673 results about "Rock cutting" patented technology

The invention discloses an evaluation and improvement method and device for a tunnel blasting effect and a medium, and relates to the technical field of tunnel engineering.The evaluation and improvement method comprises the steps that a tunnel coupling data set is collected, space registration and three-dimensional shape reconstruction are conducted, fracture space distribution is formed, risk probability mapping is conducted on the fracture space distribution, and a fracture risk thermodynamic diagram is output; the fracture risk thermodynamic diagram and tunnel rock mass data are input into a digital twin blasting model, a load mapping layer carries out load gradient distribution, a rock mass response deduction layer carries out stress wave propagation simulation and damage accumulation quantification, an optimized blasting number instruction set is generated, and a drill jumbo is driven to execute blasting operation and vibration monitoring according to the optimized blasting instruction set. And actual blasting effect parameters are obtained. According to the method, accurate simulation of geological conditions and optimal adjustment of blasting parameters are realized through the digital twin blasting model, and meanwhile, refined and interpretable evaluation of the blasting effect is realized through vibration monitoring and error propagation modeling of the actual blasting effect.

The invention discloses a construction method applied to underground mine vertical shaft surrounding rock condition improvement. The construction method comprises the steps that a flat working face is cleaned, a temporary water nest is arranged for drainage, the drilling position is projected, and a down-the-hole drill is debugged; rock drilling is conducted according to the designed angle, direction and depth, propelling pressure is adjusted along with the depth, and cleaning and plugging are conducted after hole forming; grouting pipes with holes are used as pipe sheds to be driven into the holes, and are welded into a whole through annular steel bars; single-liquid-slurry and double-liquid-slurry segmented grouting is adopted, and the grouting pressure is controlled; during construction, grout diffusion and stratum deformation are monitored, after surrounding rock consolidation reaches the standard, weak blasting is matched with a small excavator for excavation, and after acceptance inspection is qualified, reinforcing steel bars are bound, formworks are installed, and concrete is poured. Compared with the prior art, the problems of collapse and water gushing of the vertical shaft under the strong weathering and water-rich geology can be solved, and the defects of insufficient supporting strength, grouting uniformity, construction efficiency and long-term stability in the traditional technology are overcome.

The invention belongs to the technical field of rock drills, and discloses a rotary impact type hydraulic rock drill. The rock drilling bit group is arranged in one side of the rock drilling machine shell; the rotating mechanism is arranged at the top of the rock drill shell, and the rotating mechanism is located above one side of the rock drill bit set; according to the technical scheme, by arranging the hydraulic mechanism, the cooling and cleaning assembly and the driving assembly, when the hydraulic mechanism is started to make the output end collide with one end of the middle of the rock drilling bit set back and forth, the top of one side of the driving assembly is driven to move up and down back and forth; cold water in one side of the cooling and cleaning assembly can be pumped back and forth into the other side of the cooling and cleaning assembly, and then the cold water can be sprayed out through the other side, so that heat generated by the impact part of the hydraulic mechanism and the rock drilling bit group can be cleaned and cooled; the service life of parts in the rock drill shell is prevented from being influenced by high temperature.

The invention relates to the technical field of underground mining of metal ore deposits, in particular to a staged ascending pillar-free large-diameter deep-hole lateral caving subsequent filling mining method, which comprises the following steps of: dividing a steeply inclined medium-thickness ore body into a plurality of stages, and dividing large and small stopes in the stages without leaving pillars; digging a flat-bottom ore removal structure at the bottom of the stope, and digging a rock drilling chamber at the bottom of the stope at the upper stage; digging a cutting well at the end part of the stope and expanding the cutting well into a cutting groove; large-diameter parallel deep holes are drilled downwards in the rock drilling chamber, and lateral ore caving is carried out with cutting grooves as free faces; the caved ore is transported out by a carry-scraper through the flat-bottom ore removal structure; and the stope goaf is subjected to subsequent cemented filling. The small stopes are firstly stoped and filled with the 1: 4 full-tailing cementing material, and after the small stopes are solidified, the large stopes are stoped and filled with the 1: 20 full-tailing cementing material. The method has the characteristic of ascending stoping among stages, and has the advantages that pillar-free continuous stoping is realized, and the rock drilling chamber is used as a flat bottom ore removal structure to be reused.

The invention provides a downward parallel medium-length hole sublevel filling mining method for a low-grade broken ore body, belongs to the technical field of mining, and solves the problems that a traditional mining method is low in mining efficiency and high in cost under complex geological conditions. Downward parallel medium-length holes are adopted in each section for drilling and blasting, efficient stoping is achieved in cooperation with remote control ore removal and supporting equipment, an interbed filling technology is adopted in a goaf to be combined with a reinforcing mesh structure to form an artificial roof, stress and displacement changes of a filling body are monitored in real time through a ground pressure monitoring system, and the stoping sequence and supporting parameters are optimized. According to the method, the efficiency and safety problems of a traditional mining method in low-grade and broken ore deposit and three-under resource mining are solved, large-scale, low-cost, safe and efficient mining is achieved, and the method is suitable for ore body mining under complex geological conditions.

The invention discloses a multifunctional all-in-one unit for drilling and blasting method construction and a construction technology, and relates to the technical field of tunnel construction, the multifunctional all-in-one unit comprises a rack assembly, a left drilling arch arm frame, a left drilling arm frame, a vertical arch arm frame, a right drilling arm frame, a right drilling arch arm frame, a guniting arm frame, a pumping system, a hydraulic system and an electrical system; a vertical arch module of the left drilling arch arm frame, a vertical arch module of the vertical arch arm frame and a vertical arch of the right drilling arch arm frame snatch a left arch frame, a middle arch frame and a right arch frame to carry out arch erecting and mesh welding operation; a charging hanging basket is arranged at the front end of the rack assembly; the rock drilling modules of the left drilling arch arm frame and the right drilling arch arm frame work independently or cooperatively in cooperation with the left drilling arm frame and the right drilling arm frame and are used for drilling anchor rod holes and blast holes. According to the invention, multiple functions such as drilling of blast holes, charging of a hanging basket, blasting, erecting of meshes, anchor rod operation, guniting and the like can be integrated, parallel working procedures or seamless connection of the working procedures can be realized, and the construction progress can be greatly improved.

The mine rock drilling robot comprises a walking mechanism, a telescopic mechanical arm and a rock drilling mechanism, the walking mechanism comprises an outer supporting frame and an inner supporting frame, first hydraulic supporting legs are vertically fixed to the four corners of the outer supporting frame, and second hydraulic supporting legs are vertically fixed to the four corners of the inner supporting frame; the inner supporting frame is connected to the outer supporting frame through a moving mechanism, and the first hydraulic supporting leg and the second hydraulic supporting leg can be alternately supported or jointly supported to the ground. The telescopic mechanical arm is installed on the inner supporting frame and used for being folded and stored and stretching out to the position below the rock drilling position. The rock drilling mechanism is installed at the end of the telescopic mechanical arm and comprises a rock drilling machine and a stable supporting mechanism, and the stable supporting mechanism is used for abutting against a top and bottom plate of the stope to stabilize the rock drilling machine. The walking mechanism can adapt to the ground shape, and stable movement is guaranteed; the height requirements of different mining faces are met through the telescopic mechanical arm; the stable supporting mechanism is vertically supported on the mine ground and the top of an ore body, and the safety and stability of equipment are improved.

The present application belongs to the field of phosphorite deposit mining technology, and particularly relates to a method for recovering a phosphorite layer bottom pillar under a filling body, which comprises arranging a segmented transport roadway in a sandwich in the top and bottom surface of the bottom pillar to reduce the construction engineering quantity of the rock drilling roadway and the ore roadway; first constructing a filling roadway intersecting on both sides of the segmented transport roadway, filling the filling body roadway with high-strength filling material, and then constructing the segmented transport roadway in the filling roadway, so that the segmented transport roadway is finally topped and bottomed with the sandwich rock, and both sides of the segmented transport roadway are high-strength filling bodies, which greatly improves the strength of the segmented transport roadway and reduces the influence of ore mining. Further, the present application proposes an invention point of leaving a permanent ore pillar in the ore body on one side of the sandwich bottom plate to improve the safety of the segmented transport roadway and the ore room mining; in order to further improve the safety of the ore room mining, the present application first proposes an ore room adopting an eight-character-shaped stope structure.

The invention discloses a drill rod signal transmission monitoring control method, which comprises the following steps: capturing drill rod axial vibration waveform and peripheral magnetic field vector change data in real time, analyzing and marking potential resonance frequency points, calculating magnetic field intensity break variable, and judging a geomagnetic anomaly region; determining the relevance between a resonance frequency point and geomagnetic mutation through time alignment processing, and separating and coupling interference signals; generating an anti-phase damping wave according to the resonance frequency point, dynamically adjusting the amplitude, and injecting a pre-compensation phase to counteract carrier offset; the signal-to-noise ratio and the phase error after suppression are calculated in real time, and a parameter readjustment process is triggered to ensure the suppression effect; when the rock drilling vehicle enters a new rock stratum, parameters are automatically recorded and updated to adapt to different rock stratum interference characteristics; the drilling stability and the signal quality are obviously improved, and the equipment loss and the maintenance cost are reduced.

The invention discloses an intelligent operation method and system for a double-arm drill jumbo of a large-section tunnel, and relates to the field of tunnel construction, the geometry, integrity, dust and humidity data of a section are collected in real time through a laser radar, an IMU and a surrounding rock pressure and environment sensor, and an operation environment database is constructed and updated; by combining the strength grade of the surrounding rock and the distribution of the soft layer, the posture of the arm support, the chiseling frequency and pressure and the rock entering angle of the bucket teeth are adjusted online in a self-adaptive mode; switching among a high-frequency impact mode, a bucket tooth wedging prying mode and a free face gravity automatic rock breaking mode according to working conditions; excessive impact is restrained and protection is triggered through a vibration monitoring closed loop, efficiency is improved, energy consumption is reduced, secondary damage is reduced, and construction safety and quality are guaranteed.

Disclosed are a shearer having an adaptive variable cutting line distance and a cutting method for the shearer. The shearer comprises a box (1), a traveling mechanism (2), a pitch mechanism (3), a longitudinal moving mechanism (5), a cantilever, and cutting mechanisms (7). By means of the traction of a longitudinal moving mechanism, a cantilever of the shearer drives a drum cutting head to perform a longitudinal reciprocating cutting motion, thereby improving the cutting range and efficiency; moreover, by regulating the longitudinal movement speed of the cutting head, the cutting line distance of the shearer can be significantly decreased, the problem of insufficient cutting capacity caused by a small cutting thickness during coal rock cutting is solved, and the risk of failure and damage of mechanisms is reduced; by means of the arrangement of sensors, coal rock can be classified into normal-hardness coal rock, high-hardness coal rock, and ultra-high-hardness coal rock on the basis of load conditions; and when the hardness is relatively high, the cutting thickness and the cutting line distance can be decreased so as to improve the cutting capacity, and when the hardness is relatively low, the cutting thickness and the cutting line distance can be appropriately increased so as to increase the cutting speed, so that the shearer can adapt to relatively complex working conditions, thereby achieving high-quality and high-efficiency cutting.

The invention provides a safe and efficient combined mining method for a near-surface thick and large low-grade ore body under a broken ore rock condition, and belongs to the field of mining. The first-step stope adopts a downward large-diameter deep hole subsequent filling method, horizontal and vertical anchor cable holes are constructed in a drilling chamber at the top of the stope, and the vertical anchor cable holes are communicated with the ground surface; a subsection medium-length hole subsequent filling mining method is adopted in the stope in the second step, and downward anchor cable holes are constructed in the earth surface above the stope to the boundary of the ore body; after cement mortar is injected into the anchor cable holes, orifice anchor cables are connected in series, prestress is applied, and a combined anchor cable supporting system is formed; filling immediately after the stope is mined in the first step; and after the filling body reaches the preset strength, filling after mining is carried out on the second-step stope. Through application of the combined supporting structure and the mining technology, near-surface thick and large low-grade ore body resources can be safely and efficiently mined, underground occurrence resources are fully utilized, and continuous high-quality development of mine enterprises is guaranteed.

A kind of 7 type shield support under horizontal non-blasting mining method, belong to the technical field of ore body mining, it includes the following steps, S1, in the vein along the upper section in the tunnel, install 7 type shield support, 7 type shield support is from east side along the vein up mountain, start through joist series connection arrangement to west side along the vein up mountain;S2, after installation and arrangement are completed, from the middle position of along the vein to both ends, using rock drill to carry out retreating type slope rock drilling, according to the angle of 15 ° to both sides mining, mining to vertical height drops 1m, then, horizontal retreating type rock drilling 1m, during, shovel truck follows and carries out in and out slag operation, transports ore to ramp, then, through ore chute connecting channel, transports to ore chute, unloads to ore chute, until rock drilling to end only remaining body length about 4m, will rock drill in stope connecting channel, turns around, will end remaining 4m advancing type rock drilling.The present application simplifies the recovery process, can effectively improve the production efficiency of ore block, and lower the cost of ton ore.

The invention provides a four-direction intelligent directional forward-going and backward-going perforation auxiliary cutting mechanism which comprises a protection shell, a cutting mechanism, a cutting mechanism, a cutting mechanism, a cutting mechanism, a cutting mechanism and a cutting mechanism, and is characterized in that a mounting cavity is formed in the protection shell, and a rear end cover is arranged at the rear end of the mounting cavity; the driving piece is arranged in the mounting cavity of the protective shell and is mounted on the inner end surface of the rear end cover; the eccentric block is mounted at the output end of the driving part; an inclined inner hole is formed in the end, away from the driving piece, of the eccentric block. An included angle exists between the axis of the inclined inner hole and the axis of the eccentric block. And the oscillating cutting part comprises a connecting shaft and an oscillating cutting head located at the front end of the connecting shaft, the connecting shaft is movably installed in the inclined inner hole, the end, away from the connecting shaft, of the oscillating cutting head extends out of the installation cavity, and a plurality of cutting blades are arranged on the circumference of the outer surface of the oscillating cutting head. Wherein the driving piece rotates to drive the eccentric block to rotate, and the eccentric block rotates to drive the oscillating cutting part to cyclically swing periodically, so that the cutting blade mills coal rocks. The problems that cutting resistance is large, cutting blades are seriously abraded, the dust yield is high, hard rock cutting efficiency is low, and energy consumption is large are solved.

The invention relates to a vertical shaft tunneling and supporting integrated trolley which comprises a barrel-shaped frame body which moves up and down along a vertical shaft. The crushing and slagging-off arm support system comprises a slagging-off crushing device, and the slagging-off crushing device is used for slagging-off and / or crushing and trimming operation; the crushing and slagging-off arm frame system slides along the axis direction of the cylindrical frame body; the rock drilling arm frame system comprises at least two sets of first rock drilling arm frames, the first rock drilling arm frames have a folded state in which the first rock drilling arm frames are attached to the inner wall of the cylindrical frame body and an unfolded state in which the first rock drilling arm frames face the vertical shaft tunnel face to conduct rock drilling operation, and when the rock drilling arm frame system is in the folded state, the rock drilling arm frame system is arranged in the cylindrical frame body. The vertical shaft tunneling and supporting integrated trolley provided by the invention can realize whole-process operation of vertical shaft expanding excavation drilling, slagging-off and supporting operation.

The invention discloses an air distribution and slag guide device for reverse circulation down-the-hole hammer drilling. The air distribution and slag guide device comprises an outer pipe, a slag guide pipe, an air distribution power mechanism, a drill bit and a drilling cutting conveying mechanism. The outer pipe is provided with an air inlet. The slag guide pipe is coaxially arranged in the outer pipe, and an annular gas distribution channel is formed between the slag guide pipe and the outer pipe and communicated with the gas inlet. And the bottom of the slag guide pipe is provided with a slag suction port, and a slag guide channel is formed in the slag guide pipe. The air distribution power mechanism comprises an air supply machine and an air distribution piston, and the piston slides in the annular air distribution channel in a reciprocating mode. The drill bit is connected with the outer pipe and used for crushing rock strata, and an inner shell and the flow guide cover form an annular cavity. The flow guide cover is provided with a gas distribution nozzle, and the spraying direction corresponds to the slag suction opening. And the drilling cutting conveying mechanism is arranged in the slag guide channel, axially extends and is used for conveying the drilling cuttings to the earth surface. The invention aims to solve the problem that rock debris is easy to retain in a slag guide channel in the existing reverse circulation drilling technology.

The invention belongs to the technical field of lunar exploration equipment, and provides a step-by-step laser-assisted rock breaking drilling tool and method for a lunar-based extreme environment, the drilling tool comprises a conversion disc, a rock drilling tool and a laser head, the laser head and the rock drilling tool are integrated in the same drilling tool structure through the conversion disc, laser or mechanical rock breaking modes can be switched according to working conditions, and the laser or mechanical rock breaking modes can be switched according to the working conditions. And step-by-step rock breaking is realized. The drilling tool is suitable for extreme environments such as low gravity, vacuum, high dust and severe temperature change of the moon, has the advantages of being compact in structure, flexible in switching and high in energy utilization rate, and can be widely applied to tasks such as lunar soil stripping, lunar rock mining, underground structure detection and lunar base construction.

The utility model discloses a tunneling rock drilling device which comprises a propelling beam, a holding and clamping device arranged on one side of the propelling beam and used for conveying to-be-used drill rods to the propelling beam, a push rod device arranged on a second to-be-used drill rod, a first to-be-used drill rod arranged on the holding and clamping device and a second to-be-used drill rod arranged on the second to-be-used drill rod arranged on the push rod device. The push rod device is arranged on the propelling beam and used for conveying the second to-be-used drill rod to the holding and clamping device. The utility model further discloses a tunneling drill jumbo which comprises a jumbo body, an arm support mechanism arranged on the jumbo body and the tunneling drill device arranged on the arm support mechanism. The push rod device is matched with the holding and clamping device, compared with an existing holding and clamping device with a connecting rod, only one drill rod can be additionally arranged, and the drilling depth is limited, more drill rods can be automatically additionally arranged, the drilling depth is increased, the requirement for longer drilling operation is met, and the device is suitable for small-section construction sites.

The invention discloses a double-support cone anti-jamming PDC (polycrystalline diamond compact) drill bit, which belongs to the technical field of oil and gas drilling and production and comprises a drill bit main body, a blade main body, a double-support cone mechanism, PDC cutting teeth, first crushing teeth and second crushing teeth. During conventional drilling and complex uneven formation drilling, the double-support cone mechanism arranged between the two blades can impact, extrude and crush large rock debris blocks which are cut and crushed under the pressure action of flowback drilling fluid, so that the large rock debris blocks are crushed and flowback along with a flow channel space. The anti-jamming drill bit can effectively prevent broken large rock debris blocks from being accumulated in the flow channel to cause jamming of the drill bit, and has good anti-jamming performance.

The invention relates to the field of well drilling, in particular to a cleaning method and cleaning slurry.The cleaning method comprises the steps that cleaning slurries with different viscosities are pumped in through a slurry pump to conduct circulating cleaning on a borehole, and the cleaning process of each circulating period sequentially comprises the three stages of thick slurry cleaning, thin slurry cleaning and thick slurry cleaning, the thick slurry is clean slurry with the Markov funnel viscosity of 300-800, and the thin slurry is clean slurry with the Markov funnel viscosity of 80-200 s. The cleaning slurry takes well slurry as base slurry and comprises sulfonated lignite, polypropylene fibers, high-softening-point emulsified asphalt, 800-mesh superfine calcium, 1200-mesh superfine calcium, polyanionic cellulose and 2500-mesh superfine calcium. The process is simple, the flushing and carrying effects on rock debris and falling blocks of different sizes are good, and the consumption of cleaning liquid is small.

The invention belongs to the technical field of tunnel blasting, and discloses a three-axis rotary cutting working arm of a rock drilling vehicle for tunnel blasting vertical hole arrangement, which comprises a mounting seat and also comprises a connecting frame. According to the technical scheme, by arranging a sensing assembly and a fixing assembly, when the output end of a rock drilling machine device rotates to perform vertical hole arrangement on a tunnel, the output end of the rock drilling machine device rotates to perform vertical hole arrangement on the tunnel; due to the fact that a fixed assembly at the output end of the rock drilling machine device is abraded during long-term rotation, a movable column is squeezed, one end of the movable column makes contact with a pressure sensor, the pressure sensor obtains pressure data and sends the pressure data to a control end, and the rock drilling machine device can be controlled to run and retract; the fixing effect on the fixing assembly at the end of the rock drilling machine device is relieved by starting the unlocking assembly, finally, the end of the rock drilling machine device can be moved to be aligned with the intact fixing assembly on the inner side of the sliding round sleeve, the intact fixing assembly is clamped to the end of the rock drilling machine device, the purpose of rapid replacement of the fixing assembly is achieved, and operation is convenient and rapid.

The invention discloses a closed tunnel rock drilling dust removal system and a dust removal method thereof. The dust removal system comprises an air curtain device, a spraying device, a dust removal device, a supporting frame, a front enclosure, a side enclosure, a conveying device, a water catchment plate, an air return pipeline and an advancing device. During working, a relatively closed space is formed by the front enclosure, the side enclosure, the transportation device, the dust removal device and a tunnel excavation face, dust generated during rock drilling is driven by air curtain airflow and sucked by negative pressure to move to the front side of the closed space, part of the dust is settled through spraying, and part of the dust is sucked into the dust filter box through the negative pressure fan to be filtered; the enclosure structure can avoid reentrainment of dust caused by the fact that the crushed rocks fall on the ground and bounce, and purified airflow can enter the air curtain device through the air return pipeline to be reutilized. Compared with the prior art, the dust removal device has the advantages of good dust removal effect, high efficiency, energy conservation and the like.

The utility model provides a telescopic arm for rock drilling equipment. The telescopic arm comprises an inner arm, an outer arm and a sealing mechanism, wherein the inner arm is sleeved with the outer arm in a sliding mode; the sealing mechanism is arranged at the opening end of the outer arm and comprises a sealing gland connected to the outer arm in a sleeving mode and a sealing assembly acting between the sealing gland and the inner arm in the radial direction. And an adjusting pad is arranged between the sealing gland and the outer arm and is used for axially sealing the opening of the outer arm. In the application, the adjusting pad acts between the open end of the outer arm and the sealing gland and is used for axially sealing the open end of the outer arm; the sealing assembly acts between the sealing gland and the inner arm and seals a gap between the sealing gland and the inner arm in the radial direction; under the cooperation of the sealing assembly, the adjusting pad and the sealing gland, the gap between the open end of the outer arm and the inner arm is sealed in the axial direction and the radial direction, the sealing performance is good, and the probability that external impurities enter the telescopic arm to affect the performance of the telescopic arm is greatly reduced.

The present invention relates to an automatic rod-changing rod magazine for a rock drilling jumbo, and a control method therefor. The automatic rod-changing rod magazine comprises an automatic rod-changing rod magazine assembly. The automatic rod-changing rod magazine assembly comprises an extension rod magazine, structural supports, a first-stage rotating arm, a second-stage rotating arm, a rotating arm support and a rod feeding manipulator, wherein a plurality of drill rods are built in the extension rod magazine; the first-stage rotating arm is rotatably connected between two structural supports; the rotating arm support is arranged on the first-stage rotating arm; the second-stage rotating arm is rotatably connected to the rotating arm support; the rod feeding manipulator is provided on the second-stage rotating arm; each of the extension rod magazine, the first-stage rotating arm and the second-stage rotating arm is provided with a rotary motor; the rotary motor is connected to a hydraulic system; and the hydraulic system is connected to a controller. In the present invention, the automatic rod-changing rod magazine assembly is configured in combination with the rod feeding manipulator and the operation control of a feed beam assembly and a rock drill to complete automatic rod changing and rod removal on the basis of a set drilling depth. The work accuracy and work efficiency are thus improved.

The utility model relates to the technical field of powder discharging groove machining, in particular to a drill bit powder discharging groove machining device which comprises a numerical control milling machine and a rotary table chuck arranged on a workbench of the numerical control milling machine. The rotary table chuck comprises a supporting table detachably connected to a numerical control milling machine workbench, a chuck transversely and rotationally connected into the supporting table, a plurality of clamping jaws arranged at one end of the chuck in a sliding mode, a first driving part arranged on the supporting table and a second driving part arranged on the chuck, and the first driving part is in transmission connection with the chuck to drive the chuck to rotate. And the second driving piece is in transmission connection with the multiple clamping jaws to drive the multiple clamping jaws to get close to or get away from each other. The second driving piece on the rotary table chuck drives the multiple clamping jaws to be close to or away from each other synchronously, accurate adjustment can be conducted according to the size of a drill bit, rock drilling drill bits of different specifications can be stably clamped, it is guaranteed that the drill bit does not shake in the machining process, the machining precision of a powder discharging groove is improved, and the product quality is guaranteed.

The invention discloses a safety mining method for gently-inclined medium-thick ore bodies by adopting a remote-control carry-scraper to carry ores, which comprises the following steps of: arranging an uphill roadway (2) at the bottom of a panel pillar (1), arranging a plurality of stopes (3) along the inclined direction of the uphill roadway (2), and arranging a filling inclined roadway (4) at the top of the panel pillar (1); digging a filling combined roadway (5) towards the highest position of each stope (3) in the filling inclined roadway (4), and reserving a filling drill hole (6) at the end part of the filling combined roadway (5); a rock drilling roadway (7) is dug towards the bottom of each stope in the uphill roadway (2), a cutting raise (8) is arranged in the middle of each rock drilling roadway (7), a cutting groove (9) is formed after the cutting raise (8) is exploded, and exploded ore (10) falls into an ore receiving trench in each rock drilling roadway (7) and is shoveled to a draw shaft (11) through a carry-scraper with a remote control or autonomous navigation function. According to the method, personnel do not need to enter a stope for operation, safety risks are eliminated essentially, and the mining and cutting work amount is reduced by 40% or above.

The utility model belongs to the technical field of rock drilling cars, and particularly relates to a single-pipeline confluence dust collecting device which comprises a dust remover body, connecting blocks are symmetrically connected to the bottom surface of the dust remover body, and rock drilling car bodies are connected to the bottom surfaces of the connecting blocks. Through mutual cooperation of the connecting block, the positioning block, the two-way screw rod, the rotating handle, the moving block, the sliding block and the limiting insertion block, when an operator needs to detach the dust remover body for maintenance, the operator only needs to rotate the handle to drive the two-way screw rod to rotate, the moving block on the two-way screw rod can drive the sliding block to move, and then the dust remover body can be detached. At the moment, the sliding block drives the limiting inserting block to be sequentially separated into the inserting groove and the limiting groove, the positioning block can be separated out of the positioning groove, an operator can lift the dust remover body, and the dust remover body can be detached from the rock drilling vehicle body without a tool, so that the operation time is saved, and the working efficiency is improved. And convenience is brought to maintenance work of operators.

The utility model relates to the technical field of storage devices, in particular to an oil base rock debris dry slag storage bin which comprises a storage bin body, a limiting assembly is fixedly installed at the bottom of the front end of the outer wall of the storage bin body, the bottom of the storage bin body is designed to be of a conical structure, and a filter plate is fixedly installed at the bottom of the inner side of the storage bin body. Supporting frames are rotationally installed on the two sides of the storage bin correspondingly. The limiting assembly comprises a bottom frame, an adjusting air cylinder is fixedly installed on the bottom frame, a connecting frame is fixedly installed at the top of the adjusting air cylinder, and the connecting frame makes contact with the outer wall of the storage bin but is not fixedly connected with the outer wall of the storage bin. The storage bin has the advantages of high efficiency in discharging, solid-liquid pre-separation, high dynamic stability and convenience in operation, and solves the problems that a traditional storage bin is serious in discharging residue, solid-liquid mixing is difficult to separate, and the discharging efficiency is low due to the fact that inclination angle adjustment is limited.

The application discloses a kind of motion trajectory flexible control method and system of rock drilling mechanical arm, the method includes: establishing the control architecture including planning layer and execution layer;In the planning layer, the trajectory of each joint is planned, and multiple physical constraints including position, velocity, acceleration and jerk upper limit are applied;In the execution layer, the dynamics model of electro-hydraulic servo system is established, and the disturbance observation mechanism is configured to estimate the equivalent total disturbance acting on the robot arm in real time;According to the total disturbance intensity estimated in real time and the size of end pose deviation, the weight coefficient of soft constraint term and the upper limit of jerk are adaptively adjusted in linkage;The control quantity obtained by solving is converted into driving signal to control the action of oil cylinder, and the execution error is corrected in real time using sensor feedback.The application can overcome the shortcomings of existing single control mode, realize efficient, smooth and accurate inter-hole movement of the robot arm in unstructured environment, and balance operation efficiency, equipment life and positioning accuracy.

This utility model relates to the field of rock cuttings processing technology, specifically to a rock cuttings conveying device, including a conveying pump mechanism, a rock cuttings receiving chamber, a main hydraulic pump, a secondary hydraulic pump, a valve block, a hydraulic control tank, and a skid. The conveying pump mechanism includes a swing pipe and a conveying assembly. The rock cuttings receiving chamber and the swing pipe are both integrated in a first chamber A, with the swing pipe connected below the rock cuttings receiving chamber. The main hydraulic pump, secondary hydraulic pump, valve block, hydraulic control tank, and conveying assembly are all integrated in a second chamber B. The oil outlets of the main hydraulic pump and the secondary hydraulic pump are connected to the conveying assembly via the valve block, and the conveying assembly is connected to the swing pipe. The hydraulic control tank is connected to the oil inlets of the main hydraulic pump and the secondary hydraulic pump. Both the first chamber A and the second chamber B are integrated on the skid. This utility model achieves modularization, facilitating installation and relocation, and occupies a small area. The main hydraulic pump and / or the secondary hydraulic pump can be selected according to the liquid level in the rock cuttings receiving chamber, achieving energy saving.