CN112627725B - Rapid construction system and method for side wall anchor rod hole and advance drilling of tunneling working face - Google Patents
Rapid construction system and method for side wall anchor rod hole and advance drilling of tunneling working face Download PDFInfo
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- CN112627725B CN112627725B CN202011506650.5A CN202011506650A CN112627725B CN 112627725 B CN112627725 B CN 112627725B CN 202011506650 A CN202011506650 A CN 202011506650A CN 112627725 B CN112627725 B CN 112627725B
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- 238000005553 drilling Methods 0.000 title claims abstract description 285
- 238000010276 construction Methods 0.000 title claims abstract description 161
- 230000005641 tunneling Effects 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 53
- 239000003245 coal Substances 0.000 claims abstract description 31
- 238000004873 anchoring Methods 0.000 claims abstract description 25
- 238000002347 injection Methods 0.000 claims abstract description 25
- 239000007924 injection Substances 0.000 claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 238000012795 verification Methods 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims description 42
- 230000000149 penetrating effect Effects 0.000 claims description 13
- 238000013461 design Methods 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 239000000428 dust Substances 0.000 abstract description 6
- 238000007599 discharging Methods 0.000 abstract description 2
- 238000005065 mining Methods 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000002265 prevention Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000013312 flour Nutrition 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- 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
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised 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
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- 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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
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- 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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
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- 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
- 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
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- 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
- 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a rapid construction system and a rapid construction method for side anchor rod holes and advanced drilling holes of a driving face, which comprise an upper onboard drilling machine, a lower onboard drilling machine and a control system, wherein the upper onboard drilling machine is arranged on a top platform of the driving and anchoring machine and is used for driving two sides of a roadway of the driving face, upper anchor rod holes and advanced drilling hole construction, the advanced drilling hole comprises a driving face water detection and drainage hole, a region verification hole and a coal seam water injection hole, and the purpose of efficiently utilizing one machine of the upper onboard drilling machine for multiple purposes is realized; the lower machine-mounted drilling machine is arranged at the joint of the tail part of the shuttle car and is used for constructing lower anchor rod holes at two sides of the roadway; the control system comprises a drill clamping control module, an automatic drilling module and a mode selection module and is used for automatically controlling the drilling construction of the drilling machine. The invention realizes the comprehensive construction of tunneling, supporting, water detecting and discharging, area verification and water injection dust settling, improves the supporting efficiency of the side anchor rod, ensures the construction safety of the tunneling working face, reduces the dust of the tunneling working face and has great significance for the underground mining with high efficiency, safety and environmental protection.
Description
Technical Field
The invention belongs to the field of construction of underground coal mine roadway driving working faces, and particularly relates to a rapid construction system and method for side anchor rod holes and advance drilling of driving working faces.
Background
In recent years, the mechanized degree of coal mine tunneling is continuously improved, a tunneling anchor machine is adopted to cut into a roadway at one time and complete supporting, the tunneling efficiency is obviously improved, the production strength is continuously increased, the accompanying dust raising problem is increasingly serious, and the physical health of miners is seriously threatened; meanwhile, the national coal mine water prevention and control regulation clearly indicates the water prevention and control principle of 'forecasting, doubtful detection, first detection and then excavation and first treatment and then mining', and the driving and anchoring machine does not have the function of construction water detection and drainage; in addition, because the side wall anchor rod drilling machine construction tunnel of the driving and anchoring machine is completed by rotating the rotary oil cylinder by a certain angle, the upper row of anchor rod holes and the lower row of anchor rod holes on two sides cannot meet the construction requirements of part of coal mines, the construction is mainly completed by manual patching at present, and due to the construction space limitation, the manual construction is difficult, and the construction labor intensity is high.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the invention provides a rapid construction system and a rapid construction method for a driving face side wall anchor rod hole and a pilot drilling hole, and aims to solve the problems that a driving and anchoring machine in the prior art does not have a construction water detection and drainage function, the construction of the driving face side wall anchor rod hole cannot meet the construction requirements of part of coal mines, and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
a rapid construction system for an anchor rod hole and a pilot hole on the side wall of a tunneling working face comprises a tunneling and anchoring machine, an upper airborne drilling machine arranged on a platform at the top of the tunneling and anchoring machine, a shuttle car, a lower airborne drilling machine arranged at the tail of the shuttle car through a limiting and adjusting device and a control system;
the upper on-board drill includes: the rotary mechanism A, a secondary feeding device A arranged on the rotary mechanism A, a primary feeding device A arranged on the secondary feeding device A, a secondary feeding oil cylinder A connected between the secondary feeding device A and the primary feeding device A, a power head A arranged on the primary feeding device A, a primary feeding oil cylinder A connected between the primary feeding device A and the power head A, and a clamp A arranged at the end part of the primary feeding device A and opposite to the power head A; the tail part of the swing mechanism A is hinged with the tail part of the secondary feeding device A, and two sides of the swing mechanism A are hinged with the front part of the secondary feeding device A through two groups of angle adjusting oil cylinder groups;
the lower airborne drilling rig comprises: the rotary mechanism B, a secondary feeding device B arranged on the rotary mechanism B, a primary feeding device B arranged on the secondary feeding device B, a secondary feeding oil cylinder B connected between the secondary feeding device B and the primary feeding device B, a power head B arranged on the primary feeding device B, a primary feeding oil cylinder B connected between the primary feeding device B and the power head B and a clamp B arranged at the end part of the primary feeding device B and opposite to the power head B;
the limiting and adjusting device comprises a fixed seat, a movable seat and a pin shaft; the fixed seat comprises a fixed plate, a first clamping plate and a second clamping plate which are vertically arranged on the front surface of the fixed plate and are parallel to each other; the movable seat is positioned between the first clamping plate and the second clamping plate, is an L-shaped plate and comprises a vertical plate tightly attached to the fixed plate and a transverse plate parallel to the first clamping plate, and the first clamping plate and the transverse plate can be clamped on a flat plate at the tail part of the shuttle car; the movable seat can vertically move and be positioned, so that the distance between the first clamping plate and the transverse plate is adjusted to be matched with the tail flat plates of different shuttle cars; the pin shaft vertically penetrates through the first clamping plate, the shuttle car tail flat plate and the transverse plate to be positioned; the swing mechanism B is arranged on the rear surface of the fixing plate;
the control system comprises a drill sticking control module, an automatic drilling module and a mode selection module; when the drilling machine begins to drill, the module 1 or the module 2 in the mode selection module is selected to perform drilling construction, the automatic drilling module is used for controlling normal drilling of a drill hole, and the drill jamming control module is used for controlling abnormal drilling of the drilling machine.
The invention also comprises the following technical characteristics:
specifically, two parallel through long grooves are arranged on the fixing plate, and the two through long grooves are positioned between the first clamping plate and the second clamping plate and are perpendicular to the first clamping plate; the two through long grooves are vertically provided with a movable seat fixing strip, and a movable seat fixing bolt sequentially penetrates through the movable seat fixing strip, the through long grooves and the vertical plate to fix the movable seat;
the second clamping plate is a U-shaped plate and comprises two side plates and a connecting plate connected between the two side plates; and a movable seat limiting bolt and a limiting locking nut are respectively and vertically arranged on the two side plates, the end part of the movable seat limiting bolt is propped against the lower surface of the transverse plate, and the movable seat is secondarily fixed by the movable seat limiting bolt and the limiting locking nut.
Specifically, an upper pin shaft front limiting block and an upper pin shaft rear limiting block are arranged above the first clamping plate, and the upper end of the pin shaft can be limited between a semicircular notch on the upper pin shaft front limiting block and a semicircular notch on the upper pin shaft rear limiting block; the upper pin shaft rear limiting block is positioned by two pin shaft rear limiting bolts vertically penetrating through the fixed plate, the upper pin shaft front limiting block is positioned by a pin shaft front limiting bolt vertically penetrating through a first positioning plate on the first clamping plate, and the first positioning plate is vertically fixed on the first clamping plate and is parallel to the fixed plate;
a lower pin shaft front limiting block and a lower pin shaft rear limiting block are arranged below the transverse plate, and the lower end of the pin shaft can be limited between a semicircular notch on the lower pin shaft front limiting block and a semicircular notch on the lower pin shaft rear limiting block; the lower pin shaft rear limiting block is positioned by two pin shaft rear limiting bolts vertically penetrating through the fixed plate, the lower pin shaft front limiting block is positioned by pin shaft front limiting bolts vertically penetrating through a second positioning plate on the transverse plate, and the second positioning plate is vertically fixed on the transverse plate and is parallel to the fixed plate;
the first clamping plate and the transverse plate are provided with waist-shaped holes which are opposite in parallel so as to enable the pin shaft to penetrate through, and the long shaft of each waist-shaped hole is perpendicular to the fixing plate so that the pin shaft can be adjusted in the waist-shaped hole to be in front-back position and then is positioned in front-back position through the upper pin shaft front limiting block, the upper pin shaft rear limiting block, the lower pin shaft front limiting block and the lower pin shaft rear limiting block.
Specifically, the upper surfaces of the pin shaft and the upper pin shaft front limiting block are provided with pin shaft fixing blocks, and a pin shaft fixing bolt penetrates through the pin shaft fixing blocks, the pin shaft and the upper pin shaft front limiting block to axially position the pin shaft.
Specifically, in the upper airborne drilling machine, the second-stage feeding oil cylinder A can drive the first-stage feeding device A to move along a linear guide rail of the second-stage feeding device A, and the first-stage feeding oil cylinder A can drive the power head A to move along the linear guide rail of the first-stage feeding device A, so that automatic drilling of a two-stage feeding stroke of the power head A is realized;
in the lower airborne drilling machine, the secondary feeding oil cylinder B can drive the primary feeding device B to move along a linear guide rail of the secondary feeding device B, and the primary feeding oil cylinder B can drive the power head B to move along the linear guide rail of the primary feeding device B, so that automatic drilling of the two-stage feeding stroke of the power head B is realized.
Specifically, the mode 1 in the mode selection module is a power control mode, and the mode 2 is an efficiency priority mode; the parameters of the feeding pressure and the rotary pressure in the two modes are collected by the automatic drilling module and the sticking control module and are stored in a drilling database;
when the upper onboard drilling machine carries out upper-row anchor rod hole construction, the anchor rod drilling machine carried by the excavator is also carrying out anchor rod hole construction, and the power control mode of the mode 1 is selected for the upper onboard drilling machine, so that the construction of the upper onboard drilling machine is ensured not to influence the normal construction of the anchor rod drilling machine carried by the excavator; when the upper airborne drilling machine carries out advanced drilling construction, the anchor driving machine stops the construction, and the efficiency priority mode of the mode 2 is selected for the upper airborne drilling machine, so that the rapid construction of advanced drilling is realized.
Specifically, a drill clamping pressure curve database is arranged in the drill clamping control module, when an upper airborne drilling machine or a lower airborne drilling machine drills, if the k value of a rotary pressure curve is larger than the k value of the drill clamping pressure curve, the actions of a primary feeding oil cylinder A, a secondary feeding oil cylinder A and a power head A of the upper airborne drilling machine or the actions of a primary feeding oil cylinder B, a secondary feeding oil cylinder B and a power head B of the lower airborne drilling machine are controlled through an explosion-proof proportional electromagnetic valve, and when the k value of the rotary pressure curve is smaller than the k value of the drill clamping pressure curve, the upper airborne drilling machine or the lower airborne drilling machine is controlled by the automatic drilling module.
Specifically, in the automatic drilling module, when the upper onboard drilling machine or the lower onboard drilling machine performs drilling construction, the magnitude of the rotary pressure and the safety value is judged through parameter detection, and if the rotary pressure value is smaller than the safety value, the upper onboard drilling machine or the lower onboard drilling machine performs normal drilling; if the rotary pressure is greater than the safety value, the feeding pressure and the safety value are continuously judged, and if the feeding pressure is smaller than the safety value, the upper airborne drilling machine or the lower airborne drilling machine normally drills; if the feeding pressure is greater than the safety value, the feeding flow is adjusted, then the rotation pressure is compared with the safety value, and when the rotation pressure is less than the safety value, the upper onboard drilling machine or the lower onboard drilling machine performs normal drilling; and if the feeding pressure is still larger than the safety value after the feeding flow is adjusted, controlling the actions of the primary feeding oil cylinder A, the secondary feeding oil cylinder A and the power head A of the upper airborne drilling machine or the actions of the primary feeding oil cylinder B, the secondary feeding oil cylinder B and the power head B of the lower airborne drilling machine through the explosion-proof proportional solenoid valve.
A method for quickly constructing anchor rod holes of the side walls of a tunneling working face comprises the steps of quickly constructing upper row anchor rod holes of the side walls of the tunneling working face through an upper airborne drilling machine and quickly constructing lower row anchor rod holes through a lower airborne drilling machine;
the step of constructing the upper row of anchor rod holes through the upper onboard drilling machine comprises the following steps:
a1: adjusting the angle adjusting oil cylinder group to complete the positioning of the opening angle of the upper row of anchor rod holes on the left side of the roadway;
a2: when the upper onboard drilling machine carries out upper-row anchor rod hole construction, the anchor rod drilling machine of the excavator is also carrying out anchor rod hole construction, so that the power control mode of the mode 1 is selected for the upper onboard drilling machine, and the construction of the upper onboard drilling machine is ensured not to influence the normal construction of the anchor rod drilling machine of the excavator;
a3: the automatic drilling of the two-stage feeding stroke of the power head A is completed under the control of the mode 1, so that the anchor rod hole is drilled in place at one time without the need of assembling and disassembling a drill rod;
a4: adjusting a slewing mechanism A to complete the positioning of the opening angle of the anchor rod hole in the upper row on the right side of the roadway;
a5: repeating the steps A2-A3 to complete the construction of the anchor rod holes in the upper row on the right side of the roadway;
a6: moving the digging and anchoring machine, repeating the steps A2-A5, and completing the construction of anchor rod holes which are arranged on two sides of the roadway at equal intervals;
b, the lower row of anchor rod holes are constructed through a lower airborne drilling machine, and the steps comprise:
b1: the lower airborne drilling machine is arranged at the tail part of the shuttle car through a limiting and adjusting device;
b2: adjusting a swing mechanism B to complete the positioning of the hole opening angle of the lower row of anchor rod holes on the left side of the roadway;
b3: when the lower airborne drilling machine carries out the construction of the lower row of anchor rod holes on two sides of the roadway, the shuttle car stops the construction, so that the efficiency priority mode of the mode 2 is selected for the lower airborne drilling machine, and the rapid construction of the anchor rod holes is realized;
b4: the automatic drilling of the two-stage feeding stroke of the power head B is completed through the mode 2 control, so that the anchor rod hole is drilled in place at one time without the need of assembling and disassembling a drill rod;
b5: adjusting a slewing mechanism to position the hole opening angle of the lower anchor rod hole at the right side of the roadway;
b6: repeating the steps B3-B4 to complete the construction of the lower row of anchor rod holes on the right side of the roadway;
b7: and (5) moving the shuttle car, and repeating the steps B2-B6 to complete the construction of the lower row of anchor rod holes at equal intervals on the two sides of the roadway.
A driving face advance drilling rapid construction method comprises the steps that advance drilling comprises water detecting and draining holes, area verification holes and coal seam water injection holes;
c, the water detection and drainage hole of the construction driving face of the on-board drilling machine comprises the following steps:
c1: adjusting the angle-adjusting oil cylinder group and the rotary mechanism A to complete the positioning of the opening angle of the water detection and drainage hole of the driving face;
c2: when the upper airborne drilling machine carries out water detection and drainage hole construction, the driving and anchoring machine stops construction, so that the efficiency priority mode of the mode 2 is selected for the upper airborne drilling machine, and the rapid construction of the water detection and drainage hole is realized;
c3: controlling a first-stage feeding oil cylinder A and a second-stage feeding oil cylinder A through a mode 2 to realize two-stage rod-adding drilling of a power head;
c4: repeating the step C2 and the step C3 to complete the construction of the water exploration and drainage hole with the designed depth;
c5: controlling a first-stage feeding oil cylinder A and a second-stage feeding oil cylinder A through a mode 2 to realize the drill pulling of a power head A;
d: the method for verifying the area of the tunneling working face during construction by the onboard drilling machine comprises the following steps:
d1: adjusting the angle adjusting oil cylinder group and the slewing mechanism A to complete the opening angle positioning of the verification hole in the area of the driving working face;
d2: when the upper airborne drilling machine carries out the construction of the regional verification hole, the anchor driving machine stops the construction, so that the efficiency priority mode of the mode 2 is selected for the upper airborne drilling machine, and the rapid construction of the regional verification hole is realized;
d3: controlling a first-stage feeding oil cylinder A and a second-stage feeding oil cylinder A through a mode 2 to realize two-stage rod-adding drilling of the power head;
d4: d2, repeating the step D3, and completing the construction of the verification hole in the design depth area;
d5: controlling a first-stage feeding oil cylinder A and a second-stage feeding oil cylinder A through a mode 2 to realize the drill pulling of a power head A;
e: and (3) installing an onboard drilling machine to construct and tunnel coal seam water injection holes of the working face:
e1: adjusting the angle-adjusting oil cylinder group and the slewing mechanism A to complete the positioning of the opening angle of the water injection hole of the coal seam of the driving face;
e2: when the upper onboard drilling machine carries out coal seam water injection hole construction, the tunneling and anchoring machine stops construction, so that the upper onboard drilling machine selects an efficiency priority mode of the mode 2, and the rapid construction of the coal seam water injection hole is realized;
e3: controlling a first-stage feeding oil cylinder A and a second-stage feeding oil cylinder A through a mode 2 to realize two-stage rod-adding drilling of a power head;
e4: repeating the steps E2 and E3 to complete the construction of the coal seam water injection hole with the designed depth;
e5: and controlling the primary feeding oil cylinder A and the secondary feeding oil cylinder A through the mode 2 to realize the drill pulling of the power head A.
Compared with the prior art, the invention has the beneficial technical effects that:
the invention has the advantages of small structure, strong adaptability and simple operation, can realize automatic control and multiple purposes, realizes the construction of the upper row anchor rod holes of two sides of the roadway of the tunneling working face, the head-on water probing and discharging holes of the tunneling working face, the region verification holes and the coal seam water injection holes by the upper airborne drilling machine, realizes the construction of the lower row anchor rod holes of two sides of the roadway by the lower airborne drilling machine, and provides a set of equipment and a construction method for high-efficiency safe production, dust removal and dust suppression of a coal mine.
The construction of the upper and lower rows of anchor rod holes of the two sides of the roadway is realized through the upper machine-mounted drilling machine and the lower machine-mounted drilling machine, the automatic construction of the upper and lower rows of anchor rod holes of the two sides of the roadway can be completed in one cycle without adding and removing rods through one-man operation, and meanwhile, the construction of the anchor rod holes of the two sides of the roadway in equal rows and equal intervals can be realized through moving the anchor driving machine and the shuttle car.
According to the invention, the upper onboard drilling machine can be used for constructing advanced drilling holes such as water detection and drainage holes, regional verification holes and coal seam water injection holes on a tunneling working surface, so that the problem that the tunneling and anchoring machine does not have construction advanced drilling holes is solved, the requirements of the national coal mine water prevention and control regulations are met, and technical equipment and construction guarantee are provided for subsequent coal seam water injection through coal seam water injection hole construction.
(IV) in the invention, the drilling machine is controlled by the automatic drilling module in the control system, so that the automatic construction of the drilling machine is realized, the drilling machine can be constructed according to different construction requirements by the selection module in the control system, the drilling machine can meet the construction of different stratum conditions by the drilling clamping module in the control system, and meanwhile, the acquired data can also be stored in the drilling clamping pressure curve database, so that the capacity of the drilling machine for processing drilling clamping accidents is improved.
According to the invention, by adjusting the up-and-down movement of the movable seat in the limit adjusting device of the lower airborne drilling machine, which penetrates through the long groove along the vertical direction of the fixed seat, the shuttle vehicle seats with different thickness and sizes can be satisfied; the pin shaft moves back and forth along the 2 parallel waist-shaped holes in the horizontal direction of the fixed seat and the movable seat through the adjustment of the pin shaft front limiting block and the pin shaft rear limiting block, so that shuttle seats with different center distances can be met, and the applicability of the lower airborne drilling machine is greatly improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the upper-loading drilling machine of the invention.
Fig. 3 is a structural schematic diagram of the lower airborne drilling machine of the invention.
Fig. 4 is a schematic structural diagram of a limiting and adjusting device of the lower airborne drilling machine.
Fig. 5 is a schematic diagram of the anchor rod holes arranged in the upper row on the left side of the construction roadway of the upper-loading drilling machine.
Fig. 6 is a schematic diagram of the anchor rod holes arranged in the upper row on the right side of the construction roadway of the upper-loading drilling machine.
FIG. 7 is a schematic view of the lower row of anchor rod holes on the left side of the lower airborne drilling machine construction roadway of the invention.
Fig. 8 is a schematic view of the lower anchor rod hole at the right side of the lower airborne drilling machine construction roadway.
FIG. 9 is a schematic diagram of the control system of the present invention.
The reference numerals have the meanings given below:
1. the method comprises the following steps of (1) digging and anchoring machine, (2) upper loading drilling machine, (3) shuttle vehicle, (4) limiting and adjusting device, (5) lower loading drilling machine, and (6) digging working surface;
21. the rotary mechanism A,22, the secondary feeding device A,23, the primary feeding device A,24, the secondary feeding oil cylinder A,25, the power head A,26, the primary feeding oil cylinder A,27, the clamp A,28, the angle-adjusting oil cylinder group, 29-base;
41. a fixed seat, 42, a movable seat, 43, a pin shaft; 411. a fixed plate, 412, a first clamping plate, 413, a second clamping plate, 414, a through slot, 415, a movable seat fixing strip, 416, a movable seat fixing bolt, 417, a movable seat limiting bolt, 418, and a first positioning plate; 421. the vertical plate, 422, the transverse plate and 423, the second positioning plate; 431. an upper pin shaft front limiting block, 432, an upper pin shaft rear limiting block, 433, a pin shaft rear limiting bolt, 434, a pin shaft front limiting bolt, 435, a lower pin shaft front limiting block, 436, a lower pin shaft rear limiting block, 437, a pin shaft fixing block, 438, a pin shaft fixing bolt;
51. the rotary mechanism B,52, a secondary feeding device B,53, a primary feeding device B,54, a secondary feeding oil cylinder B,55, a power head B,56, a primary feeding oil cylinder B,57 and a clamp B.
The invention is described in detail below with reference to the drawings and the detailed description.
Detailed Description
In view of the defects in the prior art, the invention researches and designs a rapid construction system and a construction method for the anchor rod hole and the advanced drilling hole on the side wall of the tunneling working face by means of comprehensive long-term experience and achievement of related industries through submerged research and design, can complete construction of advanced drilling holes such as a water detection and drainage hole, a regional verification hole, a coal seam water injection hole and the like on the tunneling working face besides the anchor rod hole on the side wall of the tunneling working face, and has great significance for further improving the supporting efficiency of the anchor rod on the side wall, ensuring the construction safety of the tunneling working face, reducing the dust pollution of the flour in the tunneling working face, and realizing efficient, safe and environment-friendly tunneling construction.
The present invention is not limited to the following embodiments, and all equivalent changes based on the technical solutions of the present invention fall within the protection scope of the present invention. The present invention will be described in further detail with reference to examples.
Example 1:
as shown in fig. 1 to 9, the present embodiment provides a rapid construction system for a side wall anchor rod hole and a pilot borehole of a driving face, which includes a driving and anchoring machine 1, an upper onboard drilling machine 2 arranged on a platform at the top of the driving and anchoring machine 1, a shuttle car 3, a lower onboard drilling machine 5 arranged at the tail of the shuttle car 3 through a limit adjusting device 4, and a control system; the upper airborne drilling machine 2 is used for driving the upper row of anchor rod holes on two sides of a roadway of a driving face and conducting advanced drilling construction, the lower airborne drilling machine 5 is used for conducting lower row of anchor rod holes on two sides of the roadway, and the control system is used for automatically controlling drilling construction of the drilling machine.
As shown in fig. 2, the upper rig 2 includes: the rotary mechanism A21, a secondary feeding device A22 arranged on the rotary mechanism A21, a primary feeding device A23 arranged on the secondary feeding device A22, a secondary feeding oil cylinder A24 connected between the secondary feeding device A22 and the primary feeding device A23, a power head A25 arranged on the primary feeding device A23, a primary feeding oil cylinder A26 connected between the primary feeding device A23 and the power head A25, and a clamp A27 arranged at the end part of the primary feeding device A23 and opposite to the power head A25; the tail part of the swing mechanism A21 is hinged with the tail part of the secondary feeding device A22, and two sides of the swing mechanism A21 are hinged with the front part of the secondary feeding device A22 through two groups of angle adjusting oil cylinder groups 28.
As shown in fig. 3, the lower onboard drilling rig 5 includes: a turning mechanism B51, a secondary feeding device B52 arranged on the turning mechanism B51, a primary feeding device B53 arranged on the secondary feeding device B52, a secondary feeding cylinder B54 connected between the secondary feeding device B52 and the primary feeding device B53, a power head B55 arranged on the primary feeding device B53, a primary feeding cylinder B56 connected between the primary feeding device B53 and the power head B55, and a gripper B57 arranged at the end of the primary feeding device B53 and opposite to the power head B55.
As shown in fig. 4, the limiting adjustment device 4 includes a fixed seat 41, a movable seat 42 and a pin 43; the fixing base 41 comprises a fixing plate 411, a first clamping plate 412 and a second clamping plate 413 which are vertically arranged on the front surface of the fixing plate 411 and are parallel to each other; the movable seat 42 is positioned between the first clamping plate 412 and the second clamping plate 413, the movable seat 42 is an L-shaped plate and comprises a vertical plate 421 attached to the fixed plate 411 and a horizontal plate 422 parallel to the first clamping plate 412, and the first clamping plate 412 and the horizontal plate 422 can be clamped on a flat plate at the tail of the shuttle car 3; the movable seat 42 can move vertically and be positioned so as to adjust the distance between the first clamping plate 412 and the transverse plate 422 to adapt to different tail flat plates of the shuttle car 3; the pin shaft 43 vertically passes through the first clamping plate 412, the rear flat plate of the shuttle car 3 and the transverse plate 422 for positioning; the swing mechanism B51 is installed at the rear surface of the fixed plate 411.
As shown in fig. 9, the control system includes a stuck drill control module, an automatic drilling module, and a mode selection module; when the drilling machine starts to drill, the module 1 or the module 2 in the mode selection module is selected to carry out drilling construction, the automatic drilling module is used for controlling normal drilling of a drilled hole, and the drill clamping control module is used for controlling abnormal drilling of the drilling machine.
Fig. 4 (base:Sub>A) isbase:Sub>A front view of the position limit adjusting device, and (b) isbase:Sub>A sectional view taken along linebase:Sub>A-base:Sub>A of fig. 4 (base:Sub>A): the fixing plate 411 is provided with two parallel through long slots 414, and the two through long slots 414 are located between the first clamping plate 412 and the second clamping plate 413 and are perpendicular to the first clamping plate 412; a movable seat fixing strip 415 is vertically arranged on the two through long grooves 414, and a movable seat fixing bolt 416 sequentially penetrates through the movable seat fixing strip 415, the through long groove 414 and the vertical plate 421 to fix the movable seat 42; referring to fig. 4, the movable base fixing strips 415 of the present embodiment are two and parallel to each other, and each movable base fixing strip 415 is provided with two movable base fixing bolts 416.
In this embodiment, a reinforcing plate is disposed between the fixing plate 411 and the first clamping plate 412 to reinforce the fixing base.
The second clamping plate 413 is a U-shaped plate and comprises two side plates and a connecting plate connected between the two side plates; a movable seat limiting bolt 417 and a limiting locking nut are respectively vertically arranged on the two side plates, the end part of the movable seat limiting bolt 417 props against the lower surface of the transverse plate 422, the movable seat 42 is secondarily fixed through the movable seat limiting bolt 417 and the limiting locking nut, and the two limiting locking nuts are used for preventing the movable seat limiting bolt from loosening.
An upper pin shaft front limiting block 431 and an upper pin shaft rear limiting block 432 are arranged above the first clamp plate 412, and the upper end of the pin shaft 43 can be limited between a semicircular notch on the upper pin shaft front limiting block 431 and a semicircular notch on the upper pin shaft rear limiting block 432; the upper pin shaft rear limiting block 432 is positioned by two pin shaft rear limiting bolts 433 vertically penetrating through the fixing plate 411, the upper pin shaft front limiting block 431 is positioned by a pin shaft front limiting bolt 434 vertically penetrating through the first positioning plate 418 on the first clamping plate 412, and the first positioning plate 418 is vertically fixed on the first clamping plate 412 and is parallel to the fixing plate 411.
A lower pin shaft front limiting block 435 and a lower pin shaft rear limiting block 436 are arranged below the transverse plate 422, and the lower end of the pin shaft 43 can be limited between a semicircular notch on the lower pin shaft front limiting block 435 and a semicircular notch on the lower pin shaft rear limiting block 436; the lower pin shaft rear limiting block 436 is positioned by two pin shaft rear limiting bolts 433 vertically penetrating through the fixing plate 411, the lower pin shaft front limiting block 435 is positioned by two pin shaft front limiting bolts 434 vertically penetrating through a second positioning plate 423 on the transverse plate 422, and the second positioning plate 423 is vertically fixed on the transverse plate 422 and is parallel to the fixing plate 411.
Specifically, two pin shaft rear limiting nuts are arranged on the pin shaft rear limiting bolt 433 to prevent the pin shaft rear limiting bolt 433 from loosening; two pin shaft front limit nuts are arranged on the pin shaft front limit bolt 434 to prevent the pin shaft front limit bolt 434 from loosening.
The first clamping plate 412 and the horizontal plate 422 are provided with parallel and opposite waist-shaped holes for the pin shaft 43 to pass through, and the long axis of the waist-shaped hole is perpendicular to the fixing plate 411 so that the pin shaft 43 can be adjusted in the waist-shaped hole to be positioned back and forth, and then the front and back positioning is performed through the upper pin shaft front limiting block 431, the upper pin shaft rear limiting block 432, the lower pin shaft front limiting block 435 and the lower pin shaft rear limiting block 436.
The upper surfaces of the pin shaft 43 and the upper pin shaft front limiting block 431 are provided with a pin shaft fixing block 437, and a pin shaft fixing bolt 438 penetrates through the pin shaft fixing block 437, the pin shaft 43 and the upper pin shaft front limiting block 431 to axially position the pin shaft 43.
The process of installing the lower airborne drilling machine 5 at the tail part of the shuttle car 3 through the limiting and adjusting device 4 is as follows: clamping the first clamping plate 412 and the transverse plate 422 on the tail flat plate of the shuttle 3, fastening the movable seat fixing bolt 416, and fixing the movable seat 42 and the fixed seat 41; the pin shaft 43 sequentially penetrates through the first clamping plate 412, the shuttle car 3 tail flat plate and the transverse plate 422, the lengths of the 2 pin shaft front limiting bolts 434 and the 4 pin shaft rear limiting bolts 433 which are screwed to the upper pin shaft front limiting block 431, the upper pin shaft rear limiting block 432, the lower pin shaft front limiting block 435 and the lower pin shaft rear limiting block 436 are adjusted, so that the limiting adjusting device 4 is tightly attached to the rear end face of the shuttle car 3 tail, and the front and rear vibration of the lower airborne drilling machine 5 is reduced; adjusting the length of the movable seat limiting bolt 417 screwed into the two side plates of the second clamping plate 413 so that the movable seat 42 is tightly attached to the lower end face of the tail of the shuttle car 3, and the vertical vibration of the lower airborne drilling machine 5 is reduced; the integral stability of the lower airborne drilling machine 5 is ensured through front and back and up and down fixation.
In the upper airborne drilling machine 2, the second-stage feeding oil cylinder A24 can drive the first-stage feeding device A23 to move along the linear guide rail of the second-stage feeding device A22, and the first-stage feeding oil cylinder A26 can drive the power head A25 to move along the linear guide rail of the first-stage feeding device A23, so that the automatic drilling of the two-stage feeding stroke of the power head A25 is realized; the upper machine-mounted drilling machine 2 is arranged on a top platform of the driving and anchoring machine 1 through a base 29 below the rotary mechanism A21; the adapter plate is mounted on the secondary feed device 22 by bolting.
In the lower airborne drilling machine 5, the second-stage feeding oil cylinder B54 can drive the first-stage feeding device B53 to move along the linear guide rail of the second-stage feeding device B52, and the first-stage feeding oil cylinder B56 can drive the power head B55 to move along the linear guide rail of the first-stage feeding device B53, so that the automatic drilling of the two-stage feeding stroke of the power head B55 is realized. In this embodiment, the feeding strokes of the upper airborne drilling machine 2 and the lower airborne drilling machine 5 are different, and specifically, the feeding stroke of the upper airborne drilling machine 2 is larger than that of the lower airborne drilling machine 5.
The mode 1 in the mode selection module is a power control mode, and the mode 2 is an efficiency priority mode; the feeding pressure and the gyration pressure parameters of the two modes are collected by the automatic drilling module and the sticking control module and stored in a drilling database. When the upper onboard drilling machine carries out upper-row anchor rod hole construction, the anchor rod drilling machine provided by the tunneling and anchoring machine also carries out anchor rod hole construction, and the power control mode of the mode 1 is selected for the upper onboard drilling machine at the moment, so that the construction of the upper onboard drilling machine does not influence the normal construction of the anchor rod drilling machine provided by the tunneling and anchoring machine; when the on-board drilling machine carries out advanced drilling construction, the anchor driving machine stops construction, the efficiency priority mode of the mode 2 is selected for the on-board drilling machine, and rapid construction of advanced drilling is achieved.
And a drill clamping pressure curve database is arranged in the drill clamping control module, when the upper airborne drilling machine or the lower airborne drilling machine drills, if the k value of a rotary pressure curve is larger than the k value of the drill clamping pressure curve, the actions of the primary feeding oil cylinder A26, the secondary feeding oil cylinder A24 and the power head A25 of the upper airborne drilling machine 2 or the actions of the primary feeding oil cylinder B56, the secondary feeding oil cylinder B54 and the power head B55 of the lower airborne drilling machine 5 are controlled through an explosion-proof proportional electromagnetic valve, and when the k value of the rotary pressure curve is smaller than the k value of the drill clamping pressure curve, the upper airborne drilling machine or the lower airborne drilling machine is controlled by the automatic drilling module.
In the automatic drilling module, when an upper onboard drilling machine or a lower onboard drilling machine is in drilling construction, the sizes of the rotary pressure and the safety value are judged through parameter detection, and if the rotary pressure value is smaller than the safety value, the upper onboard drilling machine or the lower onboard drilling machine normally drills; if the rotary pressure is greater than the safety value, the feeding pressure and the safety value are continuously judged, and if the feeding pressure is smaller than the safety value, the upper airborne drilling machine or the lower airborne drilling machine normally drills; if the feeding pressure is greater than the safety value, the feeding flow is adjusted, then the rotation pressure is compared with the safety value, and when the rotation pressure is less than the safety value, the upper onboard drilling machine or the lower onboard drilling machine performs normal drilling; if the feeding pressure is still larger than the safety value after the feeding flow is adjusted, the actions of the primary feeding oil cylinder A26, the secondary feeding oil cylinder A24 and the power head A25 of the upper airborne drilling machine 2 or the actions of the primary feeding oil cylinder B56, the secondary feeding oil cylinder B54 and the power head B55 of the lower airborne drilling machine 5 are controlled through the explosion-proof proportional solenoid valve.
Example 2:
the embodiment provides a rapid construction method for side anchor rod holes of a driving face, which comprises the steps of performing rapid construction on upper row anchor rod holes of the side face of the driving face through an upper machine-mounted drilling machine and performing rapid construction on lower row anchor rod holes through a lower machine-mounted drilling machine;
as shown in fig. 5 and 6, the step of constructing the upper row of anchor rod holes through the upper-loading drilling machine comprises the following steps:
a1: adjusting the angle-adjusting oil cylinder group to complete the positioning of the opening angle of the anchor rod hole in the upper row on the left side of the roadway;
a2: when the upper onboard drilling machine carries out upper-row anchor rod hole construction, the anchor rod drilling machine of the tunneling and anchoring machine also carries out anchor rod hole construction, so that the power control mode of the mode 1 is selected for the upper onboard drilling machine, and the construction of the upper onboard drilling machine is ensured not to influence the normal construction of the anchor rod drilling machine of the tunneling and anchoring machine;
a3: the automatic drilling of the two-stage feeding stroke of the power head A is completed under the control of the mode 1, so that the anchor rod hole is drilled in place at one time without the need of assembling and disassembling a drill rod;
a4: adjusting a slewing mechanism A to complete the positioning of the opening angle of the anchor rod hole in the upper row on the right side of the roadway;
a5: repeating the step A2-A3 to complete the construction of the upper row of anchor rod holes on the right side of the roadway;
a6: moving the digging and anchoring machine, repeating the steps A2-A5, and completing the construction of anchor rod holes which are arranged on two sides of the roadway at equal intervals;
as shown in fig. 7 and 8, the step of constructing the lower row of anchor rod holes through the lower airborne drilling machine comprises the following steps:
b1: the lower airborne drilling machine is arranged at the tail part of the shuttle car through a limiting and adjusting device;
specifically, a first clamping plate and a transverse plate are clamped on a flat plate at the tail part of the shuttle car, a movable seat fixing bolt is fastened, and the movable seat and a fixed seat are fixed; a pin shaft penetrates through the first clamping plate, the shuttle car tail flat plate and the transverse plate in sequence, and the lengths of the 2 pin shaft front limiting bolts and the 4 pin shaft rear limiting bolts screwed to the upper pin shaft front limiting block, the upper pin shaft rear limiting block, the lower pin shaft front limiting block and the lower pin shaft rear limiting block are adjusted, so that the limiting adjusting device is tightly attached to the rear end face of the shuttle car tail, and the front and rear vibration of the lower machine-mounted drilling machine is reduced; adjusting the length of the limit bolt of the moving seat screwed into the two side plates of the second clamping plate to enable the moving seat to be tightly attached to the lower end face of the tail of the shuttle car, so that the up-and-down vibration of the lower airborne drilling machine is reduced; the integral stability of the lower airborne drilling machine is ensured through front-back and up-down fixation;
b2: adjusting a swing mechanism B to complete the positioning of the hole opening angle of the lower row of anchor rod holes on the left side of the roadway;
b3: when the lower airborne drilling machine carries out the construction of the lower row of anchor rod holes on two sides of the roadway, the shuttle car stops the construction, so that the efficiency priority mode of the mode 2 is selected for the lower airborne drilling machine, and the rapid construction of the anchor rod holes is realized;
b4: the automatic drilling of the two-stage feeding stroke of the power head B is completed through the mode 2 control, and the anchor rod hole is drilled in place at one time without disassembling a drill rod;
b5: adjusting a slewing mechanism to position the hole opening angle of the lower anchor rod hole at the right side of the roadway;
b6: repeating the steps B3-B4 to complete the construction of the lower anchor rod hole at the right side of the roadway;
b7: and (4) moving the shuttle car, and repeating the steps B2-B6 to complete the construction of the anchor rod holes at the lower row and the equal interval at the two sides of the roadway.
Example 3:
the embodiment provides a rapid construction method for an advance borehole of a driving working face, wherein the advance borehole comprises a water detection and drainage hole, a region verification hole and a coal seam water injection hole;
c, the water detection and drainage hole of the construction driving face of the on-board drilling machine comprises the following steps:
c1: adjusting the angle-adjusting oil cylinder group and the swing mechanism A to complete the positioning of the opening angle of the water detection and drainage hole of the driving face;
c2: when the upper airborne drilling machine carries out water detection and drainage hole construction, the driving and anchoring machine stops construction, so that the efficiency priority mode of the mode 2 is selected for the upper airborne drilling machine, and the rapid construction of the water detection and drainage hole is realized;
c3: controlling a first-stage feeding oil cylinder A and a second-stage feeding oil cylinder A through a mode 2 to realize two-stage rod-adding drilling of a power head;
c4: repeating the step C2 and the step C3 to complete the construction of the water exploration and drainage hole with the designed depth;
c5: controlling a first-stage feeding oil cylinder A and a second-stage feeding oil cylinder A through a mode 2 to realize the drill pulling of a power head A;
d: the method for verifying the hole in the area of the construction driving face of the upper airborne drilling machine comprises the following steps:
d1: adjusting the angle adjusting oil cylinder group and the slewing mechanism A to complete the opening angle positioning of the verification hole in the area of the driving working face;
d2: when the upper onboard drilling machine carries out the regional verification hole construction, the anchor driving machine stops the construction, so that the efficiency priority mode of the mode 2 is selected for the upper onboard drilling machine, and the rapid construction of the regional verification hole is realized;
d3: controlling a first-stage feeding oil cylinder A and a second-stage feeding oil cylinder A through a mode 2 to realize two-stage rod-adding drilling of a power head;
d4: d2, repeating the step D3, and finishing the construction of the verification hole in the design depth area;
d5: controlling a first-stage feeding oil cylinder A and a second-stage feeding oil cylinder A through a mode 2 to realize the drill pulling of a power head A;
e: and (3) installing an onboard drilling machine to construct and tunnel coal seam water injection holes of the working face:
e1: adjusting the angle-adjusting oil cylinder group and the slewing mechanism A to complete the positioning of the opening angle of the water injection hole of the coal seam of the driving face;
e2: when the upper airborne drilling machine carries out coal seam water injection hole construction, the tunneling and anchoring machine stops construction, so that the efficiency priority mode of the mode 2 is selected for the upper airborne drilling machine, and the rapid construction of the coal seam water injection hole is realized;
e3: controlling a first-stage feeding oil cylinder A and a second-stage feeding oil cylinder A through a mode 2 to realize two-stage rod-adding drilling of a power head;
e4: repeating the steps E2 and E3 to complete the construction of the coal seam water injection hole with the designed depth;
e5: and controlling the primary feeding oil cylinder A and the secondary feeding oil cylinder A through the mode 2 to realize the drill pulling of the power head A.
Claims (9)
1. A rapid construction system for a side anchor rod hole and an advance drill hole of a driving face is characterized by comprising a driving anchor machine (1), an upper airborne drilling machine (2) arranged on a platform at the top of the driving anchor machine (1), a shuttle car (3), a lower airborne drilling machine (5) arranged at the tail of the shuttle car (3) through a limiting and adjusting device (4) and a control system;
the upper on-board drilling machine (2) comprises: the rotary mechanism A (21), a secondary feeding device A (22) arranged on the rotary mechanism A (21), a primary feeding device A (23) arranged on the secondary feeding device A (22), a secondary feeding cylinder A (24) connected between the secondary feeding device A (22) and the primary feeding device A (23), a power head A (25) arranged on the primary feeding device A (23), a primary feeding cylinder A (26) connected between the primary feeding device A (23) and the power head A (25), and a clamp A (27) arranged at the end part of the primary feeding device A (23) and opposite to the power head A (25); the tail part of the swing mechanism A (21) is hinged with the tail part of the secondary feeding device A (22), and two sides of the swing mechanism A (21) are hinged with the front part of the secondary feeding device A (22) through two groups of angle adjusting oil cylinder groups (28);
the lower airborne drilling rig (5) comprises: a swing mechanism B (51), a secondary feeding device B (52) arranged on the swing mechanism B (51), a primary feeding device B (53) arranged on the secondary feeding device B (52), a secondary feeding cylinder B (54) connected between the secondary feeding device B (52) and the primary feeding device B (53), a power head B (55) arranged on the primary feeding device B (53), a primary feeding cylinder B (56) connected between the primary feeding device B (53) and the power head B (55), and a gripper B (57) arranged at the end part of the primary feeding device B (53) and opposite to the power head B (55);
the limiting adjusting device (4) comprises a fixed seat (41), a movable seat (42) and a pin shaft (43); the fixed seat (41) comprises a fixed plate (411), a first clamping plate (412) and a second clamping plate (413) which are vertically arranged on the front surface of the fixed plate (411) and are parallel to each other; the movable seat (42) is positioned between the first clamping plate (412) and the second clamping plate (413), the movable seat (42) is an L-shaped plate and comprises a vertical plate (421) attached to the fixing plate (411) and a transverse plate (422) parallel to the first clamping plate (412), and the first clamping plate (412) and the transverse plate (422) can be clamped on a tail flat plate of the shuttle car (3); the movable seat (42) can move vertically and is positioned so as to adjust the distance between the first clamping plate (412) and the transverse plate (422) to adapt to tail flat plates of different shuttle cars (3); the pin shaft (43) vertically penetrates through the first clamping plate (412), the tail flat plate of the shuttle car (3) and the transverse plate (422) for positioning; the swing mechanism B (51) is arranged on the rear surface of the fixing plate (411);
the control system comprises a drill sticking control module, an automatic drilling module and a mode selection module; when the drilling machine starts to drill, drilling construction is carried out by selecting the module 1 or the module 2 in the mode selection module, the automatic drilling module is used for controlling normal drilling of a drill hole, and the drill jamming control module is used for controlling abnormal drilling of the drilling machine;
the mode 1 in the mode selection module is a power control mode, and the mode 2 is an efficiency priority mode; the parameters of the feeding pressure and the rotary pressure in the two modes are collected by the automatic drilling module and the sticking control module and are stored in a drilling database;
when the upper onboard drilling machine carries out upper-row anchor rod hole construction, the anchor rod drilling machine provided by the tunneling and anchoring machine also carries out anchor rod hole construction, and the power control mode of the mode 1 is selected for the upper onboard drilling machine at the moment, so that the construction of the upper onboard drilling machine does not influence the normal construction of the anchor rod drilling machine provided by the tunneling and anchoring machine; when the upper airborne drilling machine carries out advanced drilling construction, the anchor driving machine stops the construction, and the efficiency priority mode of the mode 2 is selected for the upper airborne drilling machine, so that the rapid construction of advanced drilling is realized.
2. The heading face side anchor rod hole and pilot hole rapid construction system according to claim 1, wherein the fixing plate (411) is provided with two through long grooves (414) which are parallel to each other, and the two through long grooves (414) are positioned between the first clamping plate (412) and the second clamping plate (413) and are perpendicular to the first clamping plate (412); a movable seat fixing strip (415) is vertically arranged on the two through long grooves (414), and a movable seat fixing bolt (416) sequentially penetrates through the movable seat fixing strip (415), the through long groove (414) and the vertical plate (421) to fix the movable seat (42);
the second clamping plate (413) is a U-shaped plate and comprises two side plates and a connecting plate connected between the two side plates; and a movable seat limiting bolt (417) and a limiting lock nut are respectively vertically arranged on the two side plates, the end part of the movable seat limiting bolt (417) is propped against the lower surface of the transverse plate (422), and the movable seat (42) is secondarily fixed through the movable seat limiting bolt (417) and the limiting lock nut.
3. The heading face side anchor rod hole and pilot drilling rapid construction system according to claim 1, wherein an upper pin shaft front limiting block (431) and an upper pin shaft rear limiting block (432) are arranged above the first clamp plate (412), and the upper end of the pin shaft (43) can be limited between a semicircular notch on the upper pin shaft front limiting block (431) and a semicircular notch on the upper pin shaft rear limiting block (432); the upper pin shaft rear limiting block (432) is positioned by two pin shaft rear limiting bolts (433) vertically penetrating through the fixing plate (411), the upper pin shaft front limiting block (431) is positioned by a pin shaft front limiting bolt (434) vertically penetrating through a first positioning plate (418) on the first clamping plate (412), and the first positioning plate (418) is vertically fixed on the first clamping plate (412) and is parallel to the fixing plate (411);
a lower pin shaft front limiting block (435) and a lower pin shaft rear limiting block (436) are arranged below the transverse plate (422), and the lower end of the pin shaft (43) can be limited between a semicircular notch on the lower pin shaft front limiting block (435) and a semicircular notch on the lower pin shaft rear limiting block (436); the lower pin shaft rear limiting block (436) is positioned by two pin shaft rear limiting bolts (433) vertically penetrating through the fixing plate (411), the lower pin shaft front limiting block (435) is positioned by a pin shaft front limiting bolt (434) vertically penetrating through a second positioning plate (423) on a transverse plate (422), and the second positioning plate (423) is vertically fixed on the transverse plate (422) and is parallel to the fixing plate (411);
the first clamping plate (412) and the transverse plate (422) are provided with waist-shaped holes which are parallel and opposite to each other so that the pin shaft (43) can penetrate through the waist-shaped holes, and the long axis of each waist-shaped hole is perpendicular to the fixing plate (411) so that the pin shaft (43) can be adjusted to be positioned in the waist-shaped holes in a front-back mode and then positioned in the front-back mode through the upper pin shaft front limiting block (431), the upper pin shaft rear limiting block (432), the lower pin shaft front limiting block (435) and the lower pin shaft rear limiting block (436).
4. The tunneling working face side anchor rod hole and pilot drilling rapid construction system according to claim 3, characterized in that the upper surfaces of the pin shaft (43) and the upper pin shaft front limiting block (431) are provided with a pin shaft fixing block (437), and a pin shaft (43) is axially positioned by a pin shaft fixing bolt (438) penetrating through the pin shaft fixing block (437), the pin shaft (43) and the upper pin shaft front limiting block (431).
5. The system for rapidly constructing the anchor rod hole and the advanced drilling hole on the side wall of the tunneling working face according to the claim 1, is characterized in that in the upper airborne drilling machine (2), the secondary feeding oil cylinder A (24) can drive the primary feeding device A (23) to move along the linear guide rail of the secondary feeding device A (22), the primary feeding oil cylinder A (26) can drive the power head A (25) to move along the linear guide rail of the primary feeding device A (23), and further the automatic drilling of the two-stage feeding stroke of the power head A (25) is realized;
in the lower airborne drilling machine (5), the secondary feeding oil cylinder B (54) can drive the primary feeding device B (53) to move along the linear guide rail of the secondary feeding device B (52), and the primary feeding oil cylinder B (56) can drive the power head B (55) to move along the linear guide rail of the primary feeding device B (53), so that the automatic drilling of the two-stage feeding stroke of the power head B (55) is realized.
6. The rapid construction system for the anchor rod hole and the advanced drilling of the heading face side wall according to claim 1, wherein a drill clamping pressure curve database is arranged in the drill clamping control module, when an upper airborne drilling machine or a lower airborne drilling machine drills, if a value of a rotary pressure curve k is larger than the value of the drill clamping pressure curve k, the actions of a primary feeding oil cylinder A (26), a secondary feeding oil cylinder A (24) and a power head A (25) of the upper airborne drilling machine (2) or the actions of a primary feeding oil cylinder B (56), a secondary feeding oil cylinder B (54) and a power head B (55) of the lower airborne drilling machine (5) are controlled through an explosion-proof proportional electromagnetic valve, and when the value of the rotary pressure curve k is smaller than the value of the drill clamping pressure curve k, the upper airborne drilling machine or the lower airborne drilling machine is controlled by the automatic drilling module.
7. The system for rapidly constructing the anchor rod hole and the advanced drilling hole on the side wall of the tunneling working face according to claim 1, wherein in the automatic drilling module, when an upper onboard drilling machine or a lower onboard drilling machine performs drilling construction, the magnitude of the rotary pressure and the safety value is judged through parameter detection, and if the rotary pressure value is smaller than the safety value, the upper onboard drilling machine or the lower onboard drilling machine performs normal drilling; if the rotary pressure is greater than the safety value, the feeding pressure and the safety value are continuously judged, and if the feeding pressure is smaller than the safety value, the upper airborne drilling machine or the lower airborne drilling machine normally drills; if the feeding pressure is greater than the safety value, the feeding flow is adjusted, then the rotation pressure is compared with the safety value, and when the rotation pressure is less than the safety value, the upper onboard drilling machine or the lower onboard drilling machine performs normal drilling; if the feeding pressure is still larger than the safety value after the feeding flow is adjusted, the actions of a primary feeding oil cylinder A (26), a secondary feeding oil cylinder A (24) and a power head A (25) of the upper airborne drilling machine (2) or the actions of a primary feeding oil cylinder B (56), a secondary feeding oil cylinder B (54) and a power head B (55) of the lower airborne drilling machine (5) are controlled through the explosion-proof proportional electromagnetic valve.
8. A rapid construction method for side wall anchor rod holes of a tunneling working face is characterized by comprising the steps of rapidly constructing upper row anchor rod holes of the side wall of the tunneling working face through an upper airborne drilling machine and rapidly constructing lower row anchor rod holes through a lower airborne drilling machine;
the step of constructing the upper row of anchor rod holes through the upper onboard drilling machine comprises the following steps:
a1: adjusting the angle-adjusting oil cylinder group to complete the positioning of the opening angle of the anchor rod hole in the upper row on the left side of the roadway;
a2: when the upper onboard drilling machine carries out upper-row anchor rod hole construction, the anchor rod drilling machine of the excavator is also carrying out anchor rod hole construction, so that the power control mode of the mode 1 is selected for the upper onboard drilling machine, and the construction of the upper onboard drilling machine is ensured not to influence the normal construction of the anchor rod drilling machine of the excavator;
a3: the automatic drilling of the two-stage feeding stroke of the power head A is completed through the mode 1 control, and the anchor rod hole is drilled in place at one time without disassembling a drill rod;
a4: adjusting a swing mechanism A to complete the hole opening angle positioning of the anchor rod holes in the upper row on the right side of the roadway;
a5: repeating the steps A2-A3 to complete the construction of the anchor rod holes in the upper row on the right side of the roadway;
a6: moving the tunneling and anchoring machine, repeating the steps A2-A5, and completing the construction of anchor rod holes arranged on two sides of the roadway at equal intervals;
b, the lower row of anchor rod holes are constructed through a lower airborne drilling machine, and the steps comprise:
b1: the lower airborne drilling machine is arranged at the tail part of the shuttle car through a limiting and adjusting device;
b2: adjusting a swing mechanism B to complete the positioning of the hole opening angle of the lower row of anchor rod holes on the left side of the roadway;
b3: when the lower airborne drilling machine carries out construction of the lower row of anchor rod holes at two sides of the roadway, the shuttle car stops construction, so that the efficiency priority mode of the mode 2 is selected for the lower airborne drilling machine, and rapid construction of the anchor rod holes is realized;
b4: the automatic drilling of the two-stage feeding stroke of the power head B is completed through the mode 2 control, so that the anchor rod hole is drilled in place at one time without the need of assembling and disassembling a drill rod;
b5: adjusting a swing mechanism to complete the positioning of the hole opening angle of the lower row of anchor rod holes on the right side of the roadway;
b6: repeating the steps B3-B4 to complete the construction of the lower row of anchor rod holes on the right side of the roadway;
b7: and (4) moving the shuttle car, and repeating the steps B2-B6 to complete the construction of the anchor rod holes at the lower row and the equal interval at the two sides of the roadway.
9. A rapid construction method for a driving face advance borehole is characterized in that the advance borehole comprises a water detection and drainage hole, a region verification hole and a coal seam water injection hole;
c, the water detection and drainage hole of the construction driving face of the on-board drilling machine comprises the following steps:
c1: adjusting the angle-adjusting oil cylinder group and the swing mechanism A to complete the positioning of the opening angle of the water detection and drainage hole of the driving face;
c2: when the upper onboard drilling machine carries out water exploring and draining hole construction, the anchor driving machine stops construction, so that the efficiency priority mode of the mode 2 is selected for the upper onboard drilling machine, and the rapid construction of the water exploring and draining hole is realized;
c3: controlling a first-stage feeding oil cylinder A and a second-stage feeding oil cylinder A through a mode 2 to realize two-stage rod-adding drilling of a power head;
c4: c2, repeating the step C3, and finishing the construction of the water exploration and drainage hole with the designed depth;
c5: controlling a first-stage feeding oil cylinder A and a second-stage feeding oil cylinder A through a mode 2 to realize the drill tripping of a power head A;
d: the method for verifying the area of the tunneling working face during construction by the onboard drilling machine comprises the following steps:
d1: adjusting the angle-adjusting oil cylinder group and the swing mechanism A to complete the opening angle positioning of the verification hole in the area of the tunneling working face;
d2: when the upper airborne drilling machine carries out the construction of the regional verification hole, the anchor driving machine stops the construction, so that the efficiency priority mode of the mode 2 is selected for the upper airborne drilling machine, and the rapid construction of the regional verification hole is realized;
d3: controlling a first-stage feeding oil cylinder A and a second-stage feeding oil cylinder A through a mode 2 to realize two-stage rod-adding drilling of the power head;
d4: d2, repeating the step D3, and finishing the construction of the verification hole in the design depth area;
d5: controlling a first-stage feeding oil cylinder A and a second-stage feeding oil cylinder A through a mode 2 to realize the drill pulling of a power head A;
e: and (3) installing an onboard drilling machine to construct and tunnel coal seam water injection holes of the working face:
e1: adjusting the angle-adjusting oil cylinder group and the slewing mechanism A to complete the positioning of the opening angle of the water injection hole of the coal seam of the driving face;
e2: when the upper onboard drilling machine carries out coal seam water injection hole construction, the tunneling and anchoring machine stops construction, so that the upper onboard drilling machine selects an efficiency priority mode of the mode 2, and the rapid construction of the coal seam water injection hole is realized;
e3: controlling a first-stage feeding oil cylinder A and a second-stage feeding oil cylinder A through a mode 2 to realize two-stage rod-adding drilling of a power head;
e4: repeating the steps E2 and E3 to complete the construction of the coal seam water injection hole with the designed depth;
e5: and controlling the primary feeding oil cylinder A and the secondary feeding oil cylinder A through the mode 2 to realize the drill tripping of the power head A.
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| CN113931652B (en) * | 2021-10-13 | 2024-04-09 | 中煤科工集团西安研究院有限公司 | TBM advanced detection split type remote control drilling machine for coal mine and advanced detection construction method |
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| CN201448108U (en) * | 2009-04-29 | 2010-05-05 | 泰州润达环保科技有限公司 | Speedy drivage single-arm outburst drilling preventive loading anchor machine for high outburst mine coal roadways |
| CN201460729U (en) * | 2009-07-16 | 2010-05-12 | 煤炭科学研究总院太原研究院 | Excavation machine onboard jumbolter |
| CN106150382B (en) * | 2016-08-27 | 2018-10-12 | 中国煤炭科工集团太原研究院有限公司 | It bores anchor and visits Multi Role Aircraft |
| CN106640158A (en) * | 2017-01-18 | 2017-05-10 | 山东兖煤黑豹矿业装备有限公司 | Hard rock heading equipment |
| CN110056380A (en) * | 2019-05-27 | 2019-07-26 | 无锡华瀚能源装备科技有限公司 | A kind of control method and system one key of anchor driving machine expansion and withdrawn |
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