RU2789093C2 - Mixing-charging machine for robotized technology of creation of well charges with variable energy saturation and methods for formation of detonation systems based on them - Google Patents

Abstract

FIELD: mining.

SUBSTANCE: invention relates to a mixing-charging machine for a robotized technology of creation of well charges with variable energy saturation and methods for formation of detonation systems based on them. The mixing-charging machine for the manufacture and charging of explosive based on straight reverse emulsions and fuel mixtures includes a transport base, a hopper with unloading windows, pumps-dispensers, hydraulic equipment, electric equipment, automated control systems, an automated electric-hydraulic control system, a tank for diesel fuel. A set of hinged equipment consisting of an electricity generator or a hydraulic drive is installed on the mixing-charging machine. The mixing-charging machine contains tightly closed containers for storage and transportation of powdered mixtures, sensibilizing and energy additives, a straight emulsion of a fuel mixture, as well as an installation for their adjustable supply to a screw for mixing with porous dense ammonium nitrate. The installation for adjustable supply to the screw consists of hydraulic engines, pumps for mixing of the fuel mixture, and pumps-dispensers, as well as drives with an adjustable frequency of rotation of screws, gearboxes, and rotary flexible and rigid screws with unloading devices supplying ground ammonium nitrate, powdered energy and sensibilizing additives in the form of a mixture of carbon, aluminum powder.

EFFECT: increase in the safety of operation, expansion of functional capabilities of a mixing-charging machine, increase in the quality of operational control of mixing-charging operations.

9 cl, 3 dwg

Description

The complex of technical and technological solutions in the field of improving the means of mechanization of blasting (mixing-charging machines) belongs to the field of innovations in geotechnologies of open pit mining, mechanized and robotic charging of wells during blasting operations in open mining of mineral deposits.

The invention is directed to the creation of a mixing-charging machine and / or sets of additional attachments that allow expanding the functionality of the SPM, forming elongated explosive charges with increased and, if necessary, variable energy saturation and variable explosive properties, sensitivity to means of initiation in accordance with variable characteristics exploding array.

For the first time, the idea of preparing explosive mixtures directly at the blasting site was described in US patent No. 3303738 issued in the name of the company IRECO (WESO), where it was proposed to pump an explosive mixture into the blast hole from a container installed on a truck. The patent describes a method for preparing an explosive (HE) in the form of an aqueous gel inside a container mounted on a truck by dosing and mixing a liquid solution of salts and oxidizing agents with a solid material containing salts with oxidizing and thickening properties.

In European patent EP 0203230, a mixing device is described, equipped with movable and fixed blades, with which it is possible to prepare an explosive in the form of a water-in-oil emulsion directly at the blasting site.

Patent No. 1227694 (England) provides for the production of the simplest explosives in a fluidized bed and water-containing explosives. There is also known a method for producing granulates on porous ammonium nitrate at the site of use by pre-filling at pre-quarry bases a dosed amount of a liquid combustible mixture into sealed bags or packages with ammonium nitrate in the form of charges.

In US patents (No. 3781180), mixing-charging machines are used for on-site production and loading of industrial mixed explosives of the ANFO type, which provide for the possibility of dosed mixing of smooth (dense) and porous granulated ammonium nitrate and introducing liquid fuel into the mixture. The explosive is fed into the well using a mechanical screw device or pneumatically under air pressure of 2.8-6.3 kt/cm ² through pipes 15 to 61 meters long and 25.4 to 102 mm in diameter. Flexible hoses are made of steel, plastic or PVC.

The utility model patent RU 142788U1 describes a universal mixing and charging machine, which includes a tank for dry granulated ammonium nitrate (AC). Unlike SPMs that produce only emulsion explosive (EM) or granulites, this design can mix a dry component (in this case AC) into the EEM. In this utility model description (PM), reference is made to a hatch on the bottom of the component tank housing.

A similar technical solution, according to the same essential features, is a device for loading wells with mixed explosives, including a screw feeder, hoppers for nuclear power plants, emulsions, gas-generating additives, water or oil products, a screw conveyor-feeder, dosing pumps for supplying components, a mixer for emulsion and gas-generating additives, a mixer of components, as well as dispensers of components (see RF patent No. 2267475, published on January 10, 2006).

Mixing-charging machines for obtaining loose granular and emulsion waterproof compositions are produced in Russia by the Gormash and NIPIgormash plants. The technology is characterized by the fact that non-explosive components are placed in the charging machine and transported to the places of use of explosives, which are mixed directly in front of the well and acquire explosive properties in the well as a result of chemical reactions. An important technological feature is that the content of components in the final product is determined by the speed of hydraulic motors, saltpeter feeding screws, the performance of diesel fuel pumps and the finished product and is regulated by a programmable control system for equipment and hydraulic drive, an electronic conversion control system. When operating in automatic mode, full automated control and monitoring of the security system is provided. In addition, software control of the operator's actions with the issuance of warning and emergency messages is provided. An electro-hydraulic control system /1, 2/ is provided. In general, the complex of technological solutions is aimed at increasing labor productivity, automating the work of the blasting complex and improving production safety measures. In Russia, SPMs are also produced by Nitro Siberia. The company also produces an emulsion deliverer to improve the efficiency of the SPM. The design of the DSZM-10P machine developed at the State Research Institute "Kristall" provides for two supply systems: emulsion and solution of gas-generating additives. The containers are filled with EVV components at the point of their preparation.

The unit for batch and controlled emulsion supply consists of an emulsion tank, a screw pump manifold, a product pipeline and a turbulator. The GHD solution supply plant consists of a GHD tank, a screw pump and a pipeline. The operation of the screw pumps and the drum is carried out by individual hydraulic motors, the rotation of which is carried out due to the pressure of the working fluid. The hydraulic system is powered by the vehicle's chassis engine, which drives a hydraulic pump by pressurizing the system. The water supply system includes a tank, a screw pump and a pipeline.

The technology of production at the places of application of EVV with the use of mixing-charging machines provides for the process of controlling and monitoring the operation of units, level, pressure and temperature sensors from the operator's console located directly at the cab. In this case, the mode of automatic production of a poremit, the data transmission mode, the calibration mode and the unloading mode can be implemented. Explosives are obtained automatically.

The system of control over incorrect, unauthorized and unforeseen by technology human actions is being improved.

In the USA, mixing-charging machines and delivery trucks are also produced by Atlas and Austin, and in England and Canada, respectively, by ICI and MSI, ΕΤΙ. The existing technology for the production and loading of wells at the sites of application provides, if necessary, the use of storage tanks for storing the emulsion matrix, which is loaded if necessary into the SPM.

The concept of automated charging of emulsion explosive mixtures in underground mining was implemented by the Norwegian company Normet in the Charmec 9825 BE installation. On the Normet NC chassis there is a module for obtaining an emulsion explosive with a programmable control system for various operating parameters and used control files stored in memory. The plant for the production of emulsion explosives consists of containers for emulsion components and water, a pump and an emulsion activation system, a feeding and dosing device with an emulsion supply hose, security systems and microprocessor control based on CAN-bus technology. The capacity of the emulsion feeding plant is up to 80 kg/min.

In Ukraine, mixing-charging machines are produced for the manufacture of EVV - Ukrainit. The design feature is that it is equipped with a double-acting piston dosing pump for supplying non-explosive components into the mixing chamber. The Ukrinit-5 machine has attachments and consists of an emulsion matrix hopper, a container for GGD, a device for extracting and laying a charging hose, a double-acting piston dosing pump for supplying explosive mixture components, hydraulic equipment, electrical equipment, automatic control systems and fire extinguishing. The dosing pump and the paths for the passage of the explosive components are equipped with a heating system in a heat-insulating housing. Ukraine also produces SPM of the Anemix series for the manufacture of explosives of the Pouelgel brand under the license of the Orika company. The SPM has a three-screw system for producing EHV for both flooded and dry wells, and is equipped with an automated control system that provides control over EHM manufacturing processes.

Analogue and prototype are the technical solutions considered in the patents of Gormash JSC, which is the holder of the patent RU 127448 U1 (co-author N.N. Efremovtsev).

Known types of mixing-charging machines, in which additional components barrage in explosives to improve its explosive characteristics and the overall energy of the compositions. In particular, JSC "Gormash" is the holder of patent RU 127448 U1 for a mixing-charging machine for the manufacture and loading of an explosive based on a water-oil emulsion. The mixing-charging machine makes it possible to increase the energy capabilities of explosives due to the fact that the diesel fuel tank is filled with a water-oil emulsion.

The disadvantage of the technological solution is that suspensions with a high content of energy additives (2.0-4.0% by weight of ammonium nitrate) and an accessible (common) fractional composition cannot be passed through a supply system equipped with pumps, nozzles and regulating the supply of liquid phase devices known SPM.

Patent RU 2185595 C1 describes a mixing-charging machine for making and loading wells with explosives, which provides for the addition of various bulk components to the explosive composition. The proposed design of the mixing-charging machine hopper provides for the manufacture and loading of wells with industrial explosives (IEE) containing up to five bulk components. Dosing is provided by the variable area of the dosing windows of the respective bins. This design can be used to dose several nitrates in a close ratio, but cannot be used to form mixtures with a sufficient degree of accuracy, the content of components in which differ by a factor of ten or more, and to form portions of charges weighing 10-20 kg in the desired part of the borehole. charge. In addition, the analog and prototype of the proposed technical solution does not provide for a time-controlled and volume-controlled supply of liquid sensitizers.

In general, the evolution of innovative solutions for the design of mixing and charging machines, both for the production of bulk granular industrial explosives, and for emulsion explosive mixtures, is associated with the need to expand functionality and operational control, as well as the need to improve the quality of mixing components and the formation of charges with a variable energy saturation.

The disadvantage of the existing designs of downhole charges is the presence of unstable detonation zones adjacent to the fighter and in the zone of contact with the stemming. Our processing of statistical information on the kinetics of the development of the detonation front in real conditions showed that the decrease in the detonation velocity in these zones adjacent to the fighter is up to 1.0-2.0 km / s along the charge length of 1.2-3 m.

The disadvantage of the existing designs of mixing-charging machines is the inability to form charges in wells and detonation systems with variable explosive characteristics, in particular, changing energy saturation, detonation velocity and sensitivity to increase the efficiency of the explosion in the transition zone of unstable detonation near the militant, and increasing the crushing capacity in the overdrill zone and the intersection of the zones of the array with increased strength characteristics by the elongated charge.

Charges with a variable detonation velocity and energy saturation provide a variable rate of energy release along the charge column and, accordingly, predominantly tensile stresses in the array between charges, which leads to a significant reduction in the required energy impact on the array, leading to its destruction.

In the design of the existing SPM there are no units and devices that ensure the implementation of the robotic technology for loading wells and boreholes in order to improve the safety of work by taking personnel out of the danger zone.

To eliminate these shortcomings, the author of this application for the invention developed compositions and methods for the manufacture of explosive mixtures, adapted to the implementation of robotic technologies for the formation of detonation systems. The expediency of using instead of diesel fuel emulsions of fuel mixtures containing used, shale oil, high-viscosity heating oil, and an emulsifier has been proposed and justified. The emulsion contains powdered energy additives, for example, aluminum powder, coal powder or carbon black, peat, silicon or ferrosilicon powders, or a mixture thereof. In addition, the emulsion may additionally contain a chlorine-containing organic sensitizer such as dichloroethylene, trichlorethylene, chlorobenzene with a solvent such as alcohol, short alkyd ketones, diethylamine and/or nitroalkanes to increase stability and detonation velocity. Some sensitizers and energy additives (for example, nitromethane) are quite expensive and there is no energy expediency to form an elongated charge entirely from an explosive mixture containing the above additives. Below are the technical solutions of the means in mechanization, and methods for the formation of detonation systems of elongated charges, providing the formation of charges with variable energy saturation using the compositions developed by us (see patent for a group of inventions No. 2595709 dated 08/19/2014).

The purpose of the group of inventions proposed in this application is:

1. Improving the quality of ore crushing and reducing the negative impact on the environment due to the formation of charges with variable energy saturation and explosive properties, including susceptibility to the detonator cap and the rate of energy release of explosive transformation.

2. Increasing the level of safety of explosive personnel in the course of preparing and carrying out work related to the delivery, reloading, loading (manufacturing) of explosive explosives and blasting holes and boreholes.

3. Reduce the likelihood of terrorist attacks by reducing the volume of storage, transportation and reloading of industrial explosives.

A mixing-charging machine (SPM) in a traditional well-known design, in particular those given in works /3, 4/, for the production of bulk granular explosive mixtures has a transport base, a hopper with unloading windows, screws, a hydraulic system, electrical equipment, a liquid fuel supply system is presented on Fig.1. With such a composition and design of units of installations on this and other well-known mixing-charging machines, it is possible to manufacture the simplest two-component EVAs of the AS / DT type, containing granulated ammonium nitrate and diesel fuel at a constant ratio of them, and mixtures containing powdered energy and sensitizing additives cannot be produced on them. , emulsions and suspensions with a significant content of powdered additives, the uneven supply of which allows the formation of charges with variable energy saturation. SPM is additionally equipped with a set of stationary or removable attachments consisting of a plant for storing and transporting powdered sensitizing and energy additives, consisting of a hermetically sealed container and a plant for controlled supply of powdered products, consisting of a drive with an engine with a speed control system, a gearbox, and a rotary or rigid a flexible screw with an unloader connected to the powder feed drive unit. The set of removable equipment can be additionally equipped with a hydraulic drive that provides speed control depending on the speed of the screw supplying ammonium nitrate or an autonomous diesel power plant that ensures the operation of DC or AC motors or a set of batteries for powering DC motors that ensure the operation of pumps and auger for supply of liquid fuel mixture and powdered additives.

To expand the functionality of existing mixing-charging machines (see Fig. 1) and to implement the technology for the formation of elongated downhole charges of explosive mixtures with variable energy saturation and detonation velocity, the design of installations has been developed - sets of attachments that can operate both using the SPM hydraulic drive ( motors and pumps powered by a hydraulic drive), and with the use of flexible and inflexible screws with adjustable speed and supply of powders and pumps with an autonomous electric drive. SPM is additionally equipped with a set of stationary or removable attachments consisting of a plant for storing and transporting powdered and liquid sensitizing and energy additives, consisting of a hermetically sealed container and a plant for controlled supply of powdered products, consisting of a drive with an engine with a speed control system, a gearbox, and a rotary or a rigid flexible auger with an unloader connected to a powder feed drive unit. The set of removable equipment can be additionally equipped with a hydraulic drive that provides speed control depending on the speed of the screw supplying ammonium nitrate or an autonomous diesel power plant that ensures the operation of DC or AC motors or a set of batteries for powering DC motors that ensure the operation of pumps and auger for supply of liquid fuel mixture and powdered additives.

In addition to the hopper for storage and transportation of ammonium nitrate of the mixing-charging machine, in addition to the installation for the dosed supply of powdered and / or crushed ammonium nitrate, the dosed supply of liquid sensitizers, also the installation with heated containers for storage, transportation and dosed supply of inverse emulsion , necessary for the formation of a waterproof bottom part of the charges with increased energy saturation in flooded wells.

The fuel supply system should provide for the loitering of the fuel emulsion in a closed cycle to ensure the prevention of separation of the impregnating emulsion and keep it in a fluid state during transportation over a long distance and immediately before mixing with ammonium nitrate when loading wells. Switching from the fuel emulsion barrage mode to the feed to the mixing auger with adjustable flow rate. In this case, an existing pumping unit, modified to perform the functions of barrage and emulsion dispersion, can be used.

To achieve the task, a set of attachments was manufactured and installed, consisting of the following main units: 17 - a tank for storing and transporting powdered sensitizing and energy additives; 18 - installation of a drive for controlled supply of powdered products with a motor, a gearbox and a frequency controller; 19 shows an electric power generator connected to a powder supply drive unit (see Fig. 2).

To increase the susceptibility of the explosive composition to detonation in the zone of unstable detonation immediately adjacent to the fighter, as well as to increase the energy saturation and detonation velocity in certain sections of the borehole charge using methods for making explosive mixtures according to patent No. 2595709, to a bunker for storing and transporting ammonium nitrate ( 1 and 2) of the mixing-charging machine (see figure 3) a set of additional equipment is mounted: installations for storing and supplying powdered sensitizers and liquid energy additives (figure 2 - item 17). The installation in Fig. 3 includes an apparatus for storing, transporting and supplying powdered energy supplements (1) with tanks for powdered sensitizers containing carbon (soot and / or crushed rubber), crushed ammonium nitrate (2) and other components, a set of equipment for dosed and controlled water supply time, as well as a heated installation for storage, transportation and dosed supply of inverse emulsion (3), necessary for the formation of a waterproof part of the charges in watered wells, tanks and devices for dosed and time-controlled supply of liquid sensitizers (4 and 5).

Tests of the crushing ability of charges with a variable rate of energy release and a pilot plant for shaping showed the possibility of reducing the yield of oversize by 4-7% and increasing the zone of controlled crushing and, accordingly, the distance between wells by 10-20%. The effect was achieved by increasing the efficiency of the explosion, increasing the completeness and rate of explosive transformation in the zones of unstable detonation in the lower and upper parts of the charge, as well as due to the formation and propagation of predominantly tensile stresses in the zones of explosive interface with different rates of energy release forming the propagation of stress waves in the array at different rates, leading to the formation of predominantly tensile stresses in the array. The alternation of air gaps and charges with different rates of energy release located at different depths in neighboring wells form in the rock mass destroyed by the explosion energy during the detonation of borehole charges with deceleration, predominantly tensile stresses and provide an opportunity, as the analysis of the results of industrial experiments showed, to reduce the consumption of explosives by 15 -25%.

To solve the problems of increasing the level of safety of explosive personnel in the preparation and conduct of work related to the delivery, reloading, loading (manufacturing) of explosive explosives and blasting holes and wells, it is proposed to use a mobile robotic autonomously functioning technological platform (PRTP) instead of mixing-charging machines in the traditional version.

PRTP reproduces the physical and motor functions of explosives that form a detonation system, mix components of industrial explosives, place explosive explosives and initiation means in wells, and, if necessary, install a surface explosive network on an explosive block. PRTP is equipped with the following additional installations:

- a system for automatic evaluation of the granulometric composition according to the data of processing video images of the blasted rock mass, taking into account the accumulated statistical information on the results of previous explosions;

- a mobile complex for automatic sampling after an explosion in a dust and gas cloud and near the surface of the exploded rock mass and assessment of changes in the content of dust and toxic gases over time and taking into account the updated statistics;

- a block for automatic adjustment of explosion parameters to optimize subsequent explosions under similar conditions;

- programmable (for the conditions of each blasted section of rocks) using an electronic control unit - a “charging card” with the function of remote input of data on loading in accordance with the explosion project and / or equipped with a program for processing statistical information of the results of previous explosions and a function for adjusting design indicators with taking into account the data of the analysis of the accumulated statistics on the particle size distribution and their environmental consequences of previous explosions in similar conditions.

The design of a robotic technological platform (RTP) is greatly simplified by the use of wireless, remotely programmable, autonomous electronic means of initiation.

The evolution of the designs of detonation systems is associated with the development of wireless initiation systems (BESI) using a wireless magnetic-inductive electronic fuse that responds to low-frequency electromagnetic waves (less than 5000 Hz), which provide communication through liquid media and rocks. The purpose of using such systems is to maximize the safety of blasting, in particular by eliminating the presence of wires on the surface of workings and ledges and, accordingly, excluding their damage from the impact of transport and falling rocks in the process of preparing the block for an explosion. This eliminates the need for explosive personnel to connect the wires of the initiation system with the militants and reduces the time for loading explosive blocks. Safety is increased in particular by connecting the initiation system just before the explosion. The programming of the detonation initiation system is carried out by workers who are on the day surface with all the personnel of the mine. The possibility of reprogramming of sequence of initiation is provided. On a specific object, only codes generated for this blasting object are used. The initiation system is based on the magneto-inductive method with an operating frequency of less than 5000 Hz. The initiation is carried out in two stages, at the first stage the “wake up” signal is given and then the signal to trigger the electronic fuse.

To take personnel out of the working area, instead of a traditional mixing-charging machine and a group of explosives, an autonomous mobile technological platform and the corresponding robotic technology for the formation of detonation systems are used to mix components and load any granular and / or pouring industrial explosives using remote control systems, navigation and technical vision that ensure the adoption of the desired position on the SPM block and autonomous movement in accordance with a predetermined trajectory of movement along the block, control of the position of the hose for supplying explosives above the loaded well, a system for controlling changes in the height and weight of the charge in the well, a weight and explosive control system properties of the formed charge in time and in accordance with the blasting project design map and the design of the charge in each well and the detonation system of the group of wells, taking into account the mutual arrangement of charge sections with different s detonation velocity in plan and in height relative to adjacent wells on the charging unit.

To automate the processes of loading wells with the use of pouring emulsion explosive mixtures and the implementation of a robotic technology for the formation of detonation systems of borehole charges, a supply system is used consisting of two or more hoses, one of which is used to supply a loose and loose borehole charge. or pouring PVV, and for other sensitizing and energy additives, and for the third, which has inside a cassette with wireless initiation means, initiation means and devices for forming air gaps are supplied.

The formation of explosive explosive charges in wells or boreholes with variable energy saturation and explosive characteristics is carried out by mixing the components of loose and / or pouring ammonium nitrate explosive mixtures with a variable ratio of components, providing a variable energy saturation and sensitivity to initiation means by changing the speed and volume of supply of hollow polymer and/or glass spheres and/or mixtures thereof with liquid and or solid energetic powder additives of carbon and/or aluminum powder and powders of other metals or their alloys. The formation of loose explosive explosive charges with variable energy saturation and explosive characteristics and viscosity is carried out by changing the rate and volume of supply of sensitizing and energetic liquid and solid powder additives in the form of powders and / or emulsions and suspensions, providing, if necessary, loading of rising wells - an increase in the viscosity of the explosive charge.

RTP - functioning autonomously and automatically reproducing the functions of known mixing-charging machines and motor and mental functions of a person, having the ability and ability to learn and adjust the parameters of detonation systems, taking into account the replenished array of data on the results (granulometric composition and indicators of the content of toxic gases and solid particles in detonation products) of previous explosions, changing mining and geological conditions, having a program for online data processing and functionality for adjusting drilling and blasting parameters.

RTP for the formation of downhole charges has the ability to independently perform the necessary production operations for the rapid change in the dosage of components in the process of formation of the downhole charge and the placement of initiation means in the well under the control of an operator located outside the danger zone. The new technology provides both an increase in the safety of work and the optimal kinetics of energy release into various sections of the array, taking into account its structure, forming a synergistic effect of the energy interaction of charges from neighboring wells, which release destructive energy into the array at different rates along the well height and provide mainly shearing and tensile stresses in the massif destroyed by the explosion at the boundaries of zones with different impact kinetics.

The robotic technology platform provides:

- improving safety, expanding functionality and quality of operational management of mixing and charging operations. Operational control and analysis of changing conditions for the implementation of technological operations of information and analysis of data on the characteristics of the array in depth of wells and in plan within the block being blasted, deviations of the actual coordinates of wells from the design ones on the block being prepared for the explosion, operator control over changes in the composition and mixing processes of components over time , assessment of the actual parameters of drilling and drilling and their deviations from the design ones; providing feedback of data on the lumpiness of the exploded massifs and indicators of the dust and gas cloud to adjust the parameters of the drilling and blasting of subsequent explosions.

- the synergy of the RTP movement and positioning systems on the block, the positions of the working body of the charging system in three spatial coordinates and in time of a fully automated and / or remotely controlled robotic mixing and charging machine.

- synergy of the manipulation system with a device for supplying downhole charge elements with different kinetics of energy release and means of initiating the detonation system with sensors for operational control of the concentration of energy and sensitizing additives, as well as measuring the height of the charge in the well and the location of the initiation means.

- synergy of RTP control devices with operator control and as a result of interaction with the environment of the sensor system for collecting and processing replenished statistical information on the granulometric composition of the blasted rock mass, breakup parameters, the content of harmful components in the dust and gas cloud and on the open surface, the fracturing of the array near each charging cavity , a system of feedback devices and correction of the parameters of the detonation system, taking into account the updated statistical information.

The control devices of the robotic technological platform, in particular, the control units for the drive of movement and manipulation of the RTP, include communication channels through which continuous analog and digital discrete signals are transmitted: signals can, contain generators and converters of input and output signals of computing devices, in interface communication channels. The collection and conversion of information about the parameters of the environment and the position of the working bodies of the RTP relative to the wells on the block being prepared for the explosion is carried out by a sensor system consisting of contact, acoustic induction sensors of speed and position, load, sonars, laser and ultrasonic rangefinders, television and optoelectronic devices .

At the same time, the devices of the control system of the robotic technological platform provide the following functions:

- optimization of motion parameters in time and three-dimensional coordinates of the block space;

- recognition of environmental parameters, formation of a digital model of the blasted massif, including the boundaries and topography of the surface of the block, adjacent mine workings and available equipment, as well as the formation of a design and actual digital model of each charge of the detonation system formed on the blasted block;

- formation, programming and operational correction of signals controlling the manipulation system;

- transmission of information to the operator and drive devices of the mechanical movement system and time control devices for the intensity of supply of detonation system components to the charging cavity.

The quality of the software and algorithmic support for the operation of a robotic technological platform is determined by the possibility of its adaptation to changing conditions for blasting. The speed and accuracy of information conversion and its reproduction about the state of the environment, the position on the block being prepared for the explosion, the relative position of the charging hose, charging wells and the location of the time-varying surface of the charge in the well depends on the quality of the software and algorithmic support of the control system.

The robotic technological platform for the formation of detonation systems is also equipped with a communication system that transmits signals between the RTP systems and the person at the control panel who are outside the hazardous working area. Communication devices RTP provides control over the operation of systems, diagnostics of faults, deviation from design values and verification of the formation and execution of tasks. Control signals from a person enter the RTP receiving control devices using input devices. In general, the RTP information and control system ensures the fulfillment of tasks related to the formation of detonation systems, including: processing and transmission of information and control of actuators and mechanisms of the executive system that provide programmed movement on the surface of the block, impact mechanisms for controlling the rate of entry of EVA components in devices for mixing EVA components , devices for controlling the performance of the mixture supply, devices that regulate the movement of the charging hose in three coordinates.

The RTP executive system includes a mechanical system of manipulators operating in a spherical coordinate system with charging hoses, a mechanical movement system, drives of these systems, transmission devices, movement system devices, platforms with a chassis and, in general, form a movement system.

When designing a specific RTP, it is necessary to make, taking into account the mining and technical operating conditions and the parameters of the charged blocks, a reasonable choice of the type of drives (electric and / or hydraulic and / or pneumatic), the number of degrees of freedom, the coordinate system of the manipulator, as well as the load capacity, parameters of the working area of \u200b\u200bmanipulators and their number.

The transport platform provides movement along a given route with obstacle avoidance, adaptive operational control at three levels: dynamic, algorithmic and with human participation. By design, the RTP units and installations are made in a dust-proof, moisture-proof and explosion-proof design. In terms of speed, the working body of the RTP is of low speed, up to 0.5 m / s. The accuracy of the manipulator and the MRP movement system must be up to 1.00 mm. Positioning is carried out with a discrete movement with an error of 1.00 mm. Platform positioning accuracy up to 20 mm.

The RTP is equipped with an automatic control and measuring system. The RTP sensor system determines the geometric parameters of the charge and the position of the charging cavities and their location on the ledge, the height of the water column and the change in the height of the charge in the wells, the position of the charging body in the well. The working bodies of the RTP are equipped with a system of contact, tactile sensors, ultrasonic sensors for determining the height of the water column and charge in the well and in relation to the mark of the mouth and bottom of the well. The sensor system includes sensors of active (radiating primary signals) short-range, long-range and ultra-long range, including navigation devices and coordinators. The information and control system allows using algorithms and processing programs and transferring the results of work to the operator's screen, located outside the danger zone.

RTP is a complex of various devices operating as a single kinetic system and belongs to the class of manipulative robots with an automatic moving chassis and an automatically controlled drive with a caterpillar or wheeled chassis. RTP consists of three systems of aggregates: mobile, manipulation and information, which can operate both in automatic mode and remotely controlled. Synergy of new systems of aggregates and RTP devices gives a synergistic effect and a fundamentally new technology for the formation of detonation systems in terms of operational control and safety capabilities and a means of complex mechanization of blasting. RTP makes it possible to exclude a person from direct participation in the performance of work in a hazardous area when loading wells on an explosive block. Allows the possibility of complex mechanization of the production process at the places of application of charge components and the formation of detonation systems on the chargeable block.

The robotic technological platform for the formation of detonation systems solves the most important special problem of robotics - the automation of one of the processes of geotechnology and the increase in safety and productivity in mining and construction using blasting. Allows you to remove explosive personnel from the danger zone and organize remote monitoring and control over the production of hazardous work. Observation is carried out by transmitting signals from vision devices and sensor readings to the operator's screen, which controls the operation of the RTP and the necessary adjustment of its actions using control devices.

The remotely controlled mobile, robotic technological platform automatically performs the bulk of the pre-programmed operations of mixing explosive components with different sensitivities and energy saturations and forming charges with variable explosive characteristics. RTP carries out dangerous technological processes: the production of explosive components at the sites of use, their mixing and sensitization. At the same time, the operator can set the program of actions and adjust the control in critical situations.

To reduce the likelihood of terrorist attacks by reducing the volume of storage, transportation and reloading of industrial explosives, a method is proposed and implemented for obtaining an active explosive mixture in a capsule for the production of detonator cartridges and energizing intermediate detonators at the field of application, including the production of a non-explosive emulsion matrix based on reverse and / or direct and/or powdered ammonium nitrate and/or mixtures thereof and filling plastic shells with them. Filled shells of militants with a non-explosive emulsion matrix are transported to the places of blasting.

To obtain a capsule of an active explosive mixture in shells at the places of their use, they are introduced into the cooled emulsion matrix by squeezing out from a tube with holes along the entire height of the action cartridge and mixed using blades connected by a tube located along the axis of rotation with holes with a non-explosive emulsion matrix. Thus, the sensitizing additives are uniformly mixed with the inverse emulsion matrix in the form of polymer and/or glass spheres and/or a mixture of spheres with carbon black and/or carbon black and/or aluminum powder, molybdenum and/or powders of other metals, silicon or ferrosilicon or mixtures thereof, and/or nitromethane, kerosene, a chlorine-containing organic sensitizer, with a solvent such as alcohol, ketones with short alkyd groups, diethylamine pre-mixed to a state of suspension using ultrasound with carbon black and/or soot - a product of processing rubber products and/ or direct emulsion of ammonium nitrate with water and hydrocarbons. At the same time, sensitizing additives in the form of polymeric and/or glass spheres and/or mixtures of spheres with carbon black and/or soot powder and/or aluminum powder, molybdenum and/or powders of other metals, silicon or ferrosilicon or mixtures thereof, TNT aqueous emulsion and / or liquid sensitizing additives of nitromethane, kerosene, pre-mixed to a state of suspension with the use of ultrasound with carbon black and / or soot - a product of processing rubber products, are placed in the storage tank of an apparatus that provides portioned placement of a mixture of sensitizing additives in a given volume of a non-explosive emulsion matrix in the shell of a gunman . To increase the stability and speed of detonation, sensitizing suspensions of carbon black and/or soot and/or aluminum powder and/or powder additionally contain a chlorine-containing organic sensitizer, for example, dichloroethylene, trichlorethylene, chlorobenzene with a solvent such as alcohol, ketones with short alkyd groups, diethylamine and/or nitroalkanes.

Before blasting on the block, a detonator capsule or a wireless initiating element is immersed in the mass of the emulsion matrix and a mixture of sensitizing additives mixed in the shell of the militant to use both wired and wireless programmable means of initiating and conducting blasting using traditional technology based on the manual labor of explosives and/or robotic complexes for the formation of detonation systems.

Literature

1. Kolganov E.V., Sosnin V.A. Emulsion industrial explosives. -2nd book (technology and security). - Dzerzhinsk, Nizhny Novgorod region, publishing house of the State Research Institute "Kristall", 2009. - 336 p.

2. Kolganov E.V., Sosnin V.A. Emulsion industrial explosives. -2nd book (Technology and security). - Dzerzhinsk, Nizhny Novgorod region, Publishing house of the State Research Institute "Kristall", 2009. 336 p.

3. Mixing-charging machine MS3-VU. Specifications.

4. TU 3145-055-00187300-2006. Open Joint Stock Company Belgorod Mining Machine Building Plant JSC "GORMASH", 2006. - 22 p.

5. Patent for a group of inventions No. 2595709 dated August 19, 2014.

Figure captions.

Fig. 1. Mixing and charging machine MS3-VU

Figure captions for Fig. 1.

1 - installation of an explosive tank (granulated ammonium nitrate); 2 - installation of an oil tank; 3 - fuel tank installation; 4 - installation of a retractable conveyor; 5 - installation of wings of mudguards; 6 - URAL chassis; 7 - diesel fuel supply system; 8 - installation of decking, railings, stairs; 9 - installation of fire extinguishers, chains, ground pin; 10 - fuel tank protection; 11 - electrical equipment; 12 - hydraulic equipment; 13 - rear protective devices; 14 - exhaust system; 15 - refinement of the chassis; 16 - pump installation

Fig. 2.

Additional SPM nodes:

17 - tank for storage and transportation of powdered sensitizing and energy additives;

18 - installation of a drive for controlled supply of powdered products with a motor, a gearbox and a frequency controller;

19 - power generator connected to the powder supply drive unit.

Fig. 3.

Additional attachments for SPM:

1 - apparatus for storing, transporting and supplying powdered energy supplements with tanks for powdered sensitizers containing carbon (soot and/or crushed rubber).

2 - apparatus for storage and dosed supply of crushed ammonium nitrate and mixtures of other sensitizing and energy additives;

3 - installation with heating for storage, transportation and metered supply of reverse emulsions, necessary for the formation of a waterproof part of the charges in flooded wells;

4 and 5 tanks and devices for dosed and time-controlled supply of liquid components of the fuel mixture with sensitizers.

Claims (9)

1. Mixing-charging machine for the manufacture and loading of explosives based on direct and / or reverse emulsions and fuel mixtures, including a transport base, a hopper with unloading windows for the emulsion matrix, dosing pumps for supplying explosive mixture components, hydraulic equipment, electrical equipment, systems automatic control, an automated electro-hydraulic control system that provides control over the processes of manufacturing explosive mixtures, a tank for diesel fuel and a system for supplying it, characterized in that an additional set of attachments is installed, consisting of an electric power generator or hydraulic drive, hermetically sealed containers for storing and transporting powdered mixtures , sensitizing and energy additives, direct emulsion of the fuel mixture and installations for their controlled supply to the screw for mixing with porous and / or dense ammonium nitrate, consisting of hydraulic motors, pumps for mixing fuel mixture and metering pumps for controlled supply of emulsion and / or suspension of the fuel mixture to the screw-type mixer, drives with variable speed screws, gearboxes and rotary flexible and / or rigid screws with unloading devices that supply crushed ammonium nitrate and / or powdered energy and sensitizing additives in the form of a mixture of carbon and/or aluminum powder. 2. Mixing-charging machine according to claim 1, characterized in that it is a mobile autonomous robotic technological platform that allows you to take personnel outside the working area, which is additionally equipped with navigation and autonomous movement systems in accordance with a predetermined trajectory of movement along the block in accordance with with coordinates of wells, a manipulation system with a drive system consisting of a kinetic chain of moving links with angular and / or translational movement, equipped with a gripping device and a charging hose supply device that regulates their position in time in three spatial coordinates, a sensor system that provides receiving and processing data on the properties of the environment, the mutual position of the charging hoses of the robotic technological platform, a sensor system for determining the position of wells, cracks in the rock mass along the height of the well, a sensor system that determines the position of the charging hose in three coordinates relative to the wellhead and the height of the charge, technical vision, which ensures the adoption of the desired position on the charged block, control of the position of the hoses along the height of the well and the height of the borehole charge with feedback and the formation of a given design of charges placed in the wells, a system for the operational control of the explosive properties of the generated charge by means of a mixture of energy and sensitizing additives regulated in terms of volume and time, providing a change in the height of the charge of energy characteristics, detonation velocity and sensitivity to primary means of initiation in an explosive mixture formed in a well or blasthole, in accordance with the structure of the rock mass to be blasted, the map of the drilling and blasting project works and design design of detonation system charges. 3. Mixing-charging machine according to paragraphs. 1 and 2, characterized in that to automate the processes of loading wells using granular and/or flowing emulsion explosive mixtures, the robotic mobile technological platform is additionally equipped with a system for supplying components of the downhole charge and mixing them in the well, consisting of two or more hoses, one of which, equipped with a mixing device at the end, is supplied with a bulk or bulk explosive mixture of a borehole charge, and through another hose, inside which a cassette with initiation means is located, wired and / or wireless means of initiation and devices for forming air gaps, and through the third hose connected to the first hose before the mixing device, additional energy and/or sensitizing additives are supplied in the form of a mixture of hollow polymeric or glass spheres and/or their mixtures with carbon, soot and/or powders of metals or their alloys, aluminum nium powder, powdered zinc-aluminum alloy, ferosilicon, molybdenum or other metals. 4. The method of obtaining an explosive composition and the formation of a detonation system using a mixing-charging machine according to any one of paragraphs. 1-3, which includes mixing the components of loose and / or pouring ammonium nitrate explosive mixtures with a variable ratio of components that provide variable energy saturation, detonation velocity and sensitivity to initiation means by changing the speed and volume of supply of hollow polymer and / or glass spheres and / or their mixtures with liquid and/or solid powder additives in the form of carbon black, carbon black, aluminum and/or ferrosilicon powder, zinc and aluminum alloy, molybdenum and/or direct and/or reverse emulsions. 5. A method of obtaining an explosive composition and the formation of a detonation system using a mixing and charging machine according to any one of paragraphs. 1-3, which includes mixing the components of loose and / or pouring ammonium nitrate explosive mixtures with a variable ratio of components that provide variable energy saturation, detonation velocity and sensitivity to initiation means, characterized in that the mixing of components and loading of wells is carried out using a new type of technological a device made in the form of a mobile autonomous robotic technological platform, which is additionally equipped with navigation and autonomous movement systems in accordance with a predetermined trajectory of movement along the block in accordance with the coordinates of the wells, and / or remote control, technical vision, which ensure the adoption of the desired position on the charging block, and the formation of a given design of charges placed in wells on a charging block, a system for monitoring the position of hoses along the height of the well and the height of the downhole charge with feedback, a system of operational regulation of the explosive properties of the formed charge by means of a mixture of energy and sensitizing additives regulated in terms of volume over time, providing a change in the height of the charge of energy characteristics, detonation velocity and sensitivity to primary means of initiation in an explosive mixture formed in a well or blasthole, in accordance with the structure of the blasted rock mass , a map of the drilling and blasting project and the design design of the charges of the detonation system. 6. A method of obtaining an explosive composition and the formation of a detonation system using a mixing-charging machine according to any one of paragraphs. 1-3, characterized in that the supply of downhole charge components of loose and / or pouring components and initiation means is carried out through two or more hoses, one of which, equipped with a mixing device at its end, is used to supply a downhole charge of loose and / or pouring industrial explosive, and on the other, connected to the first one before the mixing device, sensitizing and / or energy additives are supplied, providing variable energy saturation and sensitivity to initiation means by changing the speed and volume of supply of hollow polymer and / or glass spheres and / or their mixture with liquid and / or solid powdered additives in the form of powders and / or direct and / or inverse emulsions, and wired initiation means are supplied through the third hose, in the form of militant cartridges, or wireless - with magnetic inductive electronic fuses that respond to electromagnetic waves of low frequency less than 5000 Hz. 7. A method for producing an explosive composition for the production of detonator cartridges and intermediate detonators, including obtaining a non-explosive emulsion matrix based on an inverse and / or direct emulsion, granular and / or powdered ammonium nitrate and filling shells with them, characterized in that non-explosive and non-capsule-active mixtures in the shells of detonator cartridges filled with a non-explosive emulsion matrix, and at the places of their use, energetic and sensitizing additives in the form of polymer and / or glass spheres and / or their mixtures with powdered and liquid energy additives are introduced and mixed with a non-explosive emulsion matrix and sensitizing additives, such as aluminum powder, powders of zinc and aluminum alloys with a fraction of 100 and / or 300 microns, crushed coke with a fraction of 0-15 microns, pyrolysis carbon black with a fraction from 100 nanometers to 70 microns, crushed rubber with a fraction of 0-1 mm and / or carbon fractions from 0 to 60 microns impregnated under the influence of ultrasound with nitromethane and / or kerosene, with a chlorine-containing organic sensitizer, for example, dichloroethylene, trichlorethylene, chlorobenzene with a solvent, such as alcohol, ketones with short alkyd groups, diethylamine, to obtain a capsule-active energy-saturated explosive mixture in shells, for use in combination with wired or wireless means of initiation, for manual blasting or the formation of detonation systems using robotic systems. 8. A method for producing an explosive for the production of detonator cartridges and intermediate detonators according to claim 7, characterized in that a mixture of sensitizing and energy additives is introduced into the cooled emulsion matrix to a temperature of less than 45 ° C in the form of a suspension, pre-mixed using ultrasound, a mixture of sensitizing and energy additives by extrusion from a vibrating dispenser tube with holes and blades, previously immersed in an emulsion matrix along the entire height of the action cartridge shell, and mixed with a non-explosive emulsion matrix using blades connected to the dispenser tube. 9. A method of obtaining an explosive for the production of checkers detonators and intermediate detonators according to paragraphs. 7 and 8, characterized in that the mass of the emulsion matrix and the mixture of sensitizing additives is immersed into the mass of the emulsion matrix and the mixture of sensitizing additives, which is evenly mixed in the shell of the militant using a vibrating dispenser tube with blades, immediately before blasting on the unit, a blasting cap or a wireless programmable magneto-inductive electronic fuse that responds to electromagnetic waves low frequency less than 5000 Hz.

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