Dust removal and slag discharge system of underground coal mine drilling machine and control method

Abstract

The invention provides a dust removal and slag discharge system of an underground coal mine drilling machine and a control method. A mining weighing sensor is mounted between a slag settling tank and the drilling machine; a mining gas sensor and a mining CO sensor are mounted on the first gas pipe; a first valve opening sensor is mounted on the mining electric deslagging butterfly valve, and a second valve opening sensor is mounted on the mining electric exhaust butterfly valve; the mining weighing sensor, the mining gas sensor, the mining CO sensor, the first valve opening degree sensor and the second valve opening degree sensor are respectively connected with the mining intrinsic safety type collector, the mining intrinsic safety type collector is connected with the mining intrinsic safety type controller, and the mining intrinsic safety type controller controls the mining electric deslagging butterfly valve and the mining electric exhaust butterfly valve. The control method for the mining electric deslagging butterfly valve and the mining electric exhaust butterfly valve comprises PID (proportion integration differentiation) control, and feed-forward compensation control is added on the basis of the PID control. By means of the system, the automation degree of the drilling machine is effectively improved, and high-efficiency and low-cost drilling rock debris automatic discharging is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of underground coal mine drilling construction, relates to slag dust returned in a hole, and specifically relates to a dust removal and slag discharge system for an underground coal mine drilling rig and a control method. Background Art

[0002] During the construction of underground drilling rigs in coal mines, the return slag dust in the hole is a common problem. Since the air drill generates a lot of dust during the drilling process, the dust is blown out of the hole under the action of the wind flow, resulting in reduced visibility at the construction site. In addition, if the return slag is not handled in time, it is easy to cause sediment accumulation, affecting the normal operation of the drilling rig. The main problems are specifically reflected in the following aspects:

[0003] First, the dust problem: the dust in the hole is large. During the drilling operation, the high-speed rotating drill bit is crushed and produces a large amount of dust. The dust is blown out of the hole under the action of the wind flow. The large-size dust gradually settles under the action of gravity, while the small-size dust spreads to the vicinity of the working surface after being discharged, resulting in reduced visibility at the construction site. The diffusion of dust not only affects the sight of the construction workers, but also may interfere with the normal operation of the drilling rig and reduce construction efficiency.

[0004] Second, sediment accumulation: If the returned slag is not handled in time, dust and debris will accumulate in the hole to form sediment. The accumulation of sediment will occupy the space in the hole and affect the drilling depth of the drill. The operation of the drilling rig is hindered: The accumulation of sediment may also hinder the normal operation of the drilling rig, causing the drilling rig to malfunction or shut down.

[0005] Third, gas safety issues: CO and gas in the hole: During the underground drilling process in coal mines, the hole may contain harmful gases such as CO (carbon monoxide) and gas (mainly methane). If these gases are not detected in real time, they are likely to cause safety accidents.

[0006] Fourth, safety hazards: CO is a colorless, tasteless, odorless, and toxic gas. When inhaled by the human body, it will cause tissue hypoxia, inhibit tissue respiration, and endanger people's health and safety. Gas is flammable and explosive. When mixed with air to a certain concentration, it will cause combustion or explosion when encountering high temperature fire source.

[0007] Fifth, major unsafe accidents: If the CO and gas in the hole are not detected in real time, once the gas concentration exceeds the standard, it may cause major safety accidents such as fire in the hole and gas explosion, causing casualties and property losses.

[0008] In summary, the dust, sediment accumulation and gas safety issues faced by underground drilling rigs in coal mines during construction cannot be ignored. In order to ensure the safety and efficiency of construction, effective measures must be taken for dust control, sediment treatment and gas detection. Summary of the invention

[0009] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a dust removal and slag discharge system and control method for a coal mine underground drilling rig, so as to solve the technical problem that the automation degree and safety of dust removal and slag discharge during the drilling rig construction process in the prior art need to be further improved.

[0010] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve the above problems:

[0011] A dust removal and slag discharge system for an underground drilling rig in a coal mine, the system comprising a slag tank installed on the drilling rig, the top of an electric slag discharge butterfly valve for mining is installed at the bottom of the slag tank, the bottom of the electric slag discharge butterfly valve for mining is connected to a slag inlet opened on the side wall of a slag conveying pipe through a slag discharge port of the mining butterfly valve; the slag conveying pipe is installed on the drilling rig, and a spiral slag discharge feeder is installed in the slag conveying pipe.

[0012] The sludge tank is connected to one end of the mine electric exhaust butterfly valve through the first air pipe, and the other end of the mine electric exhaust butterfly valve is connected to the exhaust tank through the second air pipe. The exhaust tank is provided with an exhaust pipe, and the exhaust tank is installed on the drilling rig.

[0013] A mining weighing sensor is installed between the sludge tank and the drilling rig; a mining gas sensor and a mining CO sensor are installed on the first air pipe; a first valve opening sensor is installed on the mining electric slag discharge butterfly valve, and a second valve opening sensor is installed on the mining electric exhaust butterfly valve; the mining weighing sensor, mining gas sensor, mining CO sensor, first valve opening sensor and second valve opening sensor are respectively connected to a mining intrinsically safe collector, the mining intrinsically safe collector is connected to a mining intrinsically safe controller, and the mining intrinsically safe controller controls the mining electric slag discharge butterfly valve and the mining electric exhaust butterfly valve.

[0014] The present invention also has the following technical features:

[0015] The upper part of the sludge tank is provided with a wellhead connection port.

[0016] The sludge tank is installed on the drilling rig through three first brackets; mining weighing sensors are respectively installed between the bottoms of the three first brackets and the drilling rig.

[0017] The mining weighing sensor comprises a weighing sensor body, the bottom of which is mounted on a lower pressing plate, and a detection terminal on the top of the weighing sensor body is connected to an upper pressing plate.

[0018] The bottom ends of a pair of balancing adjustment screws are fixedly installed on the lower pressure plates on the left and right sides of the weighing sensor body, and an upper pressure plate is mounted on the pair of balancing adjustment screws. The top of the upper pressure plate is limited by the bolt head of the balancing adjustment screw, and the bottom of the upper pressure plate is limited by the balancing adjustment nut installed on the balancing adjustment screw; the upper pressure plate can be relatively lifted and lowered between the bolt head and the balancing adjustment nut.

[0019] The lower pressing plate is provided with a lower connecting hole, and the lower pressing plate is installed on the drilling rig through bolts installed in the lower connecting hole; the upper pressing plate is provided with an upper connecting hole, and the upper pressing plate is installed on the first bracket through bolts installed in the upper connecting hole.

[0020] The exhaust tank is installed on the drilling rig through a second bracket.

[0021] The mine electric slag discharge butterfly valve is provided with a first butterfly valve opening and closing piece; the mine electric exhaust butterfly valve is provided with a second butterfly valve opening and closing piece.

[0022] The present invention also protects a method for controlling dust removal and slag discharge of a coal mine underground drilling rig, the control method adopts the above-mentioned dust removal and slag discharge system of the coal mine underground drilling rig,

[0023] The control method for the electric slag discharge butterfly valve and the electric exhaust butterfly valve for mining includes PID control. On the basis of PID control, feedforward compensation control is added. The feedforward compensation controller u of the feedforward compensation control f =θ m / N(s), assuming the position error of the system is e = θ out -θ m , then the total control output u(t) of the system is:

[0024]

[0025] Where:

[0026] u(t) represents the total control output of the system;

[0027] u p (t) represents the PID control output;

[0028] u f (t) represents the feedforward compensation control output;

[0029] K p represents proportional gain;

[0030] e(t) represents the position error time function of the system;

[0031] T i represents the integration time constant;

[0032] i represents the gear ratio in the butterfly valve mechanical system;

[0033] t represents time;

[0034] T d represents the differential time constant;

[0035] θ m Indicates the ideal rotation angle of the output butterfly valve disc;

[0036] θ out Indicates the rotation angle of the output butterfly valve disc;

[0037] N(S) represents the Laplace transform of the motor speed;

[0038] U d (s) represents the Laplace transform of the motor armature voltage;

[0039] C e Represents the back electromotive force constant

[0040] T l Expressed as the electromagnetic time constant of the armature circuit;

[0041] T m It is expressed as the electromechanical time constant of the motor of the mechanical system;

[0042] s represents the complex variable in Laplace transform;

[0043] n represents the motor speed;

[0044] X i Indicates the mechanical characteristic parameters of the motor;

[0045] Y i Indicates parameters related to motor control characteristics.

[0046] Compared with the prior art, the present invention has the following technical effects:

[0047] (I) The system of the present invention aims to achieve the timely and automatic processing of slag discharge in the hole and the automatic detection of gas and CO gas concentration in the hole during the drilling process. When the gas and CO gas concentration in the hole reaches the set threshold range, the system can automatically discharge the gas. The system effectively improves the degree of automation of the drilling rig, realizes high-efficiency and low-cost automatic discharge of drilling cuttings, and automatic detection and discharge of gas and CO gas in the hole, thereby ensuring the safety of underground drilling operations.

[0048] (II) The method of the present invention not only improves the work efficiency and safety, but also improves the working environment and health of workers. At the same time, the system also has the characteristics of high automation, intelligence and scalability, providing a more efficient, safe and reliable solution for underground coal mine operations.

[0049] (III) The present invention has a high degree of automation and realizes fully automated operation: Compared with the traditional coal mine underground drilling rig dust removal and slag removal method that relies on manual operation, the present invention integrates gas detection, sediment weight monitoring, automatic slag removal and gas / CO gas emission functions through a highly integrated design to form a fully automated operation system. The system can automatically monitor the concentration of gas and CO gas in the hole, and automatically adjust the slag removal and gas emission strategies according to real-time monitoring data without manual intervention, greatly improving the operation efficiency. At the same time, using SMT microcontroller and CAN bus communication technology, the fuzzy PID control method is adopted to achieve precise control of mining butterfly valves, gas, CO sensors and other equipment, further improving the level of automation.

[0050] (IV) The safety performance of the present invention is significantly improved, and safety accidents are effectively prevented. Safety is the primary consideration for underground coal mine operations. The present invention detects the concentration of gas and CO in the hole in real time, and automatically starts the DN100 electric butterfly valve discharge device when the concentration exceeds the standard, so as to discharge harmful gases in time and effectively prevent safety accidents caused by excessive gas concentration. This design not only protects the lives of workers, but also reduces production interruptions and property losses caused by safety accidents.

[0051] (V) The present invention can reduce labor intensity and improve overall work efficiency. Traditional underground coal mine drilling rig dust removal and slag removal operations require workers to frequently perform manual operations and monitoring, which is labor-intensive and inefficient. The present invention significantly reduces the labor intensity of workers through an automated slag removal and gas treatment system. Workers only need to perform simple monitoring and operations to achieve an efficient operation process. This not only improves overall work efficiency, but also enables workers to focus more on the operation process, reducing operational errors caused by fatigue and lack of concentration.

[0052] (VI) The present invention can achieve precise control and management, and is convenient for monitoring and decision-making. The coal mine underground drilling rig dust removal and slag removal device and system of the present invention utilize advanced control technology and communication technology to achieve precise control and real-time monitoring of various parameters. Through the display interface, workers can intuitively see the changes in various parameters, which is convenient for monitoring and decision-making. At the same time, the system can also upload monitoring data to the cloud or ground control center to achieve remote monitoring and management, further improving the level of intelligence of the operation.

[0053] (VII) The structural design of the present invention is reasonable and stable, which can prevent sediment accumulation. The deslagging tank of the present invention is fixed on the drilling rig by three brackets, and the weight of the sediment is monitored in real time in combination with a mining weighing sensor. This design is not only structurally reasonable and stable, but can also effectively prevent sediment accumulation at the wellhead and keep the working area clean. At the same time, by real-time monitoring of the sediment weight, when the set sediment weight value is reached, the electric butterfly valve opens to a certain degree, avoiding operation interruption and safety hazards caused by sediment accumulation.

[0054] (VIII) The present invention has high flexibility and scalability, and can adapt to different working conditions. The coal mine underground drilling rig dust removal and slag removal device and system of the present invention have high flexibility and scalability. Each component can be flexibly configured and expanded according to actual needs, such as adding other types of gas sensors, optimizing the slag removal path, etc. This design enables the system to adapt to the operating requirements under different working conditions, and improves the practicality and adaptability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a schematic diagram of the structure of the dust removal and slag removal device.

[0056] Figure 2 Schematic diagram of sensor connection.

[0057] Figure 3 This is a schematic diagram of the structure of a mining weighing sensor.

[0058] Figure 4 This is a schematic diagram of the GUI interface corresponding to the intrinsically safe collector for mining.

[0059] Figure 5 (a) is a schematic diagram of the main program flow of the dust removal and slag discharge control method.

[0060] FIG5( b ) is a schematic diagram of the automatic control subroutine flow chart of the dust removal and slag discharge control method.

[0061] Figure 6 It is a flow chart based on feedforward + PID control.

[0062] Figure 7 This is a Simulink simulation diagram based on feedforward + PID control.

[0063] The meanings of the numbers in the figure are: 1-drilling rig, 2-sludge tank, 3-electric slag discharge butterfly valve for mining, 4-sludge discharge port of butterfly valve for mining, 5-sludge conveying pipe, 6-slag inlet, 7-spiral slag discharge feeder, 8-first air pipe, 9-electric exhaust butterfly valve for mining, 10-second air pipe, 11-exhaust tank, 12-exhaust pipe, 13-weighing sensor for mining, 14-gas sensor for mining, 15-CO sensor for mining, 16-intrinsically safe collector for mining, 17-intrinsically safe controller for mining, 18-wellhead connection port, 19-first bracket, 20-second bracket, 21-first butterfly valve opening and closing piece, 22-second butterfly valve opening and closing piece, 23-first valve opening sensor, 24-second valve opening sensor.

[0064] 1301-weighing sensor body, 1302-lower pressure plate, 1303-upper pressure plate, 1304-balance adjustment screw, 1305-balance adjustment nut, 1306-lower connecting hole, 1307-upper connecting hole.

[0065] The specific contents of the present invention are further explained in detail below in conjunction with embodiments. DETAILED DESCRIPTION

[0066] It should be noted that, unless otherwise specified, all devices, components, sensors and controllers in the present invention are devices, components, sensors and controllers known in the prior art.

[0067] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of this application fall within the protection scope of the present invention.

[0068] Embodiment 1:

[0069] This embodiment provides a dust removal and slag removal system for underground drilling rigs in coal mines. Figure 1 As shown, the system includes a slag tank 2 installed on a drilling rig 1, the top of an electric mining slag discharge butterfly valve 3 is installed at the bottom of the slag tank 2, the bottom of the electric mining slag discharge butterfly valve 3 is connected to a slag inlet 6 opened on the side wall of a slag conveying pipe 5 through a mining butterfly valve slag discharge port 4; the slag conveying pipe 5 is installed on the drilling rig 1, and a spiral slag discharge feeder 7 is installed in the slag conveying pipe 5.

[0070] like Figure 1 As shown, the sludge tank 2 is connected to one end of the mining electric exhaust butterfly valve 9 through the first air pipe 8, and the other end of the mining electric exhaust butterfly valve 9 is connected to the exhaust tank 11 through the second air pipe 10. The exhaust tank 11 is provided with an exhaust pipe 12, and the exhaust tank 11 is installed on the drilling rig 1.

[0071] like Figure 1As shown, a mining weighing sensor 13 is installed between the sludge tank 2 and the drilling rig 1; a mining gas sensor 14 and a mining CO sensor 15 are installed on the first gas pipe 8; Figure 2 As shown, a first valve opening sensor 23 is installed on the mine electric slag discharge butterfly valve 3, and a second valve opening sensor 24 is installed on the mine electric exhaust butterfly valve 9; the mine weighing sensor 13, the mine gas sensor 14, the mine CO sensor 15, the first valve opening sensor 23 and the second valve opening sensor 24 are respectively connected to the mine intrinsically safe collector 16, the mine intrinsically safe collector 16 is connected to the mine intrinsically safe controller 17, and the mine intrinsically safe controller 17 controls the mine electric slag discharge butterfly valve 3 and the mine electric exhaust butterfly valve 9.

[0072] Specifically in this embodiment, the slag in the slag tank 2 is transported to the slag conveying pipe 5 through the mining electric slag discharge butterfly valve 3. The slag conveying pipe 5 is provided with a PWM hydraulically driven hydraulic pump. The PWM hydraulically driven hydraulic pump drives the operation of the spiral slag discharge feeder 7 to realize the transfer of the slag to the designated location.

[0073] As a preferred solution of this embodiment, Figure 1 As shown, a wellhead connection port 18 is provided on the upper part of the sludge tank 2. The returned slag in the borehole enters the sludge tank 2 through the wellhead connection port 18.

[0074] As a preferred solution of this embodiment, Figure 1 As shown, the slag tank 2 is mounted on the drilling rig 1 through three first brackets 19; mining weighing sensors 13 are respectively installed between the bottom of the three first brackets 19 and the drilling rig 1. When the weight of the slag detected by the mining weighing sensor 13 reaches a set threshold range, the mining electric slag discharge butterfly valve 3 opens to discharge the slag.

[0075] As a preferred solution of this embodiment, Figure 3 As shown, the mining weighing sensor 13 includes a weighing sensor body 1301 , the bottom of the weighing sensor body 1301 is installed on the lower pressing plate 1302 , and the detection terminal at the top of the weighing sensor body 1301 is connected to the upper pressing plate 1303 .

[0076] like Figure 3 As shown, the bottom ends of a pair of balancing adjustment screws 1304 are fixedly installed on the lower pressure plates 1302 on the left and right sides of the weighing sensor body 1301, and an upper pressure plate 1303 is mounted on the pair of balancing adjustment screws 1304. The top of the upper pressure plate 1303 is limited by the bolt head of the balancing adjustment screw 1304, and the bottom of the upper pressure plate 1303 is limited by the balancing adjustment nut 1305 installed on the balancing adjustment screw 1304; the upper pressure plate 1303 can be relatively lifted and lowered between the bolt head and the balancing adjustment nut 1305.

[0077] like Figure 3 As shown, a lower connecting hole 1306 is opened on the lower pressing plate 1302, and the lower pressing plate 1302 is installed on the drilling rig 1 by bolts installed in the lower connecting hole 1306; an upper connecting hole 1306 is opened on the upper pressing plate 1303, and the upper pressing plate 1303 is installed on the first bracket 19 by bolts installed in the upper connecting hole 1306.

[0078] Specifically, in this embodiment, the weighing sensor body 1301 adopts a commonly used weighing sensor known in the art. The mining weighing sensor 13 of the present invention can not only ensure the accuracy of weight detection, but also realize the fastening connection between the bracket and the end face of the drilling rig.

[0079] In this embodiment, specifically, Figure 1 As shown, the exhaust tank 11 is mounted on the drilling rig 1 via a second bracket 20 .

[0080] In this embodiment, specifically, Figure 1 As shown, a first butterfly valve opening and closing piece 21 is arranged in the mine electric slag discharge butterfly valve 3 ; a second butterfly valve opening and closing piece 22 is arranged in the mine electric exhaust butterfly valve 9 .

[0081] Specifically, in this embodiment, the mine intrinsically safe collector 16 adopts a mine intrinsically safe collector known in the art, and the mine intrinsically safe controller 17 adopts a mine intrinsically safe controller known in the art.

[0082] Specifically, in this embodiment, the mining weighing sensor 13 monitors the weight of the slag in the slag tank 2 in real time. When the weight exceeds or falls below the preset threshold, the signal is immediately transmitted to the mining intrinsically safe controller 17 through the RS485 interface module of the mining intrinsically safe collector 16, automatically triggering the corresponding operation of the mining electric slag discharge butterfly valve 3. More specifically, when the weight exceeds 45kg, the mining electric slag discharge butterfly valve 3 will be automatically fully opened to discharge the slag, and the spiral slag discharge feeder 7 will be opened for slag discharge; when the weight is less than 10kg, the mining electric slag discharge butterfly valve 3 will be automatically closed, and after waiting for 3 minutes, the spiral slag discharge feeder 7 will be automatically closed to achieve effective management of the slag.

[0083] Specifically in this embodiment, the mine gas sensor 14 and the mine CO sensor 15 monitor the concentration of gas and carbon monoxide in the coal mine in real time. Once the safety threshold is exceeded, the signal is immediately transmitted to the mine intrinsically safe controller 17 through the RS485 interface module of the mine intrinsically safe collector 16. Furthermore, under normal construction exhaust, the mine electric exhaust butterfly valve 9 is half opened. When the gas concentration in the slag tank 2 is high, the mine electric exhaust butterfly valve 9 is fully opened to allow gas to enter the exhaust tank 11. The exhaust pipe 12 is connected to the negative pressure extraction pipeline for gas discharge treatment. The entire system realizes real-time monitoring and effective management of harmful gases and slag in coal mines through highly automated control, providing strong safety protection for coal mine construction.

[0084] In this embodiment, specifically, Figure 4 As shown, the GUI interface corresponding to the mining intrinsically safe collector 16 has the function of real-time detection of sensor status, valve status, and driver board connection status.

[0085] Embodiment 2:

[0086] This embodiment provides a method for controlling dust removal and slag discharge of an underground coal mine drilling rig. The method adopts the dust removal and slag discharge system of the underground coal mine drilling rig provided in Example 1.

[0087] The main program of the control method is shown in Figure 5(a). The control of the dust removal and slag removal system of the underground drilling rig in the coal mine supports both manual and automatic modes, and the manual / automatic switching function. The system not only supports the fully automatic operation mode, but also provides a manual operation option. In special cases, the operator can manually control the opening and closing of the butterfly valve and the slag removal process according to the needs of the site to ensure the flexibility and emergency handling capabilities of the system. When the valve opening or closing button is clicked on the interface corresponding to the mine intrinsically safe collector 16, the valve is opened and closed manually.

[0088] The control method includes an automatic control subroutine, and a flow chart of the automatic control subroutine is shown in FIG5( b ).

[0089] Specifically, in order to achieve high-precision control of the butterfly valve mechanical system, the idea of ​​composite control is adopted to realize the development of the motor control module on the basis of the transfer function of the butterfly valve mechanical system. The present invention adopts the idea of ​​feedforward + PID control to achieve high-precision control of the butterfly valve mechanical system. The specific control flow diagram is shown in FIG. Figure 6 shown. Figure 6 In the invention, the power driving module adopts a commonly used power driving module known in the art, the DC servo motor adopts a commonly used DC servo motor known in the art, and the butterfly valve mechanical system adopts a commonly used butterfly valve mechanical system known in the art.

[0090] The control method for the electric slag discharge butterfly valve 3 and the electric exhaust butterfly valve 9 for mining includes PID control. Further, on the basis of PID control, feedforward compensation control is added, and the feedforward compensation controller u of the feedforward compensation control is f =θ m / N(s), assuming the position error of the system is e = θ out -θ m The total control output u(t) of the system is:

[0091]

[0092] Where:

[0093] u(t) represents the total control output of the system;

[0094] u p (t) represents the PID control output;

[0095] u f (t) represents the feedforward compensation control output;

[0096] K p It represents the proportional gain of the system;

[0097] e(t) represents the position error time function of the system;

[0098] T o represents the integration time constant;

[0099] i represents the gear ratio in the butterfly valve mechanical system;

[0100] t represents time, usually in seconds, which represents the period of time during which the control system operates;

[0101] T d represents the differential time constant;

[0102] θ m Indicates the ideal angle of the output butterfly valve disc rotation angle;

[0103] θ out Indicates the rotation angle of the output butterfly valve disc;

[0104] N(S) represents the Laplace transform of the motor speed;

[0105] U d (s) represents the Laplace transform of the motor armature voltage;

[0106] C e represents the back electromotive force constant;

[0107] T l It represents the electromagnetic time constant of the electric drive circuit;

[0108] T m Represents the electromechanical time constant of the motor of the mechanical system;

[0109] s represents the complex variable in the Laplace transform, which is usually used to describe the transfer function of a dynamic system.

[0110] n represents the motor speed;

[0111] X i Indicates the mechanical characteristic parameters of the motor, such as damping coefficient, moment of inertia or friction;

[0112] Y i Indicates parameters related to motor control characteristics, such as torque constant, back-EMF constant, or armature resistance.

[0113] Specifically, in this embodiment, the specific method of PID control adopts a control method known in the art.

[0114] Specifically, in this embodiment, according to the control block diagram of the above butterfly valve mechanical system, a Simulink simulation diagram based on feedforward + PID control can be obtained as follows: Figure 7 shown.

Claims

1. A dust removal and slag removal system for underground coal mine drilling rigs, characterized in that: The system comprises a slag tank (2) installed on a drilling rig (1); the top of a mining electric slag discharge butterfly valve (3) is installed at the bottom of the slag tank (2); the bottom of the mining electric slag discharge butterfly valve (3) is connected to a slag inlet (6) opened on the side wall of a slag conveying pipe (5) through a mining butterfly valve slag discharge port (4); the slag conveying pipe (5) is installed on the drilling rig (1), and a spiral slag discharge feeder (7) is installed in the slag conveying pipe (5); The sludge tank (2) is connected to one end of a mine electric exhaust butterfly valve (9) through a first air pipe (8), and the other end of the mine electric exhaust butterfly valve (9) is connected to an exhaust tank (11) through a second air pipe (10). An exhaust pipe (12) is provided on the exhaust tank (11), and the exhaust tank (11) is installed on the drilling rig (1); A mining weighing sensor (13) is installed between the sludge tank (2) and the drilling rig (1); a mining gas sensor (14) and a mining CO sensor (15) are installed on the first air pipe (8); a first valve opening sensor (23) is installed on the mining electric slag discharge butterfly valve (3), and a second valve opening sensor (24) is installed on the mining electric exhaust butterfly valve (9); the mining weighing sensor (13), the mining gas sensor (14), the mining CO sensor (15), the first valve opening sensor (23) and the second valve opening sensor (24) are respectively connected to a mining intrinsically safe collector (16), the mining intrinsically safe collector (16) is connected to a mining intrinsically safe controller (17), and the mining intrinsically safe controller (17) controls the mining electric slag discharge butterfly valve (3) and the mining electric exhaust butterfly valve (9).

2. The dust removal and slag removal system for underground coal mine drilling rigs according to claim 1, characterized in that: A wellhead connection port (18) is provided at the upper portion of the sludge tank (2).

3. The dust removal and slag removal system for underground coal mine drilling rigs according to claim 1, characterized in that: The sludge tank (2) is installed on the drilling rig (1) via three first brackets (19); mining weighing sensors (13) are respectively installed between the bottom of the three first brackets (19) and the drilling rig (1).

4. The dust removal and slag removal system for underground coal mine drilling rigs according to claim 3, characterized in that: The mining weighing sensor (13) comprises a weighing sensor body (1301), the bottom of the weighing sensor body (1301) is mounted on a lower pressing plate (1302), and the detection terminal at the top of the weighing sensor body (1301) is connected to an upper pressing plate (1303); The bottom ends of a pair of balancing adjustment screws (1304) are fixedly mounted on the lower pressure plates (1302) on the left and right sides of the weighing sensor body (1301); an upper pressure plate (1303) is mounted on the pair of balancing adjustment screws (1304); the top of the upper pressure plate (1303) is limited by the bolt head of the balancing adjustment screw (1304); the bottom of the upper pressure plate (1303) is limited by the balancing adjustment nut (1305) mounted on the balancing adjustment screw (1304); the upper pressure plate (1303) can be relatively lifted and lowered between the bolt head and the balancing adjustment nut (1305); The lower pressure plate (1302) is provided with a lower connecting hole (1306), and the lower pressure plate (1302) is installed on the drilling rig (1) by means of bolts installed in the lower connecting hole (1306); the upper pressure plate (1303) is provided with an upper connecting hole (1306), and the upper pressure plate (1303) is installed on the first bracket (19) by means of bolts installed in the upper connecting hole (1306).

5. The dust removal and slag removal system for underground coal mine drilling rigs according to claim 1, characterized in that: The exhaust tank (11) is mounted on the drilling rig (1) via a second bracket (20).

6. The dust removal and slag removal system for underground coal mine drilling rigs according to claim 1, characterized in that: The mine-used electric slag discharge butterfly valve (3) is provided with a first butterfly valve opening and closing piece (21); the mine-used electric exhaust butterfly valve (9) is provided with a second butterfly valve opening and closing piece (22).

7. A method for controlling dust removal and slag discharge of a coal mine underground drilling rig, the method using the coal mine underground drilling rig dust removal and slag discharge system according to any one of claims 1 to 6; The control method for the mine electric slag discharge butterfly valve (3) and the mine electric exhaust butterfly valve (9) comprises PID control, and is characterized in that: On the basis of PID control, feedforward compensation control is added. The feedforward compensation controller u f =θ m / N(s), assuming the position error of the system is e=θ out -θ m , then the total control output u(t) of the system is: Where: u(t) represents the total control output of the system; u p (t) represents the PID control output; u f (t) represents the feedforward compensation control output; K p represents proportional gain; e(t) represents the position error time function of the system; T i represents the integration time constant; i represents the gear ratio in the butterfly valve mechanical system; t represents time; T d represents the differential time constant; θ m Indicates the ideal rotation angle of the output butterfly valve disc; θ out Indicates the rotation angle of the output butterfly valve disc; N(S) represents the Laplace transform of the motor speed; U d (s) represents the Laplace transform of the motor armature voltage; C e Represents the back electromotive force constant T l Expressed as the electromagnetic time constant of the armature circuit; T m It is expressed as the electromechanical time constant of the motor of the mechanical system; s represents the complex variable in Laplace transform; n represents the motor speed; X i Indicates the mechanical characteristic parameters of the motor; Y i Indicates parameters related to motor control characteristics.

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