软硬交错倾斜煤层下煤矿钻孔机器人钻杆系统振动特性研究

康明霞; 王忠宾; 刘新华; 魏东; 赵啦啦

doi:10.13272/j.issn.1671-251x.2023120052

软硬交错倾斜煤层下煤矿钻孔机器人钻杆系统振动特性研究

doi: 10.13272/j.issn.1671-251x.2023120052

1.
江苏建筑职业技术学院智能制造学院，江苏徐州　221116
2.
中国矿业大学机电工程学院，江苏徐州　221116

基金项目: 国家自然科学青年基金项目(52204179)。

详细信息

作者简介:
康明霞（1990—），女，山东聊城人，讲师，博士，研究方向为矿山装备智能化，E-mail：kangmx@cumt.edu.cn

中图分类号: TD67
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- 被引次数: 0
出版历程
- 收稿日期: 2023-12-20
- 修回日期: 2024-10-20
- 网络出版日期: 2024-11-07

Study on vibration characteristics of drill rod system in a coal mine drilling robot under interlaced soft and hard inclined coal seams

1.
School of Intelligent Manufacturing, Jiangsu Vocational Institute of Architectural Technology, Xuzhou 221116, China
2.
School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China

摘要

摘要: 煤矿钻孔机器人钻杆系统振动特性的研究是钻进轨迹预测及控制的重要前提。考虑水平钻进过程中钻杆系统与煤层交互约束的复杂机制，搭建煤矿钻孔机器人钻进实验平台及振动监测系统，开展不同软硬煤层及煤层倾斜角度下的水平钻进实验；采用经验模态分解方法对采集数据进行分解、滤波和重构处理，以消除噪声干扰，进而研究软硬交错倾斜煤层下钻孔机器人钻杆系统振动特性。研究结果表明：钻孔机器人无论是在硬→中硬→软煤层还是软→中硬→硬煤层中钻进，钻杆系统的纵向、横向、扭转振动幅度均随煤层倾斜角度的增大而增大；同一煤层倾斜角度下，钻孔机器人在软→中硬→硬煤层中钻进较在硬→中硬→软煤层中钻进时，钻杆系统的纵向、横向及扭转振动幅度更大；煤层倾斜角度较小时，软硬交错煤层对钻杆系统振动特性的影响较大，煤层倾斜角度较大时，煤层倾斜角度对振动特性的影响大于软硬交错煤层的影响；较大的砂石对钻杆系统振动产生一定影响。
- 煤矿钻孔机器人 /
- 软硬交错煤层 /
- 倾斜煤层 /
- 水平钻进 /
- 钻杆系统 /
- 振动特性
Abstract: Research on the vibration characteristics of the drill rod system in a coal mine drilling robot is essential for the prediction and control of drilling trajectories. Considering the complex interaction mechanisms between the drill rod system and coal seams during horizontal drilling, an experimental platform and vibration monitoring system for the coal mine drilling robot were established. Horizontal drilling experiments were conducted under various layering conditions of soft and hard coal seams and different seam inclination angles. The empirical mode decomposition method was used to decompose, filter, and reconstruct the collected data to eliminate noise interference and study the vibration characteristics of the drill rod system under interlaced soft and hard inclined coal seams. The results showed that as the inclination angle of the coal seam increased, the longitudinal, transverse, and torsional vibration amplitudes of the drill rod system increased when the robot was drilling through hard→medium-hard→soft or soft→medium-hard→hard coal seams. At the same inclination angle, the vibration amplitudes in the longitudinal, transverse, and torsional directions were higher when drilling through soft→medium-hard→hard coal seams than through hard→medium-hard→soft seams. When the inclination angle was small, the interlaced soft and hard coal seams had a greater impact on the drill rod system's vibration characteristics, whereas at larger angles, the seam inclination angle had a more significant effect than the layering. Moreover, larger sand and gravel particles had a certain impact on the vibration of the drill rod system.
- coal mine drilling robot /
- interlaced soft and hard coal seams /
- inclined coal seams /
- horizontal drilling /
- drill rod system /
- vibration characteristics

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图 1 煤矿钻孔机器人水平钻进时钻杆系统动载受力分析

Figure 1. Dynamic load analysis of drill rod system in coal mine drilling robot during horizontal drilling

下载: 全尺寸图片幻灯片

图 2 混凝土试块不同倾斜角度切割方法

Figure 2. Cutting methods for concrete trial blocks at different inclination angles

下载: 全尺寸图片幻灯片

图 3 切割后的混凝土试块（以C25为例）

Figure 3. Concrete trial blocks after cutting taking C25 trial block as an example

下载: 全尺寸图片幻灯片

图 4 煤矿钻孔机器人水平钻进实验平台及振动监测系统

Figure 4. Experimental platform and vibration monitoring system for horizontal drilling of coal mine drilling robot

下载: 全尺寸图片幻灯片

图 5 钻进方案1下钻杆系统X方向振动加速度信号处理

Figure 5. Vibration acceleration signal processing of drill rod system in X-direction under drilling scheme 1

下载: 全尺寸图片幻灯片

图 6 钻杆系统在软→中硬→硬煤层（C15→C25→C35）钻进过程中振动位移和转速分布

Figure 6. Distribution of vibration displacement and rotational speed of drill rod system while drilling through soft→medium-hard→hard coal seams（C15→C25→C35）

下载: 全尺寸图片幻灯片

图 7 钻杆系统在硬→中硬→软煤层（C35→C25→C15）钻进过程中振动位移和转速分布

Figure 7. Distribution of vibration displacement and rotational speed of drill rod system while drilling through hard→medium-hard→soft coal seams （C35→C25→C15）

下载: 全尺寸图片幻灯片

图 8 不同软硬交错煤层中钻杆系统振动位移幅值与转速的平均值和中位数对比

Figure 8. Comparison of mean and median values of vibration displacement amplitude and rotational speed of drill rod system in different interlaced soft and hard coal seams

下载: 全尺寸图片幻灯片

表 1 软硬交错倾斜煤层下煤矿钻孔机器人钻进实验设计方案

Table 1. Experimental design schemes for coal mine drilling robot under interlaced soft and hard inclined coal seams

序号	煤层倾斜角度/（°）	软硬交错煤层
1	15	软→中硬→硬（C15→C25→C35）
2	15	硬→中硬→软（C35→C25→C15）
3	30	软→中硬→硬（C15→C25→C35）
4	30	硬→中硬→软（C35→C25→C15）
5	45	软→中硬→硬（C15→C25→C35）
6	45	硬→中硬→软（C35→C25→C15）

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