Method for determining distance between blasting unit groups for surface mine and rapid adjusting device

Abstract

The invention discloses a method for determining the distance between blasting unit groups for a surface mine, a rapid adjusting device and a blasting operation system. The determination method comprises the following steps: acquiring multi-dimensional data through a geological radar, a sensor and the like, and constructing a model through normalization processing; a finite element-discrete element coupling algorithm is adopted to carry out three-dimensional geology-blasting coupling modeling, an improved NSGA-III algorithm is combined to solve a multi-objective function to determine an optimal interval, and Kalman filtering is utilized to realize real-time feedback correction. The rapid adjusting device comprises a multi-angle adjusting module, an intelligent navigation module and a cooperative control module, and accurate positioning and rapid adjusting can be achieved. According to the method, a modeling-calculating-adjusting-feedback full-process automatic system is formed, and compared with a traditional technology, the lumpiness qualification rate can be increased by 25% or above, the interval adjusting time is shortened to be within 15 minutes, and the mine blasting efficiency and safety are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of blasting, and in particular to a method for determining the spacing between blasting unit groups for open-pit mines and a rapid adjustment device. Background Art

[0002] During the open-pit mine exploitation process, blasting operation is a key link, and the reasonable determination of the spacing between blasting unit groups directly affects the blasting effect, the quality of ore exploitation, and the operation safety. At present, in the industry, the spacing between blasting unit groups is mostly determined by empirical formulas or by analogy based on historical data. There are deficiencies in this traditional method: firstly, it cannot accurately adapt to complex and changeable geological conditions. For example, there are large differences in rock hardness, elastic modulus, and joint fissure distribution in different regions, resulting in uneven ore fragmentation after blasting, excessive fragmentation or a too high large block rate, increasing the cost of secondary crushing and reducing the exploitation efficiency; secondly, the spacing adjustment relies on manual re-planning of the drilling layout, with low efficiency and inability to quickly adjust according to real-time working conditions, seriously restricting the progress of mine exploitation. Summary of the Invention

[0003] The purpose of the present invention is to provide a method for determining the spacing between blasting unit groups for open-pit mines and a rapid adjustment device to solve the technical problems existing in the prior art.

[0004] To achieve the above purpose, the present invention provides the following technical solutions: A method for determining the spacing between blasting unit groups for open-pit mines, comprising the following steps: Multi-dimensional data integration: Using a ground-penetrating radar to collect rock formation structure data, and obtaining rock hardness, elastic modulus, and Poisson's ratio through borehole sampling analysis; using sensors to monitor the detonation velocity, detonation pressure, and gap distance of explosives; recording the hole diameter, hole depth, and verticality information of the drilling equipment and the temperature, humidity, and wind speed data of the environment. Construct a standardized data model and perform normalization processing on the collected data. The formula is as follows:

[0005] Wherein, is the original value of the th data index of the th sample, is the value after normalization, and are respectively the minimum value and the maximum value of the th data index. At the same time, the 3σ principle is used to remove outliers. That is, if the data satisfies , it is determined as an outlier and excluded, where is the data mean value, is the standard deviation; Three-dimensional geological-blasting coupling modeling: 3D Geological Model Construction: Based on integrated multi-dimensional data, using professional modeling software such as GOCAD and 3DMine, discrete geological data is processed through interpolation algorithms (such as Kriging interpolation method) to construct a high-precision 3D geological model that includes the distribution of rock elastic modulus, joint fracture network, and explosive charging positions. During the model construction process, rock mechanics parameters (such as elastic modulus and Poisson's ratio) are assigned to the corresponding rock formation units, and parameters such as the geometric shape and charging density of the explosive are accurately set at the charging positions in the model to truly reflect the geological and charging conditions at the blasting site; Implementation of the Finite Element-Discrete Element Coupling Algorithm: The finite element-discrete element coupling algorithm is used to simulate the stress wave propagation and rock fragmentation process. For the simulation of stress wave propagation, based on the theory of elastic dynamics, the finite element method is used to solve the stress wave propagation equation . The 3D geological model is divided into finite element meshes, and the density of the rock medium is set , initial stress conditions, and numerical solutions are obtained through the finite difference time domain method (FDTD) to obtain the stress tensor distribution in the rock at different times . Furthermore, the attenuation law and propagation speed of stress waves in the rock medium are calculated. In the rock fragmentation simulation stage, when the stress wave propagates to a rock unit and its stress exceeds the compressive strength, the rock unit is converted from the finite element model to the discrete element model. In the discrete element model, the rock is discretized into particle units, and the contact mechanics model between particles is established according to the Hertz-Mindlin contact theory, combined with the rock fragmentation criterion for unit fragmentation for calculation. When the unit stress meets the fragmentation criterion, the unit is divided into multiple sub-particles, and the contact forces and motion states between the sub-particles are recalculated to simulate the rock fragmentation process and achieve the coupled simulation of stress wave propagation and rock fragmentation process; Multi-objective Optimization Calculation: Construction of the Multi-objective Function: A multi-objective function with the qualified block size rate, energy utilization rate, and vibration intensity as the objectives is established . Among them, is the spacing between blasting unit groups; is the qualified block size rate, which is calculated by analyzing the rock fragmentation results obtained from the discrete element simulation and statistically calculating the proportion of the ore quality that meets the target block size range (such as the proportion of the ore quality with a particle size less than 30 cm in the total ore quality); is the energy utilization rate, which is calculated based on the ratio of the total energy released by the explosive explosion to the energy consumed for effective rock fragmentation. The energy consumed for effective rock fragmentation is obtained by calculating the work done to overcome the cohesive force and frictional force in the rock fragmentation process; is the vibration intensity, based on the stress wave propagation results obtained from the finite element simulation, through the Sadovsky formula (where is the vibration velocity, is the maximum charge amount per single segment, is the distance from the measurement point to the center of the blasting source, , and (where is a coefficient related to geological conditions) are used to calculate the vibration intensity at different positions. The target value of the fragmentation qualification rate is set to ≥90%, the target value of the energy utilization rate is set to ≥75%, and the target value of the vibration intensity is set to ≤80 dB.

[0006] Optimization algorithm implementation: The improved NSGA-III algorithm is used to optimize and solve the multi-objective function. First, the initial population size is set to 100, the crossover probability is set to 0.8, and the mutation probability is set to 0.2. The distance between blasting unit groups is used as the decision variable. Under the consideration of constraints such as the stability of the rock formation (by calculating the safety factor of the rock unit to ensure that the rock does not undergo overall instability during blasting) and the limitation of explosive dosage (setting constraints according to the mine's explosive storage capacity and the maximum allowable explosive usage per single blasting), the multi-objective function is iteratively calculated. In each iteration process, the individuals in the population are divided into different non-dominated ranks through the non-dominated sorting algorithm, and the crowding degree calculation method is used to calculate the crowding degree of individuals in the same rank to ensure the diversity of the population. After more than 50 iterations, a set of Pareto optimal solution sets is obtained, and the optimal distance between blasting unit groups is selected from this solution set according to the actual engineering requirements (such as giving priority to reducing the vibration intensity or increasing the fragmentation qualification rate); Real-time feedback correction: Vibration sensors (accuracy ±0.5 dB) and fragmentation scanners (resolution ≤5 mm) are arranged at the blasting site to collect the vibration data and the ore fragmentation distribution data after blasting in real time. The collected data is compared with the model prediction values, and the Kalman filtering algorithm is used to correct the parameters of the prediction model, update the relevant coefficients in the model, so that the spacing prediction accuracy reaches ±2%, and the distance between blasting unit groups for the next blasting is adjusted according to the corrected results. The optimal distance obtained from the multi-objective optimization calculation is used as the initial condition of the model prediction value in this step, and the result obtained from the real-time feedback correction will be fed back to the multi-dimensional data integration step to supplement and update the data, forming a closed loop.

[0007] Based on the above technical solutions, the present invention also provides the following alternative technical solutions: In an alternative solution: The rock fragmentation criterion is that when the element stress exceeds the compressive strength , the discrete element particle fragmentation is triggered, that is, the element breaks . Among them, the element stress is obtained through finite element calculation, and the compressive strength is determined according to the mechanical test data of rock samples; in the discrete element simulation, when the element stress meets the fragmentation criterion, the element is divided into multiple sub-particles, and the contact forces and motion states between the sub-particles are recalculated to simulate the rock fragmentation process.

[0008] In an optional solution: in the multi-objective function, the target value of the block qualification rate is ≥90%, the target value of the energy utilization rate is ≥75%, and the target value of the vibration intensity is ≤80dB; the weight coefficient 、 、 It is determined in the following way: collect at least 100 sets of historical blasting data under different geological conditions and blasting parameters, and normalize the block size qualification rate, energy utilization rate, and vibration intensity in each set of data; use the hierarchical analysis method to invite 5-10 industry experts to score the importance of the three goals, and combine the statistical analysis results of historical data to calculate the weight coefficient.

[0009] A quick adjustment device for the spacing between blasting units for open-pit mines comprises a vehicle body, wherein the bottom of the vehicle body is provided with a traveling wheel, the upper end of the traveling wheel is rotatably provided with a rotating base plate, the rotating base plate is connected to a steering unit for driving the rotation thereof, a first vertical plate is vertically fixed to the upper end of the rotating base plate, a crossbeam assembly is slidably provided on the upper end of the first vertical plate, a lifting assembly that drives the crossbeam assembly to move up and down is also provided on the first vertical plate, a drilling plate is provided at the end of the crossbeam assembly, a drill rod rack assembly is provided at the bottom of the drilling plate, the drill rod assembly can provide drilling needs of different diameters, a drilling drive member is provided on the drilling plate to drive the drill rod rack assembly to work, an angle adjustment assembly is also provided at the end of the crossbeam assembly to drive the drilling plate to rotate, the angle adjustment assembly can drill holes for different inclined surfaces, and a protective assembly for reducing drilling pollution is provided on the drilling plate; The dust collecting tube of claim 1, wherein the dust collecting tube has a bottom end and a bottom end, the dust collecting tube having a bottom end and a bottom end, and a dust collecting tube having a bottom end and a bottom end.

[0010] In an alternative solution: The angle adjustment assembly includes a steering shaft rotatably arranged on the crossbeam assembly. The steering shaft is fixedly connected to the drilling plate, and the other end of the steering shaft is fixedly connected to a steering worm gear. The upper side of the steering worm gear meshes with a steering worm, and the steering worm is connected to a steering motor for driving its rotation.

[0011] In an alternative solution: The drill pipe rack group includes a mounting ring arranged outside the drilling plate. A drill pipe disc seat is rotatably arranged on the mounting ring. The drill pipe disc seat is connected to a switching drive member for driving its rotation. A plurality of rotating bodies are arranged in an array at the upper end of the drill pipe disc seat. The rotating bodies are rotatably connected to the drill pipe disc seat. A drill pipe is slidably fitted at the central position of each drill pipe disc seat. A limiting protrusion is arranged on the outer side of the drill pipe. A limiting groove matching the limiting protrusion is arranged on the inner wall of the rotating body hole. A drilling gear is arranged on the outer side of the upper end of the rotating body. An electric locking mechanism for locking the position of the drill pipe is arranged on the rotating body. The drill pipe rack group further includes a pushing mechanism for pushing the drill pipe to move.

[0012] In an alternative solution: The pushing mechanism includes a propulsion sliding seat slidably arranged on the surface of the drilling plate. A second vertical guide rail slidably matched with the propulsion sliding seat is arranged on the drilling plate. A second lifting screw rod is threaded on the propulsion sliding seat. The end of the second lifting screw rod is connected to a second lifting motor for driving its rotation. A drilling push plate is fixedly arranged on the outer side of the propulsion sliding seat. An electromagnetic adsorption block matched with the upper end of the drill pipe is rotatably arranged at the lower end of the drilling push plate.

[0013] In an alternative solution: The drilling drive member includes a driving column shaft rotatably arranged on the drilling plate. A floating shaft is slidably arranged at one end of the driving column shaft facing the drill pipe disc seat. A transmission protrusion is arranged on the outer side of the floating shaft. A groove matching the transmission protrusion is arranged on the inner wall of the driving column shaft. A power gear is arranged at the end of the floating shaft. The power gear is matched with the drilling gear. The power gear and the end of the driving column shaft are connected by a floating spring. A first transmission gear is arranged on the driving column shaft. A power motor is fixedly arranged on the surface of the drilling plate above the first transmission gear. A second transmission gear is arranged at the output end of the power motor. The second transmission gear meshes with the first transmission gear.

[0014] In an alternative solution: The switching drive member includes a switching gear ring arranged at the bottom of the drill pipe disc seat. A switching base is fixedly arranged outside the drill pipe disc seat. A switching shaft is rotatably arranged on the switching base. A switching worm gear is fixedly arranged at the upper end of the switching shaft. The switching worm gear meshes with a switching worm. The switching worm is connected to a switching motor for driving its rotation. The lower end of the switching shaft is fixedly connected to a switching gear. The switching shaft meshes with the switching gear ring.

[0015] In an alternative solution: The crossbeam assembly includes a first crossbeam and a second crossbeam. A plurality of transverse sliding rods are fixedly provided at the end of the first crossbeam. The transverse sliding rods are slidably arranged through holes at the end of the second crossbeam. A horizontal push rod is provided on the first crossbeam, and the output end of the horizontal push rod is fixedly connected to a transverse movement fixing block on the surface of the second crossbeam.

[0016] In an alternative solution: The lifting assembly includes a first lifting motor arranged at the upper end of the first vertical plate. The output end of the first lifting motor is fixedly connected to a first lifting screw rod. The first lifting screw rod is threadedly connected to the first crossbeam. The lower end of the first lifting screw rod is rotatably connected to a fixing block on the first vertical plate. The first vertical plate is provided with a first vertical track that slidably mates with the first crossbeam.

[0017] Adopting the above technical solution, the present invention has the following beneficial effects: Through multi-dimensional data integration and advanced three-dimensional geology-blasting coupling modeling and multi-objective optimization algorithms, the present invention comprehensively considers various factors such as geology, explosives, equipment, and environment. Compared with traditional methods, it can more accurately determine the spacing between blasting unit groups, effectively reduce the proportion of over-breaking and large-sized ore, and reduce the cost of secondary crushing. The quick adjustment device in the present invention adopts multi-angle adjustment and intelligent navigation collaborative control technology, realizes the quick positioning and model replacement of drilling equipment, greatly improves the efficiency of mine blasting operations, speeds up the mining progress. In addition, the quick adjustment device will perform protective operations during drilling, improving safety, and can also reduce noise pollution and dust pollution. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a flow chart of the method of the present invention.

[0020] Figure 2 It is a schematic structural diagram of the quick adjustment device of the present invention.

[0021] Figure 3 It is a schematic structural diagram of the other side of the quick adjustment device of the present invention.

[0022] Figure 4 It is a schematic structural diagram of the lower side of the quick adjustment device of the present invention.

[0023] Figure 5Schematic diagram of the dust removal cylinder structure in the quick adjustment device of the present invention.

[0024] Figure 6 For the present invention Figure 3 Schematic diagram of structure B therein.

[0025] Figure 7 For the present invention Figure 3 Schematic diagram of structure A therein.

[0026] Annotation of reference numerals: vehicle body 100, traveling wheels 101; Rotating base plate 200, first cross beam 201, first lifting screw 202, first vertical plate 203, first lifting motor 204, first vertical rail 205, second cross beam 206, cross - moving slide bar 207, cross - moving fixed block 208, steering motor 209, steering worm 210, steering shaft 211, steering worm gear 212; Drilling plate 300, second lifting motor 301, second lifting screw 302, drilling push plate 303, electromagnetic adsorption block 304, second vertical guide rail 305, propulsion slide seat 306; Drill rod disc base 400, rotating body 401, drilling gear 402, drill rod 403, switching worm gear 404, switching motor 405, switching worm 406, switching base 407, switching shaft 408, switching gear 409, switching gear ring 410; Driving protrusion 411, floating spring 412, power gear 413, floating shaft 414, driving column shaft 415, first transmission gear 416, power motor 417, second transmission gear 418; Protective cylinder 500, protective push rod 501, dust removal cylinder 502, dust suction conduit 503, collection cylinder 504, leaf shaft 505, air extraction impeller 506, filter cone 507. Detailed implementation manners

[0027] Next, the technical solution of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] The left - right, up - down positions of each component shown in the drawings are just a layout method, and the specific positions are set according to specific needs.

[0029] In one embodiment, as Figures 1-7As shown, a rapid adjustment device for the spacing between blasting units for open-pit mines includes a vehicle body 100, wherein the vehicle body 100 is provided with a traveling wheel 101 at the bottom, and a rotating base plate 200 is rotatably provided on the upper end of the traveling wheel 101, and the rotating base plate 200 is connected to a steering unit for driving its rotation, and a first vertical plate 203 is vertically fixed to the upper end of the rotating base plate 200, and a crossbeam assembly is slidably provided on the upper end of the first vertical plate 203, and a lifting assembly for driving the crossbeam assembly to move up and down is further provided on the first vertical plate 203, and a drilling plate 300 is provided at the end of the crossbeam assembly, and a drill rod rack group is provided at the bottom of the drilling plate 300, and the drill rod assembly can provide drilling needs of different diameters, and a drilling drive member is provided on the drilling plate 300 to drive the drill rod rack group to work, and an angle adjustment assembly is further provided at the end of the crossbeam assembly to drive the drilling plate 300 to rotate, and the angle adjustment assembly can drill holes for different inclined surfaces, and a protective assembly for reducing drilling pollution is provided on the drilling plate 300; The protective assembly includes a dust collecting cylinder 502 arranged on one side of the drilling plate 300, the dust collecting cylinder 502 is connected and fixed to the drilling plate 300 by a positioning rod, a protective cylinder 500 is provided at the lower end of the drilling plate 300, and a through hole is opened at the upper end of the protective cylinder 500 for the drill rod 403 to pass through, a protective push rod 501 is fixed to the output end of the drilling plate 300, the output end of the protective push rod 501 is connected and fixed to the outer side of the protective cylinder 500, and the protective cylinder 500 is driven to move toward the ground by the protective push rod 501 to cover the drilling position, thereby avoiding the problem of gravel splashing caused by drilling, a blade shaft 505 is coaxially provided inside the dust collecting cylinder 502, one end of the blade shaft 505 is provided with an exhaust impeller 506, and the other end of the blade shaft 505 is transmission-connected to the output end of the drilling drive member, and a filter cone 507 for air filtering is provided on the outer side of the blade shaft 505. The end of the filter cone 507 is rotatably connected to the inner wall of the dust collection barrel 502, and a collection barrel 504 is provided at the lower end of the dust collection barrel 502 where the conical surface of the filter cone 507 is located. A discharge butterfly valve is provided on the collection barrel 504, and a dust suction duct 503 is provided at the end of the dust collection barrel 502 near the drilling plate 300. The other end of the dust suction duct 503 is connected to the outside of the protective barrel 500. When the drilling drive part is working, the blade shaft 505 will also rotate synchronously, and the blade shaft 505 drives the suction impeller 506 to rotate, thereby generating negative pressure at the position of the dust suction duct 503, and the negative pressure will wash away the dust inside the protective barrel 500, and then the dust will be filtered by the filter cone 507, and the impurities will fall and be retained in the collection barrel 504, and the butterfly valve can be opened later to arrange them. A scraping brush plate for scraping the surface of the filter cone 507 can also be provided above the collection barrel 504 to better clean the filter surface; The surface of the protective tube 500 is provided with silencer holes, which can reduce the noise pollution caused by drilling; The angle adjustment assembly includes a steering shaft 211 rotatably arranged on the crossbeam assembly. The steering shaft 211 is fixedly connected to the drilling plate 300. The other end of the steering shaft 211 is fixedly connected to a steering worm gear 212. The upper side of the steering worm gear 212 meshes with a steering worm 210. The steering worm 210 is connected to a steering motor 209 for driving its rotation. Driven by the steering motor 209, the steering worm 210 drives the steering worm gear 212 to rotate. The steering worm gear 212 drives the drilling plate 300 to rotate through the steering shaft 211 so as to adjust the drilling angle; The drill pipe rack group includes a mounting ring arranged outside the drilling plate 300. A drill pipe disc seat 400 is rotatably arranged on the mounting ring. The drill pipe disc seat 400 is connected to a switching drive member for driving its rotation. A plurality of rotating bodies 401 are arranged in an array at the upper end of the drill pipe disc seat 400. The rotating bodies 401 are rotatably connected to the drill pipe disc seat 400. A drill pipe 403 is slidably fitted at the central position of each drill pipe disc seat 400. A limiting protrusion is arranged on the outer side of the drill pipe 403. A limiting groove matching the limiting protrusion is arranged on the hole wall of the rotating body 401. A drilling gear 402 is arranged on the outer side of the upper end of the rotating body 401. The drilling drive member can drive the drill pipe 403 close to it to work. This clutch method facilitates the rapid switching of the drill pipe so as to meet the drilling requirements of different blasting holes and greatly improves the drilling efficiency. An electric locking mechanism for locking the position of the drill pipe 403 is arranged on the rotating body 401. When not in use, the position of the drill pipe 403 can be locked to prevent it from slipping. The drill pipe rack group further includes a pushing mechanism for pushing the drill pipe 403 to move; The pushing mechanism includes a propulsion sliding seat 306 slidably arranged on the surface of the drilling plate 300. A second vertical guide rail 305 slidably matched with the propulsion sliding seat 306 is arranged on the drilling plate 300. A second lifting screw 302 is threaded on the propulsion sliding seat 306. The end of the second lifting screw 302 is connected to a second lifting motor 301 for driving its rotation. A drilling push plate 303 is fixedly arranged on the outer side of the propulsion sliding seat 306. An electromagnetic adsorption block 304 matched with the upper end of the drill pipe 403 is rotatably arranged at the lower end of the drilling push plate 303. The electromagnetic adsorption block 304 can generate magnetism when electrified, so as to adsorb and fix the top of the drill pipe 403. Then, the second lifting motor 301 drives the second lifting screw 302 to rotate relative to the propulsion sliding seat 306. Under the action of the thread, the electromagnetic adsorption block 304 will generate a thrust on the end of the drill pipe 403 so as to push the drill pipe 403 to feed downward; The drilling driving member includes a driving column shaft 415 rotatably arranged on the drilling plate 300. A floating shaft 414 is slidably arranged at one end of the driving column shaft 415 facing the drill pipe base 400. Transmission protrusions 411 are arranged on the outer side of the floating shaft 414, and grooves matching the transmission protrusions 411 are arranged on the inner wall of the driving column shaft 415. A power gear 413 is arranged at the end of the floating shaft 414. The power gear 413 matches with the drilling gear 402. The power gear 4 is connected to the end of the driving column shaft 415 through a floating spring 412. A first transmission gear 416 is arranged on the driving column shaft 415. A power motor 417 is fixedly arranged on the surface of the drilling plate 300 above the first transmission gear 416. A second transmission gear 418 is arranged at the output end of the power motor 417. The second transmission gear 418 meshes with the first transmission gear 416. Driven by the power motor 417, the second transmission gear 418 matches with the first transmission gear 416, thereby driving the driving column shaft 415 to rotate. The driving column shaft 415 drives the power gear 413 to rotate through the floating shaft 414. When the power gear 413 meshes with the drilling gear 402, it drives the rotating body 401 to rotate, providing rotational power for drilling; The switching driving member includes a switching gear ring 410 arranged at the bottom of the drill pipe base 400. A switching base 407 is fixedly arranged on the outer side of the drill pipe base 400. A switching shaft 408 is rotatably arranged on the switching base 407. A switching worm gear is fixedly arranged at the upper end of the switching shaft 408. The switching worm gear meshes with a switching worm 406. The switching worm 406 is connected to a switching motor 405 for driving its rotation. The lower end of the switching shaft 408 is fixedly connected to a switching gear 409. The switching shaft 408 meshes with the switching gear ring 410. Driven by the switching motor 405, the switching worm 406 drives the switching shaft 408 to rotate through the switching worm gear, and the switching shaft 408 drives the switching gear ring 410 to rotate through the switching gear 409, thereby driving the drill pipe base 400 to rotate, providing power for the switching of the drill pipe; The cross beam assembly includes a first cross beam 201 and a second cross beam 206. A plurality of cross - movement sliding rods 207 are fixedly arranged at the end of the first cross beam 201. The cross - movement sliding rods 207 are perforated and slidably arranged at the end of the second cross beam 206. A horizontal push rod is arranged on the first cross beam 201. The output end of the horizontal push rod is fixedly connected to a cross - movement fixed block 208 on the surface of the second cross beam 206. The second cross beam 206 is driven to slide along the cross - movement sliding rods 207 by the horizontal push rod, thereby adjusting the lateral position of the drilling; The lifting assembly includes a first lifting motor 204 disposed at the upper end of the first vertical plate 203. The output end of the first lifting motor 204 is fixedly connected to a first lifting screw 202. The first lifting screw 202 is threadedly connected to the first cross beam 201. The lower end of the first lifting screw 202 is rotatably connected to a fixing block on the first vertical plate 203. A first vertical track 205 that is slidably matched with the first cross beam 201 is provided on the first vertical plate 203. Driven by the first lifting motor 204, the first lifting screw 202 and the first cross beam 201 rotate relative to each other. Under the action of the thread, the first cross beam 201 slides up and down along the first vertical track 205, providing power for the height adjustment of the cross beam assembly; Principle description: During actual drilling, data collection and processing: In a hard rock open-pit mine operation area, a geological radar is used to detect the rock formation structure to obtain the rock formation distribution information; through drilling and sampling, the rock hardness is analyzed in the laboratory to be 12 - 14 (Pratt coefficient), the elastic modulus is 80 - 100 GPa, and the Poisson's ratio is 0.2 - 0.25. A sensor is used to monitor the detonation velocity of the explosive to be 8500 m / s, the detonation pressure to be 35 GPa, and the sympathetic detonation distance to be 60 cm. The aperture of the drilling equipment is recorded as 115 mm, the hole depth is 10 m, and the verticality deviation ≤ 1°. At the same time, the ambient temperature is recorded as 25 °C, the humidity is 60%, and the wind speed is 3 m / s. The collected data is normalized, and after removing outliers, a standardized data model is constructed.

[0030] Spacing determination calculation: Based on the integrated data, a three-dimensional geological model is constructed using professional modeling software, and the finite element-discrete element coupling algorithm is used to simulate the blasting process. According to the stress wave propagation equation

[0031] and the rock fragmentation criterion: Element fragmentation to calculate the stress wave propagation and rock fragmentation conditions. A multi-objective function is established

[0032] Eight industry experts are invited to score the importance of the three objectives of the block size qualification rate, energy utilization rate, and vibration intensity. Combining 120 groups of historical blasting data, the weight coefficients are calculated using the analytic hierarchy process , , . Using the improved NSGA-III algorithm, considering constraints such as rock formation stability and explosive dosage limitations, after 50 iterations of calculation, the optimal blasting unit group spacing is obtained as 5.2 m; Intelligent Navigation and Cooperative Control Module: Integrating a Beidou + inertial navigation dual-mode positioning system with a positioning accuracy of up to 1 cm, combined with three-dimensional laser scanning technology (scanning range 50 m × 50 m), to generate a three-dimensional terrain model of the operation site in real time. Analyze and process the terrain model through the SLAM algorithm to plan the optimal drilling path; Then, transfer the vehicle body 100 to the target position through the walking wheels 101, drive the rotating base plate 200 to rotate through the steering unit, and then drive the horizontal position adjustment and inclination adjustment of the drilling plate 300 through the crossbeam assembly and the angle adjustment assembly;

[0033] Then, the drill rod rack group works to adjust the corresponding drill rods according to the set drilling requirements. The pushing mechanism and the drilling driving part drive the drill rod 403 to start the drilling operation. While drilling, the protection component works, reducing the problem of debris splashing generated at the drilling position and the problems of dust and noise pollution.

[0034] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for determining the spacing between blasting unit groups for open-pit mines, characterized in that It includes the following steps: Step 1: Multi-dimensional data integration: Construct a standardized data model and perform normalization processing on the collected data. The formula is as follows: Among them, is the original value of the th data index of the th sample. is the value after normalization. and are the minimum and maximum values of the th data index respectively. At the same time, the 3σ principle is used to remove outliers. That is, if the data satisfies , it is determined as an outlier and excluded, where is the data mean, is the standard deviation. Step 2: Adopt a finite element-discrete element coupling algorithm to simulate the stress wave propagation and rock fragmentation process; Step 3: Multi-objective optimization calculation: Establish a multi-objective function with the block size qualification rate, energy utilization rate, and vibration intensity as the objectives Among them is the spacing between blasting unit groups, is the qualified rate of block size, is the energy utilization rate, is the vibration intensity; By using the improved NSGA-III algorithm, through setting the initial population size, crossover probability, and mutation probability, and considering constraints such as rock stratum stability and explosive dosage limitations, the multi-objective function is iteratively calculated to obtain the optimal spacing between blasting unit groups.

2. The method for determining the spacing between blasting units for open-pit mines according to claim 1, wherein, In Step 2 ： where the stress wave propagation equation is By setting the density of the rock medium and the initial stress conditions, the stress tensor at different times is solved for its distribution in the rock, and the attenuation law and propagation velocity of stress waves in the rock medium are calculated; for rock fragmentation simulation, the rock is discretized into particle elements, and calculations are carried out according to the contact mechanics model between particles in combination with the rock fragmentation criterion.

3. The method for determining the distance between blasting units for open-pit mines according to claim 1, characterized in that, The rock fragmentation criterion is that when the element stress exceeds the compressive strength the discrete element particle fragmentation is triggered, that is, the element breaks ; among them, the element stress is obtained by finite element calculation, and the compressive strength is determined according to the mechanical test data of rock samples; in the discrete element simulation, when the element stress meets the fragmentation criterion, the element is divided into multiple sub-particles, and the contact forces and motion states between the sub-particles are recalculated to simulate the rock fragmentation process.

4. The method for determining the spacing between blasting units for open-pit mines and the quick adjustment device according to claim 1, characterized in that In the multi-objective function, the target value of the qualified block rate is ≥ 90%, the target value of the energy utilization rate is ≥ 75%, and the target value of the vibration intensity is ≤ 80 dB; the weight coefficients , , are determined by the following method: collect at least 100 groups of historical blasting data under different geological conditions and blasting parameters, normalize the qualified block rate, energy utilization rate, and vibration intensity in each group of data; use the analytic hierarchy process, invite 5 - 10 industry experts to score the importance of the three objectives, and calculate the weight coefficients in combination with the statistical analysis results of the historical data.

5. A rapid adjustment device for the spacing between blasting units in an open-pit mine, comprising a vehicle body (100), wherein walking wheels (101) are provided at the bottom of the vehicle body (100), and it is characterized in that, A rotating base plate (200) is rotatably provided at the upper end of the walking wheel (101). The rotating base plate (200) is connected to a steering unit for driving its rotation. A first vertical plate (203) is vertically fixed at the upper end of the rotating base plate (200). A cross beam assembly is slidably provided at the upper end of the first vertical plate (203). An elevating assembly for driving the cross beam assembly to move up and down is further provided on the first vertical plate (203). A drilling plate (300) is provided at the end of the cross beam assembly. A drill rod rack group is provided at the bottom of the drilling plate (300). A drilling driving member for driving the drill rod rack group to work is provided on the drilling plate (300). An angle adjusting assembly for driving the drilling plate (300) to rotate is further provided at the end of the cross beam assembly. A protection assembly for reducing drilling pollution is provided on the drilling plate (300).

6. The quick adjustment device according to claim 5, wherein, The protection assembly includes a dust removal cylinder (502) provided on one side of the drilling plate (300). Sound absorption holes are distributed on the surface of the protection cylinder (500). The dust removal cylinder (502) is connected and fixed to the drilling plate (300) through a positioning rod. A protection cylinder (500) is provided at the lower end of the drilling plate (300). A through hole for facilitating the drill rod (403) to pass through is opened at the upper end of the protection cylinder (500). A protection push rod (501) is fixedly provided at the output end of the drilling plate (300). The output end of the protection push rod (501) is connected and fixed to the outside of the protection cylinder (500). A leaf shaft (505) is coaxially provided inside the dust removal cylinder (502). An air extraction impeller (506) is provided at one end of the leaf shaft (505). The other end of the leaf shaft (505) is in transmission connection with the output end of the drilling driving member. A filter cone (507) for filtering air is provided outside the leaf shaft (505). The end of the filter cone (507) is rotatably connected to the inner wall of the dust removal cylinder (502). A collection cylinder (504) is provided at the lower end of the dust removal cylinder (502) where the conical surface of the filter cone (507) is located. A discharge butterfly valve is provided on the collection cylinder (504). A dust suction conduit (503) is provided at the end of the dust removal cylinder (502) close to the drilling plate (300). The other end of the dust suction conduit (503) is communicated with the outside of the protection cylinder (500).

7. The quick adjustment device according to claim 5, characterized in that The angle adjusting assembly includes a steering shaft (211) rotatably provided on the cross beam assembly. The steering shaft (211) is connected and fixed to the drilling plate (300). The other end of the steering shaft (211) is fixedly connected to a steering worm gear (212). The upper side of the steering worm gear (212) is engaged with a steering worm (210). The steering worm (210) is connected to a steering motor (209) for driving its rotation.

8. The quick adjustment device according to claim 5, characterized in that, The drill pipe rack group includes a mounting ring arranged outside the drilling plate (300). A drill pipe disc seat (400) is rotatably provided on the mounting ring. The drill pipe disc seat (400) is connected to a switching drive member for driving its rotation. A plurality of rotating bodies (401) are arranged in an array at the upper end of the drill pipe disc seat (400). The rotating bodies (401) are rotatably connected to the drill pipe disc seat (400). A drill pipe (403) is slidably fitted at the center position of each drill pipe disc seat (400). A limiting protrusion is provided on the outer side of the drill pipe (403). A limiting groove matching the limiting protrusion is provided on the inner wall of the hole of the rotating body (401). A drilling gear (402) is provided on the outer side of the upper end of the rotating body (401). An electric locking mechanism for locking the position of the drill pipe (403) is provided on the rotating body (401). The drill pipe rack group further includes a pushing mechanism for pushing the drill pipe (403) to move.

9. The quick adjustment device according to claim 5, characterized in that The drilling drive member includes a drive column shaft (415) rotatably provided on the drilling plate (300). A floating shaft (414) is slidably provided at one end of the drive column shaft (415) facing the drill pipe disc seat (400). A transmission protrusion (411) is provided on the outer side of the floating shaft (414). A groove matching the transmission protrusion (411) is provided on the inner wall of the drive column shaft (415). A power gear (413) is provided at the end of the floating shaft (414). The power gear (413) is matched with the drilling gear (402). The power gear (413) and the end of the drive column shaft (415) are connected by a floating spring (412). A first transmission gear (416) is provided on the drive column shaft (415). A power motor (417) is fixedly provided on the surface of the drilling plate (300) above the first transmission gear (416). A second transmission gear (418) is provided at the output end of the power motor (417). The second transmission gear (418) meshes with the first transmission gear (416).

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