CN110906817A - Strip mine composite thin layer material mining and stripping method and blasting charge robot - Google Patents
Strip mine composite thin layer material mining and stripping method and blasting charge robot Download PDFInfo
- Publication number
- CN110906817A CN110906817A CN201911302550.8A CN201911302550A CN110906817A CN 110906817 A CN110906817 A CN 110906817A CN 201911302550 A CN201911302550 A CN 201911302550A CN 110906817 A CN110906817 A CN 110906817A
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- mining
- blasting
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- fixed disk
- mined
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D1/00—Blasting methods or apparatus, e.g. loading or tamping
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
- E21C47/02—Machines for obtaining or the removal of materials in open-pit mines for coal, brown coal, or the like
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D3/00—Particular applications of blasting techniques
- F42D3/04—Particular applications of blasting techniques for rock blasting
Abstract
The invention discloses a strip mine composite thin layer material mining and stripping method and a blasting charge robot, comprising the following steps of: dividing a working line of a mining area; step two: mining materials, and when the thickness of the materials to be mined is less than 2m, adopting a direct mining mode; when the thickness of the material to be mined is more than 2m, a deep hole blasting mining mode is adopted; the blasting charge robot comprises a main body, a chuck and a visual device; the main body comprises a propelling section, a wheel set, a hydraulic device and a driving motor, and the chuck comprises a fixed clamp, a movable clamp, a hydraulic system and a circular fixed disk; the vertical blasting drilling machine can solve the problems of low blasting efficiency, insufficient packing length, insufficient loading amount, uneven bottom plate, water accumulation in blasting holes in areas with severe rainfall and the like in vertical blasting drilling, the loading robot is responsible for loading, manual operation is reduced, multiple paths can be simultaneously operated, and the problems of step top freezing treatment, thin coal seam mining, thin stone layer elimination between coal seams and the like in winter in northern strip mines are solved.
Description
Technical Field
The invention relates to a strip mine composite thin layer material mining and stripping method and a blasting charge robot, and belongs to the technical field of mining.
Background
Open pit mining, a method of coal mining, is receiving increasing attention due to its high efficiency and large production volume, which exceeds 20% of the total coal production in the country in an annual amount and is also gradually expanding. Because of the high hardness of coal and rock, the open-pit mining process is often treated by blasting. However, the blasting mining conditions of two or more kinds of composite rocks or minerals with thinner hardness and thickness are often faced in the blasting process of the strip mine, such as the treatment of frozen tops of winter steps of the strip mine in the north, the mining of multilayer thin coal layers, the removal of gangue sandwiched between coal layers and the like.
The main approaches to solve the above problems at present include using small-sized equipment such as hydraulic shovels and surface miners for layered mining and stripping, but this method has low equipment efficiency, expensive equipment and high mining and stripping cost. Some areas also adopt conventional vertical drilling mode, and drilling direction perpendicular horizontal plane is downward promptly, but also produces a series of problems equally, such as blasting efficiency reduces, fill length not enough, the charge is not enough, the bottom plate is not flat, rainfall serious area blast hole ponding scheduling problem, influences the blasting effect, and the separation of thin layer material is adopted and is shelled the effect not good.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a strip mine composite thin layer material mining and stripping method and a blasting charge robot.
In order to achieve the purpose, the invention adopts the technical scheme that: the method comprises the following steps: dividing working lines of a mining area, averagely dividing the working surface of the strip mine into 3-4 sections, wherein the working line of the previous section is 20-40m ahead of the working line of the next section to form a stepped sectional working line; step two: and (3) mining the materials, and when the thickness of the materials to be mined is less than 2m, adopting a direct mining mode: directly pushing the material to be mined from the upper flat plate to the lower flat plate, and adopting transfer equipment to intensively collect and load the lower flat plate;
when the thickness of the material to be mined is larger than 2m, a deep hole blasting mining mode is adopted:
A. drilling 1-2 rows of horizontal drill holes along the lower interface of a layer to be blasted on the slope surface of steps of the strip mine, wherein the drilling depth is 10-40m, and when multiple layers of layers to be blasted are distributed on the same step, respectively drilling 1-2 rows of horizontal drill holes along the interfaces of different layers to be blasted;
B. the method comprises the following steps of (1) filling explosive bags with the length of 1m into a drill hole in a segmented mode, determining continuous charging or air interval segmented charging according to the exposed lithology and charging requirements, and arranging an initiating explosive bag on each explosive section during segmented charging;
C. the filling length of the drill hole is 1.2-1.5 times of the thickness of the layer to be exploded;
D. and (5) collecting, loading and transporting after blasting.
Further, in the area with water in the rock mass, the drilling hole in the step A is an upward drilling hole.
Further, the diameter of the drilled hole in the step A is 200mm, and the weight of each section of the medicine package in the step B is 30 kg.
Further, in the step C, when the upper layer ore rock is independently mined, loaded and transported after blasting, the loading amount is increased by 30-50%.
Furthermore, the inner gradient of the upward drilling hole is 3 per mill-1%.
A blasting charge robot comprises a main body, a chuck and a visual device;
the main body comprises a propelling section, wheel sets, a hydraulic device and a driving motor, wherein the propelling section is in a hollow cylindrical shape, the hydraulic device and the driving motor are arranged in the propelling section, three wheel sets are uniformly arranged on the outer circumferential surface of the propelling section at intervals, one wheel set is connected with the hydraulic device, and the other two wheel sets are connected with the driving motor;
the chuck includes mounting fixture, movable fixture, hydraulic system and circular fixed disk, be equipped with mounting fixture and movable fixture on the leading flank of circular fixed disk, movable fixture is located mounting fixture's inboard, mounting fixture directly sets up on circular fixed disk, movable fixture passes through hydraulic system and sets up on circular fixed disk, circular fixed disk trailing flank is connected with propulsion section top surface, circular fixed disk leading flank central point puts and is equipped with visual device, the connecting cable is passed by the main part is inside and is connected with hydraulic means respectively, driving motor, hydraulic system and visual device.
Furthermore, the cable further comprises a steel wire rope, and the steel wire rope is bound with the connecting cable.
Furthermore, the propelling section is cylindrical, the diameter of the propelling section is 15-20cm, and the length of the propelling section is 20-40 cm.
Compared with the prior art, the invention can solve the problems of low blasting efficiency of vertical blasting drilling, insufficient filling length, insufficient loading capacity, uneven bottom plate, water accumulation in blasting holes in areas with severe rainfall and the like, and solve the problems of step top freezing treatment, thin coal seam mining, thin stone inclusion layer elimination between coal seams and the like in winter in northern strip mines; the blasting charging robot is responsible for charging, so that manual operation is reduced, and multiple paths of work can be realized simultaneously; the blasting charge robot is provided with the connecting cable, so that the weight of the robot can be reduced, the manufacturing cost is reduced, and high voltage and abundant power can be provided; blasting powder charge robot only need possess the function of advancing, withdraws and connects the cable realization through drawing dragging, avoids the robot to roll the cable when retreating when further reducing the robot cost.
Drawings
FIG. 1 is a schematic diagram of the line division of the present invention;
FIG. 2 is a schematic illustration of the present invention for direct mining of material;
FIG. 3 is a schematic diagram of the overall structure of the charging robot of the present invention;
FIG. 4 is a schematic view of a pusher section transverse interface;
FIG. 5 is a schematic view of a chuck configuration;
FIG. 6 is a horizontal drilling layout of the present invention;
in the figure: 1. horizontal drilling, 2, upward drilling, 3, downward drilling, 4, open pit step, 401, upper flat plate; 402. a lower flat pan; 5. the device comprises a main body, 5-1 parts of a propelling section, 5-2 parts of a wheel set, 5-3 parts of a hydraulic device, 5-4 parts of a driving motor, 6 parts of a chuck, 6-1 parts of a fixed clamp, 6-2 parts of a movable clamp, 6-3 parts of a hydraulic system, 6-4 parts of a circular fixed disk, 7 parts of a visual device and 8 parts of a connecting cable; 9. a working line is segmented; 10. a material to be mined; 11. a bulldozer; 12. a loader.
Detailed Description
The invention will be further explained with reference to the drawings.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, the present invention includes the following steps: the method comprises the following steps: firstly, dividing a working line of a mining area, averagely dividing a working surface of an open pit mine into 3-4 sections, dividing the working surface into three sections a, b and c as shown in figure 1, wherein the upper side and the lower side of the working surface are end walls, the end walls are arranged from one side to the other side, the front section of the working line is 20-40m ahead of the rear section of the working line, and a stepped sectional working line 9 is formed; step two: the material is mined, when the thickness of the material 10 to be mined is less than 2m, the blasting is not needed, and a direct mining mode can be adopted: the method comprises the following steps of directly pushing materials 10 to be mined from an upper flat plate 401 to a lower flat plate 402 by using a bulldozer 11, and carrying out centralized mining and loading on the lower flat plate 402 by using a loader 12;
when the thickness of the material 10 to be mined is larger than 2m, the material cannot be directly mined, and a deep hole blasting mining mode needs to be adopted at the moment:
as shown in FIG. 6, A, drilling 1-2 rows of horizontal drill holes 1 along the lower interface of a layer to be blasted on the slope surface of a step 4 of a strip mine, wherein the drill hole depth is 10-40m, and when multiple layers of layers to be blasted are distributed on the same step, respectively drilling 1-2 rows of horizontal drill holes 1 along the interfaces of different layers to be blasted, wherein the drill hole diameter is 200 mm; B. the method comprises the following steps of (1) filling explosive bags with the length of 1m into a drill hole in a segmented mode, determining continuous explosive filling or air interval segmented explosive filling according to exposed lithology and explosive filling requirements, arranging an initiating explosive bag in each explosive section during segmented explosive filling, wherein the weight of each explosive bag is 30kg, and completing explosive filling by an explosive filling robot; C. the filling length of the drill hole is 1.2-1.5 times of the thickness of the layer to be exploded; D. and (4) mining, loading and transporting after blasting, wherein when the upper layer ore rock after blasting is mined, loaded by 30-50% is increased.
And in the area where water exists in the rock mass, the drilling hole in the step A is an upward drilling hole 2, and the inner gradient of the upward drilling hole 2 is 3 per mill-1%, so that the water in the hole can naturally flow out, and the problem of water-rich ore rock blasting is solved. Meanwhile, the horizontal drilling 1 avoids atmospheric precipitation from entering the hole, and solves the problem that the atmospheric precipitation influences the explosive loading and explosive performance, so that the horizontal drilling is particularly suitable for climatic humid areas with large annual precipitation.
As shown in FIG. 6, when the interface of two adjacent rock types is not horizontal, directional drilling can be carried out according to the direction of the interface, and a raise drilling hole 2 or a lower drilling hole 3 is formed.
The drilling depth is different from 10-40m, explosive is required to be loaded in sections, and in order to ensure the blasting effect, a special blasting charge robot is required for loading, as shown in fig. 3-5, the blasting charge robot comprises a main body 5, a chuck 6 and a visual device 7;
the main body 5 comprises a propelling section 5-1, wheel sets 5-2, a hydraulic device 5-3 and a driving motor 5-4, the propelling section 5-1 is in a hollow cylindrical shape, the diameter of the propelling section 5-1 is 15-20cm, the length of the propelling section is 20-40cm, the hydraulic device 5-3 and the driving motor 5-4 are arranged inside the propelling section 5-1, three wheel sets 5-2 are uniformly arranged on the outer circumferential surface of the propelling section 5-1 at intervals, one wheel set 5-2 is connected with the hydraulic device 5-3, so that the wheel set 5-2 has a telescopic function, and the other two wheel sets 5-2 are connected with the driving motor 5-4 and are responsible for pushing the whole charging robot to advance;
the chuck 6 comprises a fixed clamp 6-1, a movable clamp 6-2, a hydraulic system 6-3 and a round fixed disk 6-4, the front side surface of the round fixed disk 6-4 is provided with the fixed clamp 6-1 and the movable clamp 6-2, the movable clamp 6-2 is positioned at the inner side of the fixed clamp 6-1, the fixed clamp 6-1 is directly arranged on the round fixed disk 6-4, the movable clamp 6-2 is arranged on the circular fixed disk 6-4 through the hydraulic system 6-3, the hydraulic system 6-3 is a hydraulic cylinder, the base of the hydraulic cylinder is fixedly connected with the circular fixed disk 6-4, the piston rod of the hydraulic cylinder is connected with the movable clamp 6-2, the fixed clamp 6-1 and the movable clamp 6-2 are matched in shape, and the movable clamp 6-2 is driven by the expansion and contraction of the piston rod to be attached to and separated from the fixed clamp 6-1; the rear side surface of the round fixed disk 6-4 is connected with the top surface of the propelling section 5-1, the center of the front side surface of the round fixed disk 6-4 is provided with a visual device 7, and a connecting cable 8 penetrates through the inside of the main body 5 and is respectively connected with the hydraulic device 5-3, the driving motor 5-4, the hydraulic system 6-3 and the visual device 7.
When in use, the explosive package is placed in a disposable tray, the disposable tray is a cylindrical hollow PVC sleeve, one end of the sleeve is open, and the other end of the sleeve is closed, and the diameter of the sleeve is slightly larger than that of the explosive package; the wall of the open end of the disposable tray filled with the explosive package is placed between a fixed clamp 6-1 and a movable clamp 6-2, then a hydraulic system 6-3 is controlled to work to drive the movable clamp 6-2 to advance towards the fixed clamp 6-1 until the wall of the open end of the disposable tray is clamped, the disposable tray and a circular fixed disk 6-4 are fixed and then are placed into a drill hole together, the movable wheel set 5-2 is driven by a driving motor 5-4 to rotate to realize explosive package filling, the power of a charging robot is adjusted according to the image fed back by a visual device 7 in the conveying process until the charging robot is conveyed to a set charging place, then the hydraulic system 6-3 is controlled to work to drive the movable clamp 6-2 to retract, at the moment, the explosive package is separated from the circular fixed disk 6-4, and the whole charging blasting robot is pulled out of the drill hole by directly pulling a connecting cable 8, in order to prevent the connecting cable 8 from being damaged by pulling and causing the situation of incapability of working, a steel wire rope is additionally arranged, the steel wire rope penetrates through the inside of the main body 5 and then is connected with the propelling section 5-1, and the steel wire rope and the connecting cable 8 are bound together, so that the strength of the connecting cable 8 can be improved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any minor modifications, equivalent replacements and improvements made to the above embodiment according to the technical spirit of the present invention should be included in the protection scope of the technical solution of the present invention.
Claims (8)
1. A strip mine composite thin layer material mining and stripping method comprises the following steps:
the method comprises the following steps: dividing working lines of a mining area, averagely dividing the working surface of the strip mine into 3-4 sections, wherein the working line of the front section is 20-40m ahead of the working line of the rear section to form a stepped sectional working line (9);
step two: and (3) mining the materials, wherein when the thickness of the materials (10) to be mined is less than 2m, a direct mining mode is adopted: directly pushing the material (10) to be mined to a lower flat plate (402) from an upper flat plate (401), and intensively mining and loading the lower flat plate (402) by adopting transfer equipment;
when the thickness of the material (10) to be mined is more than 2m, a deep hole blasting mining mode is adopted:
A. drilling 1-2 rows of horizontal drill holes (1) on the slope surface of a step (4) of the strip mine along the lower interface of a layer to be blasted, wherein the drill hole depth is 10-40m, and when a plurality of layers to be blasted are distributed on the same step, respectively drilling 1-2 rows of horizontal drill holes (1) along the interfaces of different layers to be blasted;
B. the medicine bags with the length of 1m are filled into the drill holes in sections;
C. the filling length of the drill hole is 1.2-1.5 times of the thickness of the layer to be exploded;
D. and (5) collecting, loading and transporting after blasting.
2. The strip mine composite thin layer material mining and stripping method according to claim 1, characterized in that the drilling hole in the step A is an upward drilling hole (2) in an area where water exists in a rock body.
3. The strip mine composite thin layer material mining and stripping method according to claim 1, wherein the diameter of the drill hole in the step A is 200mm, and the weight of each section of the explosive package in the step B is 30 kg.
4. The strip mine composite thin layer material mining and stripping method according to claim 3, wherein in the step C, when the upper layer ore rock is independently mined, loaded and transported after blasting, the loading amount is increased by 30-50%.
5. The strip mining method of claim 2, wherein the inner gradient of the raise bore hole (2) is 3% to 1%.
6. A blasting charge robot is characterized by comprising a main body (5), a chuck (6) and a visual device (7);
the main body (5) comprises a propelling section (5-1), wheel sets (5-2), a hydraulic device (5-3) and a driving motor (5-4), the propelling section (5-1) is in a hollow cylindrical shape, the hydraulic device (5-3) and the driving motor (5-4) are arranged in the propelling section (5-1), three wheel sets (5-2) are uniformly arranged on the outer circumferential surface of the propelling section (5-1) at intervals, one wheel set (5-2) is connected with the hydraulic device (5-3), and the other two wheel sets (5-2) are connected with the driving motor (5-4);
the chuck (6) comprises a fixed clamp (6-1), a movable clamp (6-2), a hydraulic system (6-3) and a circular fixed disk (6-4), the fixed clamp (6-1) and the movable clamp (6-2) are arranged on the front side surface of the circular fixed disk (6-4), the movable clamp (6-2) is positioned on the inner side of the fixed clamp (6-1), the fixed clamp (6-1) is directly arranged on the circular fixed disk (6-4), the movable clamp (6-2) is arranged on the circular fixed disk (6-4) through the hydraulic system (6-3), the rear side surface of the circular fixed disk (6-4) is connected with the top surface of the propelling section (5-1), and the center of the front side surface of the circular fixed disk (6-4) is provided with a visual device (7), the connecting cable (8) penetrates through the interior of the main body (5) and is respectively connected with the hydraulic device (5-3), the driving motor (5-4), the hydraulic system (6-3) and the visual device (7).
7. A blasting charge robot as claimed in claim 5, further comprising a wire rope bound to the connecting cable (8).
8. A blast-charge robot as claimed in claim 5, wherein said pusher section (5-1) is cylindrical, 15-20cm in diameter and 20-40cm in length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911302550.8A CN110906817A (en) | 2019-12-17 | 2019-12-17 | Strip mine composite thin layer material mining and stripping method and blasting charge robot |
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| CN201911302550.8A CN110906817A (en) | 2019-12-17 | 2019-12-17 | Strip mine composite thin layer material mining and stripping method and blasting charge robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111852555A (en) * | 2020-07-06 | 2020-10-30 | 紫金矿业集团股份有限公司 | Trenching method for one-time blasting layered shovel loading of large water inrush sunken strip mine |
| CN112268491A (en) * | 2020-10-27 | 2021-01-26 | 山东方大工程有限责任公司 | Blasting powder feeding robot control system, control method, control device and application |
| CN114963909A (en) * | 2022-06-13 | 2022-08-30 | 宏大爆破工程集团有限责任公司 | Explosive filling device for strip mine mining blasting in frozen soil area and using method thereof |
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| CN114963909A (en) * | 2022-06-13 | 2022-08-30 | 宏大爆破工程集团有限责任公司 | Explosive filling device for strip mine mining blasting in frozen soil area and using method thereof |
| CN114963909B (en) * | 2022-06-13 | 2023-04-07 | 宏大爆破工程集团有限责任公司 | Explosive filling device for strip mine mining blasting in frozen soil area and using method thereof |
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