Drilling device for mine engineering blasting

Abstract

The invention discloses a drilling device for mine engineering blasting. The drilling device comprises a crawler chassis, a mounting table, a main control box, an electric telescopic rod, a clamping base, a first motor, a sound wave detector, a multispectral sensor, a second motor, a laser range finder and other components. The main control box integrates a drilling track planning module, a self-adaptive adjustment module and an error compensation module, rock stratum changes are sensed through a multispectral sensor and a sound wave detector, and data support is provided for the modules. The laser range finder monitors the drilling depth and the axis offset, and visual and intelligent control is achieved. The lateral impact force of the drill bit is counteracted through the supporting rod, shaking is reduced, and the drilling straightness is guaranteed; the inclination angle of the drill rod is accurately adjusted through a worm and worm gear transmission structure, and design requirements are met; the design of spring buffering, guide rod resistance reduction and the like improves the equipment stability and prolongs the service life. The device can actively adapt to complex geology, manual intervention is reduced, and the precision, flexibility and operation efficiency of mine blasting drilling operation are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of drilling devices, in particular to a drilling device for mine engineering blasting. BACKGROUND

[0002] In mine engineering blasting operations, drilling devices are indispensable key equipment, and their performance directly affects the blasting effect and the safety of subsequent operations. With the extension of mine exploitation to deep and complex geological conditions, higher requirements are put forward for the precision, efficiency and adaptability of drilling devices. However, the traditional drilling devices often expose many limitations when dealing with complex geological conditions and high-precision drilling requirements, making it difficult to meet the needs of modern mine engineering blasting operations.

[0003] The common drilling device has obvious deficiencies in structural design. First, the traditional device lacks effective support mechanism, which leads to the drill bit being easily affected by lateral impact force of rock during drilling, resulting in shaking or even deviation, which seriously affects the straightness and uniformity of the hole diameter. Second, the traditional device is not flexible in adjusting the inclination angle of the drill rod, making it difficult to achieve precise drilling at multiple angles, which is particularly evident in complex angle drilling operations, resulting in low efficiency and large errors. In addition, the traditional device lacks advanced rock layer perception and drilling trajectory planning module, which cannot capture rock layer change information in real time and adjust drilling parameters accordingly, resulting in reliance on manual experience when operating in complex geological conditions, low efficiency and safety hazards, which cannot meet the working requirements of drilling device application. Therefore, a drilling device for mine engineering blasting is proposed. SUMMARY

[0004] The present application provides the following technical scheme: a drilling device for mine engineering blasting, comprising: A tracked chassis, a mounting table is installed on the top of the tracked chassis, a main control box is installed on one side of the upper surface of the mounting table, and an electric telescopic rod is installed on the other side of the upper surface of the mounting table; A clamping seat is installed at the top end of the electric telescopic rod, half-round clamping seats are installed on both sides of the top of the clamping seat, an adjusting seat is clamped outside the half-round clamping seat, and a top plate is connected to the top of the adjusting seat; A first motor is installed on the upper surface of the top plate, a drill rod is coaxially connected to the outer end of the rotor of the first motor, and an assembly frame is installed on the upper surface of the top plate outside the drill rod; The sound wave detector is installed on one side of the top of the first motor, a multi-spectrum sensor is installed on the other side of the top of the first motor, plug rods are inserted into the two sides of the inside of the assembly frame, assembly barrels are installed on the outer ends of the plug rods, support rods are inserted into the inside of the assembly barrels, the sound wave detector and the multi-spectrum sensor can be added to capture the sound wave signals reflected by the rock layer in real time, the hardness change or potential crack of the rock layer can be sensed in advance, the drill bit is provided with early warning, the risk of sticking or deviation caused by suddenly encountering hard rock or soft interlayer is avoided, meanwhile, the multi-spectrum sensor can analyze the spectral characteristics of the rock, accurately identify the mineral composition and fracture development zone, provide key data support for the drilling trajectory planning module, and then the complex geological conditions can be actively adapted, the manual intervention is reduced, and the operation efficiency is improved; The second motor is installed at the edge of the top plate, bearings are installed on the two sides of the bottom of the top plate, a worm is inserted into the inside of the bearing, a cylinder is inserted into the inside of the clamping seat, and a worm wheel is sleeved on the outside of the cylinder; The laser range finder is installed at the bottom of the top plate, the inside of the main control box is integrated with a drilling trajectory planning module, an adaptive adjustment module and an error compensation module, the integration and application of the laser range finder and the drilling trajectory planning module realize visualized and intelligentized control of the drilling process, the drilling depth and the axis offset can be monitored in real time through the laser range finder, dynamic feedback is provided for the trajectory planning module, the drilling is ensured to accurately advance along the predetermined path, and the drilling accuracy is improved.

[0005] Preferably, the two sides of the clamping seat are connected with side plates, guide rods are inserted into the inside of the side plates at the middle positions, the bottom ends of the guide rods are connected with the corresponding positions on the upper surface of the mounting table, and the outer surfaces of the guide rods are polished and smoothed, so that the friction resistance of the clamping seat during movement is reduced, the adjustment process of the equipment is stable and smooth, and the operation stability is improved.

[0006] Preferably, threaded holes are formed in the inside of the plug rod and the assembly frame, the number of the threaded holes in the inside of the plug rod is 2-6 groups, and bolts are screwed into the inside of the threaded holes in the assembly frame, so that the position of the support rod can be flexibly adjusted and fixed, and the structural stability and adaptability in the drilling operation are enhanced.

[0007] Preferably, the length of the support rod is twice the length of the assembly barrel, hard rubber pads are coaxially installed at the ends of the support rods towards the drill rod tip, and the thickness of the hard rubber pad is 5-15 cm, so that the length of the support rod is increased, the contact area with the rock wall is increased, the support effect is improved, the drill bit is prevented from shaking, and the straightness of the drilling is ensured.

[0008] Preferably, the outer part of the support rod is sleeved with a disc at the position of the inner side of the assembly cylinder, and the outer part of the support rod is sleeved with a spring between the disc and the inner wall of the assembly cylinder, the spring is sleeved on the outer part of the support rod, provides elastic buffer, effectively absorbs the impact force in the drilling process, protects the drill pipe and prolongs the service life of the equipment.

[0009] Preferably, the worm is engaged with the worm gear, the outer end of the worm is coaxially connected with the outer end of the rotor of the second motor, the worm gear is in the shape of a semicircle, the worm and the worm gear are engaged to drive, the inclination angle of the drill pipe is accurately adjusted, the drilling angle is ensured to be consistent with the design requirement, and the operation accuracy is improved.

[0010] Preferably, the top of the semicircular clamping seat is provided with a through groove, the through groove is in the shape of an arc, the bottom of the adjusting seat is connected with an inserting shaft at the middle position, the inserting shaft penetrates the inside of the through groove, and the bottom end of the inserting shaft is connected with an arc-shaped plate, the arc-shaped through groove is connected with the inserting shaft, the adjusting seat is allowed to swing flexibly within a certain range, and the freedom degree of the angle adjustment of the drill pipe and the operation convenience are enhanced.

[0011] Preferably, the sound wave detector is fixed to the top of the first motor through the telescopic support, the detection probe of the sound wave detector is arranged at an angle of 15-30 degrees with the axis of the drill pipe, the sound wave detector is signal connected with the self-adaptive adjusting module in the main control box, the multi-spectrum sensor is data interchanged with the drilling track planning module, the sound wave detector is obliquely installed and signal linked with the self-adaptive adjusting module, the rock stratum change is sensed in real time, the drilling parameters are automatically adjusted, and the operation safety is improved.

[0012] Preferably, the laser beam emitted by the laser range finder is arranged in line with the axis of the drill pipe, the laser range finder is directly coupled with the error compensation module, and the drilling track planning module is internally provided with a three-dimensional geological modeling unit; the laser range finder is arranged in line and directly coupled with the error compensation module, drilling deviation is monitored in real time and automatically corrected, and the drill pipe is ensured to be accurately pushed along the predetermined path.

[0013] Preferably, the drilling track planning module in the main control box is internally provided with a BP neural network algorithm, and the self-adaptive adjusting module is internally integrated with a fuzzy PID control algorithm; the drilling track planning module internally provided with the BP neural network algorithm intelligently optimizes the drilling path in combination with geological data, the operation efficiency and precision under complex geological conditions are improved, the fuzzy PID control algorithm is integrated in the self-adaptive adjusting module, the drilling parameters are dynamically adjusted in real time, and the drill bit is ensured to be in the best working state.

[0014] Compared with the prior art, the drilling device for mine engineering blasting has the following beneficial effects: 1. The supporting rod added in the application can support the rock wall outside the two sides in real time when the drill rod drills, and the movement of the assembly cylinder and the supporting rod can be driven by the inserted rod, so that the distance between the two groups of supporting rods can be adjusted, so that when the drill bit drills into the rock, the lateral impact force of the rock on the drill bit can be offset by the supporting rod, and the extension distance of the supporting rod can be adjusted, so that each supporting rod can closely fit the rock wall, which can not only reduce the shaking of the drill bit during drilling, but also guide the drill bit, especially when drilling in rocks with high hardness or developed fissures, the probability of drilling deviation can be reduced, and the straightness and uniformity of the hole diameter can be ensured; 2. The second motor drives the rotation of the worm, which drives the left and right swinging of the adjusting seat under the cooperation of the worm gear, so that the inclination angle of the drill rod can be adjusted, so that the drill rod can be adjusted at multiple angles within a certain range, and the drilling angle can be highly consistent with the design requirements, effectively solving the problems of low efficiency and large error of traditional devices in complex angle drilling, and improving the flexibility and precision of mine blasting operation; 3. The sound wave detector and the multi-spectral sensor can capture the reflected sound wave signal of the rock layer in real time, can perceive the hardness change or potential crack of the rock layer in advance, can provide early warning for the drill bit, can avoid the risk of sticking or deviation caused by suddenly encountering hard rock or soft interlayer, the multi-spectral sensor can analyze the spectral characteristics of the rock, can accurately identify the mineral composition and fissure development zone, can provide key data support for the drilling trajectory planning module, and can actively adapt to complex geological conditions, reduce manual intervention, improve operation efficiency, and through the integrated application of the laser range finder and the drilling trajectory planning module, the drilling process can be visualized and intelligently controlled, the drilling depth and axis offset can be monitored in real time by the laser range finder, dynamic feedback can be provided for the trajectory planning module, the drilling can be accurately pushed along the predetermined path, and the drilling accuracy is improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the application.

[0016] Figure 2 It is a structural schematic diagram of the top of the mounting table.

[0017] Figure 3 It is a structural schematic diagram of the top plate.

[0018] Figure 4 It is a sectional view of the assembly cylinder.

[0019] Figure 5 It is a structural schematic diagram of the clamping seat and the adjusting seat.

[0020] Figure 6 It is a structural assembly diagram of the clamping seat and the adjusting seat.

[0021] Figure 7 is the bottom view structural schematic diagram of the adjusting seat of the application.

[0022] Mark explanation: 1, track chassis; 2, mounting table; 3, main control box; 4, electric telescopic rod; 5, clamping seat; 6, semicircular clamping seat; 7, adjusting seat; 8, top plate; 9, first motor; 10, drill rod; 11, acoustic detector; 12, multispectral sensor; 13, assembly frame; 14, plug rod; 15, assembly cylinder; 16, support rod; 17, disc; 18, hard rubber pad; 19, spring; 20, threaded hole; 21, bolt; 22, second motor; 23, laser range finder; 24, bearing frame; 25, cylinder; 26, worm gear; 27, worm; 28, through slot; 29, plug shaft; 30, arc plate; 31, side plate; 32, guide rod. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0024] The application provides a technical solution, a drilling device for mine engineering blasting, comprising a track chassis 1, a mounting table 2, a main control box 3, an electric telescopic rod 4, a clamping seat 5, a semicircular clamping seat 6, an adjusting seat 7, a top plate 8, a first motor 9, a drill rod 10, an acoustic detector 11, a multispectral sensor 12, an assembly frame 13, a plug rod 14, an assembly cylinder 15, a support rod 16, a disc 17, a hard rubber pad 18, a spring 19, a threaded hole 20, a bolt 21, a second motor 22, a laser range finder 23, a bearing frame 24, a cylinder 25, a worm gear 26, a worm 27, a through slot 28, a plug shaft 29, an arc plate 30, a side plate 31 and a guide rod 32. Please refer to Figure 1 , the track chassis 1, the top of the track chassis 1 is provided with the mounting table 2, one side of the upper surface of the mounting table 2 is provided with the main control box 3, and the other side of the upper surface of the mounting table 2 is provided with the electric telescopic rod 4; Please refer to Figure 2 , the clamping seat 5 is arranged at the top end of the electric telescopic rod 4, please refer to Figure 3 , the top of the clamping seat 5 is provided with the semicircular clamping seat 6 on both sides, the semicircular clamping seat 6 is clamped with the adjusting seat 7 outside, the top of the adjusting seat 7 is connected with the top plate 8, please refer to Figure 2The outer sides of the clamping seat 5 are connected with side plates 31, the inner middle positions of the side plates 31 are inserted with guide rods 32, the bottom ends of the guide rods 32 are connected with the corresponding positions on the upper surface of the mounting table 2, and the outer surfaces of the guide rods 32 are polished and smoothed; Please refer to Figure 3 The first motor 9 is arranged on the upper surface of the top plate 8, the outer end of the rotor of the first motor 9 is coaxially connected with the drill rod 10, and the assembly frame 13 is arranged on the upper surface of the top plate 8 at a position outside the drill rod 10; The acoustic wave detector 11 is arranged on one side of the top of the first motor 9, and the multi-spectrum sensor 12 is arranged on the other side of the top of the first motor 9. Please refer to Figure 4 The inner sides of the assembly frame 13 are inserted with plug rods 14, the outer ends of the plug rods 14 are arranged with assembly cylinders 15, and the inner sides of the assembly cylinders 15 are inserted with support rods 16; Please refer to Figure 3 The second motor 22 is arranged at the edge of the top plate 8. Please refer to Figure 5 and Figure 6 The bottom sides of the top plate 8 are arranged with bearing frames 24, the inner sides of the bearing frames 24 are inserted with worm gears 27, the inner sides of the clamping seats 5 are inserted with cylinders 25, and the outer sides of the cylinders 25 are arranged with worm wheels 26. Please refer to Figure 4 The inner sides of the plug rods 14 and the assembly frame 13 are arranged with threaded holes 20, the number of the threaded holes 20 in the inner sides of the plug rods 14 is 2-6 groups, the threaded holes 20 in the inner sides of the assembly frame 13 are screwed with bolts 21, the length of the support rods 16 is twice the length of the assembly cylinders 15, the ends of the support rods 16 towards the tips of the drill rods 10 are coaxially arranged with hard rubber pads 18, the thickness of the hard rubber pads 18 is 5-15 cm, the outer sides of the support rods 16 are arranged with discs 17 at positions on one side of the inner sides of the assembly cylinders 15, and the outer sides of the support rods 16 are arranged with springs 19 at positions between the discs 17 and the inner walls of the assembly cylinders 15. Please refer to Figure 6 and Figure 7 The worm gears 27 are engaged with the worm wheels 26, the outer ends of the worm gears 27 are coaxially connected with the outer ends of the rotors of the second motors 22, the shapes of the worm wheels 26 are semicircular, the top sides of the semicircular clamping seats are arranged with through grooves 28, the shapes of the through grooves 28 are arc-shaped, the bottom middle positions of the adjusting seats 7 are connected with plug shafts 29, the plug shafts 29 penetrate the inner sides of the through grooves 28, and the bottom ends of the plug shafts 29 are connected with arc-shaped plates 30; The specific implementation process of the above structure in the drilling process is as follows: Device preparation and installation: move the tracked chassis 1 to the target drilling location, and use the mobility of the tracked chassis 1 to flexibly travel in complex terrain. Through its stable support structure, the overall device is kept in a stable state, avoiding the influence of device shaking on drilling accuracy during drilling. Check the installation stability of the main control box 3, electric telescopic rod 4 and other components on the installation table 2 to ensure that there is no looseness or damage. The main control box 3 is the control core of the device, and the drilling trajectory planning module, adaptive adjustment module and error compensation module integrated inside will play a key role in the subsequent drilling process; the electric telescopic rod 4 is used to adjust the height of the clamping seat 5, and its telescopic function needs to be ensured to be normal. Check and debug the clamping seat 5 and its related components. Confirm that the semi-circular clamping seat 6 and the adjusting seat 7 are firmly clamped, the guide rod 32 in the side plate 31 can be smoothly inserted and pulled out, and the surface is polished smooth, ensuring that the adjusting seat 7 moves up and down without jamming, providing a stable foundation for subsequent drilling rod 10 angle adjustment and drilling operation. Install the first motor 9, drilling rod 10, acoustic detector 11, multi-spectral sensor 12 and other components. The first motor 9 is stably installed on the top surface of the top plate 8, ensuring that the outer end of its rotor is coaxially connected with the drilling rod 10 to ensure stable power transmission. The acoustic detector 11 is fixed to the top of the first motor 9 through a telescopic support, and the detection probe is arranged at an angle of 15-30 degrees with the axis of the drilling rod 10, ensuring that it can accurately capture the reflected acoustic signals of the rock stratum; the multi-spectral sensor 12 is installed at a suitable position to effectively collect rock spectral information, and data intercommunication is realized with the drilling trajectory planning module. Install the second motor 22, bearing bracket 24, worm 27, worm gear 26 and other angle adjustment components. Ensure that the worm 27 and the worm gear 26 are correctly meshed, and the outer end of the rotor of the second motor 22 is coaxially connected with the worm 27 to provide power for the inclination angle adjustment of the drilling rod 10. At the same time, check the cooperation of the adjusting seat 7 shaft 29 and the semi-circular clamping seat 6 through slot 28, and the connection stability of the arc plate 30 to ensure that the adjusting seat 7 can swing flexibly. Install the laser range finder 23 so that the laser beam emitted by it is arranged in line with the axis of the drilling rod 10, and is directly coupled with the error compensation module in the main control box 3, providing protection for real-time monitoring of drilling depth and axis offset; Drilling parameter setting and trajectory planning: start the main control box 3 and enter the drilling trajectory planning module. Use the built-in three-dimensional geological modeling unit to construct a three-dimensional geological model of the drilling area in combination with the on-site geological survey data, and intuitively present the rock stratum distribution, hardness and other information. Through the BP neural network algorithm built in the drilling trajectory planning module, input the designed drilling depth, angle, aperture and other parameters, and generate an optimal drilling trajectory scheme in combination with the three-dimensional geological model. At the same time, the multi-spectral sensor 12 transmits the real-time collected rock spectral feature data to the drilling trajectory planning module to further optimize the drilling trajectory and ensure that the drilling path avoids potential hard rock or weak interlayer regions; Drilling process operation: start the electric telescopic rod 4, adjust the height of the clamping seat 5 according to the drilling position and height requirement, drive the top plate 8 and the components installed on it to move to the appropriate position. During the adjustment process, the guide rod 32 plays a guiding and stabilizing role to ensure the smooth lifting of the top plate 8, start the second motor 22, through the transmission of the worm 27 and the worm gear 26, drive the adjusting seat 7 to swing left and right, and then adjust the inclination angle of the drill rod 10. According to the design requirements, adjust the drill rod 10 to the accurate drilling angle, ensure that the drilling angle is highly consistent with the design requirements, start the first motor 9 to drive the drill rod 10 to rotate and start the drilling operation. During the drilling process, the acoustic detector 11 captures the reflected acoustic signals of the rock formation in real time and transmits the data to the adaptive adjustment module in the main control box 3. The adaptive adjustment module uses the built-in fuzzy PID control algorithm to judge the hardness change or potential fracture condition of the rock formation according to the acoustic signals, automatically adjusts the speed of the first motor 9, the feed speed of the drill rod 10 and other parameters, avoids the risk of sticking or deflection caused by sudden hard rock or soft interlayer, at the same time, the multispectral sensor 12 continuously analyzes the spectral characteristics of the rock, identifies the mineral composition and fracture development zone, and feeds back the data to the drilling trajectory planning module. The drilling trajectory planning module adjusts the drilling trajectory dynamically according to these data to ensure that the drilling advances along the optimal path. With the drilling of the drill rod 10, the assembled cylinder 15 and the support rod 16 are moved by the inserting rod 14 to adjust the distance between the two groups of support rods 16. Each support rod 16 closely fits the rock wall and supports on the outside of the rock wall. When the drill bit drills into the rock, the support rod 16 offsets the lateral impact force of the rock on the drill bit, reduces the shaking of the drill bit during drilling, and guides the drill bit, reducing the probability of drilling deviation and ensuring the straightness and uniformity of the hole diameter. During the adjustment process, the spring 19 plays a buffering and adaptive adjustment role to ensure that the support rod 16 closely contacts the rock wall. The laser range finder 23 monitors the drilling depth and axis deviation in real time and transmits the data to the error compensation module. The error compensation module adjusts the drilling process in real time according to the preset drilling parameters and monitoring data to ensure accurate advancement along the predetermined path; Drilling completion and equipment processing: when the drilling reaches the preset depth, stop the first motor 9 to stop the rotation of the drill rod 10. Then, start the electric telescopic rod 4 to slowly lift the drill rod 10 to the initial position to avoid damage to the drill bit and the drilling hole during the lifting process, turn off the power of the second motor 22, the main control box 3 and other equipment, and conduct a comprehensive inspection and maintenance of the equipment. Clean the drill rod 10, support rod 16 and other components of the rock debris and impurities, check whether there is wear and damage of each component, and timely repair or replace, move the track chassis 1 to the appropriate position, and properly store the equipment for the next drilling operation; The laser range finder 23 is installed at the bottom of the top plate 8, and the internal control box 3 is integrated with a drilling trajectory planning module, an adaptive adjustment module and an error compensation module. The acoustic detector 11 is fixed to the top of the first motor 9 through an extendable support, and the detection probe of the acoustic detector 11 is arranged at an angle of 15-30 degrees with the axis of the drill pipe 10. The acoustic detector 11 is signal connected with the adaptive adjustment module in the internal control box 3. The multispectral sensor 12 is data interchanged with the drilling trajectory planning module. The laser beam emitted by the laser range finder 23 is arranged in line with the axis of the drill pipe 10. The laser range finder 23 is directly coupled with the error compensation module. The drilling trajectory planning module is internally provided with a three-dimensional geological modeling unit. The drilling trajectory planning module in the internal control box 3 is internally provided with a BP neural network algorithm. The adaptive adjustment module is internally integrated with a fuzzy PID control algorithm. The specific implementation process of the above functions is as follows: The drilling trajectory planning module implementation process: Before starting the drilling operation, the staff first inputs the basic geological data of the drilling area, such as rock layer distribution, general trend and other information, into the drilling trajectory planning module in the internal control box 3. The module uses the internally provided three-dimensional geological modeling unit to convert these data into an intuitive three-dimensional geological model, in which the positions and shapes of different rock layers can be clearly seen. Then, the staff sets the target parameters such as the depth, angle and aperture of the drilling hole according to the actual operation requirements. The drilling trajectory planning module will start the internal algorithm mechanism, combine the three-dimensional geological model and the target parameters, and start planning the drilling trajectory. In this process, the multispectral sensor 12 plays an important role, which continuously collects rock spectral feature data and transmits it to the drilling trajectory planning module in real time. The module analyzes these data and accurately identifies the mineral composition in the rock and the areas with developed fissures. According to the analysis results, the module optimizes the initially planned drilling trajectory to avoid places where hard rock or weak interlayer may exist, thereby determining the final drilling trajectory scheme. During the drilling process, the laser range finder 23 will monitor the drilling depth and axis offset in real time and feed back the data to the drilling trajectory planning module, which will dynamically adjust the drilling trajectory according to the feedback to ensure that the drilling hole advances along the most reasonable path; The adaptive adjustment module realizes the process: after the drilling operation starts, the acoustic detector 11 starts to work. The detection probe arranged at a specific angle continuously captures the acoustic signals reflected by the rock stratum and transmits the signals to the adaptive adjustment module in the main control box in real time. After receiving the acoustic signals, the adaptive adjustment module analyzes and processes the signals to determine the hardness of the current rock stratum and whether there are potential cracks. Once it finds that the hardness of the rock stratum changes or potential cracks are detected, the adaptive adjustment module will quickly respond. According to the control logic integrated inside, it sends instructions to the first motor 9 to adjust the speed of the first motor 9. If hard rock is encountered, the speed is appropriately reduced to prevent the drill bit from being damaged due to excessive force. If a weak interlayer is encountered, the speed is increased to ensure drilling efficiency. At the same time, the adaptive adjustment module also adjusts the feed speed of the drill pipe 10, slows down the feed speed in hard rock areas to avoid sticking, and speeds up the feed speed in weak interlayer areas to ensure smooth drilling operation. Through such real-time adjustment, the adaptive adjustment module effectively avoids sticking, deviation and other problems caused by changes in the rock stratum, ensuring smooth and efficient drilling operation. The error compensation module realizes the process: the laser range finder 23 continuously monitors the depth and axis offset of the drilling from the start of the drilling operation. The laser beam emitted by the laser range finder 23 is collinear with the drill pipe axis, which can accurately obtain relevant data and directly transmit the data to the error compensation module in the main control box 3. After receiving the data, the error compensation module compares the current drilling depth and axis offset with the pre-set drilling parameters. Once it finds that there is a deviation between the actual drilling and the pre-set parameters, the error compensation module will immediately start the compensation mechanism. According to the specific situation of the deviation, it sends adjustment instructions to the relevant execution components. For example, if it finds that the drilling axis deviates, the error compensation module will control the second motor 22 to drive the worm 27 to rotate, adjust the angle of the adjusting seat 7 through the cooperation of the worm gear 26, and correct the inclination angle of the drill pipe 10 to make the drill return to the predetermined path, improving the accuracy of drilling.

[0025] The support rod 16 added in the scheme can support the rock wall on both sides outside the rock wall in real time when the drill pipe 10 is drilling, and the movement of the support rod 16 can be driven by the insertion rod 14 to adjust the distance between the two groups of support rods 16. When the drill bit drills into the rock, the lateral impact force of the rock on the drill bit can be offset by the support rod 16, and the extension distance of the support rod 16 can be adjusted to make each support rod 16 closely fit the rock wall, which not only reduces the shaking of the drill bit during drilling, but also guides the drill bit. Especially when drilling in rocks with high hardness or developed cracks, the probability of drilling deviation can be reduced to ensure the straightness and uniformity of the hole diameter.

[0026] The second motor 22 drives the rotation of the worm 27, and then drives the left and right swing of the adjusting seat 7 under the cooperation of the worm wheel 26, and then adjusts the inclination angle of the drill rod 10, so that the drill rod 10 can be adjusted at multiple angles within a certain range, and the drilling angle is highly consistent with the design requirement, effectively solving the problems of low efficiency and large error of the traditional device in complex angle drilling, and improving the flexibility and accuracy of the mine blasting operation.

[0027] The added sound wave detector 11 and multispectral sensor 12 can capture the reflected sound wave signal of the rock layer in real time, can perceive the hardness change or potential crack of the rock layer in advance, provide early warning for the drill bit, avoid the risk of sticking or deflection caused by suddenly encountering hard rock or weak interlayer, the multispectral sensor 12 can analyze the spectral characteristics of the rock, accurately identify the mineral composition and fracture development zone, provide key data support for the drilling trajectory planning module, and then can actively adapt to complex geological conditions, reduce manual intervention, improve operation efficiency, and through the integrated application of the laser range finder 23 and the drilling trajectory planning module, realize the visualization and intelligent control of the drilling process, so that the drilling depth and axis offset can be monitored in real time through the laser range finder 23, provide dynamic feedback for the trajectory planning module, ensure that the drilling is accurately pushed along the predetermined path, and improve the accuracy of drilling.

[0028] It should be noted that in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0029] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A drilling device for blasting in mining engineering, characterized in that, include: Tracked chassis (1), with a mounting platform (2) installed on the top of the tracked chassis (1), a main control box (3) installed on one side of the upper surface of the mounting platform (2), and an electric telescopic rod (4) installed on the other side of the upper surface of the mounting platform (2). A snap-fit ​​seat (5) is installed on the top of the electric telescopic rod (4). Semicircular snap-fit ​​seats (6) are installed on both sides of the top of the snap-fit ​​seat (5). An adjustment seat (7) is snapped onto the outside of the semicircular snap-fit ​​seat (6). A top plate (8) is connected to the top of the adjustment seat (7). The first motor (9) is mounted on the upper surface of the top plate (8). The outer end of the rotor of the first motor (9) is coaxially connected to the drill rod (10). An assembly frame (13) is installed on the upper surface of the top plate (8) outside the drill rod (10). An acoustic wave detector (11) is installed on one side of the top of the first motor (9). A multispectral sensor (12) is installed on the other side of the top of the first motor (9). Insert rods (14) are inserted on both sides of the inside of the assembly frame (13), and an assembly cylinder (15) is installed on the outer end of each insert rod (14). A support rod (16) is inserted inside each assembly cylinder (15). The second motor (22) is installed at the edge of the top plate (8). Bearing brackets (24) are installed on both sides of the bottom of the top plate (8). A worm gear (27) is inserted inside the bearing bracket (24). A cylinder (25) is inserted inside the snap-fit ​​seat (5). A worm wheel (26) is sleeved on the outside of the cylinder (25). The laser rangefinder (23) is installed at the bottom of the top plate (8). The main control box (3) integrates a drilling trajectory planning module, an adaptive adjustment module, and an error compensation module.

2. The drilling device for blasting in mining engineering according to claim 1, characterized in that: The outer sides of the card holder (5) are connected to side plates (31), and guide rods (32) are inserted in the middle of the inner side plates (31). The bottom ends of the guide rods (32) are connected to the corresponding positions on the upper surface of the mounting platform (2). The outer surfaces of the guide rods (32) are all polished smooth.

3. The drilling device for blasting in mining engineering according to claim 1, characterized in that: Both the insert rod (14) and the assembly frame (13) have threaded holes (20) inside. The number of threaded holes (20) inside the insert rod (14) is 2-6 sets. Bolts (21) are screwed into the threaded holes (20) inside the assembly frame (13).

4. A drilling device for blasting in mining engineering according to claim 1, characterized in that: The length of the support rod (16) is twice the length of the assembly cylinder (15). The end of the support rod (16) facing the tip of the drill rod (10) is coaxially equipped with a hard rubber pad (18), and the thickness of the hard rubber pad (18) is 5-15 cm.

5. A drilling device for blasting in mining engineering according to claim 1, characterized in that: A disc (17) is fitted on the outside of the support rod (16) at a position inside the assembly cylinder (15), and a spring (19) is fitted on the outside of the support rod (16) at a position between the disc (17) and the inner wall of the assembly cylinder (15).

6. A drilling device for blasting in mining engineering according to claim 1, characterized in that: The worm (27) meshes with the worm wheel (26), the outer end of the worm (27) is coaxially connected to the outer end of the rotor of the second motor (22), and the worm wheel (26) is semi-circular in shape.

7. A drilling device for blasting in mining engineering according to claim 1, characterized in that: The top of each of the semi-circular card holders is provided with a through groove (28), the through groove (28) is arc-shaped, and the bottom middle position of each of the adjusting seats (7) is connected with a plug shaft (29), the plug shaft (29) passes through the interior of the through groove (28), and the bottom end of each plug shaft (29) is connected with an arc plate (30).

8. A drilling device for blasting in mining engineering according to claim 1, characterized in that: The acoustic wave detector (11) is fixed to the top of the first motor (9) by a telescopic bracket. The detection probe of the acoustic wave detector (11) is arranged at an angle of 15-30 degrees with the axis of the drill rod (10). The acoustic wave detector (11) is connected to the adaptive adjustment module in the main control box (3) by signal. The multispectral sensor (12) communicates with the drilling trajectory planning module.

9. A drilling device for blasting in mining engineering according to claim 1, characterized in that: The laser beam emitted by the laser rangefinder (23) is collinear with the axis of the drill rod (10). The laser rangefinder (23) is directly coupled to the error compensation module. The borehole trajectory planning module has a built-in three-dimensional geological modeling unit.

10. A drilling device for blasting in mining engineering according to claim 1, characterized in that: The drilling trajectory planning module inside the main control box (3) has a built-in BP neural network algorithm, and the adaptive adjustment module has an integrated fuzzy PID control algorithm.

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