Vehicle for deposition of explosives in blast holes and method of use

Patent metadata

Field	Value
Publication number	US-2018106584-A1
Application number	US-201715784838-A
Country	US
Kind code	A1
Filing date	Oct 16, 2017
Priority date	Oct 17, 2016
Publication date	Apr 19, 2018
Grant date	—

Abstract

Described is a vehicle configured for the deposition of explosives in holes of open-pit exploration mines, wherein the vehicle is able to perform all seven steps carried out in the manual explosive deposition process, automatically, completely free of human intervention. Also described is a method of use of the aforementioned vehicle.

First claim

1 . A vehicle for deposition of explosives in blast holes, comprising:
an explosive storage tank; a vertical translation platform; and a robotic arm; the explosive storage tank comprising at least one airtight container capable of holding explosive in liquid or granular form therein; the vertical translation platform being configured to position the robotic arm ( 4 ) in an ideal work height regarding the ground, and levelling the robotic arm to offset ground unevenness; the robotic arm comprising at least two movement axes, a gripper and a sensor, the robotic arm configured to:
analyze the inside of the hole, and guide a sensor near to the upper edge of the hole;
guide a first discharge of explosive;
mount a detonator;
deposit the mounted detonator into the hole;
guide a second discharge of explosive into the hole; and
buffer the hole at the end of an explosive deposit process;
the vehicle further comprising: a GPS device, a propulsion system, and an electronic processor, configured to guide the vehicle independently.

2 . The vehicle for deposition of explosives in blast holes according to claim 1 , wherein the robotic arm comprises four movement axes.

3 . The vehicle for deposition of explosives in blast holes according to claim 1 , further comprising at least three claws that can engage to the free end of robotic arm, each of the claws with a different function and purpose.

4 . The vehicle for deposition of explosives in blast holes according to claim 3 , wherein a first claw is configured for manipulation of ANFO and emulsion hoses.

5 . The vehicle for deposition of explosives in blast holes according to claim 4 , wherein the first claw is configured for measurement of hole depth and for detection of water inside the hole.

6 . The vehicle for deposition of explosives in blast holes according to claim 4 , wherein the first claw comprises a vision system configured to locate the center of the hole.

7 . The vehicle for deposition of explosives in blast holes according to claim 3 , further comprising a second claw configured for mounting of detonators through the handling of boosters, shock tubes, fuses and weights.

8 . The vehicle for deposition of explosives in blast holes according to claim 7 , wherein the second claw comprises at least four different types of grippers, each one configured to manipulate specifically one of the elements comprised by the detonator.

9 . The vehicle for deposition of explosives in blast holes according to claim 3 , further comprising a third claw configured for the buffering of the hole at the end of an explosive deposit process, the third claw fitted with an end configured as a shovel.

10 . The vehicle for deposition of explosives in blast holes according to claim 1 , wherein the vertical translation platform comprises a metal plate and two pistons, wherein the pistons are perpendicular to the metal plate structure.

11 . The vehicle for deposition of explosives in blast holes according to claim 1 , further comprising a mounting device configured to help mount the detonator.

12 . The vehicle for deposition of explosives in blast holes according to claim 11 , wherein the mounting device comprises: a pipe separator; a pipe brake clamp; an alignment roller; a linear cylinder; and a booster holder.

13 . The vehicle for deposition of explosives in blast holes according to claim 1 , further comprising three magazines for safe storage of the elements required to prepare the detonator.

14 . The vehicle for deposition of explosives in blast holes according to claim 1 , wherein the explosive storage tank is fitted with two different containers: a container for ANFO storage, and a container for emulsion storage.

15 . The vehicle for deposition of explosives in blast holes according to claim 1 , wherein the explosive storage tank is fitted with three different containers: a container for ANFO storage, a container for emulsion storage, and a container for high density explosive storage.

16 . The vehicle for deposition of explosives in blast holes according to claim 1 , wherein the vehicle is fully independent from human intervention, once it is laid out on the upper surface of a mine bench before the blasting operation.

17 . A method for depositing explosives in a blast hole using the vehicle according to claim 1 , comprising:
parking the vehicle near the blast hole; engaging the robotic arm and the first claw and mapping the hole with a vision system; checking the hole depth and presence of water inside it by inserting a probe into the hole; depositing a first portion of explosive into the hole; disengaging the robotic arm from the first claw and engaging the second claw, the second claw configured to handle the detonator; mounting the detonator; inserting the detonator into the hole at a constant speed; releasing a weight on the ground, next to the edge of the hole; changing the second claw for the first claw; depositing the explosive in the hole; changing the first claw for the third claw; buffering the hole with the third claw; returning the robotic arm to its starting position and releasing the vehicle towards another hole.

18 . The method according to claim 17 , wherein the mounting of the detonator further comprises:
removing the booster from the booster magazine, and transporting the booster to the mounting device; removing the weight from the weight magazine; removing a pair of fuses from the fuse and shock tube magazine and raising these elements to facilitate the unwinding of the shock tubes; passing the shock tubes through the mounting device; raising the linear cylinder so that the fuses are available in the lower part of the booster; and performing the rotation of fuses in order to execute a loop and allow its reinsertion into the booster.

Assignees

• Vale Sa

Inventors

• Santos Reginaldo De Andrade
• Balbino Emerson Sena
• Vieira André Luiz Da Costa
• Carlos Marcelo Ribeiro
• Melis Lucas Sales Van
• Assis Adriano Nogueira De

Classifications

• B60P3/22

  Tank vehicles ({vehicles convertible from transport of fluids to transport of other types of goods B60P3/426}; tank aspects B65D90/00, F17C) · CPC title

• E21C37/00

  Other methods or devices for dislodging with or without loading (breaking-down by means inserted in slits E21C27/14) · CPC title

• F42D1/08

  Tamping methods; Methods for loading boreholes with explosives; Apparatus therefor · CPC title

• F42D1/10 Primary

  Feeding explosives in granular or slurry form; Feeding explosives by pneumatic or hydraulic pressure · CPC title

• F42D1/04

  Arrangements for ignition {(ignition systems for shaped charge perforators E21B43/1185; ignition devices for seismic energy generators G01V1/06)} · CPC title