Method for determining the pose parameters of peripheral holes based on the working space of fully computerized rock drilling rig

Abstract

The present invention relates to the technical field of automatic design blasting of roadway and tunnel intelligent excavation machinery, and provides a method for determining the position and posture parameters of peripheral holes based on the working space of a fully computerized rock drilling rig. The Carlo method randomly selects values ​​within the range of each joint to calculate the reachable position of the drill bit; applies discriminant conditions to the drill bit to calculate the maximum drillable range when drilling in various attitudes; establishes the peripheral hole extrapolation angle and the lateral width of the range Before drilling, select the best peripheral hole extrapolation angle; determine the optimal hole distance and peripheral hole coordinates, and combine the peripheral hole track tangent to determine the horizontal and vertical components of the peripheral hole extrapolation angle, Complete the perimeter hole design. This method is suitable for the excavation construction of small-section rock roadways in mines by computerized rock drilling rigs. Before the automatic drilling and positioning, the on-board computer can automatically complete the blasting design of the surrounding holes in combination with real-time working conditions, so as to avoid the influence of accidental factors and improve work efficiency. efficiency.

Description

technical field [0001] The invention relates to the technical field of automatic design and blasting of roadway and tunnel intelligent excavation machines, in particular to a method for determining the position and posture parameters of peripheral holes based on the working space of a fully computerized rock drilling rig. Background technique [0002] Fully computerized rock drilling rigs are controlled by computer programs, and are widely used in foreign tunnel construction, and are occasionally used in China. Different from large-section highways and railway tunnels, small-section rock roadways in mines have strict requirements on waterproof and explosion-proof safety, and the complex underground operating environment limits their research and development in this field. The application of related test products in underground not ideal. Therefore, the development of intelligent tunneling machinery and related technologies suitable for small-section rock roadways in mines i...

AI Technical Summary

Problems solved by technology

Although the use of tunnel drilling rigs to implement automatic drilling positioning can form peripheral holes with high precision and reduce excessive excavation caused by drilling deviations, the most advanced rock drilling rigs abroad can only be controlled according to pre-loaded computer control. The blasting design plan of the program is used for construction. Affected by accidental factors during drilling, all blast holes will not be able to be formed at one time, construction will stagnate, and the working time of a single cycle will be extended.

Moreover, when the rock drilling rig is working, there is often a large gap between the actual working condition and the ideal working condition. With the change of the underground environment, the positioning accuracy of the surrounding holes is often not satisfactory.

If the external angle of the pre-designed peripheral holes is small due to the large section profile, and the parking position of the rock drilling rig is not ideal, its working space cannot cover all blast holes, especially the peripheral holes are greatly affected by this

Considering that manual operations are still commonly used in China, the implementation of blasting design depends on the skills of workers, resulting in insufficient ability to control blasting and poor smooth blasting effects. Under the premise of a large number of construction and construction, a domestic computer rock drilling with strong adaptability has been developed. trolley imminent

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