CN106091850A - Control method and control system for underground mine field mixed explosive loading vehicle - Google Patents
Control method and control system for underground mine field mixed explosive loading vehicle Download PDFInfo
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- CN106091850A CN106091850A CN201610388444.6A CN201610388444A CN106091850A CN 106091850 A CN106091850 A CN 106091850A CN 201610388444 A CN201610388444 A CN 201610388444A CN 106091850 A CN106091850 A CN 106091850A
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- big gun
- grug transportation
- transportation tube
- gun hole
- pipe
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D1/00—Blasting methods or apparatus, e.g. loading or tamping
- F42D1/08—Tamping methods; Methods for loading boreholes with explosives; Apparatus therefor
- F42D1/10—Feeding explosives in granular or slurry form; Feeding explosives by pneumatic or hydraulic pressure
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- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Air Transport Of Granular Materials (AREA)
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Abstract
The control method and the control system for the underground mine field mixed explosive loading vehicle are provided, and comprise the following steps: (A) aligning a nozzle of a powder conveying pipe on a pipe feeder arranged on a working arm with a blast hole orifice for conveying emulsion explosive; (B) delivering the explosive conveying pipe to the bottom of the blast hole along the direction from the edge of the blast hole to the bottom of the blast hole; (C) conveying the emulsion matrix through a medicine conveying pipe, conveying the sensitizing solution through the medicine conveying pipe, mixing the emulsion matrix and the emulsion matrix at the pipe orifice of the medicine conveying pipe to form emulsion explosive, and conveying the emulsion explosive into a blast hole; (D) monitoring the flow rate of the delivered emulsified base; (E) and determining the pipe withdrawing speed according to the flow of the conveyed emulsified base materials, so that the explosive conveying pipe is withdrawn from the blast hole along the direction from the bottom of the blast hole to the edge of the blast hole according to the pipe withdrawing speed while the emulsified base materials are conveyed. According to the method and the system, the matching of the pipe withdrawing speed and the charging speed is realized, the automation level of the underground mine field mixed explosive charging vehicle is improved, and the manual labor intensity is effectively reduced.
Description
Technical field
This invention relates generally to the field of intelligent control of on-site mixed explosives truck, more particularly, relate to a kind of ground
Under the control method of mining on-site mixed explosives truck and control system.
Background technology
Sub-terrain mines on-site mixed explosives truck is a kind of charge device matched with mining technology, is used for loading mine water
On flat or vertical to big gun hole.Compared with using finished explosive products, sub-terrain mines on-site mixed explosives truck is used to carry out bursting work
There is work efficiency advantages of higher.
At present, the sub-terrain mines on-site mixed explosives truck of domestic main use mainly has ANFO mixing loading truck, and ammonium is fried
Medicine bulk mixing truck is mainly used in bursting work dry, without water hole, does not have a water resisting property, therefore, and ANFO mixing loading truck
Cannot be applicable to the blasting environment having water hole, range of application is narrower.Additionally, due to would generally occur in actual applications big gun hole with
Quick-fried heap top clearance is too small, the situation that machinery is difficult to hole, and therefore, sub-terrain mines field mixed loading truck grug transportation tube is sought hole and send, moves back pipe
Mostly use manual type, which adds hand labor intensity and the task difficulty of charging work, there is peace greatly
Full hidden danger.
Therefore, existing sub-terrain mines on-site mixed explosives truck is suitable for aspect at blasting environment and has limitation, and people
Work labor intensity is higher.
Summary of the invention
The purpose of exemplary embodiment of the present is to provide the control method of a kind of sub-terrain mines on-site mixed explosives truck
And system, blasting environment and the hand labor having water to overcome existing sub-terrain mines on-site mixed explosives truck to be applicable to
The defect that intensity is higher.
According to an exemplary embodiment of the present invention on the one hand, it is provided that the controlling party of a kind of sub-terrain mines on-site mixed explosives truck
Method, including: the grug transportation tube mouth of pipe alignment on the pipe conveyor that (A) will be arranged on working arm is used for carrying the hole, big gun hole of emulsion
Mouthful；(B) grug transportation tube is delivered to bottom big gun hole along the direction bottom big gun bore edges to big gun hole；(C) by emulsifying base via loading
Pipe carries, and is also carried via grug transportation tube by sensitizing solution, to be mixed to form breast at the grug transportation tube mouth of pipe and emulsifying base
Change explosive, and emulsion is sent into big gun hole；(D) flow of monitoring conveying emulsifying base；(E) according to the stream of conveying emulsifying base
Amount determine the puller speed, with conveying emulsifying base while, according to described the puller speed along bottom big gun hole to limit, big gun hole
Grug transportation tube is exited from big gun hole by the direction of edge.
Alternatively, step (B) including: grug transportation tube is being sent into big gun hole along the direction bottom big gun bore edges to big gun hole by (B1)
During, the sensing pressure that born of the grug transportation tube mouth of pipe and the length of grug transportation tube being admitted in big gun hole；(B2) will sensing
The pressure that born of the grug transportation tube mouth of pipe compare with predetermined pressure, and by the length of grug transportation tube being admitted in big gun hole and big gun
Hole projected depth compares；(B3) determine whether grug transportation tube along the side bottom big gun bore edges to big gun hole according to comparative result
To delivering to bottom big gun hole.
Alternatively, step (B3) including: when the pressure that born of the grug transportation tube mouth of pipe of sensing less than described predetermined pressure and
When the length of the grug transportation tube being admitted in big gun hole is less than the described blast-hole design degree of depth, grug transportation tube is continued edge from big gun bore edges to big gun
Big gun hole is sent in direction bottom hole；The pressure born when the grug transportation tube mouth of pipe of sensing not less than described predetermined pressure and is admitted to
When the length of the grug transportation tube in big gun hole is not less than the described blast-hole design degree of depth, stop sending in big gun hole grug transportation tube.When sensing
The pressure that the grug transportation tube mouth of pipe is born not less than described predetermined pressure and the length of grug transportation tube that is admitted in big gun hole less than described
During the blast-hole design degree of depth, stop sending in big gun hole grug transportation tube, provide multiple-row blasting and report to the police.
Alternatively, step (E) including: to the flow carrying emulsifying base monitored in step (D) to being modified, thus
The calculated flow rate value of the flow matches of the conveying emulsifying base determined and monitor, based between calculated flow rate value and the puller speed
Corresponding relation determine the puller speed corresponding with described calculated flow rate value, with conveying emulsifying base while, according to described
Grug transportation tube is exited from big gun hole by the puller speed along direction to big gun bore edges bottom big gun hole.
Alternatively, step (E) also includes: at grug transportation tube described the puller speed according to reception during big gun hole is exited
Carry out reel closed tube.
Alternatively, described method also includes: (F) detection grug transportation tube exit distance；(G) reach when the distance that exits of grug transportation tube
During to the described blast-hole design degree of depth, stop carrying emulsifying base via grug transportation tube, stop grug transportation tube along from big gun simultaneously
Bottom hole, the direction to big gun bore edges is exited from big gun hole.
According to an exemplary embodiment of the present invention on the other hand, it is provided that the control of a kind of sub-terrain mines on-site mixed explosives truck
System, including: working arm control system, driving control system and explosive delivery systems, wherein, working arm control system includes work
Making arm controller, working arm, pipe conveyor and grug transportation tube, wherein, pipe conveyor is arranged on described working arm, and grug transportation tube is arranged on and send pipe
On device, driving control system includes hydraulic gear and controller, and explosive delivery systems includes latex pump, sensitizer pump and stream
Amount monitor, wherein, working arm controller controls working arm according to the operation of user and moves, to be arranged on described on pipe conveyor
Grug transportation tube mouth of pipe alignment for carrying the aperture, big gun hole of emulsion, controller produce according to the operation of user be used for controlling defeated
The control signal that pencil moves along the direction bottom big gun bore edges to big gun hole, is sent to hydraulic drive motor by described control signal
Structure, grug transportation tube is delivered to big gun hole along the direction bottom big gun bore edges to big gun hole according to the control signal received by hydraulic gear
Bottom, emulsifying base is carried by latex pump via grug transportation tube, and sensitizing solution is also carried by sensitizer pump via grug transportation tube,
To be mixed to form emulsion at the mouth of pipe of grug transportation tube and emulsifying base, and emulsion being sent into big gun hole, flow monitor is supervised
Survey the flow of latex transport pump emulsifying base, the flow of the latex transport pump emulsifying base of monitoring is flowed to controller, wherein,
Controller determines the puller speed according to the flow of the latex transport pump emulsifying base received, and is sent to by the puller speed determined
Hydraulic gear, hydraulic gear is while latex transport pump emulsifying base, according to the described the puller speed edge received
Bottom big gun hole, grug transportation tube is exited from big gun hole by the direction to big gun bore edges.
Alternatively, described driving control system also includes pressure sensor and displacement sensor, wherein, at hydraulic drive motor
During grug transportation tube is delivered to big gun hole along the direction bottom big gun bore edges to big gun hole by structure, pressure sensor senses grug transportation tube pipe
The pressure that mouth is born, and the pressure transmission born by the grug transportation tube mouth of pipe of sensing is to controller, displacement sensor sensing quilt
The length of the grug transportation tube in feeding big gun hole, and by the length transmission of the grug transportation tube being admitted in big gun hole of sensing to controller, control
The pressure that the grug transportation tube mouth of pipe of sensing is born is compared by device processed with predetermined pressure, and the grug transportation tube that will be admitted in big gun hole
Length compare with the blast-hole design degree of depth, according to comparative result determine whether by grug transportation tube along from big gun bore edges at the bottom of big gun hole
The direction in portion is delivered to bottom big gun hole.
Alternatively, the pressure born when the grug transportation tube mouth of pipe of controller sensing less than described predetermined pressure and is admitted to big gun
When the length of the grug transportation tube in hole is less than the described blast-hole design degree of depth, produces and continue grug transportation tube is continued edge from big gun bore edges to big gun
The control signal in big gun hole is sent in direction bottom hole, and the control signal of generation is sent to hydraulic gear, hydraulic drive motor
Grug transportation tube is continued to send into big gun hole along the direction bottom big gun bore edges to big gun hole by structure according to the control signal received；Work as control
The pressure that born of the grug transportation tube mouth of pipe of device sensing is not less than described predetermined pressure and the length of grug transportation tube that is admitted in big gun hole
During not less than the described blast-hole design degree of depth, produce the stopping signal stopping sending pipe for controlling pipe conveyor, the stopping letter that will produce
Number being sent to hydraulic gear, hydraulic gear stops sending in big gun hole grug transportation tube according to the stopping signal receiving；
The pressure born when the grug transportation tube mouth of pipe of controller sensing not less than described predetermined pressure and is admitted to the grug transportation tube in big gun hole
Length less than the described blast-hole design degree of depth time, produce and stop sending the stopping signal of pipe, by stopping of producing for controlling pipe conveyor
Stop signal is sent to hydraulic gear, and hydraulic gear stops sending into grug transportation tube big gun hole according to the stopping signal receiving
In, controller provides multiple-row blasting and reports to the police.
Alternatively, controller carries the flow of emulsifying base and carries out from speed governing displacement correction, so that it is determined that go out monitoring
With the calculated flow rate value of flow matches of the conveying emulsifying base of monitoring, corresponding based between calculated flow rate value and the puller speed
Relation determines the puller speed corresponding with described calculated flow rate value, while conveying emulsifying base, to move back Guan Su according to described
Degree controls the direction to big gun bore edges bottom big gun hole, the hydraulic gear edge to be exited grug transportation tube from big gun hole.
Alternatively, described driving control system also includes reel device, wherein, reel device at hydraulic gear by grug transportation tube
Reel closed tube is carried out according to the described the puller speed received during big gun hole is exited.
Alternatively, what described displacement detector also detected grug transportation tube exits distance, wherein, when displacement detector detects defeated
Pencil exit distance when reaching the described blast-hole design degree of depth, latex pump stops carrying emulsifying base via grug transportation tube,
Controller stops hydraulic gear and is exited from big gun hole along direction to big gun bore edges bottom big gun hole by grug transportation tube simultaneously.
In the control method and system of sub-terrain mines on-site mixed explosives truck according to an exemplary embodiment of the present invention, real
Show the puller speed and the coupling of powder charge speed, improve the automatization level of sub-terrain mines on-site mixed explosives truck, effectively drop
Low hand labor intensity.
Accompanying drawing explanation
By the detailed description carried out below in conjunction with the accompanying drawings, above and other purpose of exemplary embodiment of the present, spy
Point and advantage will become apparent, wherein:
Fig. 1 illustrates the flow process of the control method of sub-terrain mines on-site mixed explosives truck according to an exemplary embodiment of the present invention
Figure；
Fig. 2 illustrates in the control method of sub-terrain mines on-site mixed explosives truck according to an exemplary embodiment of the present invention and send pipe
The flow chart of the step of process；
Fig. 3 illustrates the frame of the control system of sub-terrain mines on-site mixed explosives truck according to an exemplary embodiment of the present invention
Figure；
Fig. 4 illustrates the control system of the sub-terrain mines on-site mixed explosives truck according to another exemplary embodiment of the present invention
Block diagram.
Detailed description of the invention
Reference will now be made in detail the exemplary embodiment of the present invention, the example of described embodiment is shown in the drawings, wherein, and phase
With label refer to identical parts all the time.Hereinafter by referring to accompanying drawing, described embodiment will be described, in order to explain this
Bright.
Fig. 1 illustrates the flow process of the control method of sub-terrain mines on-site mixed explosives truck according to an exemplary embodiment of the present invention
Figure.
As it is shown in figure 1, the grug transportation tube mouth of pipe alignment in step S100, the pipe conveyor that will arrange on working arm is used for carrying
The aperture, big gun hole of emulsion.Here, the grug transportation tube mouth of pipe is directed at by available existing various methods with aperture, big gun hole.
Such as, can peripheral hardware one remote controller, by receive user the operation of this remote controller is produced for controlling the control that working arm moves
Signal processed, to move according to this control signal control working arm, so that the grug transportation tube on the pipe conveyor arranged on working arm
Mouth of pipe alignment is for carrying the aperture, big gun hole of emulsion.
In step S200, grug transportation tube is delivered to bottom big gun hole along the direction bottom big gun bore edges to big gun hole.Here, as
Example, in order to prevent explosive conveying during block the grug transportation tube mouth of pipe, it is preferable that can by grug transportation tube along from big gun bore edges to
The precalculated position in big gun hole is delivered in direction bottom big gun hole.Should be understood that described pre-position can refer to the mouth of pipe of grug transportation tube (i.e.,
Grug transportation tube sends into the mouth of pipe of one end, big gun hole) distance is the position of setpoint distance bottom big gun hole.
Additionally, due to the hole depth in big gun hole is not consistent, and the impact of the factor such as big gun bore deformation or bore error, each big gun hole
Accurate depth often unknown, therefore, the pressure can born according to the grug transportation tube mouth of pipe automatically found out during sending pipe
Power and the length of grug transportation tube that is admitted in big gun hole are to determine whether grug transportation tube is sent to bottom big gun hole.Below, will be in conjunction with Fig. 2
Describe sub-terrain mines on-site mixed explosives truck according to an exemplary embodiment of the present invention control method send showing of pipe process
Example.
Fig. 2 illustrates in the control method of sub-terrain mines on-site mixed explosives truck according to an exemplary embodiment of the present invention and send pipe
The flow chart of process.
As in figure 2 it is shown, in step S210, grug transportation tube is being sent into big gun hole along the direction bottom big gun bore edges to big gun hole
During, the sensing pressure that born of the grug transportation tube mouth of pipe and the length of grug transportation tube being admitted in big gun hole.
In step S220, the pressure that the grug transportation tube mouth of pipe of sensing is born is compared with predetermined pressure, and will be sent
The length entering the grug transportation tube in big gun hole compares with the blast-hole design degree of depth.Here, can correspondingly can in step S230 basis
Comparative result determines whether to deliver to bottom big gun hole grug transportation tube along the direction bottom big gun bore edges to big gun hole.
Particularly, the pressure born when the grug transportation tube mouth of pipe of sensing less than described predetermined pressure and is admitted in big gun hole
Grug transportation tube length less than the described blast-hole design degree of depth time, show not delivered to by grug transportation tube bottom big gun hole, can be by loading
Pipe continues to send into big gun hole along the direction bottom big gun bore edges to big gun hole.
The pressure born when the grug transportation tube mouth of pipe of sensing not less than (that is, being more than or equal to) described predetermined pressure and is admitted to
When the length of the grug transportation tube in big gun hole is not less than (that is, being more than or equal to) described blast-hole design degree of depth, show the most by grug transportation tube
Deliver to bottom big gun hole, can stop sending in big gun hole grug transportation tube.
The pressure born when the grug transportation tube mouth of pipe of sensing not less than (that is, being more than or equal to) described predetermined pressure and is admitted to
The length of the grug transportation tube in big gun hole is less than the described blast-hole design degree of depth, or the pressure that the grug transportation tube mouth of pipe of sensing is born is less than
Described predetermined pressure and the length of grug transportation tube that is admitted in big gun hole are not less than (that is, being more than or equal to) described blast-hole design degree of depth
Time, show now to break down during sending grug transportation tube such as big gun hole, can stop sending in big gun hole grug transportation tube, and be given
Multiple-row blasting is reported to the police.
Moreover it is preferred that grug transportation tube edge can be controlled bottom big gun hole to big gun hole after stopping grug transportation tube being sent into big gun hole
Setpoint distance is exited from big gun hole in the direction at edge, so that setpoint distance bottom the mouth of pipe distance big gun hole of grug transportation tube, i.e. it is positioned at institute
State pre-position.Here, make grug transportation tube exit setpoint distance from big gun hole, grug transportation tube can be made to depart from push pipe state, thus
Overcome follow-up powder charge process due to seamless bottom grug transportation tube and big gun hole and that cause pipe laying problem.
By the way, can whether have arrived at bottom big gun hole by the automatic decision grug transportation tube mouth of pipe, it is achieved send pipe intelligent.
Again return to Fig. 1, it follows that in step S300, carried via grug transportation tube by emulsifying base, and by sensitizing solution
Also carry via grug transportation tube, to be mixed to form emulsion at the grug transportation tube mouth of pipe and emulsifying base, and emulsion is sent
Enter big gun hole.Owing to this emulsion has a water resisting property, therefore, the on-site mixed explosives truck of this emulsion is applied to go for
Blasting environment widely.
In step S400, the flow of monitoring conveying emulsifying base.
In step S500, determine the puller speed according to the flow of conveying emulsifying base, to carry the same of emulsifying base
Time, grug transportation tube is exited from big gun hole along direction to big gun bore edges bottom big gun hole according to described the puller speed.
Here, as example, can be modified according to the flow of the conveying emulsifying base monitored in step S400, supervising
The flow correction of the conveying emulsifying base surveyed is the calculated flow rate value of the flow matches of the conveying emulsifying base with monitoring, thus really
The calculated flow rate value of the flow matches of the conveying emulsifying base made and monitor, based between calculated flow rate value and the puller speed
Corresponding relation determines the puller speed corresponding with described calculated flow rate value, while conveying emulsifying base, to move back according to described
Grug transportation tube is exited from big gun hole by pipe speed along direction to big gun bore edges bottom big gun hole.
Further, also during big gun hole is exited, reel can be carried out according to the described the puller speed determined at grug transportation tube
Closed tube.
Preferably, the control method of sub-terrain mines on-site mixed explosives truck can also be wrapped according to an exemplary embodiment of the present invention
Include the step controlling to move back pipe.
In step S600, that detects grug transportation tube exits distance.
In step S700, it is judged that exiting apart from whether reaching the blast-hole design degree of depth of grug transportation tube.When grug transportation tube exit away from
In time reaching the blast-hole design degree of depth, in step S800, stop carrying emulsifying base via grug transportation tube, stop defeated simultaneously
Pencil exits from big gun hole along direction to big gun bore edges bottom big gun hole；When exiting apart from not up to blast-hole design of grug transportation tube
During the degree of depth, returning and perform step S600, that continues detection grug transportation tube exits distance.
In the control method of the above-mentioned on-site mixed explosives truck of sub-terrain mines according to an exemplary embodiment of the present invention, it is achieved
The puller speed and the coupling of powder charge speed, improve the automatization level of sub-terrain mines on-site mixed explosives truck, effectively reduce
Hand labor intensity.
Fig. 3 illustrates the frame of the control system of sub-terrain mines on-site mixed explosives truck according to an exemplary embodiment of the present invention
Figure.
As it is shown on figure 3, the control system bag of sub-terrain mines on-site mixed explosives truck according to an exemplary embodiment of the present invention
Include: working arm control system 100, driving control system 200 and explosive delivery systems 300.
Fig. 4 illustrates the control system of the sub-terrain mines on-site mixed explosives truck according to another exemplary embodiment of the present invention
Block diagram.
As shown in Figure 4, working arm control system 100 includes working arm controller 110, working arm 120, pipe conveyor 130 and
Grug transportation tube 140, wherein, pipe conveyor 130 is arranged on described working arm 120, and grug transportation tube 140 is arranged on described pipe conveyor 130,
Driving control system 200 includes hydraulic gear 210 and controller 220, and explosive delivery systems 300 includes latex pump 310, quick
Agent pump 320 and flow monitor 330.
Particularly, working arm controller 110 moves according to the operation control working arm 120 of user, with by described loading
The mouth of pipe alignment of pipe 140 is for carrying the aperture, big gun hole of emulsion.Here, described working arm controller 110 could be for
Control the remote controller of working arm.Such as, the operation of this remote controller can be produced for controlling working arm shifting by receiving user
Dynamic control signal, to move according to this control signal control working arm, so that the grug transportation tube mouth of pipe arranged on working arm
Alignment is for carrying the aperture, big gun hole of emulsion.
Controller 220 produces for controlling grug transportation tube 140 along bottom big gun bore edges to big gun hole according to the operation of user
The control signal of direction motion, is sent to hydraulic gear 210 by described control signal, and hydraulic gear 210 is according to connecing
Grug transportation tube 140 is delivered to bottom big gun hole by the control signal received along the direction bottom big gun bore edges to big gun hole.Here, as showing
Example, in order to prevent explosive from blocking grug transportation tube 140 mouth of pipe during conveying, it is preferable that hydraulic gear 210 can be by loading
Pipe 140 delivers to the precalculated position in big gun hole along the direction bottom big gun bore edges to big gun hole.Should be understood that described pre-position can
It it is the position of setpoint distance bottom the mouth of pipe (that is, grug transportation tube sends into the mouth of pipe of one end, big gun hole) the distance big gun hole of finger grug transportation tube 140.
Additionally, due to the hole depth in big gun hole is not consistent, and the impact of the factor such as big gun bore deformation or bore error, each big gun hole
Accurate depth often unknown, therefore, can be born according to grug transportation tube 140 mouth of pipe automatically found out during sending pipe
Pressure and the length of grug transportation tube 140 that is admitted in big gun hole are to determine whether grug transportation tube is sent to bottom big gun hole.
Here, as example, described driving control system 200 can also include pressure sensor 230 and displacement sensor
240.Wherein, at hydraulic gear 210, grug transportation tube 140 is delivered to along the direction bottom big gun bore edges to big gun hole the mistake in big gun hole
Cheng Zhong, pressure sensor 230 senses the pressure that grug transportation tube 140 mouth of pipe is born, and is born by grug transportation tube 140 mouth of pipe of sensing
Pressure transmission to controller 220, the length of the grug transportation tube 140 that displacement sensor 240 sensing is admitted in big gun hole is, and will sensing
The length transmission of the grug transportation tube 140 being admitted in big gun hole to controller 220.
The pressure that grug transportation tube 140 mouth of pipe of sensing is born is compared by controller 220 with predetermined pressure, and will be sent
The length entering the grug transportation tube 140 in big gun hole compares with the blast-hole design degree of depth, determines whether grug transportation tube according to comparative result
140 deliver to bottom big gun hole along the direction bottom big gun bore edges to big gun hole.
Particularly, when the pressure that born of grug transportation tube 140 mouth of pipe of controller 220 sensing less than described predetermined pressure and
When the length of the grug transportation tube 140 being admitted in big gun hole is less than the described blast-hole design degree of depth, show grug transportation tube not to be delivered to big gun
Bottom hole, produce the control signal continuing that grug transportation tube 140 continues to send into along the direction bottom big gun bore edges to big gun hole big gun hole,
The control signal of generation is sent to hydraulic gear 210, hydraulic gear 210 according to the control signal received by defeated
Pencil 140 continues to send into big gun hole along the direction bottom big gun bore edges to big gun hole.
The pressure born when grug transportation tube 140 mouth of pipe of controller 220 sensing is described not less than (that is, being more than or equal to) predetermined
When pressure and the length of grug transportation tube 140 that is admitted in big gun hole are not less than (that is, being more than or equal to) described blast-hole design degree of depth, show
The most grug transportation tube is delivered to bottom big gun hole, the stopping signal stopping sending pipe for controlling pipe conveyor 130 can have been produced, by produce
Stopping signal and be sent to hydraulic gear 210, hydraulic gear 210 stops grug transportation tube according to the stopping signal receiving
Send in big gun hole.
The pressure born when the grug transportation tube mouth of pipe of controller 220 sensing is not less than (that is, being more than or equal to) described pre-level pressure
Power and the length of grug transportation tube that is admitted in big gun hole are less than the described blast-hole design degree of depth, or the grug transportation tube mouth of pipe of sensing is born
Pressure less than described predetermined pressure and the length of grug transportation tube that is admitted in big gun hole not less than (that is, being more than or equal to) described big gun hole
During projected depth, show now to break down during sending grug transportation tube such as big gun hole, can produce for controlling working arm 120
On pipe conveyor 130 stop sending the stopping signal of pipe, the stopping signal of generation is sent to hydraulic gear 210, hydraulic pressure passes
Motivation structure 210 stops sending in big gun hole by grug transportation tube 140 according to the stopping signal receiving, and controller 220 provides multiple-row blasting
Report to the police.
Moreover it is preferred that can be after stopping grug transportation tube 140 is sent into big gun hole, controller 220 controls hydraulic gear
210 make grug transportation tube 140 exit setpoint distance along direction to big gun bore edges bottom big gun hole from big gun hole, so that the pipe of grug transportation tube
Setpoint distance bottom mouth distance big gun hole, i.e. be positioned at described pre-position.Here, make grug transportation tube exit from big gun hole setting away from
From, grug transportation tube can be made to depart from push pipe state, thus overcome follow-up powder charge process due to seamless bottom grug transportation tube and big gun hole and
The pipe laying problem caused.
By the way, whether driving control system 200 can have arrived at bottom big gun hole by the automatic decision grug transportation tube mouth of pipe,
Realization send pipe intelligent.
Emulsifying base is carried by latex pump 310 via grug transportation tube 140, sensitizer pump 320 by sensitizing solution also via defeated
Pencil 140 carries, and to be mixed to form emulsion at the mouth of pipe of grug transportation tube 140 and emulsifying base, and is sent by emulsion
Enter big gun hole.Here, described emulsion has a water resisting property, and therefore, the on-site mixed explosives truck applying this scene emulsion can
To be applicable to blasting environment widely.
Flow monitor 330 is monitored latex pump 310 and is carried the flow of emulsifying base, by the latex transport pump emulsified base of monitoring
The flow of matter flows to controller 220, and wherein, controller 220 determines according to the flow of the latex transport pump emulsifying base received
Going out the puller speed, the puller speed determined is sent to hydraulic gear 210, hydraulic gear 210 is defeated at latex pump 310
While sending emulsifying base, according to the described the puller speed received along bottom big gun hole to the direction of big gun bore edges by grug transportation tube
140 exit from big gun hole.
As example, controller 220 carries the flow of emulsifying base and carries out from speed governing displacement correction, supervising monitoring
The flow correction of the conveying emulsifying base surveyed is the calculated flow rate value of the flow matches of the conveying emulsifying base with monitoring, thus really
The calculated flow rate value of the flow matches of the conveying emulsifying base made and monitor, based between calculated flow rate value and the puller speed
Corresponding relation determines the puller speed corresponding with described calculated flow rate value, while conveying emulsifying base, to move back according to described
Grug transportation tube 140 is exited from big gun hole by pipe speed controlling hydraulic gear 210 along direction to big gun bore edges bottom big gun hole.
Additionally, additionally, what described displacement detector 240 also detected grug transportation tube exits distance, wherein, works as displacement detector
240 grug transportation tube 140 detected exit distance when reaching the described blast-hole design degree of depth, latex pump 310 stops emulsifying base warp
Carried by grug transportation tube, simultaneously controller 220 stop hydraulic gear 210 by grug transportation tube 140 along bottom big gun hole to big gun
The direction of bore edges is exited from big gun hole.
Additionally, as example, described driving control system 200 also includes reel device (not shown in Fig. 4), wherein, reel
Grug transportation tube 140 is rolled up according to the described the puller speed received during big gun hole is exited by device at hydraulic gear 210
Cylinder closed tube.
In sum, sub-terrain mines on-site mixed explosives truck according to an exemplary embodiment of the present invention control method and
In control system, it is achieved that the puller speed and the coupling of powder charge speed, improve the automatic of sub-terrain mines on-site mixed explosives truck
Change level, effectively reduces hand labor intensity.
Although be particularly shown and describe the present invention with reference to its exemplary embodiment, but those skilled in the art
It should be understood that in the case of the spirit and scope of the present invention limited without departing from claim, it can be carried out form
With the various changes in details.
Claims (12)
1. a control method for sub-terrain mines on-site mixed explosives truck, including:
(A) alignment of the grug transportation tube mouth of pipe on the pipe conveyor that will arrange on working arm is used for carrying the aperture, big gun hole of emulsion；
(B) grug transportation tube is delivered to bottom big gun hole along the direction bottom big gun bore edges to big gun hole；
(C) emulsifying base is carried via grug transportation tube, and sensitizing solution is also carried via grug transportation tube, with at grug transportation tube
The mouth of pipe and emulsifying base are mixed to form emulsion, and emulsion is sent into big gun hole；
(D) flow of monitoring conveying emulsifying base；
(E) the puller speed is determined according to the flow of conveying emulsifying base, while conveying emulsifying base, to move back according to described
Grug transportation tube is exited from big gun hole by pipe speed along direction to big gun bore edges bottom big gun hole.
2. control method as claimed in claim 1, wherein, step (B) including:
(B1) during grug transportation tube is sent into big gun hole along the direction bottom big gun bore edges to big gun hole, the grug transportation tube mouth of pipe is sensed
The pressure born and the length of the grug transportation tube being admitted in big gun hole；
(B2) pressure that the grug transportation tube mouth of pipe of sensing is born is compared with predetermined pressure, and defeated by be admitted in big gun hole
The length of pencil compares with the blast-hole design degree of depth；
(B3) determine whether to deliver to bottom big gun hole grug transportation tube along the direction bottom big gun bore edges to big gun hole according to comparative result.
3. control method as claimed in claim 2, wherein, step (B3) including:
When the pressure that born of the grug transportation tube mouth of pipe of sensing is less than described predetermined pressure and the length of grug transportation tube that is admitted in big gun hole
When degree is less than the described blast-hole design degree of depth, continue grug transportation tube to send into big gun hole along the direction bottom big gun bore edges to big gun hole；
When the pressure that born of the grug transportation tube mouth of pipe of sensing is not less than described predetermined pressure and the grug transportation tube that is admitted in big gun hole
When length is not less than the described blast-hole design degree of depth, stop sending in big gun hole grug transportation tube.
When the pressure that born of the grug transportation tube mouth of pipe of sensing is not less than described predetermined pressure and the grug transportation tube that is admitted in big gun hole
When length is less than the described blast-hole design degree of depth, stop sending in big gun hole grug transportation tube, provide multiple-row blasting and report to the police.
4. control method as claimed in claim 1, wherein, step (E) including: to the conveying emulsified base monitored in step (D)
The flow of matter is modified, so that it is determined that go out the calculated flow rate value of the flow matches of the conveying emulsifying base with monitoring, based on meter
The corresponding relation calculated between flow value and the puller speed determines the puller speed corresponding with described calculated flow rate value, with at conveying breast
Change while substrate, along direction to big gun bore edges bottom big gun hole, grug transportation tube is moved back from big gun hole according to described the puller speed
Go out.
5. control method as claimed in claim 4, step (E) also includes: grug transportation tube during big gun hole is exited according to
The described the puller speed received carries out reel closed tube.
6. control method as claimed in claim 2, also includes:
(F) that detects grug transportation tube exits distance；
(G) when grug transportation tube exit distance reach the described blast-hole design degree of depth time, stop emulsifying base being carried out via grug transportation tube
Conveying, stops exiting grug transportation tube from big gun hole along direction to big gun bore edges bottom big gun hole simultaneously.
7. a control system for sub-terrain mines on-site mixed explosives truck, including: working arm control system, driving control system and
Explosive delivery systems,
Wherein, working arm control system includes working arm controller, working arm, pipe conveyor and grug transportation tube, and wherein, pipe conveyor is arranged
On described working arm, grug transportation tube is arranged on described pipe conveyor, and driving control system includes hydraulic gear and controller,
Explosive delivery systems includes latex pump, sensitizer pump and flow monitor,
Wherein, working arm controller controls working arm according to the operation of user and moves, with by described be arranged on pipe conveyor defeated
Pencil mouth of pipe alignment is used for carrying the aperture, big gun hole of emulsion,
Controller produces for controlling what grug transportation tube moved along the direction bottom big gun bore edges to big gun hole according to the operation of user
Control signal, is sent to hydraulic gear by described control signal, hydraulic gear according to receive control signal by defeated
Pencil is delivered to bottom big gun hole along the direction bottom big gun bore edges to big gun hole,
Emulsifying base is carried by latex pump via grug transportation tube, and sensitizing solution is also carried by sensitizer pump via grug transportation tube,
To be mixed to form emulsion at the mouth of pipe of grug transportation tube and emulsifying base, and emulsion is sent into big gun hole,
The flow of flow monitor monitoring latex transport pump emulsifying base, by defeated for the flow of the latex transport pump emulsifying base of monitoring
Giving controller, wherein, controller determines the puller speed according to the flow of the latex transport pump emulsifying base received, and will determine
The puller speed be sent to hydraulic gear, hydraulic gear is while latex transport pump emulsifying base, according to reception
Described the puller speed along direction to big gun bore edges bottom big gun hole, grug transportation tube is exited from big gun hole.
8. control system as claimed in claim 7, wherein, described driving control system also includes pressure sensor and displacement sense
Survey device,
Wherein, during grug transportation tube is delivered to big gun hole along the direction bottom big gun bore edges to big gun hole by hydraulic gear,
The pressure that the pressure sensor senses grug transportation tube mouth of pipe is born, and the pressure transmission born by the grug transportation tube mouth of pipe of sensing is to control
Device processed, the length of the grug transportation tube that displacement sensor sensing is admitted in big gun hole, and by the grug transportation tube being admitted in big gun hole of sensing
Length transmission to controller,
The pressure that the grug transportation tube mouth of pipe of sensing is born is compared by controller with predetermined pressure, and will be admitted in big gun hole
The length of grug transportation tube compares with the blast-hole design degree of depth, according to comparative result determine whether by grug transportation tube along from big gun bore edges to
Direction bottom big gun hole is delivered to bottom big gun hole.
9. control system as claimed in claim 8, wherein, the pressure born when the grug transportation tube mouth of pipe of controller sensing is less than
When described predetermined pressure and the length of grug transportation tube that is admitted in big gun hole are less than the described blast-hole design degree of depth, produce and continue loading
Pipe continues to send into the control signal in big gun hole along the direction bottom big gun bore edges to big gun hole, and the control signal produced is sent feeding
Pressure drive mechanism, grug transportation tube is continued along bottom big gun bore edges to big gun hole by hydraulic gear according to the control signal received
Direction send into big gun hole；
When controller sensing the pressure that born of the grug transportation tube mouth of pipe not less than described predetermined pressure and be admitted in big gun hole defeated
When the length of pencil is not less than the described blast-hole design degree of depth, produce the stopping signal stopping sending pipe for controlling pipe conveyor, will produce
Raw stopping signal being sent to hydraulic gear, and hydraulic gear stops sending grug transportation tube according to the stopping signal receiving
Enter in big gun hole；
When controller sensing the pressure that born of the grug transportation tube mouth of pipe not less than described predetermined pressure and be admitted in big gun hole defeated
When the length of pencil is less than the described blast-hole design degree of depth, produce the stopping signal stopping sending pipe for controlling pipe conveyor, will produce
Stopping signal being sent to hydraulic gear, hydraulic gear stops sending into grug transportation tube according to the stopping signal that receives
In big gun hole, controller provides multiple-row blasting and reports to the police.
10. control system as claimed in claim 7, wherein, controller carries the flow of emulsifying base and repaiies monitoring
Just, so that it is determined that go out the calculated flow rate value of flow matches of the conveying emulsifying base with monitoring, based on calculated flow rate value with move back pipe
Corresponding relation between speed determines the puller speed corresponding with described calculated flow rate value, with conveying emulsifying base while,
According to described the puller speed control hydraulic gear along bottom big gun hole to the direction of big gun bore edges by grug transportation tube from big gun hole
Exit.
11. control systems as claimed in claim 10, wherein, described driving control system also includes reel device, wherein, reel
Grug transportation tube is carried out reel closed tube according to the described the puller speed received at hydraulic gear during big gun hole is exited by device.
12. control systems as claimed in claim 8, wherein, what described displacement detector also detected grug transportation tube exits distance,
Wherein, when displacement detector detect grug transportation tube exit distance reach the described blast-hole design degree of depth time, latex pump stop
Emulsifying base is carried via grug transportation tube, simultaneously controller stop hydraulic gear by grug transportation tube along bottom big gun hole to
The direction of big gun bore edges is exited from big gun hole.
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