Impact seismic source generating device for coal mine underground slot wave detection

Abstract

The invention provides an impact seismic source generating device for coal mine underground slot wave detection, an impact hammer capable of reciprocating in an acceleration pipeline is arranged in the acceleration pipeline, and a hammer head is detachably mounted at the front end of the impact hammer. A guide groove is formed in the inner wall of the bottom in the acceleration pipeline in the axial direction, and a driving base is fixedly installed at the rear end of the impact hammer and extends out of the guide groove. A transmission chain is mounted on the base below the acceleration pipeline and is driven by a chain wheel driven by an anti-explosion servo motor; a reset pusher and an impact pusher are installed on the transmission chain, and the reset pusher is located on the front side of the impact pusher. The driving seat is clamped between the reset pusher and the impact pusher and is blocked; the transmission chain moves to drive the reset pusher and the impact pusher to move, so that the driving seat drives the impact hammer to move. Most of mechanical energy generated by the explosion-proof servo motor is converted into kinetic energy of the impact hammer, the energy loss is small, the conversion rate is high, and a seismic source signal generated by the impact seismic source generation mechanism is good in quality, good in repeatability and good in frequency consistency.

Description

Technical Field

[0001] This invention belongs to the field of mine geophysical exploration technology, and relates to channel wave detection, specifically to an impact source generating device for underground channel wave detection in coal mines. Background Technology

[0002] In recent years, the development and research of mine-use channel wave seismographs have greatly improved the efficiency of underground channel wave detection in coal mines. Through-hole channel wave detection, reflection channel wave detection, and seismic advance detection have all achieved excellent geological exploration results and have been widely adopted in major coal mining enterprises, yielding excellent geological exploration outcomes. However, with the increasing national requirements for intelligent mine construction and the need for inherently safe mine construction, the control of underground explosives is becoming increasingly stringent. This has led to greater difficulty in solving the source problem when conducting underground channel wave detection, hindering the development of underground channel wave detection technology and equipment in coal mines.

[0003] Currently, the main types of non-explosive seismic sources include: ① heavy hammer seismic sources, ② air gun seismic sources, ③ electric spark seismic sources, ④ impact seismic sources, and ⑤ controlled seismic sources. Among them, the vibration and impact parts of heavy hammer seismic sources and the air compressor parts of air gun seismic sources are usually large and heavy, making it difficult to carry out miniaturization technology transformation in coal mines; the discharge process of electric spark seismic sources generates electric arcs, making it difficult to complete the explosion-proof transformation in coal mines; controlled seismic sources are large and heavy, and the energy they generate can meet the needs of underground channel wave detection, but they are not conducive to the development trend of miniaturization and portability of underground equipment in coal mines, and are not suitable for the construction of underground channel wave detection in coal mines.

[0004] With the emergence of ultra-large working faces, when carrying out channel wave detection in coal mines, it is often necessary to collect data from hundreds of instruments simultaneously. In order to improve the detection accuracy, the number of blasts in a single underground operation can reach hundreds. The seismic source is crucial for channel wave detection in coal mines, and the control of explosive seismic sources has increased the difficulty of carrying out high-density and high-precision channel wave detection in coal mines.

[0005] Therefore, there is an urgent need for a new type of explosion-proof and controllable shock source in underground coal mines to meet the actual needs of underground geological exploration, while improving the efficiency and intelligence of underground blasting, and realizing safe, efficient and high-density channel wave detection in underground coal mines. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide an impact source generating device for underground coal mine channel wave detection, thereby solving the technical problem that the energy conversion rate of impact sources needs to be further improved without using explosive sources.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution.

[0008] An impact source generating device for underground coal mine channel wave detection includes an impact source generating mechanism. The impact source generating mechanism includes a base, on which an accelerating pipe is fixedly installed via a pipe support. The accelerating pipe is a cylindrical pipe with a closed rear end. An impact hammer capable of reciprocating within the accelerating pipe is installed inside the accelerating pipe, and a hammer head is detachably installed at the front end of the impact hammer. The front end of the accelerating pipe is open, and the hammer head is used to impact the exploration target.

[0009] A guide groove is provided on the bottom inner wall of the acceleration pipe along the axial direction. The guide groove runs through the inner and outer sides of the acceleration pipe. A drive seat is fixedly installed on the rear end of the impact hammer, and the drive seat extends out of the guide groove.

[0010] A transmission chain is mounted on the base below the acceleration pipe via a chain bracket. The transmission chain is driven by a sprocket driven by an explosion-proof servo motor. A reset actuator and an impact actuator are mounted on the transmission chain, with the reset actuator located in front of the impact actuator.

[0011] The drive seat is positioned between and separated from the reset pusher and the impact pusher; the movement of the transmission chain drives the reset pusher and the impact pusher to move, thereby driving the impact hammer to move through the drive seat.

[0012] The present invention also has the following technical features.

[0013] The distance between the transmission surface of the transmission chain and the central axis of the acceleration pipe gradually increases from the rear end to the front end, so that a separation slope is formed between the transmission surface of the transmission chain and the central axis of the acceleration pipe. When the impact hammer moves to the front end of the acceleration pipe, this separation slope allows the drive seat on the impact hammer to naturally separate from the impact pusher.

[0014] The drive base includes a telescopic sleeve with its upper end fixedly mounted on the impact hammer, and the lower end of the telescopic sleeve fixedly mounted on the bonding block. A compression return spring is fitted on the outer side of the telescopic sleeve, with the upper end of the compression return spring pressing against the impact hammer and the lower end of the compression return spring pressing against the bonding block. The front side of the bonding block is a reset pushing surface, and the rear side of the bonding block is an impact pushing surface. A reset guide surface is machined between the front side and the bottom surface of the bonding block, and the angle between the reset guide surface and the reset pushing surface is an obtuse angle.

[0015] The reset pusher includes a flap seat fixedly mounted on the transmission chain. A reset push flap is mounted on the flap seat via an anti-runaway torsion spring. The reset push flap is frontally limited by a reset push force limiting block on the flap seat, so that the reset push flap is arranged perpendicular to the transmission chain under the action of the anti-runaway torsion spring. The reset push flap can contact the reset push surface to push the drive seat to move backward for reset.

[0016] The impact actuator includes a roller seat fixedly mounted on a transmission chain, and an impact pushing roller is mounted on the roller seat; the impact pushing roller can contact the impact pushing surface to push the drive seat forward to make an impact; the impact pushing roller can also contact the reset guide surface to push the bonding block to extend and lift upward, so that the bonding block resets between the impact pushing roller and the reset pushing flap.

[0017] It also includes a tracked unmanned underground vehicle, which is equipped with an attitude adjustment mechanism. The attitude adjustment mechanism includes a manual hydraulic lifting platform, a manual horizontal turntable, a manual pitch adjustment platform, a manual horizontal sliding bracket, and an impact vibration source generating mechanism that can slide on the manual horizontal sliding bracket. The tracked unmanned underground vehicle is also equipped with an explosion-proof power control box.

[0018] The impact hammer is a four-section metal rod-shaped structure with multiple sets of spherical sliding wheels installed on its outer surface; a guide wheel is installed on the impact hammer next to the drive seat, and the guide wheel is located in the guide groove.

[0019] The front end of the acceleration pipe is detachably equipped with a hollow anti-air load buffer head. The inner diameter of the anti-air load buffer head is smaller than the inner diameter of the acceleration pipe, and the outer diameter of the hammer head is smaller than the outer diameter of the impact hammer. The inner diameter of the anti-air load buffer head only allows the hammer head of the impact hammer to extend out of the front end of the anti-air load buffer head. The rear end of the acceleration pipe is equipped with a spring energy-absorbing block.

[0020] The base is also equipped with a chain tensioner, which is used to tension the drive chain.

[0021] Compared with the prior art, the present invention has the following technical effects.

[0022] (I) The mechanical energy generated by the explosion-proof servo motor of the present invention is mostly converted into the kinetic energy of the impact hammer. The energy loss is small and the conversion rate is high. The source signal generated by the impact source generating mechanism has good quality, good repeatability and good frequency consistency.

[0023] (II) After the impact is completed, only the impact hammer in the impact source generating mechanism needs to bear a large impact force and stress, while other structures do not need to bear a large impact force and stress, thus making the equipment have a long service life and more durable; it can be reused multiple times, and the cost of a single impact is low.

[0024] (III) The impact source of the present invention is powered by a rechargeable power battery, which is easy to use and maintain; by adjusting the speed of the explosion-proof servo motor, different impact energy can be adjusted, and the impact energy can be increased or decreased as needed to meet different exploration requirements, providing an efficient, safe and accurate artificial source solution for downhole geological exploration.

[0025] (IV) The artificial seismic source of the present invention is installed on a tracked unmanned vehicle, which can adapt to the harsh road conditions in coal mines and has strong mobility; the position and attitude of the impact seismic source can be manually adjusted as needed, making it convenient to use and operate.

[0026] (V) This invention combines the mobility of unmanned vehicles with a multi-degree-of-freedom adjustment structure to achieve flexible adjustment of the earthquake source position and angle.

[0027] (VI) This invention can adapt to the high temperature, high humidity and corrosive environment in coal mines, and has strong environmental adaptability. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the shock source generating mechanism.

[0029] Figure 2 This is a schematic diagram of the front internal structure of the shock source generating mechanism.

[0030] Figure 3 This is a schematic diagram of the rear internal structure of the shock source generating mechanism.

[0031] Figure 4 This is a schematic diagram showing the structure and assembly relationship of the reset actuator, drive seat, and impact actuator.

[0032] Figure 5 A schematic diagram of the overall structure of an impact source generator for detecting channel waves in underground coal mines.

[0033] Figure 6 This is a schematic diagram of the overall structure of the attitude adjustment mechanism.

[0034] Figure 7 This is a schematic diagram of the explosion-proof power control box.

[0035] Figure 8 This is a schematic diagram of the connection relationships of an ARM embedded processor.

[0036] Figure 9 This is a map showing the construction area for trench wave detection.

[0037] Figure 10 This is a seismic data map of the 15th shot for the reflection trough wave detection.

[0038] Figure 11 The dispersion characteristics of the 15th shot detected by the reflection groove wave.

[0039] Figure 12 This is a diagram of seismic data from the 43rd shot, obtained using transmission channel wave detection.

[0040] Figure 13 This is a dispersion characteristic diagram of the 43rd shot detected by transmission slot wave.

[0041] The meanings of the labels in the figure are as follows: 1- Impact vibration source generating mechanism, 2- Tracked unmanned underground vehicle, 3- Attitude adjustment mechanism, 4- Explosion-proof power control box.

[0042] 101-Base, 102-Pipe support, 103-Acceleration pipe, 104-Impact hammer, 105-Hammer head, 106-Anti-empty buffer head, 107-Guide groove, 108-Drive seat, 109-Chain support, 110-Transmission chain, 111-Explosion-proof servo motor, 112-Sprocket, 113-Reset pusher, 114-Impact pusher, 115-Multiple sets of spherical sliding wheels, 116-Guide wheel, 117-Spring energy absorption block, 118-Chain tensioner.

[0043] 10801-Telescopic sleeve, 10802-Adhesive block, 10303-Compression return spring, 10804-Reset pushing surface, 10805-Impact pushing surface, 10806-Reset guide surface.

[0044] 11301-Flip plate base, 11302-Anti-runaway torsion spring, 11303-Reset push flip plate, 11304-Reset push force limit stop block.

[0045] 11401 - Roller seat, 11402 - Impact drive roller.

[0046] 301 - Manual hydraulic lifting platform; 302 - Manual horizontal turntable; 303 - Manual pitch adjustment platform; 304 - Manually adjustable horizontal sliding support.

[0047] 401-Battery compartment, 402-Electrical control compartment, 403-Wiring compartment, 404-Wiring terminal, 405-Lithium iron phosphate lithium-ion battery pack, 406-Battery management system, 407-ARM embedded processor, 408-Explosion-proof servo motor driver, 409-Remote control signal receiver, 410-Intrinsically safe remote control for mining, 411-Display, 412-Charging port.

[0048] The specific content of the present invention will be further explained in detail below with reference to the embodiments. Detailed Implementation

[0049] It should be noted that, unless otherwise specified, all devices, instruments and components in this invention are based on devices, instruments and components known in the prior art.

[0050] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0051] Example 1: This embodiment provides an impact source generating device for underground coal mine channel wave detection, such as... Figure 1 As shown, the device includes an impact source generating mechanism 1, which includes a base 101. An acceleration pipe 103 is fixedly mounted on the base 101 via a pipe support 102. The acceleration pipe 103 is a cylindrical pipe with a closed rear end. An impact hammer 104 capable of reciprocating within the acceleration pipe 103 is installed inside the acceleration pipe 103. Figure 2 As shown, the front end of the impact hammer 104 is detachably equipped with a hammer head 105; the front end of the acceleration pipe 103 is open, and the hammer head 105 is used to impact the exploration target.

[0052] like Figure 3 As shown, a guide groove 107 is provided on the bottom inner wall of the acceleration pipe 103 along the axial direction. The guide groove 107 passes through the inner and outer sides of the acceleration pipe 103. A drive seat 108 is fixedly installed on the rear end of the impact hammer 104, and the drive seat 108 extends out of the guide groove 107.

[0053] like Figure 1 As shown, a transmission chain 110 is mounted on the base 101 below the acceleration pipe 103 via a chain bracket 109. The transmission chain 110 is driven by a sprocket 112 driven by an explosion-proof servo motor 111. Figure 3 As shown, a reset actuator 113 and an impact actuator 114 are installed on the transmission chain 110, with the reset actuator 113 located in front of the impact actuator 114.

[0054] like Figure 3 As shown, the drive seat 108 is locked between the reset pusher 113 and the impact pusher 114 and is blocked; the movement of the transmission chain 110 drives the reset pusher 113 and the impact pusher 114 to move, thereby driving the impact hammer 104 to move through the drive seat 108.

[0055] As a preferred embodiment of this invention, such as Figure 1As shown, the distance between the transmission surface of the transmission chain 110 and the central axis of the acceleration pipe 103 gradually increases from the rear end to the front end, so that a separation slope is formed between the transmission surface of the transmission chain 110 and the central axis of the acceleration pipe 103. When the impact hammer 104 moves to the front end of the acceleration pipe 103, this separation slope allows the drive seat 108 on the impact hammer 104 to naturally separate from the impact pusher 114.

[0056] As a preferred embodiment of this invention, such as Figure 4 As shown, the drive base 108 includes a telescopic sleeve 10801 with its upper end fixedly mounted on the impact hammer 104, and the lower end of the telescopic sleeve 10801 fixedly mounted on the bonding block 10802. A compression return spring 10803 is fitted on the outer side of the telescopic sleeve 10801. The upper end of the compression return spring 10803 abuts against the impact hammer 104, and the lower end of the compression return spring 10803 abuts against the bonding block 10802. The front side of the bonding block 10802 is a reset pushing surface 10804, and the rear side of the bonding block 10802 is an impact pushing surface 10805. A reset guide surface 10806 is machined between the front side and the bottom surface of the bonding block 10802. The angle between the reset guide surface 10806 and the reset pushing surface 10804 is an obtuse angle.

[0057] As a preferred embodiment of this invention, such as Figure 4 As shown, the reset pusher 113 includes a flap seat 11301 fixedly mounted on the transmission chain 110. A reset push flap 11303 is mounted on the flap seat 11301 via an anti-runaway torsion spring 11302. The reset push flap 11303 is frontally limited by the reset push force limiting block 11304 on the flap seat 11301, so that the reset push flap 11303 is arranged perpendicular to the transmission chain 110 under the action of the anti-runaway torsion spring 11302. The reset push flap 11303 can contact the reset push surface 10804 to push the drive seat 108 to move backward for reset.

[0058] As a preferred embodiment of this invention, such as Figure 4 As shown, the impact pusher 114 includes a roller seat 11401 fixedly mounted on the transmission chain 110, and an impact push roller 11402 mounted on the roller seat 11401. The impact push roller 11402 can contact the impact push surface 10805 to push the drive seat 108 forward to perform an impact. The impact push roller 11402 can also contact the reset guide surface 10806 to push the bonding block 10802 to extend and lift upward, so that the bonding block 10802 resets and enters between the impact push roller 11402 and the reset push flap 11303.

[0059] In this embodiment, the reset pusher 113 is used to push the drive seat 108 to reset, thereby driving the impact hammer 104 to reset, so that the rear end of the impact hammer 104 contacts the spring energy-absorbing block 117 to reset. The impact pusher 114 is used to push the drive seat 108 on the impact hammer 104, and converts the driving mechanical energy of the explosion-proof servo motor 111 into the kinetic energy of the impact hammer 104 when the transmission chain 110 moves.

[0060] In this embodiment, as the impact hammer 104 moves forward, under the action of the separation slope, the distance between the transmission surface of the transmission chain 110 and the central axis of the acceleration pipe 103 gradually increases from the rear end to the front end. When the impact hammer 104 moves to the front end of the acceleration pipe 103, the separation slope allows the impact pushing surface 10805 of the bonding block 10802 to naturally separate from the impact pushing roller 11402. The roller structure design of the impact pushing roller 11402 also facilitates the separation of the bonding block 10802 from the impact pushing roller 11402.

[0061] In this embodiment, by controlling the explosion-proof servo motor 111, it can be ensured that the reset pusher 113 and the impact pusher 114 will move within one revolution along the transmission chain 110. In extreme cases, when the explosion-proof servo motor 111 is out of control, the transmission chain 110 will continue to rotate, and the reset pusher 113 and the impact pusher 114 will move several revolutions along the transmission chain 110. In this case, when the front side of the reset push flap 11303 contacts the impact push surface 10805 on the rear side of the bonding block 10802, the anti-runaway torsion spring 11302 is compressed, and the bonding block 10802 will press the reset push flap 11303 down, pressing the reset push flap 11303 from a vertical state to a near-horizontal state, so that the bonding block 10802 can pass smoothly without damaging the reset push flap 11303, thus playing an emergency protection role.

[0062] In this embodiment, the preferred material for the acceleration pipe 103 is non-metallic POM (polyoxymethylene) material, which can withstand high-strength and high-rigidity application environments; it has good resistance to acids, alkalis, and salts; it has excellent wear resistance and good heat resistance, making it suitable for the harsh working environment in coal mines. Moreover, the acceleration pipe manufactured using POM material has a smooth inner wall and low friction, preventing the generation of sparks during the acceleration motion of the impact hammer, which is more conducive to the safe operation of equipment in coal mines.

[0063] As a preferred embodiment of this invention, such as Figure 2 As shown, the impact hammer 104 is a four-section metal rod-shaped structure, with multiple sets of spherical sliding wheels 115 installed on its outer surface. The spherical sliding wheels 115 are used to reduce the friction of the impact hammer 104 when it moves within the acceleration pipe 103, thereby improving the kinetic energy conversion efficiency and reducing energy consumption.

[0064] In this embodiment, by replacing the hammerhead 105 with different specifications and materials, the cross-sectional area of ​​the impact surface can be changed, thereby adapting to different impact energy requirements.

[0065] As a preferred embodiment of this invention, such as Figure 3 As shown, a guide wheel 116 is mounted on the impact hammer 104 next to the drive base 108, and the guide wheel 116 is located in the guide groove 107. The guide wheel 116 is used to prevent the impact hammer 104 from swinging circumferentially in the acceleration pipe 103.

[0066] As a preferred embodiment of this invention, such as Figure 2 As shown, a hollow anti-air load buffer head 106 is detachably installed at the front end of the acceleration pipe 103. The inner diameter of the anti-air load buffer head 106 is smaller than the inner diameter of the acceleration pipe 103, and the outer diameter of the hammer head 105 is smaller than the outer diameter of the impact hammer 104. The inner diameter of the anti-air load buffer head 106 only allows the hammer head 105 of the impact hammer 104 to extend out of the front end of the anti-air load buffer head 106. A spring energy-absorbing block 117 is installed inside the rear end of the acceleration pipe 103.

[0067] In this embodiment, the length of the hammer head 105 is set according to the specific working conditions. The length of the hammer head 105 is sufficient to ensure that the hammer head 105 can fully contact the "shot point" in the groove wave detection area under non-no-load conditions, and can ensure that the end of the impact hammer 104 does not damage the anti-no-load buffer head 106.

[0068] As a preferred embodiment of this invention, such as Figure 3 As shown, a spring-loaded energy-absorbing block 117 is installed inside the rear end of the acceleration pipe 103. In this embodiment, the spring-loaded energy-absorbing block 117 can absorb the energy carried by the impact hammer 104 when it impacts the exploration target and then impacts it in the reverse direction, preventing damage to the rear end of the acceleration pipe 103.

[0069] As a preferred embodiment of this invention, such as Figure 1 As shown, a chain tensioner 118 is also installed on the base 101. The chain tensioner 118 is used to tension the drive chain 110, and also facilitates the adjustment of the movement trajectory of the drive chain 110 in the horizontal and vertical directions, ensuring that the movement trajectory of the drive chain 110 is stable and conforms to the desired trajectory.

[0070] In this embodiment, the transmission chain 110 is made of high-strength explosion-proof material to ensure stable operation in the harsh environment of underground coal mines. By precisely controlling the speed and start / stop time of the explosion-proof servo motor 111, the motion state of the transmission chain 110 can be precisely controlled, thereby generating seismic waves with strong repeatability and controllable energy.

[0071] As a preferred embodiment of this invention, such as Figure 5 As shown, it also includes a tracked underground unmanned vehicle 2, which is equipped with an attitude adjustment mechanism 3, such as... Figure 6 As shown, the attitude adjustment mechanism 3 includes a manual hydraulic lifting platform 301, a manual horizontal turntable 302 is installed on the manual hydraulic lifting platform 301, a manual pitch adjustment platform 303 is installed on the manual horizontal turntable 302, a manual horizontal adjustment sliding bracket 304 is installed on the manual pitch adjustment platform 303, and an impact source generating mechanism 1 capable of sliding is installed on the manual horizontal adjustment sliding bracket 304.

[0072] In this embodiment, the manual hydraulic lifting platform 301, the manual horizontal turntable 302, and the manual pitch adjustment platform 303 all adopt platforms known in the art, and their drive mechanisms and locking mechanisms are also known in the art. The manually adjustable horizontal sliding bracket 304 adopts a horizontal sliding bracket known in the art, and its drive mechanism and locking mechanism are also known in the art. A sliding plate is installed on the manually adjustable horizontal sliding bracket 304, and the sliding plate is fixedly connected to the base 101 in the impact source generating mechanism 1, realizing the sliding of the impact source generating mechanism 1 on the manually adjustable horizontal sliding bracket 304.

[0073] The process of using the shock source generator for underground coal mine channel wave detection in this embodiment includes the following steps.

[0074] Step 1: Adjust your posture.

[0075] After arriving at the area where the impact test will be conducted, the position and attitude of the tracked underground unmanned vehicle 2 are first adjusted to facilitate the operation of the impact source generating mechanism 1. The on-site construction personnel adjust the height of the manual hydraulic lifting platform 301, the azimuth angle of the manual horizontal turntable 302, the pitch angle of the manual pitch adjustment device 5, and the extension distance of the manual horizontal sliding support 304 to ensure that the attitude and position of the impact source generating mechanism 1 meet the requirements of the on-site impact test. The preparatory work for the operation of the impact source generating mechanism 1 is completed.

[0076] Step 2, Initialization.

[0077] Adjust the impact hammer 104 to be located at the rear end of the acceleration pipe 103, and adjust the drive seat 108 to be located between the reset pusher 113 and the impact pusher 114.

[0078] Step 3: Get out of the impact.

[0079] When the explosion-proof servo motor 111 starts, it rotates in the forward direction and directly drives the sprocket 112 to rotate. The sprocket 112 drives the transmission chain 110 to move. The impact pusher 114 on the transmission chain 110 drives the drive seat 108 to move towards the front end of the guide groove 107, thereby driving the impact hammer 104 to move towards the front end of the acceleration pipe 103. As the speed of the explosion-proof servo motor 111 increases rapidly, the movement speed of the impact hammer 104 continues to increase, moving towards the front end of the acceleration pipe 103.

[0080] As the impact hammer 104 impacts the exploration target along the acceleration pipe 103, the drive seat 108 on the impact hammer 104 naturally disengages from the impact pusher 114, and the impact hammer 104 completes one impact action, that is, one "blasting" action.

[0081] Step 4: Reset.

[0082] After the impact is completed, the explosion-proof servo motor 111 moves in the reverse direction at low speed, thereby returning the explosion-proof servo motor 111 to its initial position; the explosion-proof servo motor 111 rotates in the reverse direction, driving the transmission chain 110 to move in the reverse direction, and the reset pusher 113 on the transmission chain 110 will automatically bring the drive seat 108 on the impact hammer 104 back to its initial position in the reverse direction.

[0083] Step 5: Repeat the impact.

[0084] After the drive seat 108 reaches the initial position, it prepares for a new impact action, repeating steps two to four to perform multiple impact actions, that is, to perform multiple "firework" actions.

[0085] In this embodiment, after the impact is completed, the drive signal of the explosion-proof servo motor 111 stops. The reset pusher 113 and the impact pusher 114 will still move a distance due to inertia under the drive of the explosion-proof servo motor 111. By precisely controlling the start duration of the explosion-proof servo motor 111, it can be ensured that the reset pusher 113 and the impact pusher 114 will move within one revolution along the transmission chain 110 to prevent secondary impact.

[0086] In this embodiment, when the explosion-proof servo motor 111 drives the transmission chain 110, it continuously transmits speed and acceleration to the impact hammer 104, thereby making the force and impact process of the impact hammer 104 controllable. The impact hammer 104 moves within the acceleration pipe 103 and is constantly accelerating before impact. Its impact energy is relatively larger than that of an electromagnetic impact hammer accelerated by electromagnetic repulsion at the front end. Furthermore, by adjusting and controlling the speed of the explosion-proof servo motor 111, different impact energies can be adjusted to meet the needs of exploration with varying impact energies.

[0087] In this embodiment, based on the specific working conditions of the exploration target, the design of the energy absorption capacity of the spring energy-absorbing block 117, the weight of the impact hammer 104, the material of the hammer head 105, and the power and speed of the explosion-proof servo motor 111 can ensure that the hammer head 105 impacts the exploration target only once each time.

[0088] Example 2: This embodiment provides a control method for the impact source of underground coal mine channel wave detection. This method is used to control the impact source generating device for underground coal mine channel wave detection as described in claim 1; furthermore, the device includes... Figure 5 As shown, the tracked underground unmanned vehicle 2 is also equipped with an explosion-proof power control box 4. In this embodiment, the explosion-proof power control box 4 is mainly used for power supply and control of the electric drive device for the underground impact vibration source in coal mines. The outer shell of the explosion-proof power control box 4 is made of Q235A steel, and the parameters of the explosion-proof surface meet the requirements of GB3836.

[0089] like Figure 7 As shown, the explosion-proof power control box 4 is divided into three chambers: battery compartment 401, electrical control compartment 402, and wiring compartment 403. Cables are connected and disconnected from the outside of the wiring compartment 403 through wiring terminals 404. The battery compartment 401, electrical control compartment 402, and wiring compartment 403 are connected through wall terminals.

[0090] A lithium iron phosphate battery pack 405 is installed inside the battery compartment 401, and the lithium iron phosphate battery pack 405 is connected to the charging port 412.

[0091] The electrical control compartment 402 houses a battery management system 406 (using a battery management system commonly known in the art) and an ARM (Advanced RISC Machine) embedded processor 407, such as... Figure 8 As shown, the ARM embedded processor 407 is connected to the lithium iron phosphate battery pack 405 through the battery management system 406; the ARM embedded processor 407 is also connected to the explosion-proof servo motor driver 408, which drives the explosion-proof servo motor 111 in the impact vibration source generating mechanism 1; the ARM embedded processor 407 is also connected to the remote control signal receiver 409, which is wirelessly connected to the intrinsically safe mining remote controller 410; the ARM embedded processor 407 is also connected to the display 411 installed on the outer shell of the explosion-proof power control box 4.

[0092] In this embodiment, the lithium iron phosphate lithium-ion battery pack 405 consists of 24 cells, each with a capacity of 3.2V / 60Ah, forming a battery system with a capacity of 76.8V / 60Ah.

[0093] In this embodiment, the ARM embedded processor 407 is connected to the display 411 via the RS232 protocol, and to the explosion-proof servo motor driver 408, the remote control signal receiver 409, and the battery management system 406 via the CAN bus. It collects real-time battery status data, including the voltage of each cell, the temperature of key points in the battery pack, the total output voltage, and the charging / discharging current. The real-time remaining battery power, voltage, and current information are displayed on the display 411. The display 411 also shows the operating mode of the impact source and the set speed of the explosion-proof servo motor.

[0094] In this embodiment, the explosion-proof servo motor 111 can achieve instantaneous high-speed response; by setting the motion mode of the servo motor to speed mode and using the ARM embedded processor 407 to input the numerical value of the servo motor speed, real-time and accurate speed control is achieved, thereby precisely controlling the acceleration curve and overcoming the risk of overshoot or stalling of traditional motors during rapid acceleration; it can suppress the temperature rise during high-speed acceleration and avoid triggering the explosion-proof system to shut down due to overheating; the housing and junction box of the explosion-proof servo motor 111 are reinforced with seals to suppress the generation of electric sparks and ensure the safety and explosion-proof requirements of the equipment in underground coal mines.

[0095] In this embodiment, the impact source is remotely controlled via wireless communication to complete the "blasting" underground, and the underground channel wave detection data acquisition is completed in conjunction with the underground channel wave detection construction process.

[0096] The method includes the following steps.

[0097] Step 1: Adjust your posture.

[0098] After arriving at the area where the impact test will be conducted, the position and attitude of the tracked underground unmanned vehicle 2 are first adjusted to facilitate the operation of the impact source generating mechanism 1. The on-site construction personnel adjust the height of the manual hydraulic lifting platform 301, the azimuth angle of the manual horizontal turntable 302, the pitch angle of the manual pitch adjustment device 5, and the extension distance of the manual horizontal sliding support 304 to ensure that the attitude and position of the impact source generating mechanism 1 meet the requirements of the on-site impact test. The preparatory work for the operation of the impact source generating mechanism 1 is completed.

[0099] Step 2, Initialization.

[0100] When the explosion-proof power control box 4 is powered on, the ARM embedded processor 407 starts up. The ARM embedded processor 407 reads the encoder value of the explosion-proof servo motor 111 and initializes the explosion-proof servo motor 111. The impact hammer 104 is adjusted to be located at the rear end of the acceleration pipe 103, and the drive seat 108 is adjusted to be located between the reset pusher 113 and the impact pusher 114.

[0101] Step 3: Get out of the impact.

[0102] Using the intrinsically safe mining remote controller 410, the rotational speed of the explosion-proof servo motor 111 is input. The ARM embedded processor 407 reads the encoder value M0 of the current explosion-proof servo motor 111, sets the explosion-proof servo motor 111 to rotate in the forward direction and to speed mode, and activates the impact button on the intrinsically safe mining remote controller 410. At the same time as the explosion-proof servo motor 111 starts, the timer in the ARM embedded processor 407 is started. Different rotational speeds of the explosion-proof servo motor 111 correspond to different timing periods to ensure that the rotation of the transmission chain 110 does not exceed one revolution, thus preventing secondary impact.

[0103] The explosion-proof servo motor 111 rotates in the forward direction, directly driving the sprocket 112 to rotate. The sprocket 112 drives the transmission chain 110 to move. The impact pusher 114 on the transmission chain 110 drives the drive seat 108 to move towards the front end of the guide groove 107, thereby driving the impact hammer 104 to move towards the front end of the acceleration pipe 103. As the speed of the explosion-proof servo motor 111 increases rapidly, the movement speed of the impact hammer 104 continuously accelerates, moving towards the front end of the acceleration pipe 103.

[0104] As the impact hammer 104 impacts the exploration target along the acceleration pipe 103, the drive seat 108 on the impact hammer 104 naturally disengages from the impact pusher 114, and the impact hammer 104 completes one impact action, that is, one "blasting" action.

[0105] Step 4: Reset.

[0106] When the timer expires, the ARM embedded processor 407 reads the current encoder value M1 of the explosion-proof servo motor 111. The ARM embedded processor 407 sets the explosion-proof servo motor 111 to reverse rotation and position mode, and controls the explosion-proof servo motor 111 to move in reverse at low speed for M1-M0 encoded values, so that the explosion-proof servo motor 111 returns to the initial position. The reverse rotation of the explosion-proof servo motor 111 drives the transmission chain 110 to move in reverse. The reset pusher 113 on the transmission chain 110 will automatically bring the drive seat 108 on the impact hammer 104 back to the initial position in reverse.

[0107] Step 5: Repeat the impact.

[0108] After the drive seat 108 reaches the initial position, it prepares for a new impact action, repeating steps two to four to perform multiple impact actions, that is, to perform multiple "firework" actions.

[0109] Application example: When using traditional explosives for seismic source activation, safety limitations necessitate pre-drilling blast holes (42mm diameter, 3m depth, perpendicular to the coal face) to house the detonators. This necessitates safety measures during blasting, resulting in long blasting cycles, high labor intensity, and low efficiency during underground wave tunneling construction. Typically, a blasting interval of 30m is used. With the increasing demand for intelligent safety systems in coal mines, explosive control is becoming increasingly stringent, making underground blasting less and less practical.

[0110] The underground channel wave detection shock source in coal mines boasts high safety and enables fully autonomous and controllable blasting, effectively improving the efficiency of blasting during underground channel wave detection operations. By adopting the underground channel wave detection shock source, the blast spacing can be reduced to 10m or even 5m, achieving high-density channel wave detection underground and effectively improving the accuracy of underground channel wave detection.

[0111] Therefore, this application example designs a high-density channel wave detection construction process for detecting shock sources in underground coal mine channels.

[0112] This application example presents a high-density channel wave detection construction process, which adopts the control method of the impact source for underground channel wave detection in coal mines given in Example 2.

[0113] The process includes the following steps.

[0114] Step 1: Design the shot points and detector placement points for the detection area. In high-density slot wave detection, the shot distance is generally designed to be 10m (or 5m depending on the accuracy requirements), and the channel spacing is set to 10m, which finally forms the slot wave detection construction area map.

[0115] In this step, such as Figure 9 As shown, the shot points are numbered S1... and the receiver points are numbered R1..., ultimately forming a trench wave detection construction area map (marking the location information of the shot points and receiver points).

[0116] Step 2: Based on the construction drawing of the channel wave detection area designed in Step 1, measure and mark the points at the designated locations downhole for easy retrieval. Use S1... for the shot point location and R1... for the receiver point location.

[0117] Step 3: Before going down into the well, set the instrument sampling interval to 0.25ms and the sampling duration to 15h (which can be freely selected according to the length of the construction face) to complete the instrument's ground time synchronization.

[0118] Step four: During construction, geophones and mining seismographs are set up according to the marked locations of the measuring points, the geophones and instruments are connected, and the seismographs are turned on.

[0119] Step 5: The underground channel wave detection shock source in the coal mine is "fired" one by one from S1 to the last shot point according to the shot point location. The "fired" process is carried out in accordance with the process shown in a control method for underground channel wave detection shock source in coal mine. The seismograph continuously collects the seismic wave signals received by each detector and automatically stores them.

[0120] Step six: After the underground blasting is completed, collect the geophones and mine seismographs to complete the data acquisition work for underground channel wave detection.

[0121] Step 7: After the instrument is brought to the surface, the data retrieval work of the mining seismograph is completed. The matching channel wave processing and interpretation software is used to extract the single-shot records, process and interpret the data, and finally produce the structural interpretation result map of the channel wave detection at the working face.

[0122] In this application example, considering the matching of load inertia and motor inertia, the explosion-proof servo motor 111 is selected with a rated power of 4.5 kW, a rated speed of 3000 rpm, a rated torque of 15 Nm, and a rotor inertia of 36.6 kg / cm². 2 Explosion-proof servo motor.

[0123] In this application example, the key parameters of the impact source generating mechanism 1 are calculated in the following manner.

[0124] According to the rated speed of explosion-proof servo motor 111 The required lead for 3000 rpm .

[0125] Based on synchronous belt pulley drive, the required pulley diameter is... .

[0126] Select a sprocket diameter d = 121.5 mm, impact hammer stroke s = 1100 mm, running time 0.3 s, and calculate the acceleration as a constant speed. for: .

[0127] The resulting acceleration force is:

[0128] Motor rated power Running time The energy generated by the shock source generating mechanism 1 .

[0129] The structure of the impact source generating mechanism 1 is designed based on the above calculations.

[0130] In this application example, the motor has a rated power of 4.5kW and uses a 60Ah battery pack. The battery range is... The motor starts in 2 seconds, each impact of the 104 impact hammer lasts approximately 0.1 seconds, the return time of the 104 impact hammer is 3 seconds, and the running time of one hammer strike is approximately 5 seconds. Therefore, the battery can complete a maximum number of impacts. Second-rate.

[0131] In this application example, to increase the number of impacts on the seismic source detected by the groove wave, a 100Ah lithium battery pack can be used as needed, thus improving the battery's endurance. The number of impact cycles that can be completed using a 100Ah lithium battery pack. Second-rate.

[0132] In this application example, an explosive seismic source is used to detect groove waves on a working face 2km long and 300m wide. A shot spacing of 30m is typically chosen, requiring 153 shots. Using a groove wave detection impact source can improve firing efficiency and shorten firing time; a shot spacing of 10m is chosen, requiring 460 shots. Smaller shot spacing leads to better data acquisition and higher data interpretation accuracy for groove wave detection. A 60Ah battery can meet the firing requirements of 622 shots, satisfying the needs of detecting such an ultra-long working face. To improve the accuracy of downhole groove wave detection, achieve high-density groove wave detection, and reduce shot spacing, a larger capacity 100Ah lithium battery pack can fully meet the needs of high-density downhole groove wave detection.

[0133] In this specific application example, the underground channel wave detection impact source in a coal mine was used to conduct reflected channel wave detection and transmitted channel wave detection at the 820 working face of a certain mine. A total of 100 "blasts" were carried out using the channel wave detection impact source, with each "blast" lasting 2 minutes. Figure 10 This is seismic data from the 15th shot, obtained using reflected trough wave detection. As can be seen from the figure, the acquired trough wave signal is strong, with a signal-to-noise ratio (SNR) of 15.14. The trough wave is a typical dispersive wave, meaning its velocity varies with frequency. The dispersion characteristics of the trough wave calculated by software are as follows: Figure 11 As shown in the figure, the groove wave energy is strongest in the frequency range of 120Hz-400Hz. The groove wave detection of the groove wave excited by the impact source has a wide frequency band, which is very useful for data interpretation. During the transmission groove wave detection process, the maximum transmission distance reached 800m when using groove waves to detect the excitation of the impact source. Figure 12 It is seismic data from the 43rd shot, obtained through transmission channel wave detection, and has a high signal-to-noise ratio. Figure 13 The image shows the dispersion characteristics of the 43rd shot detected by the transmission slot wave. It can be seen from the figure that the slot wave energy frequency is between 180Hz and 250Hz.

[0134] Based on the actual results of underground channel wave detection, the impact source for underground channel wave detection in coal mines meets the excitation energy requirements for transmission and reflection channel wave detection in ultra-long underground working faces. The "blasting" is highly efficient, has strong energy, and is highly intelligent, which can effectively improve the accuracy and efficiency of high-density channel wave detection in underground coal mines.

Claims

1. An impact source generating device for underground coal mine channel wave detection, characterized in that, The device includes an impact source generating mechanism (1), which includes a base (101). An acceleration pipe (103) is fixedly installed on the base (101) via a pipe support (102). The acceleration pipe (103) is a cylindrical pipe with a closed rear end. An impact hammer (104) capable of reciprocating within the acceleration pipe (103) is installed inside the acceleration pipe (103). A hammer head (105) is detachably installed at the front end of the impact hammer (104). The front end of the acceleration pipe (103) is open, and the hammer head (105) is used to impact the exploration target. A guide groove (107) is provided on the bottom inner wall of the acceleration pipe (103) along the axial direction. The guide groove (107) passes through the inner and outer sides of the acceleration pipe (103). A drive seat (108) is fixedly installed on the rear end of the impact hammer (104). The drive seat (108) extends out from the guide groove (107). A transmission chain (110) is mounted on the base (101) below the acceleration pipe (103) via a chain bracket (109). The transmission chain (110) is driven by a sprocket (112) driven by an explosion-proof servo motor (111). A reset pusher (113) and an impact pusher (114) are mounted on the transmission chain (110). The reset pusher (113) is located in front of the impact pusher (114). The drive seat (108) is positioned between and blocked by the reset pusher (113) and the impact pusher (114); the movement of the transmission chain (110) drives the reset pusher (113) and the impact pusher (114) to move, thereby driving the impact hammer (104) to move through the drive seat (108).

2. The shock source generating device for underground channel wave detection in coal mines as described in claim 1, characterized in that, The distance between the transmission surface of the transmission chain (110) and the central axis of the acceleration pipe (103) gradually increases from the rear end to the front end, so that a separation slope is formed between the transmission surface of the transmission chain (110) and the central axis of the acceleration pipe (103). When the impact hammer (104) moves to the front end of the acceleration pipe (103), this separation slope allows the drive seat (108) on the impact hammer (104) to naturally separate from the impact pusher (114).

3. The shock source generating device for underground channel wave detection in coal mines as described in claim 1, characterized in that, The drive seat (108) includes a telescopic sleeve (10801) with its upper end fixedly mounted on the impact hammer (104), and the lower end of the telescopic sleeve (10801) fixedly mounted on the bonding block (10802). A compression return spring (10803) is fitted on the outer side of the telescopic sleeve (10801). The upper end of the compression return spring (10803) rests on the impact hammer (104), and the lower end of the compression return spring (10803) rests on the bonding block (10802). The front side of the bonding block (10802) is a reset pushing surface (10804), and the rear side of the bonding block (10802) is an impact pushing surface (10805). A reset guide surface (10806) is machined between the front side and the bottom surface of the bonding block (10802). The angle between the reset guide surface (10806) and the reset pushing surface (10804) is an obtuse angle.

4. The shock source generating device for underground channel wave detection in coal mines as described in claim 3, characterized in that, The reset pusher (113) includes a flap seat (11301) fixedly installed on the transmission chain (110). A reset push flap (11303) is installed on the flap seat (11301) by an anti-runaway torsion spring (11302). The reset push flap (11303) is frontally limited by the reset push force limiting block (11304) on the flap seat (11301), so that the reset push flap (11303) is arranged perpendicular to the transmission chain (110) under the action of the anti-runaway torsion spring (11302). The reset push flap (11303) can contact the reset push surface (10804) to push the drive seat (108) to move backward for reset.

5. The shock source generating device for underground channel wave detection in coal mines as described in claim 3, characterized in that, The impact pusher (114) includes a roller seat (11401) fixedly mounted on the transmission chain (110), and an impact push roller (11402) is mounted on the roller seat (11401). The impact push roller (11402) can contact the impact push surface (10805) to push the drive seat (108) forward to make an impact. The impact push roller (11402) can also contact the reset guide surface (10806) to push the bonding block (10802) to extend and lift upward, so that the bonding block (10802) resets into the space between the impact push roller (11402) and the reset push flap (11303).

6. The shock source generating device for underground channel wave detection in coal mines as described in claim 1, characterized in that, It also includes a tracked downhole unmanned vehicle (2), on which an attitude adjustment mechanism (3) is installed. The attitude adjustment mechanism (3) includes a manual hydraulic lifting platform (301), on which a manual horizontal turntable (302) is installed, on which a manual pitch adjustment platform (303) is installed, on which a manual horizontal sliding bracket (304) is installed, and on which a sliding impact source generating mechanism (1) is installed; the tracked downhole unmanned vehicle (2) is also equipped with an explosion-proof power control box (4).

7. The shock source generating device for underground channel wave detection in coal mines as described in claim 1, characterized in that, The impact hammer (104) is a four-section metal rod structure, and multiple sets of spherical sliding wheels (115) are installed on the outer surface of the impact hammer (104); a guide wheel (116) is installed on the impact hammer (104) next to the drive seat (108), and the guide wheel (116) is located in the guide groove (107).

8. The shock source generating device for underground channel wave detection in coal mines as described in claim 1, characterized in that, The front end of the acceleration pipe (103) is detachably equipped with a hollow anti-air load buffer head (106). The inner diameter of the anti-air load buffer head (106) is smaller than the inner diameter of the acceleration pipe (103), and the outer diameter of the hammer head (105) is smaller than the outer diameter of the impact hammer (104). The inner diameter of the anti-air load buffer head (106) only allows the hammer head (105) of the impact hammer (104) to extend out of the front end of the anti-air load buffer head (106). The rear end of the acceleration pipe (103) is equipped with a spring energy-absorbing block (117).

9. The shock source generating device for underground channel wave detection in coal mines as described in claim 1, characterized in that, The base (101) is also equipped with a chain tensioner (118), which is used to tension the transmission chain (110).

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