ZDY4500LK全流程自动钻机研制与应用研究

Research on Development and Application of ZDY4500LK Full Process Automatic Drilling Rig

为提高煤矿井下钻机施工安全性、提升钻孔效率、降低工人劳动强度,设计开发了一种基于六轴机械手自动加卸钻杆的一体式钻孔机器人及控制方法,解决了煤矿井下机器人伺服电机控制系统防爆问题。整机采用一体式结构,运输尺寸小,变幅装置灵活可靠,可以实现150 m左右钻孔的全自动钻进施工。介绍了该钻机的主要技术特征及系统参数、关键技术,以及在淮南张集矿的工业性试验情况。试验结果表明,ZDY4500LK钻机结构设计合理,双机协同控制系统运行可靠,实现了全自动钻进施工,促进了钻探装备技术自动化、智能化的发展。

In order to improve the safety of coal mine underground drilling rig construction,improve drilling efficiency,and reduce labor intensity of workers,an integrated drilling robot and control method based on a six axis robotic arm for automatic loading and unloading of drill rods have been designed and developed,which solves the explosion-proof problem of the coal mine underground robot servo motor control system.The entire machine adopts an integrated structure,with small transportation size and flexible and reliable amplitude changing device,fully automatic drilling construction can be achieved for drilling around 150 m.The main technical features,system parameters,key technologies of the drilling rig were introduced,as well as the industrial test at the Zhangji coal mine in Huainan.The experimental results indicate that the ZDY4500LK drilling rig has a reasonable structural design,a reliable dual machine collaborative control system,and a fully automatic drilling construction has been achieved,promoting the development of drilling equipment technology automation and intelligence.