A coal mine underground drilling machine dust removal and slag discharge system and control method

Abstract

The application provides a coal mine underground drilling machine dust removal and residue discharge system and a control method, wherein a mine weighing sensor is installed between a residue tank and a drilling machine; a mine gas sensor and a mine CO sensor are installed on a first air pipe; a first valve opening degree sensor is installed on a mine electric residue discharge butterfly valve, and a second valve opening degree sensor is installed on a mine electric exhaust butterfly valve; the mine weighing sensor, the mine gas sensor, the mine CO sensor, the first valve opening degree sensor and the second valve opening degree sensor are connected with a mine intrinsic safety type collector respectively, the mine intrinsic safety type collector is connected with a mine intrinsic safety type controller, and the mine intrinsic safety type controller controls the mine electric residue discharge butterfly valve and the mine electric exhaust butterfly valve. The control method for the mine electric residue discharge butterfly valve and the mine electric exhaust butterfly valve comprises PID control, and feedforward compensation control is added on the basis of the PID control. The system effectively improves the degree of automation of the drilling machine, and realizes efficient and low-cost automatic discharge of drilling rock debris.

Description

Technical Field

[0001] This invention belongs to the field of coal mine underground drilling construction technology, and relates to dust and slag return inside the borehole, specifically to a dust removal and slag discharge system and control method for coal mine underground drilling rigs. Background Technology

[0002] Excessive dust and slag return during underground drilling in coal mines is a common problem. Air drills generate large amounts of dust during drilling, which is blown out of the borehole by airflow, reducing visibility at the construction site. Furthermore, untreated slag return can easily lead to sediment accumulation, affecting the normal operation of the drilling rig. The main problems are manifested in the following aspects:

[0003] First, the dust problem: The amount of dust generated during drilling is significant. The high-speed rotation of the drill bit pulverizes the slag, producing a large amount of dust. This dust is blown out of the borehole by airflow. Larger particles settle due to gravity, while smaller particles diffuse towards the working face, reducing visibility at the construction site. This dust not only affects the vision of the workers but can also interfere with the normal operation of the drilling rig, reducing construction efficiency.

[0004] Second, the problem of sediment accumulation: If the returned sediment is not handled in a timely manner, dust and debris will accumulate in the borehole, forming sediment. This sediment accumulation will occupy space in the borehole, affecting the drilling depth. Drilling operation will also be hindered: Sediment accumulation may also obstruct the normal operation of the drilling rig, leading to rig malfunctions or shutdowns.

[0005] Third, gas safety issues: The borehole may contain CO and methane gases. During underground drilling in coal mines, the borehole may contain harmful gases such as CO (carbon monoxide) and methane (mainly composed of methane). If these gases are not monitored in real time, they can easily lead to safety accidents.

[0006] Fourth, safety hazards: CO is a colorless, odorless, tasteless, and toxic gas. Inhalation can cause tissue hypoxia, inhibit respiration, and endanger human health and safety. Methane, on the other hand, is flammable and explosive; when mixed with air to a certain concentration, it can ignite or explode upon contact with a high-temperature ignition source.

[0007] Fifth, major safety accidents: If CO and methane gas in the borehole are not monitored in real time, once the gas concentration exceeds the standard, it may cause major safety accidents such as fire or gas explosion in the borehole, resulting in casualties and property damage.

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

[0009] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a dust removal and slag discharge system and control method for underground drilling rigs in coal mines, and to solve the technical problem that the degree of automation and safety of dust removal and slag discharge during drilling rig construction needs to be further improved in the existing technology.

[0010] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0011] A dust removal and slag discharge system for underground coal mine drilling rigs includes a slag tank installed on the drilling rig. The bottom of the slag tank is equipped with the top of a mine-use electric slag discharge butterfly valve. The bottom of the mine-use electric slag discharge butterfly valve is connected to the slag inlet on the side wall of the slag conveying pipe through the slag discharge port of the butterfly valve. The slag conveying pipe is installed on the drilling rig, and a spiral slag discharge conveyor is installed inside the slag conveying pipe.

[0012] The slag tank is connected to one end of a mining electric exhaust butterfly valve via a first air pipe, and the other end of the mining electric exhaust butterfly valve is connected to an exhaust tank via a second air pipe. An exhaust pipe is installed on the exhaust tank, which is mounted on the drilling rig.

[0013] A mining weighing sensor is installed between the slag tank and the drilling rig; a mining gas sensor and a mining CO sensor are installed on the first gas 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 data acquisition device, which is connected to a mining intrinsically safe controller, which 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 sedimentation tank is provided with a wellhead connection port.

[0016] The slag tank is mounted on the drilling rig via three first supports; mining weighing sensors are installed at the bottom of the three first supports and between them and the drilling rig.

[0017] The aforementioned mining weighing sensor includes a weighing sensor body, with the bottom of the weighing sensor body mounted on a lower pressure plate and the detection terminal at the top of the weighing sensor body connected to an upper pressure plate.

[0018] The weighing sensor body has a pair of balance adjustment screws fixedly installed on the lower pressure plates on both sides. An upper pressure plate is fitted on the pair of balance adjustment screws. The top of the upper pressure plate is limited by the bolt head of the balance adjustment screw, and the bottom of the upper pressure plate is limited by the balance adjustment nut installed on the balance adjustment screw. The upper pressure plate can move up and down relative to the bolt head and the balance adjustment nut.

[0019] The lower pressure plate has a lower connecting hole, and the lower pressure plate is installed on the drilling machine by bolts installed in the lower connecting hole; the upper pressure plate has an upper connecting hole, and the upper pressure plate is installed on the first bracket by bolts installed in the upper connecting hole.

[0020] The exhaust tank is mounted on the drilling rig via a second bracket.

[0021] The aforementioned electric slag discharge butterfly valve for mining is equipped with a first butterfly valve opening and closing plate; the aforementioned electric exhaust butterfly valve for mining is equipped with a second butterfly valve opening and closing plate.

[0022] This invention also protects a dust removal and slag discharge control method for underground drilling rigs in coal mines, which employs the dust removal and slag discharge system for underground drilling rigs in coal mines as described above.

[0023] This control method for mine electric slag discharge butterfly valves and mine electric exhaust butterfly valves includes PID control, and adds feedforward compensation control on the basis of PID control. The feedforward compensation controller u... f =θ m / N(s), let the system position error be e = θ out -θ m Then the total control output u(t) of the system is:

[0024]

[0025] In the formula:

[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 Indicates the ratio gain;

[0030] e(t) represents the system's position error time function;

[0031] T i Indicates the integration time constant;

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

[0033] t represents time;

[0034] T d Represents the differential time constant;

[0035] θ m This indicates the ideal rotation angle of the output butterfly valve plate;

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

[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 Denotes 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 in the mechanical system;

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

[0043] n represents the motor speed;

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

[0045] Y i These are parameters related to the motor's 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 enable the drilling rig to automatically and promptly handle the cuttings removal in the borehole during the drilling process, and automatically detect the concentration of methane and CO in the borehole. When the concentration of methane and CO in the borehole reaches the set threshold range, the system can automatically discharge the gas. The system effectively improves the automation level of the drilling rig, realizes high-efficiency and low-cost automated discharge of drilling cuttings, automated detection and discharge of methane and CO in the borehole, and ensures the safety of downhole drilling operations.

[0048] (II) The method of this invention not only improves operational efficiency and safety, but also improves the working environment and health of workers. Furthermore, the system features a high degree of automation, intelligence, and scalability, providing a more efficient, safe, and reliable solution for underground coal mine operations.

[0049] (III) This invention boasts a high degree of automation, achieving fully automated operation: Compared to traditional manual dust removal and slag discharge methods in coal mine underground drilling rigs, this invention integrates gas detection, slag weight monitoring, automatic slag discharge, and methane / CO gas emission functions into a fully automated operating system through a highly integrated design. This system can automatically monitor the concentration of methane and CO gas in the borehole and automatically adjust the slag discharge and gas emission strategies based on real-time monitoring data, eliminating the need for manual intervention and greatly improving operational efficiency. Simultaneously, utilizing SMT microcontrollers and CAN bus communication technology, and employing fuzzy PID control methods, it achieves precise control of equipment such as mine butterfly valves, methane, and CO sensors, further enhancing the level of automation.

[0050] (IV) The safety performance of this invention is significantly improved, effectively preventing safety accidents. Safety is the primary consideration in underground coal mine operations. This invention monitors the concentration of methane and CO in the borehole in real time and automatically activates the DN100 electric butterfly valve emission device when the concentration exceeds the standard, promptly discharging harmful gases and effectively preventing safety accidents caused by excessive gas concentrations. This design not only protects the lives of workers but also reduces production interruptions and property losses caused by safety accidents.

[0051] (V) This invention reduces labor intensity and improves overall work efficiency. Traditional dust removal and slag removal operations in coal mines require frequent manual operation and monitoring by workers, resulting in high labor intensity and low efficiency. This invention, through an automated slag removal and gas treatment system, significantly reduces the labor intensity of workers. Workers only need to perform simple monitoring and operation to achieve a highly efficient work process. This not only improves overall work efficiency but also allows workers to focus more on the work process, reducing operational errors caused by fatigue and lack of concentration.

[0052] (VI) This invention enables precise control and management, facilitating monitoring and decision-making. The coal mine underground drilling rig dust removal and slag discharge device and system utilizes advanced control and communication technologies to achieve precise control and real-time monitoring of various parameters. Through the display interface, workers can intuitively see the changes in various parameters, facilitating monitoring and decision-making. Simultaneously, the system can also upload monitoring data to the cloud or ground control center, enabling remote monitoring and management, further improving the level of intelligent operation.

[0053] (VII) The present invention features a reasonable and stable structural design that prevents slag accumulation. The slag removal tank is fixed to the drilling rig by three supports, and a mining weighing sensor monitors the weight of the slag in real time. This design is not only structurally sound and stable, effectively preventing slag accumulation at the wellhead and maintaining a clean working area, but also, by monitoring the slag weight in real time, the electric butterfly valve opens to a certain degree when the set slag weight value is reached, avoiding work interruptions and safety hazards caused by slag accumulation.

[0054] (VIII) This invention offers high flexibility and scalability, adapting to various working conditions. The coal mine underground drilling rig dust removal and slag discharge device and system of this invention possesses high flexibility and scalability. Each component can be flexibly configured and expanded according to actual needs, such as adding other types of gas sensors or optimizing the slag discharge path. This design enables the system to adapt to operational requirements under different working conditions, improving the system's practicality and adaptability. Attached Figure Description

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

[0056] Figure 2 This is a schematic diagram showing the connection relationship of the sensors.

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

[0058] Figure 4 This is a schematic diagram of the GUI interface corresponding to an intrinsically safe data 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] Figure 5(b) is a flowchart of the automatic control subroutine of the dust removal and slag discharge control method.

[0061] Figure 6 This is a schematic diagram of a process based on feedforward + PID control.

[0062] Figure 7 The image shows a Simulink simulation based on feedforward + PID control.

[0063] The labels in the diagram represent the following: 1-Drilling rig, 2-Slag tank, 3-Electric slag discharge butterfly valve for mining, 4-Slag discharge port of butterfly valve for mining, 5-Slag conveying pipe, 6-Slag inlet, 7-Spiral slag conveyor, 8-First gas pipe, 9-Electric exhaust butterfly valve for mining, 10-Second gas pipe, 11-Exhaust tank, 12-Exhaust pipe, 13-Mining weighing sensor, 14-Mining gas sensor, 15-Mining CO sensor, 16-Intrinsically safe data acquisition device for mining, 17-Intrinsically safe controller for mining, 18-Wellhead connection port, 19-First support, 20-Second support, 21-First butterfly valve opening / closing plate, 22-Second butterfly valve opening / closing plate, 23-First valve opening degree sensor, 24-Second valve opening degree 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 content of the present invention will be further explained in detail below with reference to the embodiments. Detailed Implementation

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

[0067] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0068] Example 1:

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

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

[0071] like Figure 1As shown, a mining weighing sensor 13 is installed between the slag 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; as shown... Figure 2 As shown, a first valve opening sensor 23 is installed on the electric slag discharge butterfly valve 3, and a second valve opening sensor 24 is installed on the 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 the intrinsically safe data acquisition device 16. The intrinsically safe data acquisition device 16 is connected to the intrinsically safe controller 17. The intrinsically safe controller 17 controls the electric slag discharge butterfly valve 3 and the electric exhaust butterfly valve 9.

[0072] Specifically in this embodiment, the sludge in the sludge tank 2 is transported to the sludge conveying pipe 5 through the mining electric sludge discharge butterfly valve 3. The sludge conveying pipe 5 is equipped with a PWM hydraulic drive hydraulic pump, which drives the spiral sludge discharge conveyor 7 to operate, thereby transferring the sludge to a designated location.

[0073] As a preferred embodiment of this invention, such as Figure 1 As shown, a wellhead connection port 18 is provided at the upper part of the sediment tank 2. The backfill material in the borehole enters the sediment tank 2 through the wellhead connection port 18.

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

[0075] As a preferred embodiment of this invention, such as Figure 3 As shown, the mining weighing sensor 13 includes a weighing sensor body 1301, the bottom of which is mounted on a lower pressure plate 1302, and the detection terminal at the top of the weighing sensor body 1301 is connected to an upper pressure plate 1303.

[0076] like Figure 3 As shown, a pair of balance adjusting screws 1304 are fixedly installed on the lower pressure plates 1302 on both sides of the weighing sensor body 1301. An upper pressure plate 1303 is fitted on the pair of balance adjusting screws 1304. The top of the upper pressure plate 1303 is limited by the bolt head of the balance adjusting screw 1304, and the bottom of the upper pressure plate 1303 is limited by the balance adjusting nut 1305 installed on the balance adjusting screw 1304. The upper pressure plate 1303 can move up and down relative to the bolt head and the balance adjusting nut 1305.

[0077] like Figure 3 As shown, the lower pressure plate 1302 has a lower connecting hole 1306, and the lower pressure plate 1302 is installed on the drilling machine 1 by bolts installed in the lower connecting hole 1306; the upper pressure plate 1303 has an upper connecting hole 1306, and the upper pressure 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 not only ensures the accuracy of the detected weight, but also achieves a tight connection between the support and the end face of the drilling rig.

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

[0080] In this specific embodiment, such as Figure 1 As shown, the mine electric slag discharge butterfly valve 3 is equipped with a first butterfly valve opening and closing plate 21; the mine electric exhaust butterfly valve 9 is equipped with a second butterfly valve opening and closing plate 22.

[0081] Specifically, in this embodiment, the intrinsically safe data collector 16 is an intrinsically safe data collector known in the art. The intrinsically safe controller 17 is an 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 a preset threshold, the signal is immediately transmitted to the mining intrinsically safe controller 17 via the RS485 interface module of the mining intrinsically safe data acquisition unit 16, automatically triggering the corresponding operation of the mining electric slag discharge butterfly valve 3. More specifically, when the weight exceeds 45 kg, the mining electric slag discharge butterfly valve 3 will automatically open fully to discharge the slag, and the spiral slag discharge conveyor 7 will open to discharge slag; when the weight is less than 10 kg, the mining electric slag discharge butterfly valve 3 will automatically close, and after waiting for 3 minutes, the spiral slag discharge conveyor 7 will automatically close, achieving 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 methane 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 intrinsically safe data acquisition unit 16. Furthermore, under normal construction ventilation conditions, the mine electric exhaust butterfly valve 9 is opened halfway. When the gas concentration in the slag tank 2 is high, the mine electric exhaust butterfly valve 9 is fully opened, and the gas enters the exhaust tank 11. The exhaust pipe 12 is connected to the negative pressure extraction pipeline for gas discharge treatment. The entire system, through highly automated control, achieves real-time monitoring and effective management of harmful gases and slag in the coal mine, providing a strong safety guarantee for coal mine construction.

[0084] In this specific embodiment, such as Figure 4 As shown, the GUI interface of the intrinsically safe data acquisition device 16 for mining applications has real-time detection functions for sensor status, valve status, and drive board connection status.

[0085] Example 2:

[0086] This embodiment provides a method for controlling dust removal and slag discharge of underground drilling rigs in coal mines. This method uses the dust removal and slag discharge system for underground drilling rigs in coal mines given in Embodiment 1.

[0087] The main program of this control method is shown in Figure 5(a). The control of the dust removal and slag discharge system for underground coal mine drilling rigs supports both manual and automatic modes, with a manual / automatic switching function. The system not only supports fully automated operation but also provides a manual operation option. In special circumstances, operators can manually control the opening and closing of the butterfly valve and the slag discharge process according to on-site needs, ensuring the system's flexibility and emergency response capabilities. Manual operation of the valve's opening and closing is performed by clicking the "open valve" or "close valve" button on the interface corresponding to the intrinsically safe mining data collector 16.

[0088] The control method includes an automatic control subroutine, the flowchart of which is shown in Figure 5(b).

[0089] In this embodiment, to achieve high-precision control of the butterfly valve mechanical system, based on the transfer function of the butterfly valve mechanical system, a composite control approach is adopted to develop the motor control module. This invention uses a feedforward + PID control approach to achieve high-precision control of the butterfly valve mechanical system. The specific control flow diagram is shown below. Figure 6 As shown. Figure 6 In this design, the power drive module adopts a commonly known power drive module in the art, the DC servo motor adopts a commonly known DC servo motor in the art, and the butterfly valve mechanical system adopts a commonly known butterfly valve mechanical system in the art.

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

[0091]

[0092] In the formula:

[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 Indicates the proportional gain of the system;

[0097] e(t) represents the system's position error time function;

[0098] T o Indicates the integration time constant;

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

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

[0101] T d Represents the differential time constant;

[0102] θ m This indicates the ideal angle for the output butterfly valve plate rotation.

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

[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 Indicates the electromagnetic time constant of the electric drive circuit;

[0108] T m This represents the electromechanical time constant of the motor in a 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 These represent the mechanical characteristic parameters of the motor, such as damping coefficient, moment of inertia, or friction.

[0112] Y i These parameters represent the motor control characteristics, such as torque constant, back EMF constant, or armature resistance.

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

[0114] Specifically, in this embodiment, based on the control block diagram of the butterfly valve mechanical system described above, the Simulink simulation diagram based on feedforward + PID control is as follows: Figure 7 As shown.

Claims

1. A method for controlling dust and slag removal in underground coal mine drilling rigs, wherein the method employs an underground coal mine drilling rig dust and slag removal system, characterized in that... The coal mine underground drilling rig dust removal and slag removal system includes a slag tank (2) installed on the drilling rig (1). The bottom of the slag tank (2) is equipped with the top of a mine electric slag discharge butterfly valve (3). The bottom of the mine electric slag discharge butterfly valve (3) is connected to the slag inlet (6) opened on the side wall of the slag conveying pipe (5) through the slag discharge port (4) of the mine butterfly valve. The slag conveying pipe (5) is installed on the drilling rig (1), and a spiral slag discharge conveyor (7) is installed inside the slag conveying pipe (5). The slag tank (2) is connected to one end of the mine electric exhaust butterfly valve (9) through the first air pipe (8), and the other end of the mine electric exhaust butterfly valve (9) is connected to the exhaust tank (11) through the second air pipe (10). The exhaust tank (11) is equipped with an exhaust pipe (12), and the exhaust tank (11) is installed on the drilling rig (1). A mining weighing sensor (13) is installed between the slag 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); 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 the mining intrinsically safe collector (16), the mining intrinsically safe collector (16) is connected to the 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); The control method for the electric slag discharge butterfly valve (3) and the electric exhaust butterfly valve (9) includes PID control, and on the basis of PID control, feedforward compensation control is added. The feedforward compensation controller of the feedforward compensation control... Assume the system's position error Then the system's total control output for: In the formula: This represents the overall control output of the system; Indicates the PID control output; Indicates the output of feedforward compensation control; Indicates proportional gain; The position error of the system is represented by a time function; Indicates the integration time constant; This refers to the gear ratio in the butterfly valve's mechanical system. Indicates time; Represents the differential time constant; This indicates the ideal rotation angle of the output butterfly valve plate; Indicates the rotation angle of the output butterfly valve plate; The Laplace transform representing the motor speed; Represents the Laplace transform of the motor armature voltage; Represents the back electromotive force constant; Expressed as the electromagnetic time constant of the armature circuit; It is expressed as the electromechanical time constant of the motor in the mechanical system; Represent the complex variables in the Laplace transform; Indicates the motor speed; Indicates the mechanical characteristic parameters of the motor; These are parameters related to the motor's control characteristics.

2. The method for controlling dust and slag removal in underground coal mine drilling rigs as described in claim 1, characterized in that, The upper part of the sediment tank (2) is provided with a wellhead connection port (18).

3. The method for controlling dust and slag removal in underground coal mine drilling rigs as described in claim 1, characterized in that, The slag tank (2) is mounted on the drilling rig (1) by three first supports (19); a mining weighing sensor (13) is installed between the bottom of the three first supports (19) and the drilling rig (1).

4. The method for controlling dust and slag removal in underground coal mine drilling rigs as described in claim 3, characterized in that, The mining weighing sensor (13) includes a weighing sensor body (1301), the bottom of which is mounted on a lower pressure plate (1302), and the detection terminal at the top of which is connected to an upper pressure plate (1303). The bottom ends of a pair of balance adjusting screws (1304) are fixedly installed on the lower pressure plates (1302) on both sides of the weighing sensor body (1301). An upper pressure plate (1303) is fitted on the pair of balance adjusting screws (1304). The top of the upper pressure plate (1303) is limited by the bolt head of the balance adjusting screw (1304), and the bottom of the upper pressure plate (1303) is limited by the balance adjusting nut (1305) installed on the balance adjusting screw (1304). The upper pressure plate (1303) can move up and down relative to the bolt head and the balance adjusting 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 machine (1) by 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 bolts installed in the upper connecting hole (1306).

5. The method for controlling dust and slag removal in underground coal mine drilling rigs as described in claim 1, characterized in that, The exhaust canister (11) is mounted on the drilling rig (1) via a second bracket (20).

6. The method for controlling dust and slag removal in underground coal mine drilling rigs as described in claim 1, characterized in that, The electric slag discharge butterfly valve (3) for mining is provided with a first butterfly valve opening and closing plate (21); the electric exhaust butterfly valve (9) for mining is provided with a second butterfly valve opening and closing plate (22).

Images