Method for determining the inter-group spacing of blasting units in open-pit mines and rapid adjustment device

Abstract

The application discloses a method for determining the interval of a blasting unit group for an open-pit mine, a quick adjusting device and a blasting operation system. The method collects multi-dimensional data through a geological radar, a sensor and the like, and constructs a model through normalization processing. A three-dimensional geological-blasting coupling modeling is performed by using a finite element-discrete element coupling algorithm, an improved NSGA-III algorithm is combined to solve a multi-objective function to determine an optimal interval, and Kalman filtering is used to realize real-time feedback correction. The quick adjusting device comprises a multi-angle adjusting module, an intelligent navigation module and a cooperative control module, and can accurately position and quickly adjust. The application forms a full-process automatic system of "modeling-computing-adjusting-feedback", compared with the traditional technology, can improve the qualified rate of the block degree by more than 25%, shorten the interval adjusting time to within 15 minutes, and effectively improve the blasting efficiency and safety of the mine.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of blasting technology, in particular to a method for determining the interval distance between blasting unit groups and a rapid adjustment device for open-pit mines. BACKGROUND

[0002] In the process of open-pit mining, blasting operation is a key link, and the reasonable determination of the interval distance between blasting unit groups directly affects the blasting effect, the quality of ore mining, and the safety of operation. At present, the industry mostly determines the interval distance between blasting unit groups by using empirical formula or analogy based on historical data. This traditional method has the following shortcomings: first, it cannot accurately adapt to complex and variable geological conditions, such as large differences in rock hardness, elastic modulus, and joint fissure distribution in different regions, resulting in uneven ore fragmentation after blasting, excessive fragmentation or high large block rate, increasing the cost of secondary crushing and reducing the efficiency of mining; second, the adjustment of the interval distance relies on manual re-planning of the drilling layout, which is low in efficiency and cannot be quickly adjusted according to real-time working conditions, seriously restricting the progress of mine exploitation. SUMMARY

[0003] The purpose of the present application is to provide a method for determining the interval distance 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-mentioned purpose, the present application provides the following technical solutions:

[0005] The method for determining the interval distance between blasting unit groups for open-pit mines comprises the following steps:

[0006] Multi-dimensional data integration: use a geological radar to collect rock structure data, obtain rock hardness, elastic modulus, and Poisson's ratio through drilling sampling analysis, use sensors to monitor the detonation velocity, detonation pressure, and sympathetic detonation distance of explosives, and record the hole diameter, hole depth, and verticality information of drilling equipment, as well as the temperature, humidity, and wind speed data of the environment. A standardized data model is constructed, and the collected data is normalized as follows:

[0007]

[0008] wherein, is the original value of the i-th data index of the j-th sample, is the normalized value, and are the minimum value and the maximum value of the i-th data index, respectively. At the same time, the 3σ principle is used to remove outliers, i.e., if the data satisfies , it is determined to be an outlier and is removed, wherein is the data mean, ​​​to be the standard deviation;

[0009] Three-dimensional geology-blasting coupling modeling:

[0010] Three-dimensional geological model construction: Based on the integrated multi-dimensional data, using GOCAD, 3DMine and other professional modeling software, the discrete geological data is processed by interpolation algorithm (such as Kriging interpolation method) to construct high-precision three-dimensional geological model containing rock elastic modulus distribution, joint fracture network and explosive charge position. In the process of model construction, the rock mechanics parameters (such as elastic modulus, Poisson's ratio) are assigned to the corresponding rock layer unit, and the geometric shape, charge density and other parameters of the explosive are accurately set at the charge position in the model to truly reflect the geological and charge conditions of the blasting site;

[0011] Finite element-discrete element coupling algorithm implementation: The finite element-discrete element coupling algorithm is used to simulate the stress wave propagation and rock breaking process. For stress wave propagation simulation, based on the theory of elastic dynamics, the finite element method is used to solve the stress wave propagation equation . The three-dimensional geological model is divided into finite element grid, and the density , initial stress condition of rock medium is set, and the numerical solution is obtained by time domain finite difference method (FDTD), and the distribution of stress tensor in rock at different time is obtained, and the attenuation law and propagation velocity of stress wave in rock medium are calculated. In the rock breaking simulation stage, when the stress wave propagates to the 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 dispersed into particle units, and the contact mechanics model between particles is established according to the Hertz-Mindlin contact theory, and the rock breaking criterion is combined to calculate the unit breaking . When the unit stress meets the breaking criterion, the unit is divided into multiple sub-particles, and the contact force and motion state between sub-particles are recalculated to simulate the rock breaking process, realizing the coupling simulation of stress wave propagation and rock breaking process;

[0012] Multi-objective optimization calculation:

[0013] Multi-objective function construction: Multi-objective function is established with block eligibility rate, energy utilization rate and vibration intensity as target . Among them, is the distance between the blasting unit groups; is the block eligibility rate, which is calculated by analyzing the rock breaking results obtained by discrete element simulation and calculating the proportion of ore mass that meets the target block size range (such as the proportion of ore mass with particle size less than 30 cm in the total ore mass); For energy utilization rate, the ratio of the total energy released by the explosive explosion to the energy consumed for effectively breaking the rock is calculated, and the energy consumed for effectively breaking the rock is obtained by calculating the work done for overcoming the cohesion and friction of the rock in the rock breaking process; For vibration intensity, the vibration intensity at different positions is calculated based on the stress wave propagation results obtained by the finite element simulation through the Sadovskiy formula (wherein is the vibration velocity, is the maximum explosive charge of a single section, is the distance from the measuring point to the center of the explosion source, , is a coefficient related to the geological conditions) is a coefficient related to the geological conditions). The block size qualified rate target value is greater than or equal to 90%, the energy utilization rate target value is greater than or equal to 75%, and the vibration intensity target value is less than or equal to 80 dB.

[0014] 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 0.8, and the mutation probability is 0.2. The distance between the blasting unit groups is taken as the decision variable, and the multi-objective function is iteratively calculated under the constraint conditions of rock stability (by calculating the safety factor of the rock unit, to ensure that the rock does not lose stability as a whole during the blasting process), explosive charge limit (set constraint conditions according to the storage amount of the mine explosive and the maximum explosive charge allowed for a single blasting), etc. In each iteration process, the population individuals are divided into different non-dominated levels by the non-dominated sorting algorithm, and the crowding degree calculation method is used to calculate the crowding degree of individuals in the same level to ensure the diversity of the population. After more than 50 iterations, a set of Pareto optimal solutions is obtained, and the optimal blasting unit group distance is selected from the solution set according to the actual engineering requirements (such as giving priority to reducing the vibration intensity or improving the block size qualified rate);

[0015] Real-time feedback correction: vibration sensors (accuracy ±0.5 dB) and block size scanners (resolution ≤5 mm) are arranged at the blasting site to collect real-time vibration data and ore block size distribution data after blasting. The collected data is compared with the model prediction value, the Kalman filtering algorithm is used to correct the parameters of the prediction model, the related coefficients in the model are updated, the distance prediction accuracy is ±2%, and the unit group distance of the next blasting is adjusted according to the corrected results. The optimal distance obtained by multi-dimensional optimization calculation is used as the initial condition of the model prediction value in this step, and the results obtained by real-time feedback correction are fed back to the multi-dimensional data integration step to supplement and update the data, forming a closed loop.

[0016] On the basis of the above technical scheme, the application also provides the following optional technical schemes:

[0017] In an alternative, the rock breaking criterion is that when the unit stress exceeds the compressive strength , the discrete element particle is broken, i.e., the unit is broken . Wherein, the unit stress is obtained by finite element calculation, and the compressive strength is determined according to the mechanical test data of the rock sample; in the discrete element simulation, when the unit stress meets the breaking criterion, the unit is divided into multiple sub-particles, and the contact force and motion state between the sub-particles are recalculated to simulate the rock breaking process.

[0018] In an alternative, the block size qualification rate target value in the multi-objective function is ≥ 90%, the energy utilization rate target value is ≥ 75%, and the vibration intensity target value is ≤ 80 dB; the weight coefficients , , are determined by: collecting at least 100 groups of historical blasting data under different geological conditions and blasting parameters, normalizing the block size qualification rate, energy utilization rate and vibration intensity in each group of data; inviting 5-10 industry experts to score the importance of the three targets by using the analytic hierarchy process, and combining the statistical analysis results of the historical data to calculate the weight coefficients.

[0019] A quick adjusting device for the interval between blasting unit groups in an open-pit mine, comprising a vehicle body, the bottom of the vehicle body is provided with walking wheels, the upper end of the walking wheels is rotatably provided with a rotating base disc, the rotating base disc is connected with a steering machine set for driving it to rotate, the upper end of the rotating base disc is vertically fixed with a first vertical plate, the upper end of the first vertical plate is slidably provided with a beam assembly, the first vertical plate is further provided with a lifting assembly for driving the beam assembly to move up and down, the end of the beam assembly is provided with a drilling plate, the bottom of the drilling plate is provided with a drill rod rack group, the drill rod assembly can provide different diameters of drilling needs, the drilling plate is provided with a drilling driving piece for driving the drill rod rack group to work, the end of the beam assembly is further provided with an angle adjusting assembly for driving the drilling plate to rotate, the angle adjusting assembly can drill holes on different inclined surfaces of the ground, the drilling plate is provided with a protection assembly for reducing drilling pollution;

[0020] In an alternative: the protection assembly includes a dust removal cylinder arranged on one side of the drilling plate, the surface of the protection cylinder is distributed with sound holes, the dust removal cylinder is connected and fixed with the drilling plate through a positioning rod, the lower end of the drilling plate is provided with a protection cylinder, the upper end of the protection cylinder is provided with a perforation for the drill rod to pass through, the output end of the drilling plate is fixedly provided with a protection push rod, and the output end of the protection push rod is connected and fixed with the outer side of the protection cylinder. The protection cylinder is moved towards the ground by the protection push rod to cover the drilling position, so as to avoid the problem of splashing of stones caused by drilling. A vane shaft is coaxially arranged in the dust removal cylinder, an air suction impeller is arranged at one end of the vane shaft, the other end of the vane shaft is in transmission connection with the output end of the drilling driving part, a filter cone for filtering air is arranged on the outer side of the vane shaft, the end of the filter cone is in rotary connection with the inner wall of the dust removal cylinder, a collecting cylinder is arranged at the lower end of the dust removal cylinder where the conical surface of the filter cone is located, a discharge butterfly valve is arranged on the collecting cylinder, and a dust suction guide pipe is arranged at the end of the dust removal cylinder close to the drilling plate. The other end of the dust suction guide pipe is in communication with the outer side of the protection cylinder.

[0021] In an alternative: the angle adjusting assembly includes a steering shaft rotatably arranged on the cross beam assembly, the steering shaft is connected and fixed with the drilling plate, the other end of the steering shaft is fixedly connected with a steering worm wheel, and the upper side of the steering worm wheel is in meshing connection with a steering worm.

[0022] In an alternative: the drill rod rack group includes a mounting ring arranged on the outer side of the drilling plate, a drill rod disc seat is rotatably arranged on the mounting ring, the drill rod disc seat is connected with a switching driving part for driving the rotation of the drill rod disc seat, a plurality of rotating bodies are arrayed on the upper end of the drill rod disc seat, the rotating bodies are in rotary connection with the drill rod disc seat, a drill rod is slidably matched with the center position of each drill rod disc seat, a limiting protrusion is arranged on the outer side of the drill rod, a limiting groove matched with the limiting protrusion is arranged on the hole wall of the rotating body, 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 rod is arranged on the rotating body, and the drill rod rack group further includes a pushing mechanism for pushing the drill rod to move.

[0023] In an alternative: the pushing mechanism includes a pushing sliding seat slidably arranged on the surface of the drilling plate, a second vertical guide rail is arranged on the drilling plate and slidably matched with the pushing sliding seat, a second lifting screw is threadedly arranged on the pushing sliding seat, the end of the second lifting screw is connected with a second lifting motor for driving the rotation of the second lifting screw, and a drilling push plate is fixedly arranged on the outer side of the pushing sliding seat. A electromagnetic adsorption block matched with the upper end of the drill rod is rotatably arranged on the lower end of the drilling push plate.

[0024] In an alternative: the drill driving part 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 towards the drill rod disc seat, a transmission protrusion is arranged outside the floating shaft, a groove matched with 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 is connected with the end of the driving column shaft through a floating spring, a first transmission gear is arranged on the driving column shaft, a power motor is fixedly arranged above the first transmission gear on the surface of the drilling plate, a second transmission gear is arranged at the output end of the power motor, and the second transmission gear is engaged with the first transmission gear.

[0025] In an alternative: the switching driving part includes a switching gear ring arranged at the bottom of the drill rod disc seat, a switching base is fixedly arranged outside the drill rod 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 is engaged with a switching worm, the switching worm is connected with a switching motor for driving the switching worm to rotate, and the lower end of the switching shaft is fixedly connected with the switching gear.

[0026] In an alternative: the cross beam assembly includes a first cross beam and a second cross beam, a plurality of transverse sliding rods are fixedly arranged at the ends of the first cross beam, the transverse sliding rods are slidably arranged in the through holes of the second cross beam, a horizontal push rod is arranged on the first cross beam, and the output end of the horizontal push rod is fixedly connected with the transverse fixed blocks on the surface of the second cross beam.

[0027] In an alternative: 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 with a first lifting screw rod, the first lifting screw rod is threadedly connected with the first cross beam, the lower end of the first lifting screw rod is rotatably connected with the fixed block on the first vertical plate, and the first vertical plate is provided with a first vertical rail slidably matched with the first cross beam.

[0028] By adopting the technical scheme, the present application has the following beneficial effects:

[0029] Compared with the traditional method, the present application can more accurately determine the interval between the blasting unit groups, effectively reduce the over-crushing and the proportion of large ore blocks, and reduce the secondary crushing cost by comprehensively considering various factors such as geology, explosives, equipment and environment.

[0030] The rapid adjusting device in the present application adopts multi-angle adjusting and intelligent navigation cooperative control technology, realizes rapid positioning and model replacement of the drilling equipment, greatly improves the mine blasting operation efficiency, speeds up the mining progress, in addition, the rapid adjusting device can perform protection operation when drilling, improves the safety, and can also reduce noise pollution and dust pollution. Attached Figure Description

[0031] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0032] Figure 1 This is a flowchart of the method of the present invention.

[0033] Figure 2 This is a schematic diagram of the structure of the rapid adjustment device of the present invention.

[0034] Figure 3 This is a schematic diagram of the other side of the rapid adjustment device of the present invention.

[0035] Figure 4 This is a schematic diagram of the lower structure of the rapid adjustment device of the present invention.

[0036] Figure 5 This is a schematic diagram of the dust collector structure in the rapid adjustment device of the present invention.

[0037] Figure 6 For the present invention Figure 3 Schematic diagram of structure B in the middle.

[0038] Figure 7 For the present invention Figure 3 Schematic diagram of structure A in the middle.

[0039] Figure reference numerals: Vehicle body 100, running wheels 101;

[0040] Rotating base plate 200, first crossbeam 201, first lifting screw 202, first vertical plate 203, first lifting motor 204, first vertical track 205, second crossbeam 206, transverse sliding rod 207, transverse fixing block 208, steering motor 209, steering worm gear 210, steering shaft 211, steering worm wheel 212;

[0041] Drilling plate 300, second lifting motor 301, second lifting screw 302, drilling push plate 303, electromagnetic adsorption block 304, second vertical guide rail 305, and push slide 306;

[0042] 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;

[0043] Transmission protrusions 411, floating springs 412, power gear 413, floating shaft 414, drive column shaft 415, first transmission gear 416, power motor 417, second transmission gear 418;

[0044] Protective cylinder 500, protective push rod 501, dust removal cylinder 502, dust suction conduit 503, collection cylinder 504, vane shaft 505, suction vane 506, filter cone 507. DETAILED DESCRIPTION

[0045] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0046] The left-right and up-down positions of various components shown in the drawings are only one arrangement, and the specific positions are set according to specific needs.

[0047] In one embodiment, as shown in Figures 1-7 The open-pit mine blasting unit group spacing quick adjustment device comprises a vehicle body 100, the bottom of the vehicle body 100 is provided with walking wheels 101, the upper end of the walking wheels 101 is rotatably provided with a rotating base disc 200, the rotating base disc 200 is connected with a steering machine set for driving it to rotate, the upper end of the rotating base disc 200 is vertically fixed with a first vertical plate 203, the first vertical plate 203 is slidably provided with a cross beam assembly on the upper end, the first vertical plate 203 is further provided with a lifting assembly for driving the cross beam assembly to move up and down, the end of the cross beam assembly is provided with a drilling plate 300, the bottom of the drilling plate 300 is provided with a drill rod rack group, the drill rod assembly can provide different diameters of drilling needs, the drilling plate 300 is provided with a drilling driving piece for driving the drill rod rack group to work, the end of the cross beam assembly is further provided with an angle adjusting assembly for driving the drilling plate 300 to rotate, the angle adjusting assembly can drill holes on different inclined surfaces of the ground, the drilling plate 300 is provided with a protection assembly for reducing drilling pollution;

[0048] The protection assembly includes a dust removal cylinder 502 arranged on one side of the drilling plate 300, the dust removal cylinder 502 is connected and fixed with the drilling plate 300 through a positioning rod, a protection cylinder 500 is arranged at the lower end of the drilling plate 300, a perforation is arranged at the upper end of the protection cylinder 500, the perforation is used for facilitating the drill rod 403 to pass through, a protection push rod 501 is fixedly arranged at the output end of the drilling plate 300, the output end of the protection push rod 501 is connected and fixed with the outer side of the protection cylinder 500, the protection cylinder 500 is driven by the protection push rod 501 to move towards the ground, the drilling position is covered, and the problem that the drill hole causes the stones to splash is avoided, a blade shaft 505 is coaxially arranged in the dust removal cylinder 502, an air suction impeller 506 is arranged at one end of the blade shaft 505, the other end of the blade shaft 505 is in transmission connection with the output end of the drilling driving part, a filter cone 507 for filtering air is arranged on the outer side of the blade shaft 505, the end of the filter cone 507 is in rotation connection with the inner wall of the dust removal cylinder 502, a collecting cylinder 504 is arranged 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 arranged on the collecting cylinder 504, a dust suction pipe 503 is arranged at the end of the dust removal cylinder 502 close to the drilling plate 300, the other end of the dust suction pipe 503 is in communication with the outer side of the protection cylinder 500, when the drilling driving part works, the blade shaft 505 also rotates synchronously, the blade shaft 505 drives the air suction impeller 506 to rotate, so that the negative pressure is generated at the position of the dust suction pipe 503, the dust in the protection cylinder 500 is washed away by the negative pressure, then the dust is filtered by the filter cone 507, the impurities falling off are retained in the collecting cylinder 504, and the butterfly valve can be opened to discharge in the later period, a scraping brush plate for scraping the surface of the filter cone 507 can be further arranged above the collecting cylinder 504, so that the filter surface is better cleaned;

[0049] The surface of the protection cylinder 500 is distributed with sound reduction holes, so that the noise pollution generated by the drilling is reduced;

[0050] The angle adjusting assembly includes a steering shaft 211 rotationally arranged on the cross beam assembly, the steering shaft 211 is connected and fixed with the drilling plate 300, the other end of the steering shaft 211 is fixedly connected with a steering worm wheel 212, the upper side of the steering worm wheel 212 is in meshing connection with a steering worm 210, the steering worm 210 is connected with a steering motor 209 for driving the steering worm 210 to rotate, under the driving of the steering motor 209, the steering worm 210 drives the steering worm wheel 212 to rotate, the drilling plate 300 is driven by the steering worm wheel 212 through the steering shaft 211 to rotate, so that the drilling angle is adjusted;

[0051] The drill rod rack group comprises a mounting ring arranged outside the drilling plate 300, a drill rod disc seat 400 is rotatably arranged on the mounting ring, the drill rod disc seat 400 is connected with a switching driving member for driving the rotation of the drill rod disc seat 400, a plurality of rotating bodies 401 are arrayed on the upper end of the drill rod disc seat 400, the rotating bodies 401 are rotatably connected with the drill rod disc seat 400, a drill rod 403 is slidably matched with the central position of each drill rod disc seat 400, a limiting protrusion is arranged outside the drill rod 403, a limiting groove matched with the limiting protrusion is arranged on the hole wall of the rotating body 401, a drilling gear 402 is arranged outside the upper end of the rotating body 401, the drilling driving member can drive the drill rod 403 close to the drilling driving member to work, the clutching mode facilitates the quick switching of the drill rod, so that the drilling needs of different blasting holes are adapted, the drilling efficiency is greatly improved, an electric locking mechanism for locking the position of the drill rod 403 is arranged on the rotating body 401, the position of the drill rod 403 can be locked when not in use, so as to avoid the falling of the drill rod 403, the drill rod rack group further comprises a pushing mechanism for pushing the drill rod 403 to move;

[0052] The pushing mechanism comprises a pushing sliding seat 306 slidably arranged on the surface of the drilling plate 300, a second vertical guide rail 305 is arranged on the drilling plate 300 and slidably matched with the pushing sliding seat 306, a second lifting screw 302 is threadedly arranged on the pushing sliding seat 306, a second lifting motor 301 is connected with the end of the second lifting screw 302 for driving the rotation of the second lifting screw 302, a drilling push plate 303 is fixedly arranged outside the pushing sliding seat 306, an electromagnetic adsorption block 304 matched with the upper end of the drill rod 403 is rotatably arranged on the lower end of the drilling push plate 303, the electromagnetic adsorption block 304 can generate magnetism through power supply, so as to adsorb and fix the top of the drill rod 403, then the second lifting motor 301 drives the relative rotation of the second lifting screw 302 and the pushing sliding seat 306, under the action of the thread, the electromagnetic adsorption block 304 generates a pushing force on the end of the drill rod 403, so as to push the drill rod 403 to feed downward;

[0053] The drilling driving part comprises a driving column shaft 415 rotatably arranged on the drilling plate 300, a floating shaft 414 slidably arranged at one end of the driving column shaft 415 towards the drilling rod disc seat 400, a transmission protrusion 411 arranged outside the floating shaft 414, a groove matched with the transmission protrusion 411 arranged on the inner wall of the driving column shaft 415, a power gear 413 arranged at the end of the floating shaft 414, the power gear 413 being matched with the drilling gear 402, the power gear 413 being connected with the end of the driving column shaft 415 through a floating spring 412, a first transmission gear 416 being arranged on the driving column shaft 415, a power motor 417 being fixedly arranged above the first transmission gear 416 on the surface of the drilling plate 300, a second transmission gear 418 being arranged at the output end of the power motor 417, the second transmission gear 418 being engaged with the first transmission gear 416, under the driving of the power motor 417, the second transmission gear 418 is matched 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, and the power gear 413 drives the rotating body 401 to rotate when engaged with the drilling gear 402, thereby providing rotating power for drilling;

[0054] The switching driving part comprises a switching gear ring 410 arranged at the bottom of the drilling rod disc seat 400, a switching base 407 fixedly arranged outside the drilling rod disc seat 400, a switching shaft 408 rotatably arranged on the switching base 407, a switching worm wheel 404 fixedly arranged at the upper end of the switching shaft 408, the switching worm wheel 404 being engaged with a switching worm 406, the switching worm 406 being connected with a switching motor 405 for driving the switching worm 406 to rotate, the lower end of the switching shaft 408 being fixedly connected with a switching gear 409, the switching shaft 408 being engaged with the switching gear ring 410, under the driving of the switching motor 405, the switching worm 406 drives the switching shaft 408 to rotate through the switching worm wheel 404, the switching shaft 408 drives the switching gear ring 410 to rotate through the switching gear 409, thereby driving the drilling rod disc seat 400 to rotate, and providing power for switching of the drilling rod;

[0055] The cross beam assembly comprises a first cross beam 201 and a second cross beam 206, a plurality of transverse sliding rods 207 are fixedly arranged at the ends of the first cross beam 201, the transverse sliding rods 207 are slidably arranged through the holes at the ends 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 with a transverse fixed block 208 on the surface of the second cross beam 206, the second cross beam 206 is driven to slide along the transverse sliding rods 207 through the horizontal push rod, thereby adjusting the transverse position of drilling;

[0056] The lifting assembly comprises a first lifting motor 204 arranged at the upper end of the first vertical plate 203, an output end of the first lifting motor 204 is fixedly connected with a first lifting screw rod 202, the first lifting screw rod 202 is threadedly connected with the first cross beam 201, the lower end of the first lifting screw rod 202 is rotationally connected with a fixed block on the first vertical plate 203, the first vertical plate 203 is provided with a first vertical track 205 which is slidably matched with the first cross beam 201, under the driving of the first lifting motor 204, the first lifting screw rod 202 rotates relative to the first cross beam 201, under the action of the thread, the first cross beam 201 slides up and down along the first vertical track 205, thereby providing power for the height adjustment of the cross beam assembly;

[0057] Principle: In actual drilling, data acquisition and processing: In a certain hard rock open-pit mine operation area, use geological radar to detect rock structure and obtain rock distribution information; Through drilling sampling, rock hardness is obtained in the laboratory analysis as 12-14 (Prosser coefficient), elastic modulus is 80-100 GPa, and Poisson's ratio is 0.2-0.25. The sensor monitors the detonation velocity of the explosive as 8500 m / s, the detonation pressure as 35 GPa, and the sympathetic detonation distance as 60 cm. Record the hole diameter of the drilling equipment as 115 mm, the hole depth as 10 m, and the verticality deviation ≤1°. At the same time, record the environmental temperature as 25℃, the humidity as 60%, and the wind speed as 3 m / s. After normalizing the collected data and removing outliers, a standardized data model is constructed.

[0058] Interval determination calculation: Based on the integrated data, a three-dimensional geological model is constructed using professional modeling software, and a finite element-discrete element coupling algorithm is used to simulate the blasting process. According to the stress wave propagation equation

[0059]

[0060] And rock breaking criterion:

[0061] Unit breaking , the stress wave propagation and rock breaking are calculated. A multi-objective function

[0062]

[0063] Eight industry experts are invited to score the importance of the three targets of block size qualification rate, energy utilization rate and vibration intensity. Combined with 120 groups of historical blasting data, the weight coefficients are calculated by using the analytic hierarchy process , , . Using the improved NSGA-III algorithm, considering the constraints such as rock stability and explosive dosage limit, after 50 iterations, the optimal blasting unit group interval is 5.2m;

[0064] Intelligent navigation and cooperative control module: integrated Beidou + inertial navigation dual-mode positioning system, positioning accuracy reaches 1cm, combined with three-dimensional laser scanning technology (scanning range 50m*50m), real-time generation of three-dimensional terrain model of the work site. Through SLAM algorithm to analyze and process the terrain model, and plan the optimal drilling path;

[0065] Then the vehicle body 100 is transferred to the target position by the walking wheel 101, the rotating base disc 200 is driven to rotate by the steering unit, and then the drilling plate 300 is adjusted in horizontal position and inclination by the cross beam assembly and the angle adjusting assembly;

[0066] Then the drill rod holder group works so as to adjust the corresponding drill rod according to the set drilling requirement, the pushing mechanism and the drilling driving part drive the drill rod 403 to start the drilling operation, and the protection assembly works at the same time, thereby reducing the problems of splashing of debris generated at the drilling position and dust and noise pollution.

[0067] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining the spacing between blasting unit groups in open-pit mines, characterized in that, Includes the following steps: Step 1: Multi-dimensional data integration: Construct a standardized data model and normalize the collected data using the following formula: ； in, For the first The first sample The original values ​​of each data indicator The normalized value. and The first The minimum and maximum values ​​of each data indicator were determined, and outliers were removed using the 3σ principle. satisfy If it is an outlier, it will be removed. The mean of the data. Standard deviation; Step 2: Simulate stress wave propagation and rock fracturing process using a finite element-discrete element coupled algorithm; Step 3: Multi-objective optimization calculation: Establish a multi-objective function with block size qualification rate, energy utilization rate, and vibration intensity as objectives. ； in The spacing between blasting unit groups. For block size qualification rate, For energy efficiency, To determine the vibration intensity, an improved NSGA-III algorithm was adopted. By setting the initial population size, crossover probability, and mutation probability, and considering the constraints of rock strata stability and explosive dosage, the multi-objective function was iteratively calculated to obtain the optimal spacing between blasting unit groups.

2. The method for determining the spacing between blasting units in open-pit mines according to claim 1, characterized in that, In step two ： The stress wave propagation equation is: ； The meanings of each symbol are as follows: The density of the rock medium; The displacement of a particle in the i-th direction within the rock medium is expressed in meters (m). i corresponds to the x, y, and z three-dimensional directions of the spatial coordinate system; For time variables, the unit is seconds (s). Let be the acceleration of the rock particle in the i-th direction, in m / s². It is a vector differential operator; This is an identifier for divergence calculation; The volume force acting on a unit volume of rock medium in the i-th direction, unit: N / m³; By setting the density of the rock medium The initial stress conditions are used to solve for the stress tensor at different times. The distribution of stress waves in rocks is analyzed, and the attenuation law and propagation speed of stress waves in rock media are calculated. For rock fracture simulation, the rock is discretized into particle units, and calculations are performed based on the contact mechanics model between particles and the rock fracture criteria.

3. The method for determining the spacing between blasting units in open-pit mines according to claim 1, characterized in that, The rock fracture criterion is that when the element stress exceeds the compressive strength... Time-triggered discrete element particle breakage, i.e., unit breakage. Among them, element stress The compressive strength was obtained through finite element analysis. The rock fracture process is simulated based on mechanical test data of rock samples. In discrete element simulation, when the element stress meets the fracture criterion, the element is divided into multiple sub-particles, and the contact force and motion state between the sub-particles are recalculated to simulate the rock fracture process.

4. The method for determining the spacing between blasting units in open-pit mines according to claim 1, characterized in that, In the multi-objective function, the target values ​​for block size qualification rate are ≥90%, energy utilization rate is ≥75%, and vibration intensity is ≤80dB; weighting coefficients , , The following methods were used to determine the importance of the three objectives: at least 100 sets of historical blasting data under different geological conditions and blasting parameters were collected, and the block size qualification rate, energy utilization rate, and vibration intensity in each set of data were normalized; the analytic hierarchy process (AHP) was used to invite 5-10 industry experts to score the importance of the three objectives, and the weight coefficients were calculated by combining the statistical analysis results of the historical data.

5. A rapid adjustment device for the spacing between blasting unit groups in open-pit mines, used to execute the method for determining the spacing between blasting unit groups in open-pit mines as described in any one of claims 1-4, so as to achieve precise positioning and rapid drilling operations of the optimal spacing between blasting unit groups determined by the method, characterized in that, The vehicle includes a vehicle body (100), with wheels (101) at the bottom. A rotating base (200) is rotatably mounted on the upper end of each wheel (101). The rotating base (200) is connected to a steering gear unit for rotating the wheel. A first vertical plate (203) is vertically fixed on the upper end of the rotating base (200). A crossbeam assembly is slidably mounted on the upper end of the first vertical plate (203). A lifting assembly that drives the crossbeam assembly to move up and down is also mounted on the first vertical plate (203). A drill is provided at the end of the crossbeam assembly. The perforated plate (300) has a drill rod frame assembly at its bottom and a drilling drive component that drives the drill rod frame assembly. The end of the crossbeam assembly is also provided with an angle adjustment component that drives the perforated plate (300) to rotate. The angle adjustment component is adapted to the complex rock strata structure of the three-dimensional geological model to ensure that the drilling position meets the optimal spacing requirements. The perforated plate (300) is provided with a protective component to reduce drilling pollution. The protective component is adapted to the vibration intensity control target to reduce interference from the blasting operation environment.

6. The rapid adjustment device according to claim 5, characterized in that, The protective assembly includes a dust collector (502) disposed on one side of the drilling plate (300). A protective cylinder (500) is provided at the lower end of the drilling plate (300). The surface of the protective cylinder (500) is distributed with noise-reducing holes. The dust collector (502) is connected and fixed to the drilling plate (300) via a positioning rod. A through hole is provided at the upper end of the protective cylinder (500) to facilitate the passage of the drill rod (403). A protective push rod (501) is fixedly provided at the output end of the drilling plate (300). The output end of the protective push rod (501) is connected and fixed to the outside of the protective cylinder (500). An impeller (505) is coaxially disposed inside the dust collector (502). One end of the impeller (505) is provided with an exhaust impeller (506), and the other end of the impeller (505) is connected to the drilling drive component. The output end is connected to the transmission. The outer side of the blade shaft (505) is provided with a filter cone (507) for air filtration. The end of the filter cone (507) is rotatably connected to the inner wall of the dust collector (502). The lower end of the dust collector (502) where the cone surface of the filter cone (507) is located is provided with a collection cylinder (504). The collection cylinder (504) is provided with a discharge butterfly valve. The end of the dust collector (502) near the drilling plate (300) is provided with a dust suction pipe (503). The other end of the dust suction pipe (503) is connected to the outside of the protective cylinder (500). This protective component is used to cooperate with the "vibration intensity ≤ 80dB" target of multi-objective optimization calculation. It reduces drilling noise through the sound-absorbing hole and reduces dust pollution through the dust removal structure, avoiding environmental interference from affecting the accuracy of real-time feedback data in the method.

7. The rapid adjustment device according to claim 5, characterized in that, The angle adjustment component includes a steering shaft (211) rotatably mounted on the crossbeam assembly. The steering shaft (211) is fixedly connected to the borehole plate (300), and the other end of the steering shaft (211) is fixedly connected to the steering worm gear (212). The upper side of the steering worm gear (212) meshes with the steering worm (210), and the steering worm (210) is connected to a steering motor (209) for driving its rotation. This angle adjustment component is used to cooperate with the simulation results of complex rock strata structures in three-dimensional geological-blasting coupled modeling. By adjusting the borehole angle, it ensures that the borehole position is accurately matched with the optimal blasting unit group spacing determined by the method.

8. The rapid adjustment device according to claim 5, characterized in that, The drill rod holder assembly includes a mounting ring disposed on the outside of the drill plate (300). A drill rod disc seat (400) is rotatably mounted on the mounting ring. The drill rod disc seat (400) is connected to a switching drive unit for rotating it. Multiple rotating bodies (401) are arrayed on the upper end of the drill rod disc seat (400). The rotating bodies (401) are rotatably connected to the drill rod disc seat (400). A drill rod (403) is slidably fitted at the center position of each drill rod disc seat (400). A limiting protrusion is provided on the outside of the drill rod (403). The rotating body (401) has a hole wall on its side. The rotating body (401) is provided with a limiting groove that matches the limiting protrusion. 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 rod (403) is provided on the rotating body (401). The drill rod frame also includes a pushing mechanism for moving the drill rod (403). The quick switching function of the drill rod frame is used to adapt to the drilling parameter requirements under different geological conditions after multi-dimensional data integration, as well as the drilling efficiency requirements after multi-objective optimization, so as to realize the quick switching of different hole diameters and hole depths and shorten the spacing adjustment time to within 15 minutes.

9. The rapid adjustment device according to claim 5, characterized in that, The drilling drive includes a drive shaft (415) rotatably mounted on a drilling plate (300). A floating shaft (414) is slidably mounted on one end of the drive shaft (415) facing the drill rod disc (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 shaft (415). A power gear (413) is provided at the end of the floating shaft (414). The power gear (413) matches the drilling gear (402). The power gear (413) and the end of the drive shaft (415) are connected by a floating spring (414). 2) Connection: A first transmission gear (416) is provided on the drive column shaft (415), and 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), and the second transmission gear (418) meshes with the first transmission gear (416). The power transmission structure of this drilling drive is used to match the simulation results of the rock crushing process, ensure that the drilling power is compatible with the rock compressive strength, avoid excessive crushing or excessively high block ratio, and ensure that the target of "block size qualification rate ≥90%" in the method is achieved.

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