainly, according to practical situation and demand, in other embodiments of the present invention, it would however also be possible to employ
Other modes mix to emulsion matrix and sensitizer, do not make unique restriction herein.
In embodiments of the present invention, it is also equipped with spraying adhesion-promoting device on the outfan of above-mentioned static mixer 4101
4102, the injection adhesion-promoting device 4102 loads in mixture the emulsion to be formed for spraying static mixer 4101, specifically, latex base
The head end of matter and sensitizer Jing powder charges pipe 42 carries out static uniform mixing in static mixer 4101, then in injection adhesion-promoting
The mixed loading emulsion explosive being mixed to form is ejected in blasthole in the presence of device 4102, herein, injection adhesion-promoting device 4102 has
There is taper surface circular hole (being not drawn in accompanying drawing), cause the mixed loading emulsion explosive that not only there is the high pressure of safety by taper surface circular hole,
And also add the speed of injection, so that the molecular structure of the mixed loading emulsion explosive for ejecting is improved, and then
Its viscosity is improved, thus, improve the adhesion of the mixed loading emulsion explosive and blasthole inwall, powder charge effect, Jin Erti is improve
Demolition effect is risen.Certainly, according to practical situation and demand, in other embodiments of the present invention, it would however also be possible to employ other modes
The adhesion of the mixed loading emulsion explosive and blasthole inwall is improved, does not make unique restriction herein.
As described above, by 42 head end of powder charge pipe, using static mixing and injection adhesion-promoting technology, emulsion matrix is by quiet
Emulsion matrix viscosity is caused to improve after state blender 4101, finally by injection adhesion-promoting device 4102 so that emulsion matrix spray attachment
While on blasthole wall so as to which viscosity is doubled and redoubled when blasthole is injected, emulsion matrix and blasthole inwall are further increased
Adhesion, it is ensured that on vertical to type blasthole filling, also, substantially without returning medicine in the case of not plug-hole；Injection Rhizoma Nelumbinis
Medicine is attached together, the capacity usage ratio of emulsion is improve, the demolition effect of emulsion is improve.
Based on above-mentioned technical proposal, the underground on-site mixed explosives truck that the embodiment of the present invention is proposed is adopted in powder charge process
Mechanical arm is looked for automatically hole, automatic sending and receiving pipe and accurately measures sending and receiving length of tube, and automatic powder charge simultaneously accurately measures explosive payload, powder charge speed
Degree is adjustable, powder charge speed and closed tube speed Auto-matching, solves a powder charge difficult problem for ground lower opening especially vertical upward hole, realizes
Automited powder charge, improves loading rate, reduces operating personnel's labor intensity, effectively improves the operation peace of operating personnel
Full condition.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (9)
1. underground on-site mixed explosives truck, including vehicle body, and the chassis being arranged on the vehicle body, it is characterised in that described
Mechanical arm is provided with chassis and looks for automatically holes mechanism and powder charge conveying mixed organization, powder charge conveying mixed organization include for
Emulsion matrix is loaded in mixture to form the automatic powder charge module of emulsion, is connected with the automatic powder charge module and is used to convey emulsifying
The powder charge pipe of explosive, and for the automatic feed tube device of powder charge pipe described in automatic transport, the mechanical arm look for automatically holes mechanism with
The automatic feed tube device carries out blasthole position centering to the head end to the powder charge pipe with merging；The head end of the powder charge pipe sets
It is equipped with for static mixing emulsion matrix to form the static mixer of emulsion, the outer end of the static mixer is connected with
For spraying the injection adhesion-promoting device of emulsion, the injection adhesion-promoting device has taper surface circular hole；The underground scene is mixed
Blasting charge car also include with the mechanical arm look for automatically holes mechanism and the powder charge conveying mixed organization coordinate hydraulic system with
And electric control system.
2. underground on-site mixed explosives truck as claimed in claim 1, it is characterised in that the automatic powder charge module includes installing
Frame, is arranged on the installing rack and for containing the latex feed bin of emulsion matrix, connects and be used for pump with the latex feed bin
The latex pump of emulsion matrix is sent, is arranged on the installing rack and for containing the sensitizer case of sensitizer, with the sensitizer
Case is connected and for pumping the sensitizer pump of sensitizer, and is respectively communicated with the control valve of the latex pump and the sensitizer pump,
The control valve is connected to the powder charge pipe.
3. underground on-site mixed explosives truck as claimed in claim 2, it is characterised in that the automatic powder charge module also includes setting
On the installing rack and for containing the water tank of rinse water and connecting with the water tank and for pumping the water pump of rinse water, institute
State water pump to connect with the control valve.
4. underground on-site mixed explosives truck as claimed in claim 2, it is characterised in that the control valve and the powder charge pipe it
Between be provided with water ring device.
5. a underground on-site mixed explosives truck as claimed in claim 1, it is characterised in that the automatic feed tube device includes installing
Frame, and be arranged in the mounting bracket transmission component, drive component, the drive component is to drive the transmission group
Part is driven, and the transmission component is additionally provided with the mounting bracket for examining to clamp and transmit the powder charge pipe
Survey the transmission component kinestate and measure the detection gauge assembly of the powder charge pipe sending and receiving length.
6. underground on-site mixed explosives truck as claimed in claim 5, it is characterised in that the transmission component includes that order is arranged
And the active wheels and driven wheels of sending and receiving are carried out to clamp the powder charge pipe；The drive component includes being arranged at the master
Driving wheel group side the power packages being connected with which.
7. underground on-site mixed explosives truck as claimed in claim 6, it is characterised in that the detection gauge assembly includes being located at
The active wheels side to detect its first sensor for whether rotating, and be used in combination located at the driven wheels side
To measure the second sensor of the powder charge pipe sending and receiving length, the first sensor and second sensor and the electrical control
System coordinates.
8. underground on-site mixed explosives truck as claimed in claim 1, it is characterised in that the mechanical arm looks for holes mechanism bag automatically
The support arm on the chassis is included, located at the telescopic arm of the support arm outer end, and to drive the automatic feed tube
The actuating arm that device is swung in perpendicular, the automatic feed tube device are arranged at the actuating arm front end, and the actuating arm is arranged
Between the automatic feed tube device and the telescopic arm front end, it is provided with to promote on the support arm telescopic arm in perpendicular
The hydraulic stem of lifting and swinging in straight plane.
9. underground on-site mixed explosives truck as claimed in claim 8, it is characterised in that the mechanical arm looks for holes mechanism also automatically
Including the camera head being arranged on the automatic feed tube device, the display being arranged on the vehicle body, the display and institute
State camera head electrical connection to coordinate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510143585.7A CN104949593B (en) | 2015-03-30 | 2015-03-30 | Underground on-site mixed explosives truck |
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| CN201510143585.7A CN104949593B (en) | 2015-03-30 | 2015-03-30 | Underground on-site mixed explosives truck |
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| CN104949593B true CN104949593B (en) | 2017-03-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106091850B (en) * | 2016-06-02 | 2018-06-08 | 北京北矿亿博科技有限责任公司 | Control method and control system for underground mine field mixed explosive loading vehicle |
| WO2018078605A1 (en) * | 2016-10-31 | 2018-05-03 | Omnia Holdings Limited | Hose feeder mechanism for use in mining operations |
| CN107588692B (en) * | 2017-09-07 | 2019-06-07 | 湖南金能科技股份有限公司 | A kind of novel emulsion field mixed loading truck |
| CN107576238B (en) * | 2017-10-12 | 2023-05-12 | 贵州大学 | Mining blasting is with buried pipe device |
| CN107677168A (en) * | 2017-10-26 | 2018-02-09 | 新疆天河化工有限公司 | On-site mixed emulsion auxiliary promotes injection rubber pipe device |
| CN108007286A (en) * | 2017-12-06 | 2018-05-08 | 新疆大学 | A kind of explosives mix-load truck grug transportation tube transceiver |
| CN108895936A (en) * | 2018-10-10 | 2018-11-27 | 中国葛洲坝集团易普力股份有限公司 | The device and method of the on-site mixed emulsion of filling for up-hole |
| CN110849225A (en) * | 2019-11-27 | 2020-02-28 | 神华准格尔能源有限责任公司 | Intelligent explosive filling method, device, storage medium and system |
| CN113532211B (en) * | 2021-06-21 | 2022-10-28 | 湖南创远高新机械有限责任公司 | Automatic priming bomb filling system and control method thereof |
| CN113405418B (en) * | 2021-07-08 | 2022-12-06 | 中国铁建重工集团股份有限公司 | Automatic conveying and loading mechanism for detonating cartridges and construction method thereof |
| CN113605891B (en) * | 2021-08-06 | 2023-11-24 | 江苏夏谷科技有限公司 | Intelligent multifunctional vehicle for pneumatic rock breaking construction of solid carbon dioxide and application method of intelligent multifunctional vehicle |
| CN113859983A (en) * | 2021-09-27 | 2021-12-31 | 张家口宣化华泰矿冶机械有限公司 | Resin cartridge conveying device |
| CN114812324B (en) * | 2022-05-05 | 2023-01-20 | 四川省永生爆破工程有限公司 | Blast hole charging device for explosive field mixed loading |
| CN115468468A (en) * | 2022-10-17 | 2022-12-13 | 湖南金石智造科技有限公司 | Intelligent mixed loading vehicle and loading method |
| CN115839641A (en) * | 2023-02-17 | 2023-03-24 | 山西惠丰特种汽车有限公司 | Full-static field mixed emulsion explosive truck |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2211438C1 (en) * | 2002-03-21 | 2003-08-27 | ООО Научно-техническая фирма "ВЗРЫВТЕХНОЛОГИЯ" | Mixing-charging machine |
| CN103424044A (en) * | 2012-05-18 | 2013-12-04 | 薛世忠 | Automatic emulsion explosive spot mixing-loading trolley for underground mine |
| CN103420746B (en) * | 2012-05-18 | 2015-09-23 | 青岛拓极采矿服务有限公司 | Multifunctional emulsion explosive vehicle |
| CN103424043B (en) * | 2012-05-18 | 2015-11-25 | 青岛拓极采矿服务有限公司 | Underground lift emulsion field mixed loading truck |
| CN103204751B (en) * | 2013-04-18 | 2015-08-26 | 湖南长斧众和科技有限公司 | A kind of emulsified detonator loading machine |
| CN204630495U (en) * | 2015-03-30 | 2015-09-09 | 深圳市金奥博科技有限公司 | Underground on-site mixed explosives truck |
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