In one embodiment, the present disclosure provides a robot automated mining method. In one embodiment, a method includes a robot positioning a charging component for entry into a drill hole. In one embodiment, a method includes a robot moving a charging component within a drill hole. In one embodiment, a method includes a robot filling a drill hole with explosive material. In one embodiment, a method includes operating a robot within a mining environment.

An apparatus for feeding a tubular object inside a drill hole, a rock drilling rig and a method of supporting mouth openings of drill holes is provided. The apparatus includes a support device for supporting an elongated tube element blank having the potential for several successive tube inserts. A front end of the tube element blank is moved longitudinally inside a drill hole by means of a feeding device. Thereby, the drill hole is provided with a protective section extending a limited longitudinal dimension towards a bottom of the drill hole. The apparatus further includes a separation device for detaching the mentioned tube inserts one by one from the tube element blank.

Methods for using a single explosive material whose specific volume energy can be controlled for use in at least a segment of a borehole. Alternatively, or additionally, methods for using mixtures of one or more explosive materials and one or more non-explosive energetic materials whose specific volume energy can be controlled for use in at least a segment of a borehole. Such methods include determining a target specific volume energy required for the explosive/energetic materials in the segment of the borehole and selecting a product mixture for that segment of the borehole which will produce the required target energy.

In one embodiment, the present disclosure provides a robot automated mining method. In one embodiment, a method includes a robot positioning a charging component for entry into a drill hole. In one embodiment, a method includes a robot moving a charging component within a drill hole. In one embodiment, a method includes a robot filling a drill hole with explosive material. In one embodiment, a method includes operating a robot within a mining environment.

A coal uncovering construction method for blasting large cross-section gas tunnels includes: analyzing stress distribution characteristics in front of a tunnel boring working face, and then determining a thickness calculation model of a reserved rock wall based on a limit equilibrium theory; establishing a tunnel model, simulating a construction condition and analyzing a construction result, and determining a thickness of the reserved rock wall; and fixing a detonator through a fixed sand ring, fitting the detonator with a construction hole by adjusting an adjustable protective plate, then embedding the detonator into a blast hole, and blasting the detonator for tunnel construction. Furthermore, an extension ring is fixed between the fixed sand ring and the adjustable protective plate.

A reasonable millisecond time control method for excavation blasting of a tunnel is provided, and includes: acquiring physical mechanical parameters to establish a millisecond blasting model, and designing four dimensions blasting parameters of explosive quantity, hole number, inter-hole millisecond and inter-row millisecond; simulating, based on the millisecond blasting model, a blasting process of an explosive package using blasting parameters to obtain a blasting vibration curve; obtaining single-hole blasting vibration waveforms, solving a vibration synthesis curve through a vibration synthesis theory; comparing the vibration synthesis curve with the blasting vibration curve to obtain a coupling relationship of blasting parameters; determining a target group of explosive quantity and hole numbers, determining a target millisecond through the coupling relationship of blasting parameters, and relating a millisecond blasting control strategy to control, and it is used for tunneling project to reduce cut blasting vibration intensity and achieve precise and intelligent control of millisecond blasting.

The invention provides a method for evaluating deep-buried tunnel blasting parameters, and belongs to the technical field of mine engineering. The method comprises: setting multiple diverse blasting schemes; selecting a plurality of test sections with the same geological characteristics, the number of the test sections corresponding to the number of the blasting schemes; blasting the test sections using the blasting schemes, and obtaining diversified monitoring data of each test section; and comparing the diversified monitoring data to select the optimal blasting schemes for the test sections. According to the method for evaluating the deep-buried tunnel blasting parameters, by implementing different blasting schemes in test sections with the same geological characteristics, diversified monitoring data of the test sections are obtained and compared to select the optimal blasting schemes for the test sections, so as to ensure the safety and quality of blasting excavation of deep-buried tunnels.

A tunnel section subjected to grouting reinforcement is divided into two parts, that is, an upper half section and a lower half section, cutting vibration reduction holes used in coordination with cutting holes are formed in the upper half section, and the cutting vibration reduction holes are not charged and are filled with water bags only. According to the blast hole arrangement structure used for blasting for the rheological soft-weak surrounding rock tunnel of the invention, a cutting blasting effect is improved, excess energy is emptied and absorbed, propagation of shock waves and stress waves around is reduced, and vibration is reduced; and according to the invention, the purpose of forming vibration isolation holes in a tunnel excavation contour line of the upper half section is to prevent, absorb, reflect and refract the propagation of the blasting shock waves, stress waves and seismic waves.

A reasonable millisecond time control method for excavation blasting of a tunnel is provided, and includes: acquiring physical mechanical parameters to establish a millisecond blasting model, and designing four dimensions blasting parameters of explosive quantity, hole number, inter-hole millisecond and inter-row millisecond; simulating, based on the millisecond blasting model, a blasting process of an explosive package using blasting parameters to obtain a blasting vibration curve; obtaining single-hole blasting vibration waveforms, solving a vibration synthesis curve through a vibration synthesis theory; comparing the vibration synthesis curve with the blasting vibration curve to obtain a coupling relationship of blasting parameters; determining a target group of explosive quantity and hole numbers, determining a target millisecond through the coupling relationship of blasting parameters, and relating a millisecond blasting control strategy to control, and it is used for tunneling project to reduce cut blasting vibration intensity and achieve precise and intelligent control of millisecond blasting.

A simplified blasting system enables utilization of electronic delay detonators (23e) and pyrotechnic delay detonators (23p) in a simplified blasting set up. Both the electronic time delay detonators (23e) and the pyrotechnic delay detonators (23p) have shock tube fuses (32) which enables both types of detonators to be initiated by a common trunkline such as a low energy detonating cord trunkline (38). This system eliminates the need for separate firing systems, an electric firing system for electrically-initiated electronic delay detonators and a detonating cord trunkline for the non-electrically-initiated pyrotechnic delay detonators.