煤矿井下钻机变幅机构的发展现状与展望

钻机变幅机构用于调节钻孔的开孔参数,即方位角、倾角和高度。针对不同种类钻机变幅机构的结构差异性及煤矿井下钻孔的施工特点,总结了煤矿井下钻机变幅机构对开孔参数的调整要求,提出了煤矿井下钻机变幅机构的研究目标,即能够快速准确地调节钻孔开孔参数及保障钻机施工的稳定性。总结出煤矿井下钻机变幅机构具有外形尺寸小、参数调节范围较大、施工时需要稳固可靠、调节过程自动化程度高的总体特点。对目前煤矿井下钻机几种常见变幅机构的结构特点、辅助稳固方式、控制方法、适用范围及存在的优缺点进行分析,提出了煤矿井下钻机向钻孔机器人发展过程中变幅机构在结构和控制方法方面的研究方向,建议重点从关节自动锁紧装置开发、变幅机构结构适应自动加卸钻杆模式的需求、钻孔开孔参数智能调节、开孔参数与底盘调平及机身稳固的协调控制等方面开展研究工作。研究成果为煤矿井下钻机装备智能化提供了研究思路。

Development situation and prospect of luffing mechanism of drilling rig in underground coal mine

The luffing mechanism of drilling rig is used to adjust the opening parameters of the borehole, that is, azimuth angle, inclination angle, and height. According to the structural differences of different types of drilling rig and the construction characteristics of borehole in underground coal mine, this paper summarizes the adjustment requirements to opening parameters and proposes the research goal, which can rapidly and accurately adjust the parameters of the borehole and safeguard the stability of drilling construction. It is concluded that the luffing mechanism of drilling rig in underground coal mine has overall characteristics of small size, large adjustment range of parameters, reliable stability in construction, and high automation in the process of adjustment. According to the analysis of structural characteristics, auxiliary stable mode, control method, applicable range, and advantages and disadvantages of several common luffing mechanisms in underground coal mine, the key research directions in terms of structure and control methods of luffing mechanism are proposed in the process of development from drilling rig to drilling robot. It is suggested that the research should focus on the development of automatic locking device of joint, demand of automatic loading and unloading drillpipes, the intelligent adjustment of opening parameters, the coordinate control of opening parameters with chassis leveling and body stability. The research results provide an approach for the equipment intellectualization of drilling rig in underground coal mine.