Article(id=1228279671356321805, tenantId=1146029695717560320, journalId=1146123166801305609, issueId=1228279664221815452, articleNumber=null, orderNo=null, doi=10.12404/j.issn.1671-1815.2409630, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=research-article, receivedDate=1735228800000, receivedDateStr=2024-12-27, revisedDate=1747324800000, revisedDateStr=2025-05-16, acceptedDate=null, acceptedDateStr=null, onlineDate=1770774293983, onlineDateStr=2026-02-11, pubDate=1754582400000, pubDateStr=2025-08-08, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1770774293983, onlineIssueDateStr=2026-02-11, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1770774293983, creator=13701087609, updateTime=1770774293983, updator=13701087609, issue=Issue{id=1228279664221815452, tenantId=1146029695717560320, journalId=1146123166801305609, year='2025', volume='25', issue='22', pageStart='9211', pageEnd='9648', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=1, specialIssue=null, createTime=1770774292283, creator=13701087609, updateTime=1770777611996, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1228293588207992892, tenantId=1146029695717560320, journalId=1146123166801305609, issueId=1228279664221815452, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1228293588207992893, tenantId=1146029695717560320, journalId=1146123166801305609, issueId=1228279664221815452, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=9319, endPage=9326, ext={EN=ArticleExt(id=1228279673365393469, articleId=1228279671356321805, tenantId=1146029695717560320, journalId=1146123166801305609, language=EN, title=Key Technology of ZDY3500JDK Rubber Tyre Directional Drilling Rig for Coal Mine, columnId=1228279673277313076, journalTitle=Science Technology and Engineering, columnName=Papers·Mining and Metallurgical Engineering, runingTitle=null, highlight=null, articleAbstract=

Based on the actual needs of large drilling spacing, and frequent long-distance relocation of drilling rigs in coal mine underground construction, as well as the need for remote control function, a research idea of compact layout and modular design of each unit of rubber wheel directional drilling rig was adopted to solve key technical development problems, such as independent walking rubber wheel chassis, multi power output units, hydraulic system, and electrical control system. After whole machine was processed and assembled, load testing was simulated on the drilling performance test bench of the National Safety Production Inspection Center. The experiment shows that all functional parameters of the drilling rig meet the design requirements. The ZDY3500JDK rubber tyre directional drilling rig developed for coal mine meets demand for long-distance autonomous relocation underground, greatly improving the production and transportation efficiency of mine, and providing reliable equipment support for drilling construction operations in large and medium-sized mines with trackless rubber tyre transportation.

, correspAuthors=Zi-cheng ZHONG, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, authorCompany=null, fund=null, authors=null, authorsList=Zeng-lin YANG, Shi-guo XU, Zi-cheng ZHONG, Bo WU, Qian-xiang ZHU), CN=ArticleExt(id=1228279679359054251, articleId=1228279671356321805, tenantId=1146029695717560320, journalId=1146123166801305609, language=CN, title=矿冶工程ZDY3500JDK型煤矿用胶轮式定向钻机关键技术, columnId=1228279674833399960, journalTitle=科学技术与工程, columnName=论文·矿冶工程, runingTitle=null, highlight=null, articleAbstract=

基于煤矿井下施工钻孔间距大、钻机需频繁长距离搬迁的实际需求,以及遥控操控功能需要,采用胶轮式定向钻机整体紧凑布局及各单元模块化设计的研究思路,解决独立行走的胶轮底盘、多动力配套输出单元、液压系统及电控系统等关键技术开发难题,整机加工、装调后在国家安全生产检测检验中心钻机性能试验台上模拟负载测试。试验表明钻机的各项功能参数均达到设计要求。研制的ZDY3500JDK型煤矿用胶轮式定向钻机,满足井下长距离自主搬迁需求,极大提高了矿井生产运输效率,为具备无轨胶轮化运输的大中型矿井钻孔施工作业提供了可靠的装备保障。

, correspAuthors=钟自成, authorNote=null, correspAuthorsNote=
* 钟自成(1990—),男,汉族,陕西榆林人,硕士,助理研究员。研究方向:煤矿钻探技术与装备研发。E-mail:
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杨增林(1988—),男,汉族,陕西神木人,硕士,工程师。研究方向:井下探放水。E-mail:

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杨增林(1988—),男,汉族,陕西神木人,硕士,工程师。研究方向:井下探放水。E-mail:

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杨增林(1988—),男,汉族,陕西神木人,硕士,工程师。研究方向:井下探放水。E-mail:

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Operation process identification for intelligent drill rig base on analytic hierarchy process[J]. Coal Geology & Exploration, 2024, 52(3): 184-190., articleTitle=Operation process identification for intelligent drill rig base on analytic hierarchy process, refAbstract=null)], funds=[Fund(id=1228369780512588231, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1228279671356321805, awardId=2024-TD-ZD009, language=CN, fundingSource=中国煤炭科工集团科技创新重点项目(2024-TD-ZD009), fundOrder=null, country=null)], companyList=[AuthorCompany(id=1228369772014927942, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1228279671356321805, xref=1, ext=[AuthorCompanyExt(id=1228369772019122248, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1228279671356321805, companyId=1228369772014927942, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=1 Geological Survey Company, Shendong Coal, CHN Energy, Ordos 017000, China), AuthorCompanyExt(id=1228369772027510857, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1228279671356321805, companyId=1228369772014927942, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=1 国能神东煤炭地测公司, 鄂尔多斯 017000)]), AuthorCompany(id=1228369772451135586, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1228279671356321805, xref=2, ext=[AuthorCompanyExt(id=1228369772459524196, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1228279671356321805, companyId=1228369772451135586, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=2 Xi’an Research Institute, China Coal Technology & Engineering Group, Xi’an 710077, China), AuthorCompanyExt(id=1228369772472107111, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1228279671356321805, companyId=1228369772451135586, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=2 中煤科工西安研究院(集团)有限公司, 西安 710077)])], figs=[ArticleFig(id=1228369776628662599, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1228279671356321805, language=EN, label=Fig.1, caption=Research route of ZDY3500JDK rubber tyre drilling rig, figureFileSmall=9VehgQXxwQVxWr5AJI6aOw==, figureFileBig=H54eTOzR1yb08Wz43diOcw==, tableContent=null), ArticleFig(id=1228369776813211980, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1228279671356321805, language=CN, label=图1, caption=ZDY3500JDK胶轮钻机研究路线, figureFileSmall=9VehgQXxwQVxWr5AJI6aOw==, figureFileBig=H54eTOzR1yb08Wz43diOcw==, tableContent=null), ArticleFig(id=1228369776905486673, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1228279671356321805, language=EN, label=Fig.2, caption=Structural diagram of ZDY3500JDK rubber tire directional drilling rig for coal mine, figureFileSmall=ABMiONrxIkoHFldU6bPiTA==, figureFileBig=70qX6boxQTKvKOYAH6jC4Q==, tableContent=null), ArticleFig(id=1228369778297995610, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1228279671356321805, language=CN, label=图2, caption=ZDY3500JDK煤矿用胶轮式定向钻机结构图

1为行走动力舱;2为液压油箱;3为胶轮式底盘;4为钻孔动力舱;5为操控单元;6为主机;7为稳固装置

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Main performance parameters

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主要性能 目标参数
额定转矩/(N·m) 900~3 500
额定转速/(r·min-1) 65~260
给进起拔力/kN 85
给进行程/mm 1 250
方位角/(°) 0~360
俯仰角/(°) -90~+90
长×宽×高/(mm×mm×mm) 5 950×1 500×2 200
质量/kg 14 600
最大行驶速度/(km·h-1) 19
最大爬坡度/(°) 15
最小转弯半径/m 7
最小离地间隙/mm 200
泥浆泵最大压力/MPa 9
泥浆泵最大流量/(L·min-1) 260
), ArticleFig(id=1228369780000883125, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1228279671356321805, language=CN, label=表1, caption=

技术性能参数

, figureFileSmall=null, figureFileBig=null, tableContent=
主要性能 目标参数
额定转矩/(N·m) 900~3 500
额定转速/(r·min-1) 65~260
给进起拔力/kN 85
给进行程/mm 1 250
方位角/(°) 0~360
俯仰角/(°) -90~+90
长×宽×高/(mm×mm×mm) 5 950×1 500×2 200
质量/kg 14 600
最大行驶速度/(km·h-1) 19
最大爬坡度/(°) 15
最小转弯半径/m 7
最小离地间隙/mm 200
泥浆泵最大压力/MPa 9
泥浆泵最大流量/(L·min-1) 260
), ArticleFig(id=1228369780214792635, tenantId=1146029695717560320, journalId=1146123166801305609, articleId=1228279671356321805, language=EN, label=Table 2, caption=

Measurement table for drilling rig load operation

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项目 序号 转矩/(N·m) 转速/(r·min-1)
1 1 077 268
2 1 080 263
高速挡 3 1 093 260
4 1 102 268
5 1 110 263
6 1 118 269
1 3 526 76
2 3 512 77
低速挡 3 3 519 75
4 3 520 73
5 3 516 71
6 3 507 70
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钻机负载运转测量表

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项目 序号 转矩/(N·m) 转速/(r·min-1)
1 1 077 268
2 1 080 263
高速挡 3 1 093 260
4 1 102 268
5 1 110 263
6 1 118 269
1 3 526 76
2 3 512 77
低速挡 3 3 519 75
4 3 520 73
5 3 516 71
6 3 507 70
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矿冶工程ZDY3500JDK型煤矿用胶轮式定向钻机关键技术
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杨增林 1 , 徐世国 1 , 钟自成 2, * , 吴波 1 , 朱钱祥 2
科学技术与工程 | 论文·矿冶工程 2025,25(22): 9319-9326
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科学技术与工程 | 论文·矿冶工程 2025, 25(22): 9319-9326
矿冶工程ZDY3500JDK型煤矿用胶轮式定向钻机关键技术
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杨增林1 , 徐世国1, 钟自成2, * , 吴波1, 朱钱祥2
作者信息
  • 1 国能神东煤炭地测公司, 鄂尔多斯 017000
  • 2 中煤科工西安研究院(集团)有限公司, 西安 710077
  • 杨增林(1988—),男,汉族,陕西神木人,硕士,工程师。研究方向:井下探放水。E-mail:

通讯作者:

* 钟自成(1990—),男,汉族,陕西榆林人,硕士,助理研究员。研究方向:煤矿钻探技术与装备研发。E-mail:
Key Technology of ZDY3500JDK Rubber Tyre Directional Drilling Rig for Coal Mine
Zeng-lin YANG1 , Shi-guo XU1, Zi-cheng ZHONG2, * , Bo WU1, Qian-xiang ZHU2
Affiliations
  • 1 Geological Survey Company, Shendong Coal, CHN Energy, Ordos 017000, China
  • 2 Xi’an Research Institute, China Coal Technology & Engineering Group, Xi’an 710077, China
出版时间: 2025-08-08 doi: 10.12404/j.issn.1671-1815.2409630
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基于煤矿井下施工钻孔间距大、钻机需频繁长距离搬迁的实际需求,以及遥控操控功能需要,采用胶轮式定向钻机整体紧凑布局及各单元模块化设计的研究思路,解决独立行走的胶轮底盘、多动力配套输出单元、液压系统及电控系统等关键技术开发难题,整机加工、装调后在国家安全生产检测检验中心钻机性能试验台上模拟负载测试。试验表明钻机的各项功能参数均达到设计要求。研制的ZDY3500JDK型煤矿用胶轮式定向钻机,满足井下长距离自主搬迁需求,极大提高了矿井生产运输效率,为具备无轨胶轮化运输的大中型矿井钻孔施工作业提供了可靠的装备保障。

矿井辅助运输  /  无轨胶轮车  /  胶轮钻机  /  定向钻机

Based on the actual needs of large drilling spacing, and frequent long-distance relocation of drilling rigs in coal mine underground construction, as well as the need for remote control function, a research idea of compact layout and modular design of each unit of rubber wheel directional drilling rig was adopted to solve key technical development problems, such as independent walking rubber wheel chassis, multi power output units, hydraulic system, and electrical control system. After whole machine was processed and assembled, load testing was simulated on the drilling performance test bench of the National Safety Production Inspection Center. The experiment shows that all functional parameters of the drilling rig meet the design requirements. The ZDY3500JDK rubber tyre directional drilling rig developed for coal mine meets demand for long-distance autonomous relocation underground, greatly improving the production and transportation efficiency of mine, and providing reliable equipment support for drilling construction operations in large and medium-sized mines with trackless rubber tyre transportation.

mine auxiliary haulage  /  trackless vehicle  /  rubber tyre drilling rig  /  directional drilling rig
杨增林, 徐世国, 钟自成, 吴波, 朱钱祥. 矿冶工程ZDY3500JDK型煤矿用胶轮式定向钻机关键技术. 科学技术与工程, 2025 , 25 (22) : 9319 -9326 . DOI: 10.12404/j.issn.1671-1815.2409630
Zeng-lin YANG, Shi-guo XU, Zi-cheng ZHONG, Bo WU, Qian-xiang ZHU. Key Technology of ZDY3500JDK Rubber Tyre Directional Drilling Rig for Coal Mine[J]. Science Technology and Engineering, 2025 , 25 (22) : 9319 -9326 . DOI: 10.12404/j.issn.1671-1815.2409630
煤炭作为中国主体能源资源之一,在国民经济中占据着重要地位[1]。煤矿开采的效率和安全性直接关系到能源供应的稳定性和煤炭行业的可持续发展。煤矿井下坑道钻机通过超前、区域、精确的钻孔布孔实现瓦斯抽采、水灾防治、超前勘探等,有效保障煤矿井下采矿作业的安全[2-4]。其中在瓦斯治理方面,随着煤矿开采深度和强度的增加,瓦斯涌出量增大,瓦斯灾害威胁愈发严重。定向钻机能够精准地施工瓦斯抽采钻孔,提高瓦斯抽采效率,降低瓦斯浓度,有效预防瓦斯爆炸、煤与瓦斯突出等事故的发生,保障煤矿生产安全[5]。另外在水害防治中,通过定向钻机施工探放水钻孔,可以提前探明并疏放矿井水,避免突水事故,确保采掘工作的安全进行。
随着煤炭开采技术的发展,矿井趋于大型化,井下作业环境和运输巷道地面硬化程度得到大幅提升[6-10]。以神东矿区为例,全矿区现有各种动力型式的胶轮式辅助运输车辆总计超过2 000辆,满足矿区运人、运料等各种使用需求,显著提升煤矿井下综合作业的整体效率,极大提高作业环境和降低作业人员的劳动强度,并保证运输系统的整体安全性。而目前煤矿井下坑道钻机以全液压履带式为主,采用履带行走方式虽具有接地比压大、爬坡能力强,适用多种复杂路况等特点,但需要人工拖拽电缆、强度大,受限于动力供应,钻机只能短距离移动,移动过程中需要多名工人拖移电缆提供行走动力,工人劳动强度大,而在长距离钻场间转移仍需其他辅助运输设备协助,严重降低了设备运转效率,无法满足煤矿企业的快速搬迁和高效生产效率的现实需求[11-14]
基于上述背景,为满足神东煤矿区瓦斯抽采、水灾防治、超前勘探的施工作业快探快转、减少设备辅助运输的需要,亟需进一步提高现有钻探设备的自我转运能力[15]。因此现结合井下巷道实际工况,同时结合煤矿井下定向钻进技术,研制一款煤矿井下胶轮式定向钻机,具有独立自行走、钻进距离长、钻进轨迹实时控制、远距离遥控等特点,适用于皮带巷等狭窄区域进行运输和作业,对进一步提升中国煤矿井下钻探装备水平,提高煤矿生产效率和安全性具有重要的现实意义。
以神东保德煤矿为例,井下运输巷道最小平均宽度5 m,巷道最小高度3.5 m;顺槽巷道最小宽度4.5~5 m,最小高度为2.8~3.2 m,最小转弯半径7 m,转弯处宽度5 m,最大坡度14%。井下胶轮式设备具有尺寸小、承载量大、能够依靠自身动力行走等优点,满足在大型矿区快速的上下井运输和井下转场需求[16],因此综合考虑胶轮式设备与全液压履带钻机的优点,即在胶轮底盘基础上,搭载了钻机作业机构及电液控制系统,采用各单元模块化设计和整体紧凑布局优化的设计思路,研制ZDY3500JDK型煤矿用胶轮式定向钻机。
胶轮式定向钻机设计过程中需要解决以下几个问题:①胶轮底盘与钻进系统的集成化设计,即设计用于井下运输巷道转换的胶轮底盘,并在此基础上合理布局钻进系统的结构组件;②钻进系统的具体实现,即设计满足胶轮钻机指标的钻进系统,主要包含主机系统、泥浆泵单元、液压系统、电控系统等。
针对上述问题,研究人员从钻机结构、液压功能以及电控实现等方面进行了重点攻关,形成了一款具有依靠自身动力行走、搬迁速度快、机动灵活、操作简单、电液操控等特点的新型胶轮式定向钻机。
胶轮式定向钻机主要用于煤矿井下多方位探水孔、地质构造探测孔、顶板疏放水孔、瓦斯抽放孔的施工,具备一机多用的功能特点。因此钻机必须具有依靠自身动力行走、搬迁速度快、机动灵活的特点,此外结合不同钻孔施工需求,钻机还需具备施工定向钻进、回转钻进以及复合钻进等多种工艺技术的功能,从而实现定向钻机的多功能化钻孔施工需要[17]。钻孔施工作业过程中,钻机为孔内钻具钻进提供可靠动力,具备拧卸钻杆、钻孔工具面向角灵活调节、主轴制动等基本功能,同时具有处理一定的孔内事故的能力。
在上述功能基础上,从钻机结构设计、液压系统设计以及电控系统设计3个方面进行分析,如图1所示,钻机结构设计包含整体布局设计、胶轮底盘设计、主机结构设计和泥浆单元设计,其中整体布局设计针对胶轮钻机各部分组件的分布位置进行研究,胶轮底盘设计实现了井下巷道的无轨运输功能,主机结构设计完成了钻进施工载体的研制,泥浆泵单元设计则为孔底马达钻进提供动力机构;另外针对钻机输出特性进行液压元件选型和液压回路设计形成钻机液压系统设计;电控系统设计具备电液驱动控制和人工无线控制等功能。
针对胶轮钻机整体研究思路,重点对钻机整机设计、胶轮底盘、多动力配套输出单元、液压系统及电控系统等关键技术开展研究,实现整机紧凑型布局设计,满足井下长距离搬迁、定向钻进施工能力、远程遥控操控等功能需求。
胶轮式定向钻机主要由行走单元(胶轮底盘)和钻孔单元(包括主机、操纵台、电机动力单元和稳固装置等)两部分组成,钻孔单元采用三列并排布局设计布置于行走单元上,各关键部件之间通过高压胶管连接。此外,钻机还集成有防爆计算机和钻进参数监测系统,满足定向钻进钻孔轨迹测量和钻机参数监测功能需要。整机通过紧凑型结构布局优化设计后,车体宽度仅为1.6 m,可满足快速搬迁、良好通过性的尺寸要求,整机结构如图2所示。
通过ZDY3500JDK型煤矿用胶轮式定向钻机总体设计及虚拟样机性能评价,达到表1的技术性能指标。
胶轮底盘主要由一体式钢梁车架、转向控制机构和动力机构组成[18-20],采用防爆柴油发动机驱动作为行走动力源,额定载重量8 000 kg,结构如图3所示。
为满足煤矿巷道内专用无轨运输条件,同时提高搬移钻场时的良好通过性能,胶轮底盘须具备运输便捷、承载吨位大的特点,同时要有恶劣工作环境下的良好适应性。采用两根槽钢作为车架主梁,若干根横梁加固连接形成一体式车架结构设计,其前端布置有驾驶室、防爆柴油机动力总成、驱动单元总成和转向桥总成等行走关键结构部件,后部布置电机泵组、油箱及泥浆泵单元等施钻关键结构部件,使车架单元空间极大合理化利用。为避免施钻过程对车桥单元的损坏,中后部设计有稳固装置对钻机进行支撑稳定,使胶轮离地并保护车桥单元,提高钻机施工安全性。另外主梁侧面设计有管线卡口用于管路和电缆的布设,提升其整体美观的同时,便于故障排查与检修。
主机是钻孔施工时的主要功能载体,包括回转装置、给进装置、调角装置及夹持装置等,可实现施工倾角、方位角与水平开孔高度的调节,为钻机钻进提供动力,同时保证钻进过程中钻具的提放、夹紧等可靠性。
钻机变幅机构的主要用于调节钻孔的方位角、倾角和高度等开孔参数,其性能好坏直接影响着钻机的施工效率和适用范围。采用模块化设计思路,结合矿方探放水施工需求,优化设计了双立柱双转盘变幅机构,主要由多油缸复合调举装置、给进装置、回转器和夹持器等组成,集成布置在胶轮底盘的后部,双立柱双转盘变幅结构如图4所示。
传统的双立柱双转盘结构由于空间受限,在正负开孔倾角转换时必须依靠拆装给进机身来改变开孔方向,以此解决给进机身与车体干涉难题,满足给进机身正负倾角转换,但由于井下受限的空间内进行拆装极为不便。通过分析双立柱双转盘变幅结构与给进机身的连接形式,改变升降油缸行程,并在不影响加卸钻杆方式的情况下缩短给进机身,以此满足无需拆装给进机身的前提下正负开孔角度的灵活调节,具有省时省力,减轻工人劳动强度的优势。另外在左、右立柱上方布置有上稳固油缸,施钻过程中顶紧上顶装置,使钻机和巷道顶部实现紧密配合,减少施工时反扭矩对钻机的振动,提高钻机的安全性。
双立柱双转盘变幅结构的转盘底部设计有与车体连接的回转减速器,能够实现方位角在-180~180°无极调节;在右立柱内侧竖直方向布置有与给进机身连接的回转减速器,可实现开孔倾角在-90°~+90°调节;左、右立柱前侧布置的举升油缸用于实现水平开孔高度在1.5~2 m范围内调整。
泥浆泵单元主要用于定向钻进时为螺杆马达提供动力介质,同时冲洗钻孔实现高效排渣,并冷却孔底钻头,其能力和性能的好坏直接影响定向钻进施工效率。根据定向钻进施工工艺需求,结合孔底螺杆钻具输出的动力特性曲线与定向钻进高效排渣的供液能力进行计算,ZDY3500JDK胶轮式定向钻机泥浆泵单元需满足输出流量不小于260 L/min,输出压力不低于9 MPa的设计要求。
为解决传统电驱泥浆泵的输出压力和流量匹配性差,无法实现无级调节的难题,泥浆泵单元设计选用低速大扭矩液压马达直接驱动泥浆泵工作,能够减少中间传动环节,缩短整体外形尺寸,达到紧凑布置的功能需要,同时采用恒功率和负载敏感控制方式,实现泥浆泵输出流量的无级调节。
为符合煤矿智能化发展对钻机的遥控操控功能需要,通过对钻机施钻液压系统冗余设计,以此作为接口融合胶轮式底盘液压系统于一体;同时分析钻机的施工工况及对液压系统输出特性的要求,根据不同钻探工艺的需求,完成钻机施钻液压系统功能回路设计和液压元件选型,另外通过电液双控阀组集成化设计,能够进一步优化液压系统整体布局,并满足钻机关键执行机构精确控制的需要,最终形成胶轮式钻机电液双控液压系统,液压系统控制流程如图5所示。
胶轮底盘液压系统[21]主要包含驱动控制系统、转向控制系统、支腿控制系统和制动控制系统等;其中,驱动控制系统采用远程比例控制的闭式液压回路系统设计,其他控制系统采用恒功率负载传感与远程比例控制的开式液压系统设计。
驱动控制系统由带自动驾驶(auto drive,DA)功能的比例变量泵与低速大扭矩马达构成,通过接入的外部油源实现系统的控制换向功能,具有功率密度高、布局方便、过载保护能力强和控制方式灵活等特点;转向控制系统与支腿控制系统融合形成共泵组合油路设计,通过优先分流阀实现油路的去向,能够满足转向精准控制性能,同时满足支腿动作控制实现底盘稳固调节,具有可控性好、功率密度大、能缓和地面冲击和动作迅速平稳等优点;制动系统由闭式液压系统和行车制动器组成,采用湿式多盘制动器对行车马达进行制动,同时系统回路设计有蓄能器作为系统辅助动力源,使得系统响应时间减小,制动压力趋于稳定,能够满足紧急制动、行车制动及驻车制动功能需要。
根据钻机回转系统和给进系统的输出性能取决于外负载,即克服钻具自身重量和孔壁摩擦力以及钻头破碎岩石所需的孔底轴向压力,将ZDY3500JDK胶轮式定向钻机的施钻液压系统按功能模块划分设计,主要包括回转控制、给进控制和辅助系统三方面。
胶轮式定向钻机的施钻液压系统采用防爆电机和三串泵的型式,通过一组负载敏感多路阀实现快速回转、快速给进和泥浆泵单元功能的控制;为便于功能区分,慢速给进、稳固调角功能采用小流量液压泵驱动,通过另外一组多路阀对其单独控制,可降低误操作的可能性,同时减少了液压回路的回路长度,降低了管道压力损失。
为了提高施钻系统的可靠性和操作的灵活性,采用3泵开式液压系统设计,其中Ⅰ泵主要用于回转与快速给进功能,Ⅱ泵主要用于冷却和泥浆泵功能,液压系统组成如图6所示。为满足钻机施工时,通过快速给进实现孔内钻具的快速起下钻施工,回转和慢速钻进方式精确调节钻进速度和钻压的技术功能需要,Ⅰ泵和Ⅱ泵均采用负载敏感变量泵,其出口压力可以自动适应最高设定压力范围内的负载变化,在复杂地层中钻进施工时系统具有较好的动态输出特性。另外Ⅲ泵主要用于卡盘、夹持器、制动机构、稳固调角和钻进方式切换的功能动作控制,采用恒压变量控制方式,可根据负载需要提供恒定的流量,并在达到压力设定点时泵量自动减小,仅输出保持设定压力所需的流量,基本无溢流损失,达到节能的目的,同时提高夹持器和制动机构控制的可靠性。
负载敏感技术可使液压系统依据负载的动态变化,自动且精准地调控泵的输出流量与压力,进而达成系统节能增效之目标。于施钻液压系统而言,负载敏感阀负责对执行机构的负载变化予以感知,并将相关信号反馈至液压泵,确保泵的输出流量与压力精准适配负载需求,有效规避系统溢流损失与能源浪费现象。以钻机的给进系统为例,当遭遇不同地层所致的阻力差异时,负载敏感系统能够自主且适时地调节液压泵的输出流量与压力,在维持给进力稳定的同时,降低能源消耗,节能成效可达20%~30%。
先导比例控制技术借助先导阀对主阀开口大小进行操控,以此实现对液压系统压力与流量的精密调控,提升系统调速性能与操作舒适度。就钻机的回转系统而言,操作人员凭借操纵先导比例手柄,能够精确把控回转液压马达的转速与扭矩,达成对钻头旋转速度的连续无级调速,契合不同地层钻进的多样化需求,同时优化操作人员的操作体验。
将负载敏感技术与先导比例控制技术有机融合,能够进一步提升液压系统的综合性能与智能化程度,保障钻机于各类复杂工况下皆可稳定且高效地运行作业。
电控系统实现了操作人员远程操控钻机进行定向钻进施工的目标,按照控制系统的结构特征,将其划分成传感模块、通信模块、决策模块、执行模块以及人机交互模块[22-23],各模块间关系如图7所示。
传感模块采集钻机运行数据并将上传,包括矿用隔爆压力传感器、接近开关、磁致伸缩位移传感器等,用于测量关键液压位置压力值和钻机动作属性值;通信模块包含用于传递液压参数的CAN网络、传递模拟信号的电缆以及用于远程控制的433 MHz射频无线设备;决策模块位于KXJ127防爆控制柜内部,包含用于计算的STW系列PLC以及辅助电路系统,接收操作人员通过遥控器发送的控制指令并生成控制电流或电压信号;交互模块包含用于显示钻机运行信息的显示屏以及用于远程控制的无线遥控器,遥控器功能组成如图8所示;执行模块将控制信号转换成液压元件的动作,包含接收PWM信号或开关信号的电磁阀。
井下司钻人员可通过无线遥控器实现钻机动作的远程控制,极大提高了钻机操控体验,同时保留了液压手柄操纵方式,避免电控系统故障影响钻探施工正常作业。司钻人员通过电控柜显示系统能够读取包括回转压力、给进压力、液压泵压力、泥浆泵流量、回油压力等液压系统关键参数,同时通过电控系统设计的故障诊断模块,对施钻过程出现的故障进行显示提示,有效提高了故障排查及诊断效率;另外通过无线交互通讯方式,无线遥控器的显示屏可实时显示回转压力、给进压力、回转速度、给进速度及泥浆泵流量等关键施钻参数,方便司钻人员及时判别钻进工况,进而依据施工经验进行下一步调节的决策,通过操作遥控器拨钮实现钻进参数精准调控,从而实现胶轮式定向钻机的施工流程,电控系统控制流程如图9所示。
依托挂靠在中煤科工西安研究院(集团)有限公司的国家安全生产西安勘探设备检测检验中心测试试验台开展钻机负载性能测试,分别对其基本功能要求、安全性、空载、负载和过载性能、系统温升、整机效率及噪声进行综合测试,主要获取钻机回转系统和给进系统等关键性能参数。根据试验标准选定低速回转和高速回转两种模拟工况进行钻机型式试验,通过加载仪器和传感器对各系统参数进行监测,同步在试验台显示并记录,钻机负载运转测量表如表2所示。
由钻机负载运转测量表可知,高速挡运行稳定后,转矩大于1 000 N·m,转速大于260 r/min,在低速挡运行稳定后,转矩大于3 500 N·m,转速大于65 r/min,因此钻机的转速和转矩关键技术参数都达到了设计要求。
(1)结合胶轮式钻机现场工况施工需求,通过对ZDY3500JDK型煤矿用胶轮式定向钻机关键技术分解研究,解决了胶轮底盘及上装关键结构部件的整体布局难题,满足整机快速搬迁、复杂巷道良好通过性、高效钻孔施工的目的。
(2)开发设计的ZDY3500JDK型煤矿用胶轮式定向钻机,采用胶轮式底盘、主机、泥浆泵单元和电液控制系统,能够满足电控与液控功能双操作施工,具备良好的操控性。
(3)通过对ZDY3500JDK型煤矿用胶轮式定向钻机进行型式试验,试验表明钻机的性能参数指标,均达到设计要求,且能够大幅降低工人的劳动强度和搬迁作业时间,为具备无轨运输条件的矿井提供了可靠的钻进装备。
  • 中国煤炭科工集团科技创新重点项目(2024-TD-ZD009)
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2025年第25卷第22期
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doi: 10.12404/j.issn.1671-1815.2409630
  • 接收时间:2024-12-27
  • 首发时间:2026-02-11
  • 出版时间:2025-08-08
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  • 收稿日期:2024-12-27
  • 修回日期:2025-05-16
基金
中国煤炭科工集团科技创新重点项目(2024-TD-ZD009)
作者信息
    1 国能神东煤炭地测公司, 鄂尔多斯 017000
    2 中煤科工西安研究院(集团)有限公司, 西安 710077

通讯作者:

* 钟自成(1990—),男,汉族,陕西榆林人,硕士,助理研究员。研究方向:煤矿钻探技术与装备研发。E-mail:
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2种不同金属材料的力学参数

Family
属数
Number of
genus
种数
Number of
species
占总种数比例
Percentage of
total species (%)

Genus
种数
Number of
species
占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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