CN110206528B - Blasthole construction method - Google Patents
Blasthole construction method Download PDFInfo
- Publication number
- CN110206528B CN110206528B CN201910468931.7A CN201910468931A CN110206528B CN 110206528 B CN110206528 B CN 110206528B CN 201910468931 A CN201910468931 A CN 201910468931A CN 110206528 B CN110206528 B CN 110206528B
- Authority
- CN
- China
- Prior art keywords
- drilling machine
- drilling
- construction
- blasthole
- feeding unit
- 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.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
Abstract
The invention discloses a full-mechanized coal face fault-passing blasthole drilling machine and a blasthole construction method. The rotary support comprises a gun drill main body, wherein the gun drill main body comprises a feeding unit and an angle adjusting unit which are movably connected, the angle adjusting unit comprises a rotary table, a first rotary support, a large arm assembly, a telescopic arm, a second rotary support, a swinging cylinder, a leveling device and a sliding device which are sequentially and movably connected, and the sliding device is in sliding connection with the feeding unit. The crawler drilling machine suitable for the fault blast hole passing construction of the fully mechanized mining face has the characteristics of small volume and compact structure. The mobile drilling machine does not need to be frequently carried, so that the labor intensity of workers is reduced, the angle modulation time is shortened, the construction of multiple rows and multiple columns of blastholes is realized, and the construction efficiency is remarkably improved; remote operation is adopted, so that personnel safety is ensured; provides basis and reference for automating the borehole construction of the underground fully-mechanized mining face of the coal mine.
Description
Technical Field
The invention belongs to the technical field of coal mine machinery, and particularly relates to a blasthole construction method.
Background
Geological structures such as faults are frequently encountered in the fully mechanized coal mining process, the propulsion speed of the fully mechanized coal mining working face is restricted, a serious challenge is brought to the safe production of the coal mine, and the influence is particularly remarkable when the faults with harder lithology are encountered. For a long time, the problem that the working face with larger fault fall and harder rock on the top and bottom plates is solved by adopting a method for discharging vibration cannons is solved, wherein the construction of the cannon eyes as a key link directly affects the blasting efficiency and the propelling speed of the whole working face.
Because of the narrow space of the fully mechanized mining face, various equipment, inconvenient construction and other factors, the current blasthole construction mostly adopts a hand-held pneumatic rock drill, and the construction efficiency is low; after drilling, the drilling needs to be manually moved to carry out repeated shifting and angle adjustment, so that the labor intensity is high; the safety of approaching the orifice is lower during construction. Part of coal mines also use hydraulic drills and hydraulic rock drills, and the hydraulic drill is improved, and although the construction efficiency is improved to some extent, most of the coal mines are mainly in a frame column type and a fixed type, the problems of high labor intensity of workers, difficult mechanical transportation and repeated shifting and angle modulation cannot be fundamentally solved, and potential safety hazards still exist during construction. The rotary drilling machine has low efficiency when constructing hard faults and potential safety hazards; there are few automatic crawler gun hole drilling machines, and the crawler gun hole drilling machine is oversized and is not suitable for the construction of narrow roadways of fully mechanized mining working surfaces. Therefore, it is urgently required to design a remote control borehole drilling machine which can improve the construction efficiency, reduce the labor intensity of workers and ensure the construction safety and is suitable for the fully mechanized mining face to cross faults.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention aims to provide a fault-passing blasthole drilling machine for a fully mechanized mining face and a blasthole construction method, which solve the problems of high labor intensity, difficult mechanical transportation and repeated displacement angle modulation of the fully mechanized mining face, ensure the construction safety of workers and promote the automatic and intelligent development of underground drilling equipment of a coal mine.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the drill hole drilling machine for the fully mechanized mining face to pass through faults comprises a drill hole drilling machine main body, wherein the drill hole drilling machine main body comprises a feeding unit and an angle adjusting unit which are movably connected,
the angle adjusting unit comprises a rotary table, a first rotary support, a large arm assembly, a telescopic arm, a second rotary support, a swinging cylinder, a leveling device and a sliding device which are sequentially and movably connected, and the sliding device is in sliding connection with the feeding unit.
Specifically, big arm subassembly set up angle modulation hydro-cylinder and big arm, big arm one end is connected with the gyration revolving stage rotation, the other end and the flexible arm of big arm are connected, the one end and the big arm of angle modulation hydro-cylinder are connected, the other end and the first gyration of angle modulation hydro-cylinder support and are connected, angle modulation hydro-cylinder control the lift of big arm.
Specifically, the leveling device comprises a leveling oil cylinder and a connecting plate, one end of the leveling oil cylinder is connected with the connecting plate, the other end of the leveling oil cylinder is connected with the sliding device, and the leveling oil cylinder controls the feeding unit to achieve a horizontal state.
Specifically, the feeding unit comprises a welding machine body and a rock drilling power head, and the rock drilling power head is connected to the welding machine body.
Specifically, the sliding device comprises a sliding guide rail and a sliding oil cylinder which are connected, wherein the sliding guide rail is movably connected to the welding machine body, and the sliding oil cylinder adjusts the displacement of the feeding unit.
Further, the gun drill main body also comprises a crawler body, a pump station unit and a control unit, wherein the feeding unit is arranged on the angle modulation unit, and the angle modulation unit, the pump station unit and the control unit are sequentially and respectively connected and installed on the crawler body.
Further, the control system is adopted to control the blasthole drilling machine, the control system comprises a fully mechanized mining face remote control system and a ground control station remote control system,
the fully-mechanized coal mining face remote control system comprises a drilling machine sensing module, an onboard control module and an explosion-proof remote control module which are sequentially connected;
the ground control station remote control system comprises a drilling machine sensing module, an onboard control module and an explosion-proof remote control module which are sequentially connected, and further comprises a ground control module connected with the onboard control module.
The invention relates to a blasthole construction method, which comprises the step of carrying out construction by using a fully-mechanized mining face through a fault blasthole drilling machine.
Specifically, the method comprises the steps of adjusting the height and/or pitching angle of a construction hole site through a large arm assembly, a telescopic arm and a leveling device, and then carrying out drilling construction through a feeding unit, wherein the construction comprises high-level construction and low-level construction.
Compared with the prior art, the invention has the following beneficial effects:
the drilling machine for the fully mechanized coal mining face to pass through the fault borehole has the characteristics of small volume and compact structure; the angle adjusting unit adjusts the azimuth angle, the inclination angle and/or the height of the hole of the blasthole drilling machine, so that the multi-row and multi-column blasthole construction can be performed, and the construction efficiency is obviously improved; the mobile drilling machine does not need to be frequently carried, so that the labor intensity of workers is reduced, and the angle modulation time is shortened;
the invention adopts remote operation, operators are far away from the construction area, and the personnel safety is ensured; provides basis and reference for automating the borehole construction of the underground fully-mechanized mining face of the coal mine.
Drawings
FIG. 1 is a block diagram of a recliner unit;
FIG. 2 is an overall layout of a hole drilling rig for fully mechanized coal mining face fault passing;
FIG. 3 is a layout of a pump station unit and a control unit;
FIG. 4 is a block diagram of a feeder;
FIG. 5 is a schematic view of a blasthole drilling rig in fully mechanized face construction;
FIG. 6 is a left side view of a blasthole drilling rig in construction at a level;
FIG. 7 is a top view of a borehole construction with a certain level borehole drilling rig translated to the left;
FIG. 8 is a top view of a blasthole drill construction state of a blasthole drill of a certain level;
FIG. 9 is a top view of a borehole construction with a borehole drilling rig translated to the right at a certain level;
fig. 10 is a schematic diagram of the operation of the electrical control section;
FIG. 11 is a flow chart of a rig remote control method;
the reference numerals in the drawings denote: 1. a hydraulic support; 2. a scraper conveyor; 3. a crawler body; 4. a feeding unit; 4-1, a rock drilling power head; 4-2, a front roof device; 4-3, a centralizer; 4-4, welding the machine body; 4-5, a roller device; 4-6, a steel wire rope adjusting device; 5. an angle adjusting unit; 5-1, rotating a turntable; 5-2, a first rotary support; 5-3, a large arm assembly; 5-3-1, big arm; 5-3-2, angle adjusting oil cylinder; 5-4, a telescopic arm; 5-5, a second rotary support; 5-6, a swinging cylinder; 5-7, leveling device; 5-7-1, connecting plates; 5-7-2, leveling the oil cylinder; 5-8, a sliding device; 5-8-1, a sliding guide rail; 5-8-2, a sliding oil cylinder; 6. an oil tank; 7. a motor pump group; 8. a cooler; 9. a console; 10. an electric control part; 11. an oil mist lubricator; 12. and a pallet device.
The invention is described in detail below with reference to the drawings and the detailed description.
Detailed Description
The invention relates to a fully-mechanized mining face fault-passing borehole drilling machine which is arranged between a hydraulic support 1 and a scraper conveyor 2 to realize remote control, and comprises a feeding unit 4, an angle adjusting unit 5, a pump station unit and a control unit which are sequentially connected and arranged on a crawler body 3. The angle adjusting unit 5 comprises a rotary table 5-1, a first rotary support 5-2, a large arm assembly 5-3, a telescopic arm 5-4, a second rotary support 5-5, a swinging cylinder 5-6, a leveling device 5-7 and a sliding device 5-8 which are sequentially and movably connected, wherein the sliding device 5-8 is connected with the feeding unit 4, and the large arm assembly 5-3 is used for adjusting the height of an opening of the blasthole drilling machine. The angle adjusting unit 5 adjusts the azimuth angle, the inclination angle and/or the height of the hole of the blasthole drilling machine, so that the multi-row and multi-column blasthole construction can be performed, and the construction efficiency is obviously improved; the mobile drilling machine does not need to be frequently carried, so that the labor intensity of workers is reduced, and the angle modulation time is shortened; the control method for the fully mechanized coal face fault-crossing borehole drilling machine comprises a fully mechanized coal face remote control system, a ground control station remote control system and a manual control system, wherein the three control systems can be switched according to actual conditions, operators are far away from a construction area, and personnel safety is ensured; provides basis and reference for automating the borehole construction of the underground fully-mechanized mining face of the coal mine.
The following specific embodiments of the present invention are provided, and it should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solutions of the present application fall within the protection scope of the present invention.
Example 1:
according to the technical scheme, with reference to fig. 1 to 11, the embodiment provides a fault-passing blasthole drilling machine for a fully mechanized mining face, which comprises a blasthole drilling machine body, wherein the blasthole drilling machine body comprises a feeding unit 4 and an angle adjusting unit 5 which are movably connected, and the fault-passing blasthole drilling machine is small in size and compact in structure.
The feeding unit 4 is used for realizing the pushing and pulling of the rock drill, and adopts an oil cylinder and wire rope double-stroke feeding mechanism, and comprises a rock drilling power head 4-1, a front top device 4-2, a centralizer 4-3, a welding machine body 4-4, a roller device 4-5 and a wire rope adjusting device 4-6 which are connected with each other. The rock drilling unit head 4-1 is connected to the welding machine body 4-4. The remaining components are of conventional design.
The angle adjusting unit 5 is a liquid-driven double-turntable variable-amplitude mechanism and is used for adjusting the perforating azimuth angle, the main shaft inclination angle and/or the perforating height of the blasthole drilling machine. The angle adjusting unit 5 comprises a rotary table 5-1, a first rotary support 5-2, a large arm assembly 5-3, a telescopic arm 5-4, a second rotary support 5-5, a swinging cylinder 5-6, a leveling device 5-7 and a sliding device 5-8 which are sequentially and movably connected. The sliding device 5-8 is connected with the feeding unit 4, and the large arm assembly 5-3 is used for adjusting the height of the opening of the blasthole drilling machine. The leveling device 5-7 comprises a leveling oil cylinder 5-7-2 and a connecting plate 5-7-1, one end of the leveling oil cylinder 5-7-2 is connected with the connecting plate 5-7-1, the other end of the leveling oil cylinder 5-7-2 is connected with the sliding device 5-8, and the feeding unit 4 is adjusted to be in a horizontal state so as to realize the construction of horizontal gun holes; the large arm assembly 5-3 comprises an angle adjusting oil cylinder 5-3-2 and a large arm 5-3-1, one end of the large arm 5-3-1 is connected with the rotary turntable 5-1, the other end of the large arm 5-3-1 is connected with one end of the angle adjusting oil cylinder 5-3-2, the other end of the angle adjusting oil cylinder 5-3-2 is connected with the rotary turntable 5-1, and the angle adjusting oil cylinder 5-3-2 controls the lifting of the large arm 5-3-1; one end of a telescopic oil cylinder in the telescopic arm 5-4 is hinged on the big arm 5-3-1, and the other end of the telescopic oil cylinder is hinged on the telescopic arm 5-4, and the telescopic oil cylinder can control the extension and retraction of the telescopic arm 5-4 so as to adjust the height of a blasthole opening and horizontal and transverse displacement; one side of the swinging cylinder 5-6 is in threaded connection with the second rotary support 5-5, and one end of the swinging cylinder 5-6 is in threaded connection with the leveling device 5-7; the sliding device 5-8 comprises a sliding guide rail 5-8-1 and a sliding oil cylinder 5-8-2, the sliding guide rail 5-8-1 is movably connected with the welding machine body 4-4, and the sliding oil cylinder 5-8-2 regulates the displacement of the feeding unit 4.
As shown in fig. 4, the hydraulic support device can be arranged between the hydraulic support 1 and the scraper conveyor 2 to realize remote control, and comprises a feeding unit 4, an angle adjusting unit 5, a pump station unit and a control unit which are sequentially connected and arranged on the crawler body 3. The width of the scraper conveyor 2 of the fully mechanized mining face is 0.8m, the width of the groove of the scraper conveyor 2 is 0.66m, and the minimum distance between the center of the scraper conveyor 2 and the rock wall is only 1m. During construction, the drilling machine can move on the scraper conveyor 2, and the multi-row and multi-column blastholes with the horizontal height of 0.5-3m and the left-right spacing of 0.5m are constructed by adjusting the drilling machine angle adjusting unit 5. The blasthole drilling machine not only can be used for constructing blastholes on the side edges of the fully-mechanized mining face, but also can be used for blasthole construction of underground narrow roadways of coal mines.
The crawler body 3 comprises a heavy crawler and a welding vehicle body, wherein the heavy crawler is a narrow heavy crawler, and the width of the crawler is 0.64m; the welding car body is formed by welding steel plates, the front end of the welding car body is sunken, rib plates are welded on key parts, stability of the welding car body is guaranteed, threaded holes are formed in the welding car body, the heavy caterpillar band is connected with the welding car body through bolts, and the car body is 0.72m. The feeding unit 4, the angle adjusting unit 5, the pump station unit, the control unit, the oil mist lubricator 11 and the supporting plate device 12 are arranged on the crawler body 3 through bolts, and can be disassembled according to construction and transportation conditions.
The pump station unit comprises an oil tank 6, a motor pump set 7 and a cooler 8; the control unit comprises a console 9 and an electronic control unit 10. The oil tank 6 is used for storing and cooling hydraulic oil, and is internally provided with a temperature sensor; the motor pump set 7 provides a power source for the drilling machine; the cooler 8 provides cooling for the rig hydraulic system. In addition, the blasthole drilling machine is also provided with an oil mist lubricator 11 and a supporting plate device 12, wherein the oil mist lubricator 11 is used for providing lubrication and cooling for the rock drilling power head; the pallet means 12 are used to house the electrical cabinets, seats etc. required for the construction of the drilling machine.
The electric control part 10 comprises an onboard control cabinet, an explosion-proof remote controller, a junction box, a drilling machine sensor group and electromagnetic valves on the control console 9. The control console 9 is used for placing an electromagnetic valve and a pressure gauge, the electromagnetic valve is in electrohydraulic control, and has an electric control property, an electric control command needs to be sent to the electromagnetic valve to control mechanical action, and the electromagnetic valve is provided with an electromagnetic proportional valve and a switch direction valve; the electromagnetic proportional valve comprises a proportional overflow valve, a proportional pressure reducing valve and a multi-path proportional valve. The proportional overflow valve and the proportional pressure reducing valve are used for adjusting the feeding, impacting and rotating pressures; the multi-path proportional valve is used for controlling four main actions of walking, impacting, feeding and turning of the drilling machine; when the explosion-proof remote controller fails, the main action adjustment can be realized by operating the electromagnetic valve handle on the control console 9 to control the drilling machine, and accidents are treated. The on-off direction valve is used for controlling auxiliary actions of the drilling machine, including actions such as slewing bearing adjustment, angle modulation, sliding, leveling, switching on and off of the oil mist lubricator 11, emergency stop and the like; the pressure gauge is used for displaying impact, rotation, feeding, pumping pressure, oil return and walking pressure.
The explosion-proof remote controller comprises a PLC module, an operation panel I, a liquid crystal display, a wireless module II and an explosion-proof shield. The control panel is provided with a switch, a knob and an emergency stop, and is used for issuing control instructions of the gun drill, including walking, feeding, impacting, turning, auxiliary action and emergency stop; the PLC module is used for collecting a drilling machine control instruction on the panel; the wireless module I is used for sending a control instruction; the liquid crystal display screen is used for displaying sensor data acquired by the PLC module.
The airborne control cabinet comprises a controller I, an Ethernet module I and a wireless module I, wherein the controller I, the Ethernet module I and the wireless module I are integrated in the airborne control cabinet, and the wireless module I is used for receiving a control panel I instruction sent by a wireless module II of the explosion-proof remote controller. The drilling machine sensor group comprises a rotating speed sensor, a temperature sensor, a pressure sensor, a flow sensor, a liquid level sensor, an inclination angle sensor and a displacement sensor, and is used for collecting working condition data of drilling machine parts; the rotating speed sensor is arranged on the power head of the rock drill machine and used for detecting the rotating speed; the temperature sensor is arranged on the oil tank 6 and used for detecting the temperature of the oil tank 6; the pressure sensor is arranged on the oil way of the rotary, walking, feeding, impacting, oil returning and oil mist lubricator 11 and pump outlet pressure, and detects the pressure change of the oil way; the flow sensor is arranged on the rotary, walking, feeding and impacting oil way and the pump outlet and is used for detecting the flow change of the oil way; the liquid level sensor is arranged at the oil tank 6 and the oil mist lubricator 11 and is used for detecting the liquid level in the oil tank 6 and the oil mist lubricator 11; the inclination angle sensor and the displacement sensor are arranged on the welding machine body of the feeding unit 4 and are used for detecting the inclination angle and the feeding and retreating distance of the feeding unit 4; and the controller I sends a control instruction to the electromagnetic valve group after obtaining the control instruction, and receives and processes the working condition data acquired by the sensor. The Ethernet module I is used for communicating with an on-well ground control station to transmit working condition data. The junction box is used for expanding the number of wires and dividing a plurality of wiring ports from one wiring port of the airborne control cabinet controller; the drilling machine can also be provided with a ground control station to realize ground remote control of the blasthole drilling machine.
The ground control station comprises a controller II, an Ethernet module II, a control panel II, an alarm device and display equipment. The Ethernet module II is used for realizing network transmission of underground and ground control instructions and sensor data; the alarm device is used for alarming and prompting when the underground drilling machine is abnormal; the other components are similar to the explosion-proof controller components. Setting a switch I, a switch II and an Ethernet ring between the ground control station and the airborne control cabinet, wherein the switch I transmits working condition data acquired by the controller II to the underground Ethernet ring; the exchanger II transmits the working condition data of the Ethernet ring network to a controller I on the ground; the Ethernet ring network is used for transmitting working condition data and control instructions.
The control system is adopted to control the blasthole drilling machine, and comprises a fully mechanized coal mining face remote control system, a ground control station remote control system and a manual control system, wherein the three control systems can be switched according to actual conditions.
The fully-mechanized mining face remote control system comprises a drilling machine sensing module, an onboard control module and an explosion-proof remote control module which are sequentially connected. The explosion-proof remote control module is used for sending control instructions and receiving working condition data of the blasthole drilling machine, the airborne control module is used for receiving the control instructions sent by the explosion-proof remote control module and transmitting the working condition data of the blasthole drilling machine, and the drilling machine sensing module is used for collecting the working condition data of the blasthole drilling machine. The method comprises the following steps: the whole blasthole drilling machine is far away from the orifice, a switch and a knob on an operation panel I of the explosion-proof remote control module send out a drilling machine switching value and analog quantity control instruction, and the instruction is subjected to data acquisition by the PLC module according to a CAN bus protocol; judging whether the acquisition is correct, if so, transmitting a control instruction to a wireless communication module I of the airborne control module through a wireless communication module II according to a CAN bus protocol, judging the correctness of the control instruction again, and if the instruction is correct, transmitting the instruction to a console 9 by the controller I to drive each component to execute actions; the sensor installed on each component in the drilling machine sensing module collects working condition data of the drilling machine in real time, the working condition data are transmitted to the controller I through a CAN bus protocol, if the sensor data are correctly transmitted to the explosion-proof remote control module through the wireless communication module I and the wireless communication module II, the real-time data are displayed on the liquid crystal display; if the displayed sensor data is abnormal, the data is regulated by a knob and a switch on the control panel I until the data is displayed normally; if the sensor display data on the liquid crystal display screen is abnormal, the working of the drilling machine is stopped for checking through an emergency stop button on the control panel, and the invention judges whether the data are normal or not through the impact, rotation and feeding pressure, and the invention is particularly related to the construction state.
The ground control station remote control system comprises a drilling machine sensing module, an onboard control module and an explosion-proof remote control module which are sequentially connected, and further comprises a ground control module connected with the onboard control module. The ground control module transmits working condition data of the blasthole drilling machine to the ground. The method comprises the following steps: based on a fully mechanized mining face remote control system, a controller II collects control instructions sent by an operation panel I; the Ethernet module II is connected with the underground Ethernet ring through the exchanger II, a control instruction acquired by the controller II is transmitted to the controller I through the exchanger I and the Ethernet module I, and the controller I receives the control instruction and then sends the control instruction to the console 9 to drive each component to work; the sensors arranged on all components in the drilling machine sensing module collect working condition data of the drilling machine in real time, and the working condition data are transmitted to a controller II of a ground control station through an Ethernet module II and displayed on display equipment; and meanwhile, the acquired data is processed and analyzed by the controller II, and if the drilling machine is in an abnormal state, the alarming device alarms to remind a worker to adjust.
The manual control system comprises the main actions of the drilling machine by operating the console 9. The manual control system is adopted when the two remote control modes fail, an operator finishes the main action of the drilling machine by operating the handle of the control console 9, and the control mode is consistent with the operation of the common rock drilling machine.
When the three control systems are adopted to control the blasthole drilling machine: after the blasthole drilling machine reaches the drilling site, starting up to check the state of the blasthole drilling machine. Judging whether the condition of the drilling machine is normal or not according to the information of the pressure and the temperature of the drilling machine, which is acquired by a sensor arranged on the drilling machine, and checking mechanical and electrical faults with problems when the condition is abnormal until the condition is regulated to a normal state; the position of the opening is adjusted according to the design position (azimuth, angle and height) of the drilling hole, and the angle adjusting unit 5 is controlled to move to the design position; controlling the power head to rotate, controlling the feeding unit 4 to execute 2000N propelling force to enable the feeding unit to prop against the rock wall, comparing the collected propelling force with the set rock wall propping force, and continuously increasing the propelling force if the propelling force is smaller than the propping force (the propping force is a numerical value given according to actual conditions); if the collected propelling force is larger than the Yu Yan wall jacking force, perforating, controlling the power head to impact and start to open an eye with impact pressure of 6Mpa, detecting displacement, namely the depth of the open eye, through a displacement sensor after the open eye is opened, and if the depth of the open eye meets the requirement, increasing the impact pressure to 14Mpa, and carrying out normal impact and perforation; if the opening depth checked by the displacement sensor does not meet the requirement, continuing opening the eye with the pressure of 6Mpa until the opening depth is met; in the normal punching process, parameters such as propelling force, rotation speed, feeding speed and the like are always displayed on a display screen; if the rotation pressure rises to 12Mpa above the rotation normal value in the drilling process, the drilling phenomenon is judged, the drilling is carried out, at the moment, the impact is stopped, and the feeding unit 4 is retracted until the rotation pressure reaches the normal value, and continues to feed the impact for drilling construction; closing the impact after the displacement sensor detects the preset drilling depth, and retracting the feeding unit 4; and according to the detection of whether the power head of the feeding unit 4 is retracted in place or not by the displacement sensor, stopping rotating and propelling after the power head is retracted in place, finishing drilling, if the power head is not retracted in place, detecting displacement by the displacement sensor until the power head is retracted in place, stopping rotating and propelling after the power head is retracted in place, stopping the machine, and finishing.
The embodiment also provides a blasthole construction method which comprises the step of carrying out construction by using the fully-mechanized mining face fault-passing blasthole drilling machine. The blasthole construction method comprises the steps of adjusting the height and/or pitching angle of a construction hole site of a blasthole drilling machine through a large arm assembly 5-3, a telescopic arm 5-4 and a leveling device 5-7, and then carrying out drilling construction through a feeding unit 4, wherein the construction comprises high-level construction and low-level construction. Fig. 6 illustrates that the construction of multiple rows of holes can be achieved by adjusting the angle modulation unit 5. Fig. 7-9 illustrate the construction of multiple rows of holes by adjusting the angle modulation unit 5.
The concrete construction method comprises the following steps: the whole blasthole drilling machine is placed in a horizontal transportation state, a knob on an operation panel I of the explosion-proof remote controller sends a crawler travel control instruction, and the blasthole drilling machine is driven to travel on the scraper conveyor 2 until a construction drilling site stops traveling; the explosion-proof remote controller sends an auxiliary action control instruction to control the first rotary support 5-2 of the angle adjusting unit 5 to rotate 90 degrees clockwise so that the feeding unit 4 is perpendicular to the rock wall; the angle adjusting oil cylinder 5-3-2 of the large arm assembly 5-3 and the leveling oil cylinder 5-7-2 of the leveling device 5-7 are adjusted to meet the height and/or pitching angle requirements of construction hole sites; adjusting a sliding oil cylinder 5-8-2 of the sliding device 5-8 to enable a front jacking device 4-2 at the front end of the feeding unit 4 to jack up a rock wall; transmitting a rotation control command to drive the rock drilling power head 4-1 to rotate, and simultaneously transmitting a feeding command to control the rock drilling power head 4-1 to feed; when a drilling tool on the drilling power head 4-1 approaches to a construction position, the explosion-proof remote controller sends a control command to start the oil mist lubricator 11, and simultaneously sends an impact command to control the drilling power head 4-1 to impact, and when feeding and punching impact, the electromagnetic proportional overflow valve and the pressure reducing valve are controlled through the knob to adjust the feeding and impact pressure of the drilling machine; the impact pressure is regulated to the maximum after the hole is opened, so that the drilling construction is completed; stopping turning and impacting after the construction is completed, closing the oil mist lubricator 11, controlling the rock drilling power head 4-1 to retract, and completing the whole drilling construction.
During high-level construction, the angle adjusting oil cylinder 5-3-2 and the telescopic arm 5-4 on the large arm assembly 5-3 are adjusted to extend, the extending distance is selected according to different construction conditions, for example, the angle adjusting oil cylinder 5-3-2 extends to achieve the height of about 2.5m, the telescopic arm 5-4 extends to achieve the height of 3m, the leveling oil cylinder 5-7-2 on the leveling device 5-7 extends to adjust the elevation angle of the feeding unit 4. During low-level construction, the large arm assembly 5-3 and the telescopic arm 5-4 are fixed, the second rotary support 5-5 rotates anticlockwise by 90 degrees, the height of an opening is reduced, the swinging cylinder 5-6 is adjusted anticlockwise, low-hole-site depression angle construction is achieved, the angle-adjusting cylinder 5-3-2, the telescopic arm 5-4, the leveling device 5-7 and the swinging cylinder 5-6 on the large arm assembly 5-3 are adjusted, and multiple rows of hole construction with different heights is completed in a matched mode. The first rotary support 5-2 rotates anticlockwise for a certain angle, the telescopic arm 5-4 stretches out, the swinging cylinder 5-6 rotates clockwise for the same angle as the first rotary support 5-2 until the center distance between the first rotary support 5-2 and the swinging cylinder 5-6 is 0.5m, and the adjustment is stopped, so that the blasthole construction in the position shown in fig. 7 is completed; the first rotary support 5-2 rotates clockwise for a certain angle, the telescopic arm 5-4 stretches out, the swinging cylinder 5-6 rotates anticlockwise for the same angle as the first rotary support 5-2 until the center distance between the first rotary support 5-2 and the swinging cylinder 5-6 is 0.5m, and the adjustment is stopped, so that the blasthole construction at the position of FIG. 9 is completed; the rotary support, the swinging cylinder 5-6 and the telescopic arm 5-4 are matched for use to finish the construction of a plurality of rows of holes; after the drill hole of the blasthole is drilled, the first rotary support 5-2 is horizontal to the machine body, and the angle adjusting unit 5 and the feeding unit 4 are adjusted back to a horizontal transportation state; and controlling the crawler belt to enable the blasthole drilling machine to walk out of the fully mechanized mining face, so as to complete the blasthole construction of the whole section. The whole process completes the construction of multiple rows and multiple columns of holes under the condition of once fixing of the drilling machine.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art, having the benefit of the teachings of this invention, fall within the scope of the invention as defined by the claims.
Claims (2)
1. A blasthole construction method is characterized in that,
firstly, starting up to check the state of the blasthole drilling machine after the blasthole drilling machine reaches a drilling field;
judging whether the condition of the drilling machine is normal or not according to the information of the pressure and the temperature of the drilling machine, which is acquired by a sensor arranged on the drilling machine, and checking mechanical and electrical faults with problems until the drilling machine is regulated to a normal state if the condition of the drilling machine is abnormal; adjusting the position of the opening according to the drilling design position, wherein the drilling design position parameters comprise azimuth, angle and height; controlling the angle adjusting unit (5) to move to a design position;
step three, controlling the power head to rotate, controlling the feeding unit (4) to execute 2000N propelling force, comparing the collected propelling force with the set supporting force of the rock wall after the feeding unit supports the rock wall, and continuously increasing the propelling force if the propelling force is smaller than the supporting force;
step four, if the collected propelling force is larger than the jacking force of the Yu Yan wall, perforating, controlling the power head to impact and start to open an eye with impact pressure of 6Mpa, detecting displacement, namely the depth of the open eye, through a displacement sensor after the open eye is opened, and if the depth of the open eye meets the requirement, increasing the impact pressure to 14Mpa, and carrying out normal impact and perforation;
fifthly, if the open-eye depth checked by the displacement sensor does not meet the requirement, continuing to open the eye with the pressure of 6Mpa until the open-eye depth is met;
step six, displaying propulsion force, rotation speed and feeding speed parameters on a display screen all the time in the normal punching process; if the rotation pressure rises to 12Mpa above the rotation normal value in the drilling process, the drilling phenomenon is judged, the drilling is carried out, at the moment, the impact is stopped, and the feeding unit 4 is retracted until the rotation pressure reaches the normal value, and continues to feed the impact for drilling construction; closing the impact after the displacement sensor detects the preset drilling depth, and retracting the feeding unit (4);
step seven, according to whether the power head of the feeding unit (4) is retracted in place or not detected by the displacement sensor, stopping rotating and propelling after the power head is retracted in place, finishing drilling, if the power head is not retracted in place, detecting displacement by the displacement sensor until the power head is retracted in place, stopping rotating and propelling after the power head is retracted in place, stopping the machine, and finishing;
the blasthole construction method adopts a blasthole drilling machine for fully-mechanized mining working face to pass through faults for construction:
the drill hole drilling machine for the fully mechanized mining face fault passing comprises a drill hole drilling machine main body, wherein the drill hole drilling machine main body comprises a feeding unit (4) and an angle adjusting unit (5) which are movably connected,
the angle adjusting unit (5) comprises a rotary table (5-1), a first rotary support (5-2), a large arm assembly (5-3), a telescopic arm (5-4), a second rotary support (5-5), a swinging cylinder (5-6), a leveling device (5-7) and a sliding device (5-8) which are sequentially and movably connected, and the sliding device (5-8) is in sliding connection with the feeding unit (4);
the large arm assembly (5-3) is provided with an angle adjusting oil cylinder (5-3-2) and a large arm (5-3-1), one end of the large arm (5-3-1) is rotationally connected with the rotary table (5-1), the other end of the large arm (5-3-1) is connected with the telescopic arm (5-4), one end of the angle adjusting oil cylinder (5-3-2) is connected with the large arm (5-3-1), the other end of the angle adjusting oil cylinder (5-3-2) is connected with the first rotary support (5-2), and the angle adjusting oil cylinder (5-3-2) controls the large arm (5-3-1) to lift;
the leveling device (5-7) comprises a leveling oil cylinder (5-7-2) and a connecting plate (5-7-1), one end of the leveling oil cylinder (5-7-2) is connected with the connecting plate (5-7-1), the other end of the leveling oil cylinder (5-7-2) is connected with the sliding device (5-8), and the leveling oil cylinder (5-7-2) controls the feeding unit (4) to achieve a horizontal state;
the feeding unit (4) comprises a welding machine body (4-4) and a rock drilling power head (4-1), and the rock drilling power head (4-1) is connected to the welding machine body (4-4);
the sliding device (5-8) comprises a sliding guide rail (5-8-1) and a sliding oil cylinder (5-8-2) which are connected, the sliding guide rail (5-8-1) is movably connected to the welding machine body (4-4), and the sliding oil cylinder (5-8-2) adjusts the displacement of the feeding unit (4);
the gun drill main body also comprises a crawler body (3), a pump station unit and a control unit, wherein the feeding unit (4) is arranged on the angle adjusting unit (5), and the angle adjusting unit (5), the pump station unit and the control unit are sequentially and respectively connected and installed on the crawler body (3);
the control system is adopted to control the blasthole drilling machine, the control system comprises a fully mechanized mining face remote control system and a ground control station remote control system,
the fully-mechanized coal mining face remote control system comprises a drilling machine sensing module, an onboard control module and an explosion-proof remote control module which are sequentially connected;
the ground control station remote control system comprises a drilling machine sensing module, an onboard control module and an explosion-proof remote control module which are sequentially connected, and further comprises a ground control module connected with the onboard control module.
2. The blasthole construction method according to claim 1, characterized by comprising adjusting the height and/or pitch angle of the construction hole site of the blasthole drilling machine through the large arm assembly (5-3), the telescopic arm (5-4) and the leveling device (5-7), and then performing drilling construction through the feeding unit (4), wherein the construction comprises high-level construction and low-level construction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910468931.7A CN110206528B (en) | 2019-05-31 | 2019-05-31 | Blasthole construction method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910468931.7A CN110206528B (en) | 2019-05-31 | 2019-05-31 | Blasthole construction method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110206528A CN110206528A (en) | 2019-09-06 |
| CN110206528B true CN110206528B (en) | 2023-06-09 |
Family
ID=67789953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910468931.7A Active CN110206528B (en) | 2019-05-31 | 2019-05-31 | Blasthole construction method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110206528B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111305810A (en) * | 2019-11-12 | 2020-06-19 | 国家能源集团乌海能源有限责任公司 | Outburst prevention drilling device, equipment and control method thereof |
| CN115949342B (en) * | 2023-03-10 | 2023-05-23 | 成都理工大学 | Geological sampling knapsack drilling machine |
| CN116641651A (en) * | 2023-07-27 | 2023-08-25 | 湖南创远高新机械有限责任公司 | Small-sized drilling machine |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201714390U (en) * | 2010-05-31 | 2011-01-19 | 三一重型装备有限公司 | Hard rock hydraulic crushing type boring machine |
| CN102261250A (en) * | 2010-05-31 | 2011-11-30 | 三一重型装备有限公司 | Hydraulic crushing-type excavator for hard rock |
| CN202381100U (en) * | 2011-11-24 | 2012-08-15 | 石家庄中煤装备制造股份有限公司 | Drill loader operating device |
| CN102493815B (en) * | 2011-11-24 | 2014-04-16 | 石家庄中煤装备制造股份有限公司 | Drill loader working device |
| CN102877788B (en) * | 2012-09-19 | 2015-03-25 | 山西晋城无烟煤矿业集团有限责任公司 | Outburst prevention track drilling machine for laneway excavation |
| CN104634201A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Drilling and blasting robot |
| CN103643963B (en) * | 2013-12-23 | 2016-04-27 | 中铁工程装备集团有限公司 | A kind of multifunctional tunnel development machine |
| CN104612586B (en) * | 2014-11-13 | 2017-03-15 | 山东科技大学 | Tunneling boring rapid drilling drill carriage for the big emptying aperture parallel cut blasting in tunnel |
| CN104594876B (en) * | 2015-01-19 | 2017-06-06 | 西山煤电（集团）有限责任公司万隆节能设备厂 | For the remote control control method of mining-drilling machine |
| CN104912484B (en) * | 2015-04-21 | 2017-03-15 | 王发秀 | Coal Full-automatic mine roofboltier |
| CN106320979A (en) * | 2016-09-26 | 2017-01-11 | 辽宁工程技术大学 | Fixed drilling device for fully mechanized mining face crossing fault and use method |
| CN206158584U (en) * | 2016-09-26 | 2017-05-10 | 辽宁工程技术大学 | A fixed drilling equipment for combining adopt working face and cross fault |
| CN106401476B (en) * | 2016-12-01 | 2017-11-28 | 长沙科达智能装备股份有限公司 | A kind of multi-functional arching drill jumbo |
| CN107605400B (en) * | 2017-10-30 | 2019-05-21 | 中煤科工集团西安研究院有限公司 | The boring track-mounted drill in the inclination angle underground coal mine Di Chou Xiang Quan and its construction method |
| CN107939286A (en) * | 2017-12-27 | 2018-04-20 | 江苏安能钻掘设备科技有限公司 | A kind of scraper changes rock drilling machine equipment |
| CN208564450U (en) * | 2018-07-16 | 2019-03-01 | 沈阳天安科技股份有限公司 | A kind of fully-mechanized mining working machine gun connection device for picking |
-
2019
- 2019-05-31 CN CN201910468931.7A patent/CN110206528B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110206528A (en) | 2019-09-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110206528B (en) | Blasthole construction method | |
| CN101832102B (en) | Movable two-platform partitioned four-arm hanging wall anchor rod and anchor cable construction drill carriage | |
| CN105587265B (en) | Tunnel Blasting drilling equipment | |
| CN201714390U (en) | Hard rock hydraulic crushing type boring machine | |
| CN101509350A (en) | Pneumatic crawler hydraulic jumbo | |
| CN102261250A (en) | Hydraulic crushing-type excavator for hard rock | |
| CN104695860B (en) | Fully-mechanized mining working jumbolter and fully-mechanized mining working, which are mined, anchors integration apparatus | |
| CN112360340A (en) | Automatic anchor rod drill carriage | |
| CN206429214U (en) | The blowout relief car of multifunctional remote remote control | |
| CN109707366A (en) | A kind of drilling machine angle accurate measure and control device and method online | |
| CN105587328A (en) | Multi-arm anchor rod drill carriage for suspension beam type mine | |
| CN107605400B (en) | The boring track-mounted drill in the inclination angle underground coal mine Di Chou Xiang Quan and its construction method | |
| CN207212265U (en) | Coal mining cuts top rig with both arms multistation | |
| CN112227948A (en) | Small single-arm drill carriage for coal mine | |
| CN110053172B (en) | Cantilever type universal cutting mechanism, equipment and cutting method for tunnel | |
| CN112012775A (en) | Crawler-type gantry drilling and anchoring robot | |
| CN105064994B (en) | A kind of airborne continuous grooving release coal mining equipment and method | |
| CN101845952A (en) | Movable three-arm top-assisting anchor rod and anchor cable construction drill carriage | |
| CN113175331B (en) | Rapid construction equipment and method for weak surrounding rock fiber net pre-supporting structure | |
| CN209780862U (en) | Online accurate measurement and control device for angle of drilling machine | |
| US6079504A (en) | Underground mining drill rig with safety interlock | |
| CN201218053Y (en) | Pressure-discharging drill rig with remote control | |
| CN107419761B (en) | Remotely-operable full-section roadway repairing machine and construction method thereof | |
| CN107013211A (en) | A kind of control method of coal mining machine roller automatic adjustment height | |
| CN111305810A (en) | Outburst prevention drilling device, equipment and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |