CA1162088A - Device for charging drillholes - Google Patents
Device for charging drillholesInfo
- Publication number
- CA1162088A CA1162088A CA000378303A CA378303A CA1162088A CA 1162088 A CA1162088 A CA 1162088A CA 000378303 A CA000378303 A CA 000378303A CA 378303 A CA378303 A CA 378303A CA 1162088 A CA1162088 A CA 1162088A
- Authority
- CA
- Canada
- Prior art keywords
- climber
- drillhole
- parts
- hole
- walls
- 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.)
- Expired
Links
Classifications
-
- 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
Abstract
ABSTRACT OF THE DISCLOSURE
A device for charging drillholes, especially holes with a diameter exceeding 40 mm, with explosive. The device comprises a climbing unit which uses the drillhole as a conveying route and carries the explosive to the desired place in the hole. The climbing unit or climber is provided with powered locomotive means designed to propel the climber in the desired direction in the drillhole. In the process, the pressure means associated with the climber press against the walls of the drillhole to stabilize the climber in the hole and prevent it from falling.
A device for charging drillholes, especially holes with a diameter exceeding 40 mm, with explosive. The device comprises a climbing unit which uses the drillhole as a conveying route and carries the explosive to the desired place in the hole. The climbing unit or climber is provided with powered locomotive means designed to propel the climber in the desired direction in the drillhole. In the process, the pressure means associated with the climber press against the walls of the drillhole to stabilize the climber in the hole and prevent it from falling.
Description
~ 1~2088 , B The present invention is concerned with a device for charging drill-holes with explosive.
In recent years it has become increasingly common in so-called pro-duction blasting underground to use drillholes of larger diameters. For example, drillhole diarneters in the range 75-115 mm are no longer un-usual. The primary advantages of these wider drillholes are superior accuracy of drilling and lower overall cost, due among other things to the smaller number of holes. However, the smaller number of holes en-tails very stringent demands on charging and detonation.
There is as yet no properly developed technique and no special equip-ment for the efficient charging of large rising drillholes, and therefore mining methods are still based on the technology used in connection with downward holes.
With conventional equipment it is quite difficult to charge large rising holes when using so-called bulk explosives. In one known~method liquid explosive, termed slurry, is pumped into the drillhole through a plug of cement in the mollth thereof, provided with holes for the intro-duction of explosive and, if necessary for a drainage hose, so that the level of explosive progressively rises in the drill hole. The use of a plug in the mouth of the drillhole is also a known procedure for charging ANFO explosives. In this case a plastic tube passes through the plug up to the region of the bottom of the drillhole, and the slenderer charging tube is inserted into the said thicker tube until the ends of both tubes are level. When the explosive is blown in through the charging tube it will fall back like snow inside the drillhole and settle around the thicker tube. When charging is completed the charging tube, at least, can be recoverecl from the hole.
Neither of the above-described methods offers any certainty as to the conditions inside the drillhole when it is time for firing.
In drillholes of diameter less than 100 mm it is a known practice to use pneumatic charging devices for charging plastic explosives in cart-ridges of paper or plastics film. However, if a charger of this type were used for cartridges with iarger than the current 40 mm diameter the , ` `' ~
1 16~0~8 charging tubes would be thick and inconvenient.
It is one of the principal objects of the invention to provide a device which makes it possible to charge drillholes of diameter exceeding approximately 40 mm simply and with a high degree of reliability, without using a charging tube. It has been found possible to achieve this by incorporating in the'clevice a climbing unit or "climberl' for applying the explosive in the desired place in the drillhole. The said climber is provided with powered locomotive means designed to propel the climber in the desired direction in the drillhole, in which process pressure means incorporated in the climber press against the walls of the drillhole to stabilize the climber inside the hole and prevent it from dropping down-wards therein. The climber preferably comprises two parts capable of motion relative to each other, and enabling the climber to extend and contract while the pressure means press against the walls of the hole.
In the preferred form of the invention both the locomotive means and the pressure means may be pneumatically operated. The locomotive means may Further comprise driving wheels designed to be pressed away from the body of the climber against the walls of the hole during use.
The invention will now be described in more detail in the form of a number of preferred embodiments thereof, with reference to the accom-panying drawings.
Fig. 1 is a perspective view of a preferred embodiment of a climber designed in accordance with the principles of the invention.
Fig. 2 is an outline diagram which in conjunction with the drawings illustrates the mode o-f operation of the c'limber shown in Fig. 1.
; Fig. 3 shows in plan~ seen from the'side, the climber illustrated in Figs 1 and 2 in climbing steps a, b, c and d in a drillhole.
Figs 4 to 6 show in plan, and partly in cut away views, modifications of climbers designed on the principles of the invention.
Fig. 7 shows in section, from the side, a climber of the type illus-trated in Fig. 1, used as a conveying device for pushing explosive char-ges up a drillhole.
The climber illustrated'in Figs 1 and 3 comprises two parts 10, 12 which are capable of motion relative to each other and designed to enable the climber to extend and contract in' the course of locomotion inside a drillhole 14. The two parts 10, 12 are associated with a double-acting air cylinder, both the cylinder 16 and the piston 18, 20 which recipro-cates therein being provided with pneumatic expansion means 22, 24. Theexpansion means consist of inflatable elastic bodies which by reason of their large active sur-face areas provide good adhesion against the wall 26 of the drillhole and are capable of retaining relatively heavy loads (charges weighing up to 20 kg can occur) while inflated under compara-B tively low pressures. ~ plurality of air lines 28-~ from a compressed air source (not shown) pass into the rear of the climber cylinder 16, providing communication with the interior of the inflatable bodies and -with the corresponding spaces on either side of the piston 18.
Inside the climber there are four valves. The reciprocating motion of the cylinder is obtainecl by means of valve 40, which is switched by impulse valves 42 and 44, which in turn are actuated mechanically by the piston rod 20 at its end positions. The expansion means 22, 24 are also supplied with air via valve 40, to enable the cylinder to describe a linear motion. Valve 46 is included in the system to make it possible to change the direction of motion of the climber.
Two control valves 4~, 50 are provided for remote operation of the climber. Valve 48 is the main air supply valve to the climber (starting and stopping function), and valve 50 determines its direction of motion (forward/backward funct-ion).
The new charging dev-ice uses the drillhole 14 itself as a conveying route. It is preferably introduced into the hole with the aid of a tube (not illustrated) applied to the mouth of the drillhole as a continuation thereof. The said tube should be provided with opening means on one side to allow the insertion of charges ahead of the climber.
In Fig. 3, step a shows the starting position of the climber inside ; the drillhole 14. In this position the lower expansion means 22 retains the climber in the hole by pressing against the wall 26 thereof. In the position shown as step b the lower expansion means 22 is still inflated.
Air has now been fed into the lower part of the cylinder 16, forcing the piston rod 20 and the expansion means 24 associated therewith upwards in the drillhole 14. In step c the switching of the air supply as between the expansion means 22, 24 and the cylinder 16 is reversed. The climber is now retained in the hole by the upper expansion means 24.-By the feeding of air into the upper end of the cylinder 16 the latter has been forced upwards after its expansion means 22 has been deflated. In step d the air has once again been switched between the expansion means 22, 24 ~ ~ !rl and the cylinder and the operating cycle repeats.
' The above-described cl-imber is primarily intended for pushing charges ahead of it up a drillhole 14. It is evident from the preceeding that the climber is also capab'le of climbing down the hole, and it can nat-urally propel itself in holes of various inclinations. The construction of the climber is also such that it is capable of a tamping action, which makes it possible to control the charge density in the drillhole.
The charges 52 pushed ahead of the climber as illustrated in Fig. 7 are equipped with arres-ting means 54 in the form of collars or similar devices to prevent the charges from falling down the drillhole when the climber is retracted a-f-ter charging.
Fig. 4 shows a modified design of climber wherein propulsion is by three rubber-clad wheels 56. In the example illustrated two of the wheels are positioned on one side of the climber and one on the diamet-rically opposed side thereof. The arrangement is such that the wheels are forced apart and get a purchase on the walls of the drillhole.
Locomotion is by means of a motor (not illustrated) powered by pressure fluid. Electrical energy or similar can of course also be used as power source. The motor is used to drive one or more of the wheels. While the climber is in motion in the drillhole the wheels will turn against the walls of the hole, but thanks to'a certain resilience of the wheel mount-ings the climber will not be impeded in its motion by roughness of the `wall. The wheel-driven climber, like the climber described earlier, is specially designed for pushing charges ahead of it up the drillhole.
The climber illustrated in Fig. 5 comprises two telescoping parts 58, 60 connected by means of a helical spring 62. Like the device of Figs 1,
In recent years it has become increasingly common in so-called pro-duction blasting underground to use drillholes of larger diameters. For example, drillhole diarneters in the range 75-115 mm are no longer un-usual. The primary advantages of these wider drillholes are superior accuracy of drilling and lower overall cost, due among other things to the smaller number of holes. However, the smaller number of holes en-tails very stringent demands on charging and detonation.
There is as yet no properly developed technique and no special equip-ment for the efficient charging of large rising drillholes, and therefore mining methods are still based on the technology used in connection with downward holes.
With conventional equipment it is quite difficult to charge large rising holes when using so-called bulk explosives. In one known~method liquid explosive, termed slurry, is pumped into the drillhole through a plug of cement in the mollth thereof, provided with holes for the intro-duction of explosive and, if necessary for a drainage hose, so that the level of explosive progressively rises in the drill hole. The use of a plug in the mouth of the drillhole is also a known procedure for charging ANFO explosives. In this case a plastic tube passes through the plug up to the region of the bottom of the drillhole, and the slenderer charging tube is inserted into the said thicker tube until the ends of both tubes are level. When the explosive is blown in through the charging tube it will fall back like snow inside the drillhole and settle around the thicker tube. When charging is completed the charging tube, at least, can be recoverecl from the hole.
Neither of the above-described methods offers any certainty as to the conditions inside the drillhole when it is time for firing.
In drillholes of diameter less than 100 mm it is a known practice to use pneumatic charging devices for charging plastic explosives in cart-ridges of paper or plastics film. However, if a charger of this type were used for cartridges with iarger than the current 40 mm diameter the , ` `' ~
1 16~0~8 charging tubes would be thick and inconvenient.
It is one of the principal objects of the invention to provide a device which makes it possible to charge drillholes of diameter exceeding approximately 40 mm simply and with a high degree of reliability, without using a charging tube. It has been found possible to achieve this by incorporating in the'clevice a climbing unit or "climberl' for applying the explosive in the desired place in the drillhole. The said climber is provided with powered locomotive means designed to propel the climber in the desired direction in the drillhole, in which process pressure means incorporated in the climber press against the walls of the drillhole to stabilize the climber inside the hole and prevent it from dropping down-wards therein. The climber preferably comprises two parts capable of motion relative to each other, and enabling the climber to extend and contract while the pressure means press against the walls of the hole.
In the preferred form of the invention both the locomotive means and the pressure means may be pneumatically operated. The locomotive means may Further comprise driving wheels designed to be pressed away from the body of the climber against the walls of the hole during use.
The invention will now be described in more detail in the form of a number of preferred embodiments thereof, with reference to the accom-panying drawings.
Fig. 1 is a perspective view of a preferred embodiment of a climber designed in accordance with the principles of the invention.
Fig. 2 is an outline diagram which in conjunction with the drawings illustrates the mode o-f operation of the c'limber shown in Fig. 1.
; Fig. 3 shows in plan~ seen from the'side, the climber illustrated in Figs 1 and 2 in climbing steps a, b, c and d in a drillhole.
Figs 4 to 6 show in plan, and partly in cut away views, modifications of climbers designed on the principles of the invention.
Fig. 7 shows in section, from the side, a climber of the type illus-trated in Fig. 1, used as a conveying device for pushing explosive char-ges up a drillhole.
The climber illustrated'in Figs 1 and 3 comprises two parts 10, 12 which are capable of motion relative to each other and designed to enable the climber to extend and contract in' the course of locomotion inside a drillhole 14. The two parts 10, 12 are associated with a double-acting air cylinder, both the cylinder 16 and the piston 18, 20 which recipro-cates therein being provided with pneumatic expansion means 22, 24. Theexpansion means consist of inflatable elastic bodies which by reason of their large active sur-face areas provide good adhesion against the wall 26 of the drillhole and are capable of retaining relatively heavy loads (charges weighing up to 20 kg can occur) while inflated under compara-B tively low pressures. ~ plurality of air lines 28-~ from a compressed air source (not shown) pass into the rear of the climber cylinder 16, providing communication with the interior of the inflatable bodies and -with the corresponding spaces on either side of the piston 18.
Inside the climber there are four valves. The reciprocating motion of the cylinder is obtainecl by means of valve 40, which is switched by impulse valves 42 and 44, which in turn are actuated mechanically by the piston rod 20 at its end positions. The expansion means 22, 24 are also supplied with air via valve 40, to enable the cylinder to describe a linear motion. Valve 46 is included in the system to make it possible to change the direction of motion of the climber.
Two control valves 4~, 50 are provided for remote operation of the climber. Valve 48 is the main air supply valve to the climber (starting and stopping function), and valve 50 determines its direction of motion (forward/backward funct-ion).
The new charging dev-ice uses the drillhole 14 itself as a conveying route. It is preferably introduced into the hole with the aid of a tube (not illustrated) applied to the mouth of the drillhole as a continuation thereof. The said tube should be provided with opening means on one side to allow the insertion of charges ahead of the climber.
In Fig. 3, step a shows the starting position of the climber inside ; the drillhole 14. In this position the lower expansion means 22 retains the climber in the hole by pressing against the wall 26 thereof. In the position shown as step b the lower expansion means 22 is still inflated.
Air has now been fed into the lower part of the cylinder 16, forcing the piston rod 20 and the expansion means 24 associated therewith upwards in the drillhole 14. In step c the switching of the air supply as between the expansion means 22, 24 and the cylinder 16 is reversed. The climber is now retained in the hole by the upper expansion means 24.-By the feeding of air into the upper end of the cylinder 16 the latter has been forced upwards after its expansion means 22 has been deflated. In step d the air has once again been switched between the expansion means 22, 24 ~ ~ !rl and the cylinder and the operating cycle repeats.
' The above-described cl-imber is primarily intended for pushing charges ahead of it up a drillhole 14. It is evident from the preceeding that the climber is also capab'le of climbing down the hole, and it can nat-urally propel itself in holes of various inclinations. The construction of the climber is also such that it is capable of a tamping action, which makes it possible to control the charge density in the drillhole.
The charges 52 pushed ahead of the climber as illustrated in Fig. 7 are equipped with arres-ting means 54 in the form of collars or similar devices to prevent the charges from falling down the drillhole when the climber is retracted a-f-ter charging.
Fig. 4 shows a modified design of climber wherein propulsion is by three rubber-clad wheels 56. In the example illustrated two of the wheels are positioned on one side of the climber and one on the diamet-rically opposed side thereof. The arrangement is such that the wheels are forced apart and get a purchase on the walls of the drillhole.
Locomotion is by means of a motor (not illustrated) powered by pressure fluid. Electrical energy or similar can of course also be used as power source. The motor is used to drive one or more of the wheels. While the climber is in motion in the drillhole the wheels will turn against the walls of the hole, but thanks to'a certain resilience of the wheel mount-ings the climber will not be impeded in its motion by roughness of the `wall. The wheel-driven climber, like the climber described earlier, is specially designed for pushing charges ahead of it up the drillhole.
The climber illustrated in Fig. 5 comprises two telescoping parts 58, 60 connected by means of a helical spring 62. Like the device of Figs 1,
2, 3 and 7,-the climber is powered by compressed air, making it possible to propel the climber by means of extending and contracting movements.
arresting means 64, 66 in the form of flexible plastics coll'ars are provided on both the forward and the rear part of the climber. When compressed air is supplied via line 68 the lower part 58 of the climber is retained in the dril'lho'le 14 by the arresting means 6~. At the same time the upper part 60 is forced upwards, thus tensioning the helical spring 62.'During the rapid evacuation of the air from the climber the upper part 60 is retained by its arresting means 66 and the lower part 58 is drawn up by the spring 62. After a charge has been placed in the hole 14 the rear part 58 of the climber may, if desired, be detached from the ~ 16~088 forward part 60 thereor, which constitutes part of the charge. The rear part can be retracted clown the drillhole 14 and re-used.
The climber of Fig. 6 is equipped with a block 70 and tackle 72 where-by the climber can be introduced up the drillhole 14. One end of the tackle is attached to -the rear part 74 of the climber and passes over the block, which is fixed to the forward part 76 of the climber by means of a helical spring 78. In the starting position the climber is retained in the hole by the arresting means 80 thereof. When the tackle 72 is ten-sioned downwards the cone 82 presses out the arresting means 84 on the forward part 76, thus retaining the said forward part in the hole 14.
The lower part 74 of the climber is drawn up as the helical spring 86 is compressed. When the tension on the line 72 is relaxed the arresting means 80 re~ease and the spring 78 draws up the cone 82. The spring 86 pushes the upper part 76 of the climber up the hole 14, and thereafter the tackle can be tensioned again and the cycle repeats.
The above embodiments can naturally be combined in a variety of ways.
One type of climbing mechanism may be filled with primer and hence will be of single-use type. Another type of climber may incorporate a block and tackle which are carried up to the bottom of the drillhole together with the climber. Once the climber has been f-ixed in position it can serve, with the aid of the tackle, às a hoisting mechanism for cartridges or a tube. This climber too is, naturally, o-f single-use type.
:' : ~
,~
arresting means 64, 66 in the form of flexible plastics coll'ars are provided on both the forward and the rear part of the climber. When compressed air is supplied via line 68 the lower part 58 of the climber is retained in the dril'lho'le 14 by the arresting means 6~. At the same time the upper part 60 is forced upwards, thus tensioning the helical spring 62.'During the rapid evacuation of the air from the climber the upper part 60 is retained by its arresting means 66 and the lower part 58 is drawn up by the spring 62. After a charge has been placed in the hole 14 the rear part 58 of the climber may, if desired, be detached from the ~ 16~088 forward part 60 thereor, which constitutes part of the charge. The rear part can be retracted clown the drillhole 14 and re-used.
The climber of Fig. 6 is equipped with a block 70 and tackle 72 where-by the climber can be introduced up the drillhole 14. One end of the tackle is attached to -the rear part 74 of the climber and passes over the block, which is fixed to the forward part 76 of the climber by means of a helical spring 78. In the starting position the climber is retained in the hole by the arresting means 80 thereof. When the tackle 72 is ten-sioned downwards the cone 82 presses out the arresting means 84 on the forward part 76, thus retaining the said forward part in the hole 14.
The lower part 74 of the climber is drawn up as the helical spring 86 is compressed. When the tension on the line 72 is relaxed the arresting means 80 re~ease and the spring 78 draws up the cone 82. The spring 86 pushes the upper part 76 of the climber up the hole 14, and thereafter the tackle can be tensioned again and the cycle repeats.
The above embodiments can naturally be combined in a variety of ways.
One type of climbing mechanism may be filled with primer and hence will be of single-use type. Another type of climber may incorporate a block and tackle which are carried up to the bottom of the drillhole together with the climber. Once the climber has been f-ixed in position it can serve, with the aid of the tackle, às a hoisting mechanism for cartridges or a tube. This climber too is, naturally, o-f single-use type.
:' : ~
,~
Claims (10)
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:
1. A device for the introduction of explosive in the desired place in a drillhole, including a climber, which climbs on the walls of the drillhole, and locomotion means powered from a power source and adapted to propel the climber in the desired direction in the drillhole by the use of pressure means associa-ted with the climber, and adapted to press against the walls of the hole so as to stabilize the climber in the hole and prevent it from falling downwards therein.
2. A device as claimed in claim 1, having a fluid pressure source including a main valve arrangement positioned rearwardly of the climber relative to its direction of travel and operative to control the supply of fluid under pressure to said locomotion means, and means for providing an explosive charge in the drillhole forwardly of said climber.
3. A device as claimed in claim 2, wherein the means for providing the charge comprises a through channel passing from the rear end to the front end of said climber and forming part of a supply passage for explosives.
4. A device as claimed in claim 2 or 3, in which said means for providing the charge comprises a charge of explo-sives positioned forwardly of a front part of said climber, and wherein said front part is detachable from the other part of said climber, whereby said other part can be withdrawn from the drillhole and reused.
5. A device as defined in claim 3, wherein said lo-comotion means includes a piston having a through passage there-in forming part of said channel for supplying explosives to the front end of said climber.
6. A device as claimed in claim 1, comprising two parts capable of motion relative to each other, enabling the climber to alternately extend and contract in the direction of the drillhole while the pressure means press against the walls of the hole.
7. A device as claimed in claim 6, in which the two parts are telescopic.
8. A device as claimed in claim 6, in which the two parts are, respectively, a cylinder and a piston reciprocable therein, and the pressure means are fitted on the respective parts in order to press the said parts alternately against the wall of the drillhole as the said extension and contraction take place.
9. A device as claimed in claim 6, in which the two moveable parts are connected by at least one helical spring to enable or facilitate the movement of the parts towards or away from each other.
10. A device as claimed in claim 9, in which the pres-sure means of at least one of the parts is adapted to yield flexibly as the said part is propelled in the drillhole.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE8003974A SE436302B (en) | 1980-05-28 | 1980-05-28 | DEVICE FOR LOADING UPDATED DRILL HALLS WITH EXPLOSIVES |
| SE8003974-6 | 1980-05-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1162088A true CA1162088A (en) | 1984-02-14 |
Family
ID=20341061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000378303A Expired CA1162088A (en) | 1980-05-28 | 1981-05-26 | Device for charging drillholes |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US4522129A (en) |
| CA (1) | CA1162088A (en) |
| SE (1) | SE436302B (en) |
| ZA (1) | ZA813455B (en) |
Families Citing this family (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4614156A (en) * | 1984-03-08 | 1986-09-30 | Halliburton Company | Pressure responsive explosion initiator with time delay and method of use |
| US4592282A (en) * | 1984-07-10 | 1986-06-03 | Luossavaara-Kiirunavaara Aktiebolag | Charging apparatus for cartridged explosives |
| US4938081A (en) * | 1987-04-13 | 1990-07-03 | Bridgestone Corporation | Traveling device moving along elongated member |
| US4848168A (en) * | 1987-04-13 | 1989-07-18 | Bridgestone Corporation | Traveling device moving along elongated member |
| EP0397878A4 (en) * | 1988-11-29 | 1991-04-17 | Gosudarstvenny Proektno-Konstruktorsky Institut Tekhnologii Montazha Promyshlennogo Oborudovania - Giprotekhmontazh | Load-lifting device |
| FR2647527B1 (en) * | 1989-05-26 | 1991-09-13 | Barras Provence | VEHICLE FOR PERFORMING MAINTENANCE INSPECTION OR REPAIR WORK WITHIN THE DUCTS |
| US5080020A (en) * | 1989-07-14 | 1992-01-14 | Nihon Kohden Corporation | Traveling device having elastic contractible body moving along elongated member |
| EP0517946B1 (en) * | 1991-06-14 | 1999-10-27 | SATO KOGYO CO., Ltd. | Tunnel driving method |
| US5497707A (en) * | 1992-09-23 | 1996-03-12 | Martin Marietta Energy Systems, Inc. | Robotic vehicle |
| US5601025A (en) * | 1992-09-23 | 1997-02-11 | Martin Marietta Energy Systems, Inc. | Robotic vehicle |
| US5293823A (en) * | 1992-09-23 | 1994-03-15 | Box W Donald | Robotic vehicle |
| US5259316A (en) * | 1992-11-09 | 1993-11-09 | Nelson James E | Method and apparatus for wet/dry, small bore hole explosive device |
| US5794703A (en) * | 1996-07-03 | 1998-08-18 | Ctes, L.C. | Wellbore tractor and method of moving an item through a wellbore |
| CA2188336C (en) * | 1996-10-21 | 1999-06-15 | Claude Tremblay | blasting positioning device |
| US6112809A (en) * | 1996-12-02 | 2000-09-05 | Intelligent Inspection Corporation | Downhole tools with a mobility device |
| BR9904364A (en) * | 1999-09-28 | 2001-06-05 | Petroleo Brasileiro Sa | Remote-controlled vehicle for operations inside ducts |
| EP1689289B1 (en) * | 2003-11-07 | 2016-12-21 | Carnegie Mellon University | Robot for minimally invasive interventions |
| NZ529182A (en) * | 2003-12-20 | 2007-02-23 | Colin Brian Nicholson | Self-propelled vehicle for use in a conduit |
| JP5586148B2 (en) * | 2005-10-12 | 2014-09-10 | ジョン グランドリング，リウェルン | Transport device |
| FR2927410B1 (en) * | 2008-02-13 | 2010-04-09 | Solios Carbone | SHUTTER WITH INFLATABLE PERIPHERAL SEAL AND SHUTTER SYSTEM COMPRISING THE SAME FOR ROOM OVEN LUCARNE |
| EA018208B1 (en) * | 2008-06-05 | 2013-06-28 | Максам Дантекс Саут Эфрика (Пропрайэтри) Лимитед | Method and apparatus for charging an upwardly oriented hole with a pumpable material |
| US8899359B1 (en) * | 2010-11-05 | 2014-12-02 | The Boeing Company | Locomotion system for robotic snake |
| US8950309B1 (en) * | 2014-06-06 | 2015-02-10 | ETBB Associates | Explosive tank barrel blocker |
| AU2016222477A1 (en) * | 2016-09-02 | 2018-03-22 | Mgw Engineering Pty Ltd | Apparatus for supporting an explosive device |
| US11280192B2 (en) | 2016-12-02 | 2022-03-22 | 1854081 Ontario Ltd. | Apparatus and method for preparing a blast hole in a rock face during a mining operation |
| CN108500954B (en) * | 2018-03-28 | 2019-06-21 | 山东理工大学 | A kind of flexible robot for being suitable for variable cross-section |
| CN108528557B (en) * | 2018-03-28 | 2019-06-21 | 山东理工大学 | A kind of robot of leaping over obstacles |
| CN108545120B (en) * | 2018-03-28 | 2019-06-21 | 山东理工大学 | A kind of flexible climbing level robot of work |
| CN108423081B (en) * | 2018-03-28 | 2019-06-21 | 山东理工大学 | A kind of rapid climbing level robot of height adjustment |
| CN108327811B (en) * | 2018-03-28 | 2019-06-21 | 山东理工大学 | A kind of climbing level robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US690594A (en) * | 1901-05-02 | 1902-01-07 | Alphonsus Lonergan | Traveler. |
| US901159A (en) * | 1907-03-11 | 1908-10-13 | John C Dieter | Conduit-threader. |
| US1128746A (en) * | 1914-01-13 | 1915-02-16 | Fred N Bierce | Creeper. |
| SU117896A1 (en) * | 1958-08-01 | 1958-11-30 | Ф.Т. Голованов | Blasting well charging device |
| GB1044201A (en) * | 1962-10-10 | 1966-09-28 | Post Office | Improvements in or relating to pneumatic self-propelled apparatus |
| GB1516307A (en) * | 1974-09-09 | 1978-07-05 | Babcock & Wilcox Ltd | Apparatus for conveying a device for inspecting or performing operations on the interior of a tube |
-
1980
- 1980-05-28 SE SE8003974A patent/SE436302B/en not_active IP Right Cessation
-
1981
- 1981-05-18 US US06/264,556 patent/US4522129A/en not_active Expired - Lifetime
- 1981-05-22 ZA ZA00813455A patent/ZA813455B/en unknown
- 1981-05-26 CA CA000378303A patent/CA1162088A/en not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| SE8003974L (en) | 1981-11-29 |
| ZA813455B (en) | 1982-08-25 |
| SE436302B (en) | 1984-11-26 |
| US4522129A (en) | 1985-06-11 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MKEX | Expiry |