US-12624931-B2 - Device and method for robotised priming

US12624931B2US 12624931 B2US12624931 B2US 12624931B2US-12624931-B2

Abstract

The present disclosure relates to a robotic priming device for an explosive priming process. One aspect includes at least one initiator dispenser, each comprising a plurality of initiator racks containing a plurality of initiators. Each initiator dispenser includes one or more initiator discharge wheels that discharge the initiators onto an initiator cart. The device includes at least one detonating assembly dispenser, each comprising a plurality of detonating assembly racks containing a plurality of detonating assemblies. Each detonating assembly dispenser comprises one or more detonating assembly unloading wheels that unload the detonating assemblies onto a detonating assembly cart. The device includes a meeting and priming line with a meeting and priming zone. The detonating assembly cart locates the detonating assemblies in the meeting and priming zone. The initiator cart moves the initiators to the meeting and priming zone, and inserts the initiators into the detonating assembly to form an explosive primer.

Inventors

Marco Antonio RUIZ HERNÁNDEZ
Jonhatan Octavio BARRIGA MELGAREJO
Rodrigo Andrés MIRANDA LORCA
Gloria del Pilar LARA MARRO

Assignees

ENAEX SERVICIOS S.A.

Dates

Publication Date: 20260512
Application Date: 20220412

Claims (12)

1 . A priming device that provides safety in an explosive priming process and reduces a possibility of accidental detonation, comprising: at least one initiator dispenser, wherein each initiator dispenser comprises a plurality of initiator racks containing a plurality of initiators stacked one on top of the other; wherein each initiator dispenser further comprises one or more initiator discharge wheels that discharge the initiators onto an initiator cart; at least one detonating assembly dispenser, wherein each detonating assembly dispenser comprises a plurality of detonating assembly racks containing a plurality of detonating assemblies stacked one on top of the other; wherein each detonating assembly dispenser further comprises one or more detonating assembly unloading wheels that unload the detonating assemblies onto a detonating assembly cart; a meeting and priming line with a meeting and priming zone, wherein the detonating assembly cart locates the detonating assembly in the meeting and priming zone, wherein the initiator cart moves the initiators through an intermediate zone to the meeting and priming zone, wherein the initiator cart inserts the initiators into the detonating assembly in the meeting and priming zone to form an explosive primer.
2 . The priming device according to claim 1 , further comprising an outlet area for the explosive primer.
3 . The priming device according to claim 1 , further comprising a delivery system for explosive primers comprising an explosive primer elevator that receives the explosive primer from the meeting and priming zone and transfers it to a delivery zone.
4 . The priming device according to claim 1 , wherein the cart that moves the initiators through the intermediate zone is the initiator cart.
5 . The priming device according to claim 1 , wherein the initiator cart transfers the initiator to an intermediate transport cart rather than through the intermediate zone, and wherein the intermediate transport cart transfers the initiators through the intermediate zone.
6 . The priming device according to claim 1 , further comprising a processor operatively connected to a user interface, to each initiator dispenser and to each detonating assembly dispenser.
7 . The priming device according to claim 6 , wherein the processor is operatively connected to locking means that block the opening of the output area of the explosive primer during the priming process.
8 . The priming device according to claim 1 , wherein the initiator dispenser, the detonating assembly dispenser and the meeting and priming line further comprise external protections covering the entire path taken by the initiators and detonating assemblies to the priming zone.
9 . A priming method that provides safety in explosive priming and reduces the possibility of accidental detonation, comprising: entering a command to start an explosive priming process via a user interface that communicates operationally with a processor, positioning a detonating assembly on a detonating assembly cart from a detonating assembly rack in a detonating assembly dispenser by means of detonating assembly unloading wheels; moving the detonating assembly to a meeting and priming zone; positioning an initiator on an initiator cart from an initiator rack in an initiator dispenser by means of initiator unloading wheels; moving the initiator to a meeting and priming zone; and introducing the initiator inside the detonator assembly in the meeting and priming zone to form an explosive primer.
10 . The priming method according to claim 9 , further comprising delivering the explosive primer to a primer delivery zone by means of a primer delivery system.
11 . The priming method according to claim 9 , further comprising sending an instruction to unlock an opening of an output area of the explosive primer to a blocking means that block the opening of the explosive primer output area during the explosive priming process.
12 . A priming device that provides safety in an explosive priming process and reduces a possibility of accidental detonation, comprising: at least one initiator dispenser, wherein each initiator dispenser comprises a plurality of initiator racks containing a plurality of initiators stacked one on top of the other; wherein each initiator dispenser further comprises one or more initiator discharge wheels that discharge the initiators onto an initiator cart; at least one detonating assembly dispenser, wherein each detonating assembly dispenser comprises a plurality of detonating assembly racks containing a plurality of detonating assemblies stacked one on top of the other; wherein each detonating assembly dispenser further comprises one or more detonating assembly unloading wheels that unload the detonating assemblies onto a detonating assembly cart; a meeting and priming line with a meeting and priming zone, wherein the initiator cart locates the initiators in the meeting and priming zone, wherein the detonating assembly cart moves the detonating assemblies through an intermediate zone to the meeting and priming zone, wherein the detonating assembly cart inserts the detonating assembly into the initiator in the meeting and priming zone to form an explosive primer.

Description

FIELD OF THE INVENTION The present invention relates to systems and equipment used for tunnel development, and more specifically to various technologies associated with drilling and blasting. In particular, a robotic system for priming explosives is described. STATE OF THE ART Many high-risk tasks are currently carried out in the mining industry in person, with the assistance of multiple workers who must perform risky tasks in risky areas. In the case of explosives loading in mining, and in particular in subway mining, the work must be carried out by crews of workers at the blasting site, where such work includes, for example, inspection and cleaning of the face and the respective drill holes, priming and insertion of detonators and explosives in each hole and the connection of all detonators. Priming involves the insertion of detonators inside initiators, primers or boosters containing charges of high explosive material, forming explosive primers that are then inserted into rock face perforations known as drafts. The components to form the explosive primers must be transported separately for safety reasons, as this reduces the likelihood for the detonator to assembly off the charges before being introduced into the rock face perforations. To carry out the priming work, operators must manually insert the detonators into the respective initiators and then insert each assembly into the corresponding drill hole. Usually, these tasks are performed manually in the same blasting face, exposing personnel to possible rock falls or explosions, or to other events that can cause serious injuries to personnel, such as cuts, contusions, fractures, and even death. There are other risks and disadvantages associated with the presence of personnel in blasting areas. For example, after each blasting there is a ventilation period that can vary between 1 and 5 hours, depending on the conditions of each mine and the level of gases present, in which period personnel cannot access the area. These ventilation times imply a period of non-activity in the area, which translates into a decrease in productivity. Along the same line of reasoning, there are areas in mining sites that are unstable and have the potential for landslides, which prevents personnel from accessing these areas to mine the ore. This significantly affects the productivity of the mine because even when there are areas with valuable resources, many of these areas remain unexploited because of the high risk to personnel. As can be seen from the above description, the priming process currently involves a large amount of work that must be carried out by multiple people duly qualified for these actions. All these efforts result in a great amount of man hours and high risks for the personnel involved in these operations, to the extent that even their lives can be compromised. In view of these limitations, it follows that in the current state of the art there is a need for a system that can carry out all the tasks associated with the priming work autonomously, semi-autonomously or by remote control, so as to completely avoid the intervention of people in this process within the blasting area. Among what is known, we can mention publication WO2017214422A1, which describes a robot-automated mining method, wherein the method includes a robot that places a charge component for entry into a drill hole. Further described is a priming device with a magazine containing a plurality of detonator packages, wherein each detonator package includes an initiator, a detonator, and a signal wire. The magazine includes a first area for holding detonators with respective signal wires preconnected thereto and a second area for containing the initiators. The magazine allows multiple initiators to be primed at the same time within the second area containing the initiators and subsequently a robotic part manipulates the assembled explosive primers. However, the described technology has safety shortcomings, since it stores the initiators and detonators all together in the same magazine, and also assembles and stores the assembled explosive primers together with the explosive initiators without priming, thus increasing the probability of accidental detonation of one or multiple charges and may even cause the explosion of all the charges inside a magazine. Another document is publication US20180106584A1, which describes a vehicle configured for deposition of explosives in open pit mine shafts, where the vehicle uses a robotic arm with claw-like devices to assemble a weighted detonator in an open pit mining environment. However, the described technology is not suitable for subway mining environments, as it describes a bulky device where the assembly of the explosive primers is performed by claws that can drop the explosive elements in wet environments or upon impact, where the explosive primers could hit metal elements and cause an accidental detonation. In view of the problems described above, hav