CN114934771B - Hydraulic drilling and flushing mining and filling robot and operation method - Google Patents
Hydraulic drilling and flushing mining and filling robot and operation method Download PDFInfo
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- CN114934771B CN114934771B CN202210661577.1A CN202210661577A CN114934771B CN 114934771 B CN114934771 B CN 114934771B CN 202210661577 A CN202210661577 A CN 202210661577A CN 114934771 B CN114934771 B CN 114934771B
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- drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/60—Slitting by jets of water or other liquid
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F15/00—Methods or devices for placing filling-up materials in underground workings
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F15/00—Methods or devices for placing filling-up materials in underground workings
- E21F15/005—Methods or devices for placing filling-up materials in underground workings characterised by the kind or composition of the backfilling material
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F15/00—Methods or devices for placing filling-up materials in underground workings
- E21F15/06—Filling-up mechanically
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
Abstract
The invention discloses a hydraulic drilling and flushing mining and filling robot and an operation method, wherein the robot comprises a main frame, a rotary driving mechanism, a double-layer nested drill rod and a hydraulic drilling punch head; the hydraulic drill punch is provided with cross drilling jet flow, circumferential cross reaming jet flow and symmetrical bedding erosion jet flow; the cross drilling jet flow and the circumferential cross reaming jet flow are used for crushing a coal bed in combination with mechanical teeth of a hydraulic drilling punch head during drilling; the symmetrical bedding erosion jet flow is used for crushing a coal bed during drilling and retreating, a crushed coal and water mixture is conveyed to a slag collecting bin through an internal flow passage and a slag discharging filling rotary joint, is treated and conveyed by a dewatering screen, and a filling pump conveys filling materials to a goaf through the internal flow passage to realize filling mining; the invention has the advantages of compact structure, large one-time mining width, strong crushing capability and closed conveying, and is particularly suitable for fluidized green mining and filling of inclined thin coal seams, protective layer mining and gas extraction large-diameter drilling.
Description
Technical Field
The invention relates to the field of hydraulic drill exploitation, in particular to a hydraulic drill exploitation and filling robot and an operation method, which are suitable for fluidized green exploitation and filling, protective layer exploitation and gas extraction large-diameter drilling of an inclined thin coal seam.
Background
The energy industry is the fundamental industry of national economy and is also a technology-intensive industry. The characteristics of modern energy technology are reflected in a centralized mode of safety, high efficiency and low carbon, and the method is also the main direction for seizing the advanced points of future energy technology. The future development requirements take the enhancement of independent innovation capacity as an impetus, the constraint of limited energy and resources is solved by infinite science and technology, the safe and efficient development of energy resources is improved, the change of energy production and utilization modes is promoted, the energy exploration and exploitation technology is planned to be one of four key development fields, and the research and development of safe, efficient, economical and environment-friendly exploitation technologies and equipment of resources under complex geological conditions are definitely required, such as the fluidized green exploitation and filling of complex inclined thin coal seams, the exploitation of protective layers, the large-diameter drilling of gas extraction and the like.
In the prior art, the complex inclined thin coal seam and the protective layer still do not have good mining technology and equipment, the gas extraction drill hole is small in diameter, poor in pressure relief effect and low in extraction efficiency, the existing pure mechanical drilling and mining equipment does not have a filling function, and the coal and rock mechanical cutting is easy to cause major accidents such as gas explosion, so that the safe, efficient and green mining of ore body resources is not facilitated.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide a hydraulic drilling and flushing mining and filling robot and an operation method, which can fully utilize the characteristic of strong crushing capability of high-pressure water jet, combine a hydraulic drilling punch to mechanically crush a coal seam, and realize the construction of fluidized green mining and filling of a thin coal seam, protective layer mining, gas extraction large-diameter drilling and the like.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a hydraulic drilling and flushing mining and filling robot and an operation method, wherein the hydraulic drilling and flushing mining and filling robot comprises a main frame provided with a moving mechanism, a ground anchor device and a supporting and stabilizing mechanism, and a propelling guide device capable of adjusting the lifting height is hinged to the main frame;
the propelling guide device is connected with a rotary driving mechanism in a sliding manner, the output end of the rotary driving mechanism is connected with a double-layer nested drill rod, and the end part of the double-layer nested drill rod is provided with a hydraulic drill punch;
the main frame is also provided with a propulsion oil cylinder for controlling the movement of the rotary driving mechanism;
the hydraulic drill punch is provided with cross drilling jet flow, circumferential cross reaming jet flow and symmetrical bedding erosion jet flow;
the cross drilling jet flow and the circumferential cross reaming jet flow are used for crushing a coal bed in combination with mechanical teeth of a hydraulic drilling punch head during drilling; the symmetrical bedding erosion jet flow is used for crushing a coal bed during drilling and withdrawing;
an inner runner for providing water flow and an outer ring runner for transporting crushed coal-water mixture and filler are arranged in the hydraulic drill punch and the double-layer nested drill rod; the front end of the rotary driving mechanism is provided with a filling joint and a slag discharging joint which are communicated with an outer ring flow channel; the slag discharging joint pipeline is communicated with a slag discharging pump, and the filling joint pipeline is communicated with a filling pump; the internal flow passage is communicated with the high-pressure water pump;
the front end of the propelling guide device is also provided with a clamping mechanism for clamping the double-layer nested drill rod.
Preferably, the hydraulic drill punch comprises a first inner rod, a first outer cylinder and a first stabilizing beam arranged in the middle of the first inner rod and the first outer cylinder and used for connecting the first inner rod and the first outer cylinder, and a mechanical hole expanding disc is arranged on the outer wall of the first outer cylinder;
the front end of the hydraulic drill punch is provided with a mechanical drilling end disc;
the mechanical drilling end disc is provided with a plurality of crossed drilling jet flow nozzles, drilling mechanical teeth, circumferential crossed reaming jet flow nozzles and edge mechanical teeth;
a plurality of edge scrapers, reaming scrapers and symmetrical bedding erosion jet nozzles are arranged on the inner cone side of the mechanical reaming disc;
the cross drilling jet nozzles spray water to form cross drilling jet flow, the circumferential cross reaming jet flow nozzles spray water to form circumferential cross reaming jet flow, and the symmetrical bedding erosion jet flow nozzles spray water to form symmetrical bedding erosion jet flow.
Preferably, a drilling and reaming jet flow channel which is communicated with the cross drilling jet flow nozzle and the circumferential cross reaming jet flow nozzle is arranged in the mechanical drilling end disc;
the first inner rod is arranged in a hollow mode, and the front end of the first inner rod is provided with an inner cone water outlet communicated with a drilling and expanding water jetting pipeline;
a slag discharging and filling opening is formed in the front side of the first outer cylinder and communicated with an annular space formed between the first inner rod and the first outer cylinder; the mechanical reaming disc is provided with a symmetrical bedding erosion jet flow water channel communicated with the symmetrical bedding erosion jet flow nozzle, and the symmetrical bedding erosion jet flow water channel is communicated with the hollow part in the first inner rod and is controlled to be communicated with water or not through a high-low pressure change-over switch device;
the inner flow passage in the hydraulic drill punch comprises a drilling hole-expanding jet flow passage, an inner cone water outlet, a hollow part of a first inner rod and a symmetrical bedding erosion jet flow passage;
the outer ring flow channel in the hydraulic drill punch comprises an annular space formed between the first inner rod and the first outer cylinder.
Preferably, the high-low pressure change-over switch device comprises a high-low pressure change-over valve core connected in a sliding manner in a hollow part of the first inner rod;
the high-low pressure conversion valve core comprises a thick rod part and a thin rod part for placing a recovery spring, and the recovery spring can abut against the upper end of the hollow part of the first inner rod;
the upper end of the slender rod part is provided with an external conical surface which is matched with the internal conical water outlet to open and close the drilling and expanding Kong She water flow channel, and the slender rod part is provided with a low-pressure water outlet to introduce low-pressure water into the drilling and expanding hole water injection flow channel;
the thick rod part is provided with a high-pressure water outlet for introducing high-pressure water into the symmetrical bedding erosion jet water channel;
when the high-pressure water acts on the tail part of the high-low pressure conversion valve core, the recovery spring is completely compressed, the inner cone water outlet is closed, and the symmetrical bedding erosion jet nozzle starts water supply;
when the low pressure water acts on the tail part of the high-low pressure conversion valve core, the recovery spring is not completely compressed, the high-low pressure conversion valve core closes the annular water outlet in the first inner rod, and the cross drilling jet nozzle and the circumferential cross reaming jet nozzle are opened.
Preferably, the double-layer nested drill rod comprises a plurality of sections of drill rod units which are connected together, each section of drill rod unit comprises a second inner rod, a second outer barrel and a second stabilizing beam which fixedly connects the second inner rod and the second outer barrel together, a bolt hole for installing a stabilizer is formed in the second stabilizing beam, the second inner rod is in a hollow design, the hollow part of the second inner rod is communicated with the hollow part of a first inner rod in the hydraulic drill punching head and belongs to one part of an inner flow passage, and an annular cavity formed between the second inner rod and the second outer barrel is communicated with an annular space formed between the first inner rod and the first outer barrel in the hydraulic drill punching head and belongs to one part of an outer ring flow passage.
Preferably, the front end of the rotary driving mechanism is provided with a central through hole output shaft which is matched with the double-layer nested drill rod, the rotary driving mechanism is further provided with a slag discharge filling rotary joint at the periphery of the central through hole output shaft, a first sealing ring is installed between the central through hole output shaft and the slag discharge filling rotary joint in a matched mode, the tail end of the central through hole output shaft is connected with a high-pressure rotary sealing device and is provided with a second sealing ring, an outer cylinder of the central through hole output shaft is provided with two symmetrical through holes communicated with an outer ring flow channel, and the two symmetrical through holes are respectively communicated with the filling joint and the slag discharge joint;
the filling joint and the slag discharging joint are arranged on the slag discharging filling rotary joint.
Preferably, the axial angle formed between two adjacent cross drilling jets and circumferential cross reaming jets is 60 °.
Preferably, the included angle formed by the symmetrical bedding erosion jet flows on the left side and the right side of the hydraulic drill punch head ranges from 90 degrees to 180 degrees.
The invention also provides an operation method of the hydraulic drilling and flushing mining and filling robot, which comprises the following steps:
s1, preparation operation: controlling a drilling angle adjusting oil cylinder to enable the axis of a hydraulic drill drift to be consistent with the direction of a coal seam, tightly supporting the side wall of the roadway by a supporting and stabilizing mechanism, and anchoring a ground anchor device on the bottom plate of the roadway;
s2, drilling and expanding holes for exploitation: the propulsion oil cylinder, the rotary driving mechanism and the high-pressure water pump work simultaneously, and a low water pressure below 30MPa is set, and a cross drilling jet nozzle and a circumferential cross reaming jet nozzle are opened by using a high-low pressure switching valve core and a recovery spring;
the hydraulic drill punch and the double-layer nested drill rod are fed in a rotating mode, cross drilling jet flow and circumferential cross hole expanding jet flow assist mechanical teeth of the hydraulic drill punch and a scraper to drill a hole-expanded coal bed, and crushed coal and water mixture is conveyed to a slag collecting bin through an outer ring flow channel through a slag discharging connector;
the clamping mechanism clamps a drill rod unit at the bottommost end of the double-layer nested drill rod, the rotary driving mechanism retracts after reversing, a new drill rod unit is connected, and the process is repeated until the drilling and reaming depth reaches the preset mining depth;
the mixture of coal and water in the slag collecting bin is treated by a dewatering screen and then output by a conveyor, and fluid at the lower part of the dewatering screen is treated by a filter and then is pumped into a water gap by high-pressure water;
s3, symmetrical bedding erosion exploitation: controlling a rotary driving mechanism to enable the direction of the symmetrical bedding erosion jet flow to face a coal seam, setting high water pressure of more than 60MPa, utilizing a high-low pressure switching valve core to enable a symmetrical bedding erosion jet flow nozzle to be opened, conveying a coal and water mixture crushed by the symmetrical bedding erosion jet flow to a slag collecting bin from an outer ring flow channel when a propulsion oil cylinder retracts, sequentially disassembling drill rod units on double-layer nested drill rods and repeating the process until a hydraulic drill punch head exits the coal seam;
s4, filling: and in the operation process of the step 3, conveying the filling material in the filling bin to the goaf for filling from the outer ring runner by using a filling pump according to the requirement.
The invention has the beneficial effects that: aiming at the difficult problems of fluidized green mining and filling of an inclined thin coal seam, protective layer mining, gas extraction large-diameter drilling and the like, the high-pressure water jet technology is creatively used for assisting mechanical drilling, hole expanding and coal seam erosion by utilizing the high-pressure water jet, the filling requirement is integrated to a hydraulic drill erosion mining robot, cross drilling jet nozzles, circumferential cross hole expanding jet nozzles and symmetrical bedding erosion jet nozzles are reasonably arranged on a mechanical drill punching head, the characteristics of strong coal seam crushing capability and the like of the high-pressure water jet are furthest utilized, the proposed technology is large in one-step mining width, strong in crushing capability, good in environmental protection of closed conveying and filling, and the problems that the inclined thin coal seam and the thin protective layer are difficult to mine, the gas outburst coal seam drilling pressure relief diameter is small and the like are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a hydraulic drill-driving mining and filling robot provided by the invention;
FIG. 2 is a structural view of a hydraulic drill bit provided by the present invention;
FIG. 3 is a cross-sectional view of a rotary drive mechanism provided by the present invention;
FIG. 4 is a cross-sectional view of a double nested drill pipe provided by the present invention;
FIG. 5 is a cross-sectional view of a high and low pressure shift valve cartridge provided by the present invention;
FIG. 6 is a schematic diagram of the drilling-reaming-erosion range of the coal seam of the present invention.
In the figure: 1. a moving mechanism; 2. a main frame; 3. a ground anchor device; 4. a support stabilizing mechanism; 5. a drilling angle adjusting oil cylinder; 6. a propulsion guide; 7. a propulsion cylinder; 8. a rotation driving mechanism; 9. a high pressure rotary seal device; 10. a clamping mechanism; 11. a hydraulic drill punch; 12. double-layer nested drill rods; 13. slag discharging and filling rotary joints; 14. a filling valve; 15. a filling pump; 16. a slag discharge valve; 17. a slag discharge pump; 18. cross drilling jet flow; 19. circumferentially cross reaming and jetting; 20. symmetrical bedding erosion jet flow; 21. a stabilizer; 22. a slag collecting bin; 23. dewatering screen; 24. a filter; 25. a conveyor; 26. filling a stock bin; 27. a high pressure water pump; 6-1, guide rails; 8-1, a sliding bottom plate; 8-2, a central through hole output shaft; 8-2-1, symmetrical through holes; 8-3, a shell; 8-4, a first sealing ring; 8-5, a second sealing ring; 11-1, a first inner bar; 11-2, a first outer cylinder; 11-3, mechanically drilling an end disc; 11-4, mechanically expanding a hole disc; 11-5, a first stabilizing beam; 12-1, a second inner rod; 12-2, a second outer barrel; 12-5, a second stabilizing beam; 12-6, a stabilizer; 12-7, bolt holes; 13-1, filling a joint; 13-2, a slag discharge joint; 29-1, external conical surface; 29-2, thin rod part; 29-3, a low-pressure water outlet; 29-4, a high-pressure water outlet; 29-5, thick rod part; 11-1-1, an annular water outlet; 11-3-1, cross drilling jet nozzles; 11-3-2, drilling machine teeth; 11-3-3, circumferentially cross reaming jet nozzles; 11-3-4, edge mechanical teeth; 11-3-5, drilling and enlarging a hole jetting water channel; 11-3-6, slag discharging and filling ports; 11-3-7 and an inner cone water outlet; 11-4-1, an edge scraper; 11-4-2, a hole expanding scraper; 11-4-3, symmetrically eroding a jet water channel along the bedding; 11-4-4, and a symmetrical bedding erosion jet nozzle.
Detailed Description
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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1 to 5, the invention provides a hydraulic drilling and flushing mining and filling robot, which comprises a main frame 2 provided with a moving mechanism 1, a ground anchor device 3 and a supporting and stabilizing mechanism 4, wherein a propulsion guide device 6 is hinged on the main frame 2, and the drilling angle of the main frame is adjusted by a drilling angle adjusting oil cylinder 5;
the propelling guide device 6 is connected with a rotary driving mechanism 8 in a sliding way,
the propelling guide device 6 is provided with a guide rail 6-1, and the bottom of the rotary driving mechanism 8 is provided with a sliding bottom plate 8-1 matched with the guide rail 6-1;
the output end of the rotary driving mechanism 8 is connected with a double-layer nested drill rod 12, and the end part of the double-layer nested drill rod 12 is provided with a hydraulic drill punch 11;
the main frame 2 is also provided with a propulsion oil cylinder 7 for controlling the movement of a rotary driving mechanism 8;
the hydraulic drill punch 11 is provided with a cross drilling jet 18, a circumferential cross reaming jet 19 and a symmetrical bedding erosion jet 20;
the cross drilling jet flow 18 and the circumferential cross reaming jet flow 19 are used for crushing a coal bed in combination with mechanical teeth of the hydraulic drill punch 11 during drilling; the symmetrical bedding erosion jet 20 is used for crushing a coal bed during drilling and retreating;
an inner flow passage for providing water flow and an outer ring flow passage for transporting crushed coal-water mixture and filler are arranged inside the hydraulic drill punch 11 and the double-layer nested drill rod 12; the front end of the rotary driving mechanism 8 is provided with a filling joint 13-1 and a slag discharging joint 13-2 which are communicated with an outer ring flow channel; the slag discharging joint 13-2 is communicated with a slag discharging pump 17 through a pipeline, a slag discharging valve 16 is arranged on the pipeline connected with the slag discharging joint 13-2, the filling joint 13-1 is communicated with a filling pump 15 through a pipeline, and a filling valve 14 is arranged on the pipeline;
the front end of the propelling guide device 6 is also provided with a clamping mechanism 10 for clamping a double-layer nested drill rod 12.
The hydraulic drill punch 11 comprises a first inner rod 11-1, a first outer cylinder 11-2 and a first stabilizing beam 11-5 which is arranged in the middle of the first inner rod and the first outer cylinder and connects the first inner rod and the first outer cylinder, and a mechanical reaming disc 11-4 is arranged on the outer wall of the first outer cylinder 11-2;
the front end of the hydraulic drill punch 11 is provided with a mechanical drilling end disc 11-3;
the mechanical drilling end disc 11-3 is provided with a plurality of cross drilling jet flow nozzles 11-3-1, drilling mechanical teeth 11-3-2, circumferential cross reaming jet flow nozzles 11-3-3 and edge mechanical teeth 11-3-4;
a plurality of edge scrapers 11-4-1, a reaming scraper 11-4-2 and a symmetrical bedding erosion jet nozzle 11-4-4 are arranged on the inner cone side of the mechanical reaming disc 11-4;
the cross drilling jet nozzle 11-3-1 sprays water to form a cross drilling jet 18, the circumferential cross reaming jet nozzle 11-3-3 sprays water to form a circumferential cross reaming jet 19, and the symmetrical bedding erosion jet nozzle 11-4-4 sprays water to form a symmetrical bedding erosion jet 20.
A drilling and reaming jet flow channel 11-3-5 which is communicated with the cross drilling jet flow nozzle 11-3-1 and the circumferential cross reaming jet flow nozzle 11-3-3 is arranged in the mechanical drilling end disc 11-3;
the first inner rod 11-1 is arranged in a hollow mode, and the front end of the first inner rod is provided with an inner cone water outlet 11-3-7 communicated with a drilling and expanding water jetting pipeline 11-3-5;
a slag discharging and filling opening 11-3-6 is formed in the front side of the first outer barrel 11-2, and the slag discharging and filling opening 11-3-6 is communicated with an annular space formed between the first inner rod 11-1 and the first outer barrel 11-2; the mechanical reaming disc 11-4 is provided with a symmetrical bedding erosion jet water channel 11-4-3 communicated with a symmetrical bedding erosion jet nozzle 11-4-4, and the symmetrical bedding erosion jet water channel 11-4-3 is communicated with a hollow part in the first inner rod 11-1 and is controlled to be communicated with water or not by a high-low pressure change-over switch device;
the internal flow channel in the hydraulic drill punch 11 comprises a drilling and reaming jet flow channel 11-3-5, an inner cone water outlet 11-3-7, a hollow part of a first inner rod 11-1 and a symmetrical bedding erosion jet flow channel 11-4-3;
the outer ring flow channel in the hydraulic drill punch 11 comprises an annular space formed between the first inner rod 11-1 and the first outer cylinder 11-2.
The high-low pressure change-over switch device comprises a high-low pressure change-over valve core 29 which is connected with the hollow part of the first inner rod 11-1 in a sliding way;
the high-low pressure switching valve core 29 comprises a thick rod part 29-5 and a thin rod part 29-2 for placing a restoring spring 28, and the restoring spring 28 can abut against the upper end of the hollow part of the first inner rod 11-1;
the upper end of the thin rod part 29-2 is provided with an external conical surface 29-1, the external conical surface 29-1 is matched with the internal conical water outlet 11-3-7 to open and close the drilling and expanding water jetting passage 11-3-5, and the thin rod part 29-2 is provided with a low-pressure water outlet 29-3 to introduce low-pressure water into the drilling and expanding water jetting passage 11-3-5;
the thick rod part 29-5 is provided with a high-pressure water outlet 29-4 for introducing high-pressure water into the symmetrical bedding erosion jet water channel 11-4-3;
when the high-pressure water acts on the tail part of the high-low pressure switching valve core 29, the recovery spring 28 is completely compressed, the inner cone water outlet 11-3-7 is closed, and the symmetrical bedding erosion jet nozzle 11-4-4 is opened for water supply;
when the low pressure water acts on the tail part of the high-low pressure switching valve core 29, the recovery spring 28 is not completely compressed, the high-low pressure switching valve core 29 closes the annular water outlet 11-1-1 in the first inner rod 11-1, and the cross drilling jet nozzle 11-3-1 and the circumferential cross reaming jet nozzle 11-3-3 are opened.
The double nested drill pipe 12 is made up of several drill pipe units connected together,
each section of the drill rod unit comprises a second inner rod 12-1, a second outer cylinder 12-2 and a second stabilizing beam 12-5 fixedly connecting the second inner rod and the second outer cylinder together, a bolt hole 12-7 for installing a stabilizer 12-6 is formed in the second stabilizing beam 12-5, the second inner rod 12-1 is of a hollow design, the hollow part of the second inner rod is communicated with the hollow part of a first inner rod 11-1 in a hydraulic drill punch 11 and belongs to one part of an inner flow passage, and an annular cavity formed between the second inner rod 12-1 and the second outer cylinder 12-2 is communicated with an annular space formed between the first inner rod 11-1 and the first outer cylinder 11-2 in the hydraulic drill punch 11 and belongs to one part of an outer flow passage.
The front end of the rotary driving mechanism 8 is provided with a central through hole output shaft 8-2 which is matched with the double-layer nested drill rod 12, the rotary driving mechanism 8 is further provided with a deslagging filling rotary joint 13 at the periphery of the central through hole output shaft 8-2, the deslagging filling rotary joint 13 is fixed with a shell 8-3 of the rotary driving mechanism 8, a first sealing ring 8-4 is arranged between the deslagging filling rotary joint and the rotary driving mechanism in a matched mode, the tail end of the central through hole output shaft 8-2 is connected with a high-pressure rotary sealing device 9 and provided with a second sealing ring 8-5, an outer barrel of the central through hole output shaft 8-2 is provided with two symmetrical through holes 8-2-1 communicated with an outer ring flow channel, and the two symmetrical through holes 8-2-1 are respectively communicated with the filling joint 13-1 and the deslagging joint 13-2;
the filling joint 13-1 and the slag discharging joint 13-2 are arranged on the slag discharging filling rotary joint 13.
And an axial included angle formed between every two adjacent crossed drilling jet flows 18 and every two adjacent peripheral crossed reaming jet flows 19 is 60 degrees.
The included angle formed by the symmetrical bedding erosion jet flows 20 at the left side and the right side of the hydraulic drill punch 11 ranges from 90 degrees to 180 degrees.
The invention also provides an operation method of the hydraulic drilling and flushing mining and filling robot, which comprises the following steps:
s1, preparation operation: the drilling angle adjusting oil cylinder 5 is controlled to enable the axis of the hydraulic drill drift 11 to be consistent with the direction of a coal seam, the supporting and stabilizing mechanism 4 tightly supports the side wall of the roadway, and the ground anchor device 3 is anchored on the bottom plate of the roadway;
s2, drilling and expanding holes for exploitation: the propulsion oil cylinder 7, the rotary driving mechanism 8 and the high-pressure water pump 27 work simultaneously, and the cross drilling jet nozzle 11-3-1 and the circumferential cross reaming jet nozzle 11-3-3 are opened by setting low water pressure and utilizing a high-low pressure conversion valve core 29 and a recovery spring 28; low water pressure means below 30 MPa;
the hydraulic drill punch 11 and the double-layer nested drill rod 12 are fed in a rotating mode, the high-pressure water pump 27 provides water pressure through the inner flow channel, the cross drilling jet 18 and the circumferential cross reaming jet 19 assist the mechanical teeth of the hydraulic drill punch 11 and the scraper in drilling and reaming a coal bed, and crushed coal and water mixture is conveyed to the slag collecting bin 22 through the slag discharging connector 13-2 through the outer ring flow channel;
the clamping mechanism 10 clamps a section of drill rod unit at the bottommost end of the double-layer nested drill rod 12, the rotary driving mechanism 8 retracts after reversing, a new section of drill rod unit is connected, and the process is repeated until the drilling and reaming depth reaches the preset mining depth;
after the mixture of coal and water in the slag collection bin 22 is treated by a dewatering screen 23, oversize products are output by a conveyor 25, and fluid at the lower part of the dewatering screen 23 is treated by a filter 24 and then is recycled by a water inlet of a high-pressure water pump 27;
s3, symmetrical bedding erosion exploitation: controlling the rotary driving mechanism 8 to enable the symmetrical bedding erosion jet flow 20 to face the coal bed, setting high water pressure to enable the symmetrical bedding erosion jet flow nozzle 11-4-4 to be opened by using the high-low pressure conversion valve core 29, conveying a coal and water mixture crushed by the symmetrical bedding erosion jet flow 20 to the slag collecting bin 22 through the outer ring runner when the propulsion oil cylinder 7 retracts, sequentially disassembling the drill rod units on the double-layer nested drill rod 12 and repeating the process until the hydraulic drill punch 11 exits the coal bed; specific areas of erosion are seen in fig. 6; the high water pressure is above 60 MPa;
s4, filling: in the step 3 operation process, the filling material in the filling bin 26 is conveyed to the goaf from the outer ring flow channel by the filling pump 15 according to the requirement.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (6)
1. A hydraulic drilling and flushing mining and filling robot comprises a main frame (2) provided with a moving mechanism (1), a ground anchor device (3) and a supporting and stabilizing mechanism (4), wherein a propelling guide device (6) capable of adjusting the lifting height is hinged to the main frame (2);
the propelling guide device (6) is connected with a rotary driving mechanism (8) in a sliding mode, the output end of the rotary driving mechanism (8) is connected with a double-layer nested drill rod (12), and a hydraulic drill punch (11) is arranged at the end portion of the double-layer nested drill rod (12);
the main frame (2) is also provided with a propulsion oil cylinder (7) for controlling the movement of the rotary driving mechanism (8);
the hydraulic drill is characterized in that the hydraulic drill punch head (11) is provided with cross drilling jet flow (18), circumferential cross reaming jet flow (19) and symmetrical bedding erosion jet flow (20);
the cross drilling jet flow (18) and the circumferential cross reaming jet flow (19) are used for crushing a coal bed in combination with mechanical teeth of a hydraulic drilling punch head (11) during drilling; the symmetrical bedding erosion jet flow (20) is used for crushing a coal bed during drilling and retreating;
an inner flow channel for providing water flow and an outer ring flow channel for transporting a crushed coal-water mixture and fillers are arranged inside the hydraulic drill punch head (11) and the double-layer nested drill rod (12); the front end of the rotary driving mechanism (8) is provided with a filling joint (13-1) and a slag discharging joint (13-2) which are communicated with the outer ring flow channel; the slag discharging joint (13-2) is communicated with a slag discharging pump (17) through a pipeline, and the filling joint (13-1) is communicated with a filling pump (15) through a pipeline;
the front end of the propelling guide device (6) is also provided with a clamping mechanism (10) for clamping a double-layer nested drill rod (12);
the hydraulic drill punch head (11) comprises a first inner rod (11-1), a first outer cylinder (11-2) and a first stabilizing beam (11-5) arranged in the middle of the first inner rod and the first outer cylinder and used for connecting the first inner rod and the first outer cylinder, and a mechanical reaming disc (11-4) is arranged on the outer wall of the first outer cylinder (11-2);
the front end of the hydraulic drill punch (11) is provided with a mechanical drilling end disc (11-3);
the mechanical drilling end disc (11-3) is provided with a plurality of crossed drilling jet flow nozzles (11-3-1), drilling mechanical teeth (11-3-2), circumferential crossed reaming jet flow nozzles (11-3-3) and edge mechanical teeth (11-3-4);
a plurality of edge scrapers (11-4-1), a reaming scraper (11-4-2) and symmetrical bedding erosion jet nozzles (11-4-4) are arranged on the inner cone side of the mechanical reaming disc (11-4);
the cross drilling jet nozzle (11-3-1) sprays water to form a cross drilling jet (18), the circumferential cross reaming jet nozzle (11-3-3) sprays water to form a circumferential cross reaming jet (19), and the symmetrical bedding erosion jet nozzle (11-4-4) sprays water to form a symmetrical bedding erosion jet (20);
a drilling and reaming jet water channel (11-3-5) communicated with the cross drilling jet nozzle (11-3-1) and the circumferential cross reaming jet nozzle (11-3-3) is arranged in the mechanical drilling end disc (11-3);
the first inner rod (11-1) is arranged in a hollow manner, and the front end of the first inner rod is provided with an inner cone water outlet (11-3-7) communicated with a drilling and reaming jet flow water channel (11-3-5);
a slag discharge filling port (11-3-6) is formed in the front side of the first outer barrel (11-2), and the slag discharge filling port (11-3-6) is communicated with an annular space formed between the first inner rod (11-1) and the first outer barrel (11-2); a symmetrical bedding erosion jet flow water channel (11-4-3) communicated with the symmetrical bedding erosion jet flow nozzle (11-4-4) is arranged on the mechanical reaming disc (11-4), and the symmetrical bedding erosion jet flow water channel (11-4-3) is communicated with the hollow part in the first inner rod (11-1) and is controlled to be communicated with water or not by a high-low pressure change-over switch device;
the inner flow channel in the hydraulic drill punch head (11) comprises a drilling and reaming jet flow water channel (11-3-5), an inner cone water outlet (11-3-7), a hollow part of a first inner rod (11-1) and a symmetrical bedding erosion jet flow water channel (11-4-3);
an outer ring flow channel in the hydraulic drill punch head (11) comprises an annular space formed between a first inner rod (11-1) and a first outer cylinder (11-2);
the high-low pressure change-over switch device comprises a high-low pressure change-over valve core (29) which is connected with the hollow part of a first inner rod (11-1) in a sliding way;
the high-low pressure switching valve core (29) comprises a thick rod part (29-5) and a thin rod part (29-2) for placing a restoring spring (28), and the restoring spring (28) can abut against the upper end of the hollow part of the first inner rod (11-1);
the upper end of the thin rod part (29-2) is provided with an external conical surface (29-1), the external conical surface (29-1) is matched with the internal cone water outlet (11-3-7) to open and close the drilling and reaming jet flow water channel (11-3-5), and the thin rod part (29-2) is provided with a low-pressure water outlet (29-3) to introduce low-pressure water into the drilling and reaming jet flow water channel (11-3-5);
the thick rod part (29-5) is provided with a high-pressure water outlet (29-4) for introducing high-pressure water into the symmetrical bedding erosion jet water channel (11-4-3);
when the high-pressure water acts on the tail part of the high-pressure and low-pressure switching valve core (29), the recovery spring (28) is completely compressed, the inner cone water outlet (11-3-7) is closed, and the symmetrical bedding erosion jet nozzle (11-4-4) is opened to supply water;
when low-pressure water acts on the tail part of the high-low pressure switching valve core (29), the recovery spring (28) is not completely compressed, the high-low pressure switching valve core (29) closes the annular water outlet (11-1-1) in the first inner rod (11-1), and the cross drilling jet nozzle (11-3-1) and the circumferential cross reaming jet nozzle (11-3-3) are opened.
2. The hydraulic drill punching, mining and filling robot as claimed in claim 1, characterized in that the double-layer nested drill rod (12) is composed of a plurality of drill rod units connected together, each drill rod unit comprises a second inner rod (12-1), a second outer cylinder (12-2) and a second stabilizing beam (12-5) fixedly connecting the second inner rod and the second outer cylinder together, the second stabilizing beam (12-5) is provided with a bolt hole (12-7) for installing a stabilizer (12-6), the second inner rod (12-1) is of a hollow design, the hollow part of the second stabilizing beam is communicated with the hollow part of the first inner rod (11-1) in the hydraulic drill punch (11) and belongs to a part of the inner flow passage, and an annular cavity formed between the second inner rod (12-1) and the second outer cylinder (12-2) is communicated with an annular space formed between the first inner rod (11-1) and the first outer cylinder (11-2) in the hydraulic drill punch 11 and belongs to a part of the outer flow passage.
3. The hydraulic drill punching mining and filling robot as claimed in claim 2, wherein the front end of the rotary driving mechanism (8) is provided with a central through hole output shaft (8-2) which is adapted to the double-layer nested drill rod (12), the rotary driving mechanism (8) is further provided with a slag discharging filling rotary joint (13) at the periphery of the central through hole output shaft (8-2), a first sealing ring (8-4) is arranged between the central through hole output shaft and the central through hole output shaft, the tail end of the central through hole output shaft (8-2) is connected with a high-pressure rotary sealing device (9) and provided with a second sealing ring (8-5), the central through hole output shaft (8-2) is provided with two symmetrical through holes (8-2-1) which are communicated with the outer ring flow passage, the two symmetrical through holes (8-2-1) are respectively communicated with the filling joint (13-1) and the slag discharging joint (13-2), and the filling joint (13-1) and the slag discharging joint (13-2) are arranged on the slag discharging filling rotary joint (13).
4. A hydraulic drill-flushing mining and filling robot as claimed in claim 3, characterised in that the axial angle formed between two adjacent cross-drilling jets (18) and circumferential cross-reaming jets (19) is 60 °.
5. The hydraulic drill flushing mining and filling robot as claimed in claim 4, characterized in that the angle formed by the symmetrical bedding erosion jets (20) on the left and right sides of the hydraulic drill ram head (11) ranges from 90 ° to 180 °.
6. A method of operating a hydraulic drill flush mining and filling robot as recited in claim 2, comprising the steps of:
s1, preparation operation: the drilling angle adjusting oil cylinder (5) is controlled to enable the axis of the hydraulic drilling punch head (11) to be consistent with the direction of a coal seam, the supporting and stabilizing mechanism (4) tightly supports the side wall of the roadway, and the ground anchor device (3) is anchored on the bottom plate of the roadway;
s2, drilling and reaming for exploitation: the propulsion oil cylinder (7), the rotary driving mechanism (8) and the high-pressure water pump (27) work simultaneously, a low water pressure below 30MPa is set, and the cross drilling jet nozzle (11-3-1) and the circumferential cross reaming jet nozzle (11-3-3) are opened by using a high-low pressure switching valve core (29) and a recovery spring (28);
the hydraulic drill punching head (11) and the double-layer nested drill rod (12) are rotationally fed, cross drilling jet flow (18) and circumferential cross reaming jet flow (19) assist mechanical teeth and scrapers of the hydraulic drill punching head (11) to drill a reaming coal bed, and crushed coal and water mixture is conveyed to a slag collection bin (22) through an outer ring flow channel through a slag discharge connector (13-2);
the clamping mechanism (10) clamps a drill rod unit at the bottommost end of the double-layer nested drill rod (12), the rotary driving mechanism (8) retracts after reversing, a new drill rod unit is connected, and the process is repeated until the drilling and reaming depth reaches the preset mining depth;
the mixture of coal and water in the slag collecting bin (22) is processed by a dewatering screen (23) and then is output by a conveyor (25), and the fluid at the lower part of the dewatering screen (23) is processed by a filter (24) and then is connected with the water inlet of a high-pressure water pump (27);
s3, symmetrical bedding erosion exploitation: controlling a rotary driving mechanism (8) to enable the symmetrical bedding erosion jet flow (20) to face a coal seam, setting high water pressure of more than 60MPa, utilizing a high-low pressure switching valve core (29) to open a symmetrical bedding erosion jet flow nozzle (11-4-4), conveying a coal and water mixture crushed by the symmetrical bedding erosion jet flow (20) to a slag collecting bin (22) through an outer ring runner when a propulsion oil cylinder (7) retracts, sequentially disassembling drill rod units on a double-layer nested drill rod (12) and repeating the process until a hydraulic drill punch head (11) withdraws from the coal seam;
s4, filling: and (4) conveying the filling materials in the filling bin (26) to the goaf from the outer ring runner by using a filling pump (15) according to needs during the operation process of the step (3).
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| CN202210661577.1A CN114934771B (en) | 2022-06-13 | 2022-06-13 | Hydraulic drilling and flushing mining and filling robot and operation method |
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| CN201460734U (en) * | 2009-07-01 | 2010-05-12 | 煤炭科学研究总院重庆研究院 | High-pressure water jet coal seam drilling and reaming system |
| CN102213077A (en) * | 2011-05-25 | 2011-10-12 | 煤炭科学研究总院沈阳研究院 | Coal seam reaming system using three-dimensional (3D) swirling water jet and reaming and fracturing method for permeability enhancement |
| CN103556944B (en) * | 2013-11-13 | 2015-11-18 | 河南理工大学 | For soft projecting coal bed creep into double-deck in the anti-blocking drilling tool of deslagging and using method thereof |
| CN106988776B (en) * | 2017-03-30 | 2018-09-28 | 河南理工大学 | Soft and broken seam drilling guard aperture construction method |
| CN112796656A (en) * | 2020-12-30 | 2021-05-14 | 中国矿业大学 | Drilling robot for coal protective layer mining |
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