WO2024259542A1 - Système de distribution d'amorces dans des trous de mine en vue d'opérations minières - Google Patents

Système de distribution d'amorces dans des trous de mine en vue d'opérations minières Download PDF

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Publication number
WO2024259542A1
WO2024259542A1 PCT/CL2023/050052 CL2023050052W WO2024259542A1 WO 2024259542 A1 WO2024259542 A1 WO 2024259542A1 CL 2023050052 W CL2023050052 W CL 2023050052W WO 2024259542 A1 WO2024259542 A1 WO 2024259542A1
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WO
WIPO (PCT)
Prior art keywords
priming
reel
tray
well
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CL2023/050052
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English (en)
Spanish (es)
Inventor
Javier Ruiz Del Solar San Martin
Mauricio Alfredo CORREA PEREZ
Felipe Ignacio INOSTROZA FERRARI
Diego Alonso CARVAJAL RAMIREZ
Cristian Fabián RIVERA FIERRO
Claudio Alberto PALACIOS VILLALOBOS
Nicolás Ricardo CRUZ BRUNET
Marco Antonio RUIZ HERNÁNDEZ
Jonhatan Octavio BARRIGA MELGAREJO
Gloria del Pilar LARA MARRO
Felipe Alonso GARCÍA LÓPEZ
Darco Esteban PEÑA PINTO
Gustavo Andrés DÍAZ FERRÁN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Enaex Servicios SA
Original Assignee
Enaex Servicios SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Enaex Servicios SA filed Critical Enaex Servicios SA
Priority to PCT/CL2023/050052 priority Critical patent/WO2024259542A1/fr
Priority to AU2023458690A priority patent/AU2023458690A1/en
Publication of WO2024259542A1 publication Critical patent/WO2024259542A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C37/00—Other methods or devices for dislodging with or without loading
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42D—BLASTING
    • F42D3/00—Particular applications of blasting techniques
    • F42D3/04—Particular applications of blasting techniques for rock blasting

Definitions

  • the present invention belongs to the area of the explosives industry preferably used in the mining industry.
  • the present invention relates to a system for dispensing raw materials in mining blast holes.
  • the priming process consists of introducing one or more detonators into a high-power explosive device, to subsequently introduce the explosive device together with the detonator into wells, holes or perforations.
  • a detonator is installed in a booster or initiator type explosive device and this is manually unwound, to subsequently be lowered into the well until the prime, as the booster assembly with detonator is called, is located at a predefined distance from the bottom of the well, for example, approximately 1 m from the bottom of the well, where the wells are usually between 12 and 25 meters or more deep and have a diameter of 15 to 40 cm.
  • the cable on the surface is wound around some element, such as a stick, staff or rod (for example a colihue branch or similar) crossed in the hole of the well, to prevent the free end of the cable from falling into the hole.
  • some element such as a stick, staff or rod (for example a colihue branch or similar) crossed in the hole of the well, to prevent the free end of the cable from falling into the hole.
  • the priming operation although carried out safely, is exposed to external conditions that make it a risky operation.
  • some risky conditions are operations in sectors with geomechanical instabilities, subdivisions or operations in the mine bottom or close to vertical walls, which entail inherent risks for people.
  • US20210223018 A1 describes an explosives delivery vehicle for delivering an initiator to initiate an explosion of an explosive material in a hole in the floor of a pit to an operating depth in the hole.
  • the vehicle comprises: (a) a storage assembly for storing a plurality of boosters; (b) a booster loading assembly for (i) supporting the booster in a delivery position above the hole and (ii) moving the booster down into the hole and inserting the booster to an operating depth in the hole; and (c) a delivery assembly for transporting the booster from the storage assembly to the loading assembly.
  • the technology described in this document requires detonation cables to be manually connected and requires manually fixing or anchoring a reel around the blast hole, exposing operators to external hazards at the blast site and preventing the restriction of operating at night.
  • a delivery vehicle for depositing explosive in a blast hole comprising: an emulsion storage tank; a vertical translation platform; and a robotic arm; the explosive storage tank is provided with at least one sealing container; the at least one sealing container is capable of containing explosive substances in liquid or particulate form; the vertical translation platform is configured so that the robotic arm is located at the ideal working height from the ground, and the robotic arm is horizontal to counteract the ground not being flat; the robotic arm comprises at least two movable axes and sensors; the robotic arm is configured to: allow analysis of the internal part of the hole, to guide the sensor near the upper edge of the hole; to guide the first discharge of explosive; to mount a detonator; to deposit a newly installed detonator in the hole; to guide the explosive until the second discharge of the hole; and to cushion the hole at the end of the explosive deposition process; the vehicle further comprises: a GPS device, a propulsion element and an electronic processor, which is configured
  • WO201 1 106830A1 relates to a system for loading a blast hole, which has a charge delivery module with two motors, one driving a drive wheel to draw a hose from a reel and allow the hose to advance down the blast hole, and the other motor rotating the reel to retrieve the hose on the reel, wherein a hose drive assembly comprises a detonator tube into which a detonator may be loaded for transport to the blast hole.
  • a hose drive assembly comprises a detonator tube into which a detonator may be loaded for transport to the blast hole.
  • Document W02021080514 A1 discloses a charger apparatus including a first charger and a second charger.
  • the first charger is configured to contain, transport and dispense components of the first initiation device.
  • the second charger is configured to contain, transport and dispense components of the second initiation device.
  • the first charger and the second charger are configured to dispense the components of the first initiation device and the components of the second initiation device. correspondingly, so that one dispensed of the components of the first initiation device and one correspondingly dispensed of the components of the second initiation device can be assembled to form a structurally complete unified initiation device for loading into a hole.
  • the technology described in this document lacks safety redundancies and relies heavily on manual interaction to connect the charges once they are installed at the blast site, where the charges are pushed horizontally.
  • Document US201901 19066 A1 relates to an apparatus for use in a blasting system including a reel with a hub, a first and a second disc that are mounted on the hub, an elongated flexible signal transmission conductor having a first end and a second end and being The signal transmission conductor is wound on the hub between the disks, at least one first detonator that is connected to the signal transmission conductor at or near the first end, a connector device that is connected or exposed to the signal transmission conductor at or near the second end, where the signal transmission conductor includes spaced apart indicia or formations and where the spool includes a sensor, which is responsive to passage of an indicia or formation past the sensor to produce a measurement of the length of the signal transmission conductor being unwound from the hub and a release mechanism that, in use, allows a degree of rotation of the spool or movement of the conductor when a pulling force exerted on the conductor increases above a predetermined level, to thereby reduce the level of pulling force exert
  • document US10724371 B2 describes a method comprising: obtaining with a robotic camera system one or more image representations of a mine wall having a plurality of boreholes, the one or more image representations including 3D point cloud image data; comparing a borehole map characterizing the mine wall with the one or more image representation to perform identification of a drill hole from the drill hole map not detected in the one or more image representations; and in response to identifying a drill hole from the drill hole map not detected in the one or more image representations, activating operation in which a robot system, based on one or more inputs from an operator, designates image data from one or more image representations as representative of the drill hole.
  • the technology described in this document lacks safety redundancies and relies heavily on manual interaction to connecting the charges once they are installed at the blasting site, where the charges are pushed horizontally.
  • the solutions described above present different technical solutions, which are mainly based on the implementation of automated elements, such as manipulator arms, for example, or on making up for deficiencies related to securing the device to the place of application because they are not applicable to different types of soil.
  • the present invention seeks to solve, among other things, the problem of exposure to risks for operators, also allowing flexible operating hours by allowing night operation and allowing both reaching and working in areas previously inaccessible due to their risks for humans, in an efficient and rapid manner, thus increasing production.
  • the invention relates to a system for dispensing priming in mining blast holes.
  • Said system is configured as an autonomous vehicle which comprises priming equipment, in which a plurality of explosive initiating devices are arranged, a plurality of detonating devices, which together form a priming, and a plurality of reel elements, where each reel element comprises at least one antenna, at least one reel, at least one cable line, at least one detonator and at least two pairs of flexible supports. In this way, the detonator is assembled with the respective initiator.
  • the system is also composed of an overhead crane capable of taking at least one starter and one reel element, which are arranged in a respective dispenser.
  • the overhead crane takes both products without a pre-established order.
  • the priming is carried out by means of a vertical movement of the priming mechanism. Subsequently, by means of a cable unwinding system, the priming is positioned in the passage area of each well.
  • the system has a cable brake preferably configured by a rod element, which is activated by a cable mooring system, which in turn prevents the premium from falling into the well without the required control.
  • the system allows the reel element to be positioned in a safe sector relative to the layout of the well.
  • the dispensing subsystem is composed of an overhead crane located at the top of the machinery, and has the capacity for Cartesian movements on X, Y and Z axes.
  • This overhead crane is equipped with a gripping element capable of holding, moving and positioning both the reel and initiator elements from their dispensing point to the priming point.
  • At least one reel element tray is arranged below the overhead crane, which is divided into right and left trays. Both trays hold at least fifteen reel element units each in a defined position. Additionally, left and right starter dispensers are located below the reel element trays, with the capacity to dispense at least fifteen starters per tray.
  • each of the reel elements comprises flexible supports that adapt to the terrain and allow the reel element to always fall upright without tipping over.
  • a reel element is coupled to the dispensing tray in a fixed position due to the tension produced by the flexible supports, deformed in their elastic deformation range. The flexible supports are deployed when said reel element is removed.
  • the present invention presents several advantages over known technologies.
  • the invention contemplates an internal priming system instead of carrying pre-loaded priming.
  • the reel element considers supports adaptable to the ground that maintain the verticality of said reel element, while the document has a stake, which depends on the hardness of the ground for its fastening.
  • the operating principle is totally different, since it is based on a manipulator arm with different couplings instead of an explosives dispenser.
  • the invention considers a more reliable cable brake mooring and a wireless activation system.
  • Document WO201 1 106830 mentions a system for loading “pumpable” explosives in shafts/wells (step after dispensing priming), so the operating principle and characteristics do not intersect with the invention.
  • the present invention has a defined dispensing system, in which the detonator, initiator and rod element are coupled and primed inside the system by quick couplings, allowing the complete set of elements necessary for detonation to be dispensed.
  • Figure 1 represents a side view of the system of the invention in operation, arranged on a well cutting.
  • Figure 2 represents a side view of the system of the invention.
  • Figure 3 represents a perspective view of a reel element of the system of the invention, in a position to prime an initiator.
  • Figure 4 represents a perspective view of a cable brake of the system of the invention.
  • Figure 5 represents a diagram of the high-level control architecture of the system of the invention.
  • Figure 6 represents a diagram of the low-level control architecture of the system.
  • the system (1000) is preferably made up of a priming vehicle (100) which comprises a priming equipment (200), in which a plurality of detonating devices are arranged, a plurality of initiating devices, where each detonator and initiator form a prime, and a plurality of reel elements.
  • the vehicle (100) corresponds to an explosives dispensing vehicle, which is or configured to operate autonomously, and is primarily configured as a robotic vehicle, designed primarily to handle loads.
  • the vehicle (100) comprises the priming equipment (200), which allows the priming and dispensing stages to be carried out for the development of tunnels in open-pit mining.
  • the priming equipment (200) comprises a tray for dispensing (270) a cable brake (271), which is actuated by a cable mooring system (280). After that, the priming equipment allows the reel element (220) to be positioned in a safe sector relative to the area where the well is located.
  • the overhead crane (230) which is located on the upper part of the priming equipment (200), has the capacity for Cartesian movements on X, Y axes, and a third movement on Z axis.
  • This overhead crane is equipped with a gripping element (240), capable of holding, moving and positioning both a reel element (220) and its respective initiator (210) from its dispensing point to the priming point (290).
  • each tray (250, 251) holds at least fifteen reel element units (220) in a defined position.
  • the dispensers (260, 261) are configured based on a displacement track with a respective tensioner, which distributes the high explosives (initiators) by means of a controlled linear advance, where said advance is produced by the action of a track motor.
  • each dispenser (260, 261) laser sensors are located to determine the quantity of initiators that are in the priming equipment (200), while at the ends of the side face two inductive sensors are located, to indicate that the track blades are in the correct position. Additionally, at least one plate is available to separate the dispenser (260, 261) from its respective tray (250, 251).
  • the dispensers (260, 261) are removable, so they include helices at the base and a handle at the end to be able to pull and remove the priming equipment (200).
  • the dispensers (260, 261) require electrical components, which are arranged on the outside for greater accessibility when performing maintenance and/or inspection.
  • each reel element (220) comprises flexible legs or supports (221) that adapt to the ground and allow it to always fall upright without tipping over.
  • the flexible supports (221) are collected by elastic deformation and coupled with hooks when the reel element is stored in its respective tray (250, 251) and are deployed when said reel element is removed.
  • the reel element (220) comprises receiving antennas (222) for carrying out wireless detonation, at least two reels (223), at least one lower base
  • This product is made entirely of any material suitable for post-blasting processes, such as plastics, with the exception of the antennas.
  • the trays (250, 251) of reel elements (220), consisting of the right tray (250) and the left tray (251), are capable of storing a quantity of fifteen units each, giving a total capacity of thirty units to the system (1000).
  • Each tray It is located in the lateral areas of the priming equipment (200).
  • the trays have stainless steel telescopic rails to provide a better reach in the loading and unloading of reel elements (220) between the operator and the system (200).
  • each tray (250, 251) is designed entirely with 6061 structural aluminum and to a lesser extent in 3D printed ABS plastic and/or plastic injection in the same material, for sensor support parts and some connectors.
  • each tray comprises two identical mechanical sensors that identify the correct position of the reel element in its determined position on the tray and permanence in the designated place.
  • the system (1000) also comprises an autonomous navigation subsystem, which allows the vehicle (100) to navigate with the ability to avoid obstacles, and to position itself with orientation towards the area where the well is located. Navigation is performed by means of sensors, which deliver a point cloud of the 3D environment. This point cloud is processed and with that it is possible to distinguish the unevenness, cuttings, obstacles in general and with the GPS the position where the obstacle was detected at some point is saved.
  • sensors may correspond to lidar sensors (acronym for LiDAR, Light Detection and Ranging or Laser Imaging Detection and Ranging), configured by means of an algorithm used for obstacle detection.
  • the system (1000) further comprises an autonomous fine positioning subsystem for the vehicle (100) to position the priming equipment over the well to be loaded.
  • the autonomous fine positioning subsystem corresponds to a complement to the autonomous navigation subsystem, and allows the vehicle (100) to be correctly positioned with respect to the wells of a well network. of blasting.
  • the autonomous navigation subsystem will pass control of the movement of the equipment to the autonomous fine positioning subsystem, whereby the priming equipment (200) will be in the correct position for loading the corresponding well, preferably placing the priming equipment over 20 cm from the cutting of the well.
  • the system (1000) further comprises a wireless detonation subsystem comprising means for detonating the explosives loaded into the wells.
  • the system (1000) further comprises a control subsystem that communicates with and manages each of the other subsystems.
  • Said control subsystem comprises the interaction of multiple devices, both controllers and sensors.
  • the high-level architecture comprises processing algorithms that enable autonomous vehicle navigation through a mesh, inspection and loading of wells.
  • the high-level control architecture is broadly composed of 3 subsystems: Autonomous navigation/teleoperation, fine positioning and well loading.
  • control room has the additional option of teleoperation control of the equipment (without assistance), which is planned to be used to reach the meshes.
  • the operator's control only allows moving the equipment outside the meshes, and without the possibility of performing any priming action.
  • the low-level architecture corresponds to the controllers that perform the processing towards the actuators, for the operation of the equipment.
  • a programmable logic controller is used to control the vehicle (100) and the priming equipment (200). These perform low-level processing and control of the system, enabling control of the movements of the vehicle (including a telescopic manipulator arm), as well as the priming and well loading equipment.
  • the vehicle can be used in all types of open pit mining operations that involve priming to initiate a detonation with a wireless electronic initiation system.
  • the operation of the system (1000) begins by receiving the drilling and blasting work order from the Planning System, which defines the grid to be prioritized, the topographic map to plan the routes and visit the wells.
  • Each task includes a destination and the route that the vehicle will use.
  • Task assignment and system operation monitoring information will be available through a user interface in the Control Room.
  • the system approaches each well using a dual positioning system, where it approaches each well first using GNSS or GPS positioning and then the final approach fine adjustment is performed by lidar sensors, the wells are detected by means of a reinforced learning algorithm. Subsequently, the system inspects the well, detects its depth and presence of water, and begins the priming process. Finally, it loads the primer (210) primed with detonators (225) into the well through an unwinding process, and positions the cable brake rod (271), in the cutting that prevents the cables from going into the well, and thus continue with the next well.
  • the system After finishing priming all the wells, the system returns to each of the wells to perform a global activation of wireless initiation modules.
  • This activation can be done, for example, by Li-Fi (light Fidelity).

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un système (1000) et un procédé pour distribuer des amorces dans des trous de mine en vue d'opérations minières, comprenant un véhicule d'amorçage (100) et un équipement d'amorçage (200), lequel est transporté par le véhicule d'amorçage (100), ledit véhicule (100) pouvant fonctionner de manière autonome, semi-autonome et par télécommande ; l'équipement d'amorçage (200) comprenant : au moins deux plateaux (250, 251) pour la mise en place d'éléments de bobine (220) ; au moins deux distributeurs (260, 261) de dispositifs explosifs de type boosters (210), un pont roulant (230) ; un système de mise en place des détonateurs dans le dispositif explosif de type booster ; un dispositif de mise en place d'antenne ; un distributeur de frein à câble (270) ; et un système de déroulement (290) de câble doté d'un dispositif de mesure destiné à inspecter les puits avant la charge.
PCT/CL2023/050052 2023-06-23 2023-06-23 Système de distribution d'amorces dans des trous de mine en vue d'opérations minières Pending WO2024259542A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CL2023/050052 WO2024259542A1 (fr) 2023-06-23 2023-06-23 Système de distribution d'amorces dans des trous de mine en vue d'opérations minières
AU2023458690A AU2023458690A1 (en) 2023-06-23 2023-06-23 System for dispensing primers in mining blastholes

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CL2023/050052 WO2024259542A1 (fr) 2023-06-23 2023-06-23 Système de distribution d'amorces dans des trous de mine en vue d'opérations minières

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WO2024259542A1 true WO2024259542A1 (fr) 2024-12-26

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WO (1) WO2024259542A1 (fr)

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US20210270590A1 (en) 2018-06-29 2021-09-02 Newcrest Mining Limited A booster assembly
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CN116084835A (zh) * 2023-03-06 2023-05-09 安徽佳乐矿山设备有限公司 一种钻爆台车

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