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Articles 1 - 9 of 9
Full-Text Articles in Physical Sciences and Mathematics
Obstacle-Avoidance Trajectory Planning Of Mine Drilling Robot During Drill Pipe Loading And Unloading, Yao Yafeng, Yao Ningping, Peng Tao, Liang Chunmiao, Peng Guangyu
Obstacle-Avoidance Trajectory Planning Of Mine Drilling Robot During Drill Pipe Loading And Unloading, Yao Yafeng, Yao Ningping, Peng Tao, Liang Chunmiao, Peng Guangyu
Coal Geology & Exploration
The position of drill pipe loading and unloading by mine drilling robot will change with the attitude adjustment of the host machine, and obstacles are present in the loading and unloading path of drill pipe. Therefore, there is a problem of obstacle-avoidance trajectory planning with variable targets in the loading and unloading of drill pipe. For this reason, the DH parameter table was created according to the performance parameters of the explosion-proof 6-DOF manipulator, and the function relation of the change in loading and unloading position of drill pipe before and after the attitude adjustment of the 3-DOF host machine …
A Simulation Study On The Suspension And Transport Patterns Of Proppants In Long Distance Pipelines For Integrated Well And Ground Fracturing, Li Haozhe, Jiang Zaibing, Sun Siqing, Zhu Chuanyong, Fan Yao, Guo Yong, Cheng Bin
A Simulation Study On The Suspension And Transport Patterns Of Proppants In Long Distance Pipelines For Integrated Well And Ground Fracturing, Li Haozhe, Jiang Zaibing, Sun Siqing, Zhu Chuanyong, Fan Yao, Guo Yong, Cheng Bin
Coal Geology & Exploration
Integrated well and ground fracturing is a developmental trend for the staged fracturing of underground long boreholes in coal mines. Using the integrated fracturing technology, the fracturing fluids, after being pressurized using a ground fracturing pump, enter long boreholes in underground coal mines through ground penetrating wells and long distance pipelines, aiming to achieve fracturing with high injection rates of fracturing fluids. The suspension and transport patterns of proppants in long distance pipelines hold critical significance for optimizing parameters related to proppant adding and avoiding sand plugging in pipelines. This study evaluated the rheological properties and proppant carrying capacity of …
Intelligent Optimization Method For Tunnel Rotary Drilling Based On Drill String Status Estimation, Yao Ningping, Wei Hongchao, Zhang Jinbao, Lu Chengda, Li Hao, Yao Yafeng, Ke Yougang, Zhang Youzhen
Intelligent Optimization Method For Tunnel Rotary Drilling Based On Drill String Status Estimation, Yao Ningping, Wei Hongchao, Zhang Jinbao, Lu Chengda, Li Hao, Yao Yafeng, Ke Yougang, Zhang Youzhen
Coal Geology & Exploration
To address the issue in existing research where it is difficult to obtain bottom-hole drilling parameters while drilling, and to overcome the problem of low accuracy and insufficient improvement when optimizing rotary drilling operational parameters using only borehole data, an intelligent optimization method for near-horizontal tunnel rotary drilling based on drill string status is proposed. This involves constructing an in-hole state observer to estimate bottom-hole drilling parameter information. Firstly, the characteristics of rotary drilling in underground coal mine tunnels are analyzed, considering the constraints of actual drilling, and an optimization target evaluation method for mechanical drilling speed and drill bit …
Status And Development Of Intelligent Drilling Tools For Coal Mine, Gao Xiaoliang
Status And Development Of Intelligent Drilling Tools For Coal Mine, Gao Xiaoliang
Coal Geology & Exploration
As an important part of intelligent drilling, the intelligence of drilling tool system plays a crucial role in the intelligent development of coal mine underground drilling. In order to deeply explore the development direction of intelligent drilling tools, the research results and technical characteristics of intelligent drilling tools in coal mines were systematically sorted out from the aspects of directional drilling tools, measurement while drilling (MWD) system, intelligent drilling pipes and drill bits with reference to the experience in development of oil and gas industry, and the existing shortcomings were also summarized. It is pointed out that screw motor is …
Manipulator Trajectory Planning Method Of Anchor Drilling Robot, Lei Mengyu, Zhang Xuhui, Yang Wenjuan, Dong Zheng, Wan Jicheng, Zhang Chao, Du Yuyang
Manipulator Trajectory Planning Method Of Anchor Drilling Robot, Lei Mengyu, Zhang Xuhui, Yang Wenjuan, Dong Zheng, Wan Jicheng, Zhang Chao, Du Yuyang
Coal Geology & Exploration
In order to improve the support efficiency of coal mine roadway and the automation intelligence of heading face, an anchor drilling robot integrating the cantilever roadheader and the six-degree-of-freedom manipulator was designed, and studied on the anchor drilling sequence planning strategy and the drilling boom trajectory planning method. Firstly, the kinematics model of the manipulator structure was established based on the improved DH method. On this basis, the forward and inverse kinematics solutions were analyzed, and the spatial position and the corresponding joint variable values of the drilling rig were calculated. Secondly, the manipulator space was analyzed based on Monte …
Research On Three-Stage Automatic Hole Packer For Gas Extraction Drilling In Underground Coal Mine, Wang Qingfeng, Shi Shuhan, Xin Dezhong, Chen Hang, Zhang Shitao
Research On Three-Stage Automatic Hole Packer For Gas Extraction Drilling In Underground Coal Mine, Wang Qingfeng, Shi Shuhan, Xin Dezhong, Chen Hang, Zhang Shitao
Coal Geology & Exploration
In view of the requirements of hole sealing during gas extraction drilling in underground coal mine for manual packer installation and sealing material injection, as well as the low automation level of hole sealing technology, a three-stage automatic hole packer for gas extraction drilling in underground coal mine was developed, with the appearance similar to the drill pipe. The hole packer could be mechanized into the drilling hole by an automatic drilling machine, and realize the automatic injection of sealing material. Herein, the Mooney-Rivlin hyperelastic constitutive model was used to represent the strain energy function by the finite element analysis …
Intelligent Optimization And Control Technology For Drilling Process Of Coal Mine Tunnels, Yao Ningping, Wu Min, Chen Luefeng, Lu Chengda, Fan Haipeng, Zhang Youzhen, Li Wangnian, Yao Ke
Intelligent Optimization And Control Technology For Drilling Process Of Coal Mine Tunnels, Yao Ningping, Wu Min, Chen Luefeng, Lu Chengda, Fan Haipeng, Zhang Youzhen, Li Wangnian, Yao Ke
Coal Geology & Exploration
The harsh environment for drilling construction of coal mine tunnel, complex coal seam structure and complicated operation procedures can cause low drilling efficiency and high drilling cost. For this reason, it is imperative to carry out studies on the optimization and control technology for the drilling process of coal mine tunnel. Herein, study was conducted from intelligent identification of lithology of coal-bearing formation, intelligent optimization of drilling parameters and their intelligent control, focusing on the key technology for control of drilling process of coal mine tunnel. First, in order to accurately determine the type of coal-bearing formation, an intelligent identification …
R&D And Experimental Research Of Pressure-Preserved Triggering Device For Horizontal Pressure-Preserved Coring In Coal Mines, Huang Wei, Chen Ling, Li Jianan, Fan Dong, Yang Mingqing, Liu Guikang, Xu Qing, Ma Changliang
R&D And Experimental Research Of Pressure-Preserved Triggering Device For Horizontal Pressure-Preserved Coring In Coal Mines, Huang Wei, Chen Ling, Li Jianan, Fan Dong, Yang Mingqing, Liu Guikang, Xu Qing, Ma Changliang
Coal Geology & Exploration
Gas content is an important evaluation index of safe coal mining, as well as the exploitation and utilization of coalbed methane resources. Pressure-preserved coring is an effective way to improve the measurement accuracy of gas content in coal seams. Aiming at the special operating conditions of horizontal pressure-preserved coring in coal mines and based on the principle and technology of pressure- and gas-preserved coring in coal mines, this study developed a pressure-preserved triggering device and systematically designed the key components of the device, such as the sealing and pressure-preserved unit, the hydraulic drive module, and the salvager-unstuck mechanism between the …
Electromagnetic Methods In The Detection Of Water Hazards In Coal Mines: A Review, Zhang Jifeng, Sun Naiquan, Liu Zuiliang, Qi Zhipeng
Electromagnetic Methods In The Detection Of Water Hazards In Coal Mines: A Review, Zhang Jifeng, Sun Naiquan, Liu Zuiliang, Qi Zhipeng
Coal Geology & Exploration
Water hazards in coal mines are a major type of hidden danger in safe coal mining. The accurate detection of hidden factors to cause hazard is the prerequisite to solving the water hazards. Electromagnetic methods, which are sensitive to low-resistivity bodies and have multiple types and high adaptability, can be used to effectively detect water-rich hazard-causing factors. Traditional ground electromagnetic methods, including the controlled source audio-frequency magnetotellurics (CSAMT) method and the loop source transient electromagnetic method, play an important role in detecting hidden hazard-causing factors in coal mines. With the continuous development of new technologies, near-source electromagnetic methods have developed …