CN110410053A - Coal mine roof plate pressure relief method based on eyelet supporting - Google Patents
Coal mine roof plate pressure relief method based on eyelet supporting Download PDFInfo
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- CN110410053A CN110410053A CN201910809164.1A CN201910809164A CN110410053A CN 110410053 A CN110410053 A CN 110410053A CN 201910809164 A CN201910809164 A CN 201910809164A CN 110410053 A CN110410053 A CN 110410053A
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- expansion pipe
- pressure relief
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 239000003245 coal Substances 0.000 title claims abstract description 27
- 238000005553 drilling Methods 0.000 claims abstract description 10
- 238000010276 construction Methods 0.000 claims abstract description 8
- 239000012530 fluid Substances 0.000 claims description 11
- 239000007788 liquid Substances 0.000 claims description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 3
- 238000003825 pressing Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000005065 mining Methods 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 239000010437 gem Substances 0.000 description 2
- 229910001751 gemstone Inorganic materials 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000001550 time effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
- E21B43/25—Methods for stimulating production
- E21B43/26—Methods for stimulating production by forming crevices or fractures
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Drilling And Exploitation, And Mining Machines And Methods (AREA)
- Pipe Accessories (AREA)
Abstract
The invention discloses a kind of coal mine roof plate pressure relief methods based on eyelet supporting, the top plate drilling first above coal seam is sequentially included the following steps: to construct to form release eyelet, then expansion pipe column is intraocularly put into the pressure relief vent and expands the expansion pipe column with the hole wall of release eyelet described in supporting, then carry out pressure testing, perforation and pressure break.The beneficial effects of the invention are as follows, supporting is carried out using hole wall of the expansion pipe column to release eyelet, effectively prevent hole wall collapse, stable condition is provided for subsequent perforation and pressing crack construction, to allow to bore long eyelet to carry out top plate pressure relief on a large scale, bump risk is reduced, the safety of subsequent exploitation is improved.
Description
Technical field
The invention belongs to coal mining technical field of construction, and in particular to a kind of coal mine roof plate release based on eyelet supporting
Method.
Background technique
Bump is also known as rock burst, is that the flexible deformation potential energy built up in a kind of rock mass is fiercely released suddenly under certain condition
The phenomenon that putting, rock caused sharply to destroy.In process of coal mining, coal seam top is thick and peldon top plate is to influence impact
Raw one of the principal element of ground pressure, has significant threat to mine, personnel in the pit and equipment.Cave, wide lane pick are led using advanced
Roof Breaking is reduced top plate release stress and concentrates and generate into modes releases such as, explosion, drilling, coal-bed flooding or pressure breaks
Energy, reduce the fracture that generates due to mining influence and time effect of top plate to the impact vibration in coal seam and bracket, can be with
It is effectively reduced bump risk.
Wherein, it is new production technique developed in recent years that hydraulic fracturing, which carries out top plate pressure relief, will be used for oil/gas well
Fracturing technique is moved on top plate pressure relief.The pressure break that its basic process is similar to oil/gas well is exploited, i.e. subdrilling eyelet to top plate
Layer, is then placed in perforation and fracturing tool carries out perforating and fracturing.The difference lies in that since eyelet is less than general oil/gas well, because
And concrete well cementation can not be carried out after the completion of drilling, roof Stress changes over time, and hole eyewall easily occurs collapsing and causes eyelet stifled
Plug, perforation tool can not be arranged or perforation is forced to interrupt, and subsequent release construction can not continue.Especially after boring long eyelet, by
In easily there is the collapsing of portion, perforation tool is usually arranged at once after the completion of jewel hole under the prior art, but hole is intraocular
Multiple multidigit point perforation is needed, the threat which collapses exists always.It can prevent eyelet therefore, it is necessary to one kind to collapse
The top plate pressure relief method collapsed, in order to subsequent perforation and pressure break.
Summary of the invention
In view of this, the present invention provides a kind of coal mine roof plate pressure relief method based on eyelet supporting.
Its technical solution is as follows:
A kind of coal mine roof plate pressure relief method based on eyelet supporting, key are to sequentially include the following steps:
Step 1, drill eye, and the top plate drilling construction above coal seam forms release eyelet;
Step 2, eyelet supporting, Xiang Suoshu pressure relief vent are intraocularly put into expansion pipe column and expand the expansion pipe column with supporting institute
State the hole wall of release eyelet;
Step 3, pressure testing determine the expansion pipe column good seal;
Step 4, perforation place perforation tool to pre- perforating site and carry out perforation;
Step 5, pressure break.
Using above method, expansion pipe column is intraocularly put into pressure relief vent and is expanded to hole wall progress supporting, it is effectively anti-
Stop hole wall collapse, provides stable condition for subsequent perforation and pressing crack construction, and expand plumber used by eyelet supporting
Tool and expansion process are the prior art, and expansion pipe column green diameter is smaller intraocular convenient for being put into pressure relief vent, are expanded after being put into swollen
It is swollen i.e. to pressure relief vent eye-shaped at stablizing supporting.
As optimal technical scheme, in above-mentioned steps one, obliquely to the top plate drilling out of coal mine roadway, and in institute
It states and continues to extend drilling in the horizontal direction in top plate.
Using above method, the release eyelet of formation is predominantly located in the appropriate depth of top plate, makes to push up convenient for subsequent pressure break
Plate destroys.
As optimal technical scheme, in the vertical direction, the horizontal segment of the release eyelet is located at the centre of the top plate.
Using the above design, so that fracturing fracture runs through top plate in vertical direction as far as possible.
As optimal technical scheme, the projected depth of above-mentioned release eyelet is greater than 300m.
It is that then subsequent pressure break range is big greatly because of release eyelet depth using the above design, is introducing expansion tube supporting behaviour
After work, release eyelet is more stable, allows to drill out deeper release eyelet, reduces the number of drills in fracturing process.
As optimal technical scheme, in above-mentioned steps two, expansion system is first set;
The expansion system includes expansion pipe column, expansion cone and expansion plug;
The expansion pipe column is sequentially connected to design length along same rectilinear direction by least two sections of expansion tubes and forms;
The expansion cone enters from any free end of the expansion pipe column and is nested in the expansion pipe column, the expansion
Free end where cone is the head of the expansion pipe column, and the other end of the expansion pipe column is tail portion;
The expansion plug includes plug seat and ball sealer, and the plug seat is fixed at the head of the expansion pipe column
Portion, the plug seat are located in front of the expansion cone, and the ball sealer is spare;
The expansion cone is also connected with coiled tubing, and the free end of the coiled tubing is connected with the expansion cone, this is continuous
The fixing end of oil pipe is stretched out from the tail portion of the expansion pipe column;
Then it is intraocular the expansion pipe column to be placed by the pressure relief vent by the coiled tubing, is expanded described in further expansion
Tubing string.
Using the above design, convenient for the placement and expansion of expansion pipe column.
As optimal technical scheme, above-mentioned expansion pipe column protrudes into the release eyelet until its head reaches the pressure relief vent
Then the bottom hole of eye returns and the expansion pipe column is dragged to reach predetermined supporting position.
Using the above design, according to the length of the depth of release eyelet and the coiled tubing protruded into, can be convenient it is determining
In the position that expansion pipe column is intraocular in the pressure relief vent.
As optimal technical scheme, above-mentioned expansion pipe column be placed into the pressure relief vent it is intraocular after, from the coiled tubing
Uphole end puts into the ball sealer, and injects a small amount of liquid, and the ball sealer is made to pass through the inner hole recoil of the expansion cone described
On plug seat, form the expansion plug of sealing, the expansion pipe column between the expansion plug and the expansion cone it is interior
Chamber forms expansion chamber;
Highly pressurised liquid is injected into the expansion chamber by the coiled tubing again, so that the expansion chamber is corresponding described
Expansion pipe column expansion, highly pressurised liquid pushes the expansion cone mobile to the tail portion of the expansion pipe column, at the same time described in rollback
Coiled tubing, so that the expansion pipe column gradually expands the inner wall to support the release eyelet from head to tail portion.
Using the above design, the expansion technique of expansion tube is very mature.
As optimal technical scheme, the pre- perforation in perforation tool to the expansion pipe column is placed using the coiled tubing
Position is pumped into high pressure abrasive water from the coiled tubing and carries out perforation, then returns and drag the perforation tool, along the pressure relief vent
The bottom of eye is to export direction in multiple position perforations.
Using above method, to release eyelet segmenting perforating.
As optimal technical scheme, after the completion of perforation, acts the perforation tool, the coiled tubing is used to place pressure break
In tubing string to the expansion pipe column, the fracturing string both ends are respectively equipped with hydraulic packer, and two hydraulic packers connect
Same root is connected to for fluid catheter, this is arranged for fluid catheter along the coiled tubing;
The perforating site for placing the fracturing string to pressure relief vent eyeground portion first is pressurizeed by described for fluid catheter
The setting expansion pipe column inner wall to the perforating site front and back is expanded and distinguished to two hydraulic packers,
Then fracturing fluid is injected into the fracturing string, completes an interval pressure break;
Release shrinks the hydraulic packer again, returns and drags the fracturing string to next perforating site, refracturing
Process completes the staged fracturing of the entire release eyelet.
Using above method, convenient for carrying out pressure break to top plate.
Compared with prior art, beneficial effects of the present invention: carrying out supporting using hole wall of the expansion pipe column to release eyelet,
Hole wall collapse is effectively prevented, provides stable condition for subsequent perforation and pressing crack construction, to allow to bore long eyelet to carry out
Top plate pressure relief on a large scale reduces bump risk, improves the safety of subsequent exploitation.
Detailed description of the invention
Fig. 1 is the position view of release eyelet;
Fig. 2 is the structural schematic diagram of expansion system;
Fig. 3 is that expansion pipe column is placed into the intraocular schematic diagram of pressure relief vent;
Fig. 4 is the schematic diagram for putting into ball sealer and being allowed to setting plug seat;
Fig. 5 is the schematic diagram of expansion pipe column expansion and supporting release eyelet;
Fig. 6 is the schematic diagram placed perforation tool and carry out perforation to release eyelet;
Fig. 7 is the schematic diagram placed fracturing string and carry out staged fracturing to release eyelet;
Fig. 8 is top plate by post-fracturing schematic diagram.
Specific embodiment
The invention will be further described with attached drawing with reference to embodiments.
A kind of coal mine roof plate pressure relief method based on eyelet supporting, sequentially includes the following steps:
Step 1, drill eye.As shown in Figure 1, being bored obliquely to the top plate c above the b of coal seam from the top of coal mine roadway a
Hole, jewel hole angle are 30~60 °, and continue to extend drilling in the horizontal direction in the top plate c, form release eyelet 1, described
The internal diameter of release eyelet 1 is in 50mm or so.In the vertical direction, the horizontal segment of the release eyelet 1 is located in the top plate c
Interbed.
Step 2, eyelet supporting.Expansion pipe column 21 is put into the release eyelet 1 and expands the expansion pipe column with supporting
The hole wall of the release eyelet 1.
Specifically, expansion system is first set, as shown in Fig. 2, the expansion system includes expansion pipe column 21,22 and of expansion cone
Expand plug 23.
The expansion pipe column 21 is sequentially connected to design length along same rectilinear direction by least two sections of expansion tubes and forms;
The expansion cone 22 enters from any free end of the expansion pipe column 21 and is nested in the expansion pipe column 21, the expansion cone
Free end where 22 is the head of the expansion pipe column 21, and the other end of the expansion pipe column 21 is tail portion;The expansion is stifled
First 23 include plug seat 23a and ball sealer 23b, and the plug seat 23a is fixed at the head of the expansion pipe column, described stifled
Headstock 23a is located at 22 front of expansion cone, and the ball sealer 23b is spare.
The expansion cone 22 is also connected with coiled tubing 3, and the free end of the coiled tubing 3 is connected with the expansion cone 22,
The fixing end of the coiled tubing 3 is stretched out from the tail portion of the expansion pipe column 21.By the coiled tubing 3 by the expansion pipe column
21 are placed into the release eyelet 1, expansion pipe column 21 described in further expansion.
As shown in figure 3, the expansion pipe column 21 protrudes into the release eyelet 1 until its head reaches the release eyelet 1
Bottom hole, then return and the expansion pipe column 21 dragged to reach predetermined supporting position.Institute is put into from the uphole end of the coiled tubing 3 again
Ball sealer 23b is stated, and injects a small amount of liquid, ball sealer 23b is made to pass through the inner hole recoil of the expansion cone 22 in the plug
On seat 23a, the expansion plug 23 of sealing, the expansion pipe column between the expansion plug 23 and the expansion cone 22 are formed
21 inner cavity forms expansion chamber 4.At this time as shown in Figure 4.
Then highly pressurised liquid is injected into the expansion chamber 4 by the coiled tubing 3, so that the expansion chamber 4 is corresponding
The expansion pipe column 21 expand, highly pressurised liquid pushes the expansion cone 22 mobile to the tail portion of the expansion pipe column 21, with this
Retract the coiled tubing 3 simultaneously, so that the expansion pipe column 21 is gradually expanded from head to tail portion to support the pressure relief vent
The inner wall of eye 1.Expansion pipe column 21 after the completion of expansion is as shown in Figure 5.Plain tubing replacement also can be used in the expansion of expansion tube
The coiled tubing 3.
Step 3, pressure testing.By 3 water injection to keep pressure of coiled tubing, pressure testing pressure is less than the anti-of the expansion pipe column 21
Internal pressure strength is subsequent packing well section with determination 21 good seal of expansion pipe column, implements pressure break and prepares.
Step 4, perforation.As shown in fig. 6, placing perforation tool 5 to the expansion pipe column 21 using the coiled tubing 3
Interior pre- perforating site is pumped into high pressure abrasive water from the coiled tubing 3 and carries out perforation, then returns and drag the perforation tool 5, edge
The release eyelet 1 bottom to export direction in multiple position perforations.After the completion of perforation, act the perforation tool 5.
Step 5, pressure break.As shown in fig. 7, placing fracturing string 6 using the coiled tubing 3 arrives the expansion pipe column 21
Interior, 6 both ends of fracturing string are respectively equipped with hydraulic packer 7, and two hydraulic packers 7 are connected with same root feed flow and lead
Pipe 7a, this is arranged for fluid catheter 7a along the coiled tubing 3.The fracturing string 6 is placed first to 1 bottom of release eyelet
The perforating site in portion for fluid catheter 7a manual pressure to two hydraulic packers 7 expansions and setting is respectively arrived by described
Then 21 inner wall of the expansion pipe column of the perforating site front and back is infused by high-pressure pump into the fracturing string 6
Enter fracturing fluid, so that top plate c extends to form crack 8 along perforating site, completes an interval pressure break.Release makes described hydraulic again
Packer 7 is shunk, and is returned and is dragged the fracturing string 6 to next perforating site, and refracturing process completes the entire pressure relief vent
The staged fracturing of eye 1.Top plate c is as shown in Figure 8 by post-fracturing structure.
Hydraulic perforating and fracturing technique are the mature prior art, are discussed in detail in some open source literatures, such as open
Number be CN201210096577 and CN109931062A patent document.
When in the prior art using hydraulic fracturing method to top plate pressure relief, for the safety for guaranteeing release eyelet, hole depth
Shallower, mostly 10~20m, relief range is small, and along the direction of tunnel a, the spacing of two neighboring release eyelet 1 is 10~15m.
However, the bulged tube technology for being used for oil gas well casing repairing is creatively used for the supporting of release eyelet, pressure relief vent by the present invention
The projected depth of eye 1 is generally higher than 20m, or even in 300~400m or more, after carrying out supporting, after can carrying out without any confusion
Continuous perforation and pressing crack construction, greatly ensure that going on smoothly for perforating and fracturing operation, and primary drilling and pressure break can be a wide range of
Ground is to top plate pressure relief.Therefore, along the direction of tunnel a, the spacing of two neighboring release eyelet 1 can suitably increase, 20m with
On.
Finally, it should be noted that foregoing description is only the preferred embodiment of the present invention, the ordinary skill people of this field
Member under the inspiration of the present invention, without prejudice to the purpose of the present invention and the claims, can make multiple similar tables
Show, such transformation is fallen within the scope of protection of the present invention.
Claims (9)
1. a kind of coal mine roof plate pressure relief method based on eyelet supporting, it is characterised in that sequentially include the following steps:
Step 1, drill eye, and top plate (c) drilling construction above coal seam (b) is formed release eyelet (1);
Step 2, eyelet supporting, be put into expansion pipe column (21) in Xiang Suoshu release eyelet (1) and expand the expansion pipe column (21) with
The hole wall of release eyelet (1) described in supporting;
Step 3, pressure testing determine the expansion pipe column (21) good seal;
Step 4, perforation place perforation tool (c) to pre- perforating site and carry out perforation;
Step 5, pressure break.
2. the coal mine roof plate pressure relief method according to claim 1 based on eyelet supporting, it is characterised in that: the step 1
In, it drills obliquely to the top plate (c) from coal mine roadway (a) is interior, and continue to extend in the horizontal direction in the top plate (c)
Drilling.
3. the coal mine roof plate pressure relief method according to claim 1 based on eyelet supporting, it is characterised in that: in vertical direction
On, the horizontal segment of the release eyelet (1) is located at the centre of the top plate (c).
4. the coal mine roof plate pressure relief method according to claim 3 based on eyelet supporting, it is characterised in that: the pressure relief vent
The projected depth of eye (1) is greater than 300m.
5. the coal mine roof plate pressure relief method according to claim 1 based on eyelet supporting, it is characterised in that: the step 2
In, first set expansion system;
The expansion system includes expansion pipe column (21), expansion cone (22) and expansion plug (23);
The expansion pipe column (21) is sequentially connected to design length along same rectilinear direction by least two sections of expansion tubes and forms;
The expansion cone (22) enters from any free end of the expansion pipe column (21) and is nested in the expansion pipe column (21)
Interior, the free end where the expansion cone (22) is the head of the expansion pipe column (21), the other end of the expansion pipe column (21)
For tail portion;
The expansion plug (23) includes plug seat (23a) and ball sealer (23b), and the plug seat (23a) is fixed at institute
The head of expansion pipe column is stated, the plug seat (23a) is located in front of the expansion cone (22), and the ball sealer (23b) is spare;
The expansion cone (22) is also connected with coiled tubing (3), free end and the expansion cone (22) phase of the coiled tubing (3)
Even, the fixing end of the coiled tubing (3) is stretched out from the tail portion of the expansion pipe column (21);
Then the expansion pipe column (21) is placed into the release eyelet (1) by the coiled tubing (3), further expansion institute
State expansion pipe column (21).
6. the coal mine roof plate pressure relief method according to claim 5 based on eyelet supporting, it is characterised in that: the expansion tube
Column (21) protrudes into the release eyelet (1) up to the bottom hole of its head arrival release eyelet (1), then returns and drags the expansion
Tubing string (21) reaches predetermined supporting position.
7. the coal mine roof plate pressure relief method according to claim 5 or 6 based on eyelet supporting, it is characterised in that: described swollen
After tube expansion column (21) is placed into the release eyelet (1), the ball sealer is put into from the uphole end of the coiled tubing (3)
(23b), and a small amount of liquid is injected, so that the ball sealer (23b) is passed through the inner hole recoil of the expansion cone (22) in the plug seat
On (23a), the expansion plug (23) of sealing is formed, it is described swollen between the expansion plug (23) and the expansion cone (22)
The inner cavity of tube expansion column (21) forms expansion chamber (4);
Again by injecting highly pressurised liquid in the coiled tubing (3) Xiang Suoshu expansion chamber (4), so that the expansion chamber (4) is corresponding
The expansion pipe column (21) expansion, highly pressurised liquid pushes the tail portion of expansion cone (22) the Xiang Suoshu expansion pipe column (21) to move
Dynamic, retract the coiled tubing (3) at the same time, so that the expansion pipe column (21) is gradually expanded from head to tail portion to support
The inner wall of the release eyelet (1).
8. the coal mine roof plate pressure relief method according to claim 1 based on eyelet supporting, it is characterised in that: use the company
Continuous oil pipe (3) place the pre- perforating site in perforation tool (5) to the expansion pipe column (21), pump from the coiled tubing (3)
Enter high pressure abrasive water and carry out perforation, then return and drag the perforation tool (5), along the bottom to outlet of the release eyelet (1)
Direction is in multiple position perforations.
9. the coal mine roof plate pressure relief method according to claim 1 based on eyelet supporting, it is characterised in that: perforation is completed
Afterwards, the perforation tool (5) out is played, fracturing string (6) is placed using the coiled tubing (3) and arrives the expansion pipe column (21)
Interior, fracturing string (6) both ends are respectively equipped with hydraulic packer (7), and two hydraulic packers (7) are connected with same root
For fluid catheter (7a), this is arranged for fluid catheter (7a) along the coiled tubing (3);
The perforating site for placing the fracturing string (6) to release eyelet (1) bottom first, by described for fluid catheter
(7a) is forced into two hydraulic packers (7) expansions and difference is setting to the described swollen of the perforating site front and back
Then tube expansion column (21) inner wall injects fracturing fluid into the fracturing string (6), completes an interval pressure break;
Release shrinks the hydraulic packer (7) again, returns and drags the fracturing string (6) to next perforating site, repeats to press
Process is split, the staged fracturing of the entire release eyelet (1) is completed.
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111270987A (en) * | 2020-01-20 | 2020-06-12 | 中国矿业大学 | Method for accurately preventing and controlling rock burst in remote area under coal mine |
CN111810164A (en) * | 2020-07-13 | 2020-10-23 | 大同煤矿集团有限责任公司 | Hard roof cutting method based on perforation and hydraulic fracturing |
CN117189112A (en) * | 2023-11-07 | 2023-12-08 | 中国矿业大学(北京) | System and method for directional drilling and reaming-different Kong Chuzha collaborative hole making and unloading control of residual coal pillar |
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Publication number | Priority date | Publication date | Assignee | Title |
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CN111810164A (en) * | 2020-07-13 | 2020-10-23 | 大同煤矿集团有限责任公司 | Hard roof cutting method based on perforation and hydraulic fracturing |
CN111810164B (en) * | 2020-07-13 | 2022-05-31 | 晋能控股煤业集团有限公司 | Hard roof cutting method based on perforation and hydraulic fracturing |
CN117189112A (en) * | 2023-11-07 | 2023-12-08 | 中国矿业大学(北京) | System and method for directional drilling and reaming-different Kong Chuzha collaborative hole making and unloading control of residual coal pillar |
CN117189112B (en) * | 2023-11-07 | 2024-01-12 | 中国矿业大学(北京) | System and method for directional drilling and reaming-different Kong Chuzha collaborative hole making and unloading control of residual coal pillar |
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