Study on vibration characteristics of drill rod system in a coal mine drilling robot under interlaced soft and hard inclined coal seams
Research on the vibration characteristics of the drill rod system in a coal mine drilling robot is essential for the prediction and control of drilling trajectories. Considering the complex interaction mechanisms between the drill rod system and coal seams during horizontal drilling, an experimental...
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| Format: | Article |
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Editorial Department of Industry and Mine Automation
2024-10-01
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| Series: | Gong-kuang zidonghua |
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| Online Access: | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2023120052 |
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| author | KANG Mingxia WANG Zhongbin LIU Xinhua WEI Dong ZHAO Lala |
| author_facet | KANG Mingxia WANG Zhongbin LIU Xinhua WEI Dong ZHAO Lala |
| author_sort | KANG Mingxia |
| collection | DOAJ |
| description | Research on the vibration characteristics of the drill rod system in a coal mine drilling robot is essential for the prediction and control of drilling trajectories. Considering the complex interaction mechanisms between the drill rod system and coal seams during horizontal drilling, an experimental platform and vibration monitoring system for the coal mine drilling robot were established. Horizontal drilling experiments were conducted under various layering conditions of soft and hard coal seams and different seam inclination angles. The empirical mode decomposition method was used to decompose, filter, and reconstruct the collected data to eliminate noise interference and study the vibration characteristics of the drill rod system under interlaced soft and hard inclined coal seams. The results showed that as the inclination angle of the coal seam increased, the longitudinal, transverse, and torsional vibration amplitudes of the drill rod system increased when the robot was drilling through hard→medium-hard→soft or soft→medium-hard→hard coal seams. At the same inclination angle, the vibration amplitudes in the longitudinal, transverse, and torsional directions were higher when drilling through soft→medium-hard→hard coal seams than through hard→medium-hard→soft seams. When the inclination angle was small, the interlaced soft and hard coal seams had a greater impact on the drill rod system's vibration characteristics, whereas at larger angles, the seam inclination angle had a more significant effect than the layering. Moreover, larger sand and gravel particles had a certain impact on the vibration of the drill rod system. |
| format | Article |
| id | doaj-art-e71606005fad444a8c862e405c2dc6dd |
| institution | OA Journals |
| issn | 1671-251X |
| language | zho |
| publishDate | 2024-10-01 |
| publisher | Editorial Department of Industry and Mine Automation |
| record_format | Article |
| series | Gong-kuang zidonghua |
| spelling | doaj-art-e71606005fad444a8c862e405c2dc6dd2025-08-20T02:19:55ZzhoEditorial Department of Industry and Mine AutomationGong-kuang zidonghua1671-251X2024-10-015010128134, 14610.13272/j.issn.1671-251x.2023120052Study on vibration characteristics of drill rod system in a coal mine drilling robot under interlaced soft and hard inclined coal seamsKANG Mingxia0WANG Zhongbin1LIU Xinhua2WEI Dong3ZHAO Lala4School of Intelligent Manufacturing, Jiangsu Vocational Institute of Architectural Technology, Xuzhou 221116, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaResearch on the vibration characteristics of the drill rod system in a coal mine drilling robot is essential for the prediction and control of drilling trajectories. Considering the complex interaction mechanisms between the drill rod system and coal seams during horizontal drilling, an experimental platform and vibration monitoring system for the coal mine drilling robot were established. Horizontal drilling experiments were conducted under various layering conditions of soft and hard coal seams and different seam inclination angles. The empirical mode decomposition method was used to decompose, filter, and reconstruct the collected data to eliminate noise interference and study the vibration characteristics of the drill rod system under interlaced soft and hard inclined coal seams. The results showed that as the inclination angle of the coal seam increased, the longitudinal, transverse, and torsional vibration amplitudes of the drill rod system increased when the robot was drilling through hard→medium-hard→soft or soft→medium-hard→hard coal seams. At the same inclination angle, the vibration amplitudes in the longitudinal, transverse, and torsional directions were higher when drilling through soft→medium-hard→hard coal seams than through hard→medium-hard→soft seams. When the inclination angle was small, the interlaced soft and hard coal seams had a greater impact on the drill rod system's vibration characteristics, whereas at larger angles, the seam inclination angle had a more significant effect than the layering. Moreover, larger sand and gravel particles had a certain impact on the vibration of the drill rod system.http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2023120052coal mine drilling robotinterlaced soft and hard coal seamsinclined coal seamshorizontal drillingdrill rod systemvibration characteristics |
| spellingShingle | KANG Mingxia WANG Zhongbin LIU Xinhua WEI Dong ZHAO Lala Study on vibration characteristics of drill rod system in a coal mine drilling robot under interlaced soft and hard inclined coal seams Gong-kuang zidonghua coal mine drilling robot interlaced soft and hard coal seams inclined coal seams horizontal drilling drill rod system vibration characteristics |
| title | Study on vibration characteristics of drill rod system in a coal mine drilling robot under interlaced soft and hard inclined coal seams |
| title_full | Study on vibration characteristics of drill rod system in a coal mine drilling robot under interlaced soft and hard inclined coal seams |
| title_fullStr | Study on vibration characteristics of drill rod system in a coal mine drilling robot under interlaced soft and hard inclined coal seams |
| title_full_unstemmed | Study on vibration characteristics of drill rod system in a coal mine drilling robot under interlaced soft and hard inclined coal seams |
| title_short | Study on vibration characteristics of drill rod system in a coal mine drilling robot under interlaced soft and hard inclined coal seams |
| title_sort | study on vibration characteristics of drill rod system in a coal mine drilling robot under interlaced soft and hard inclined coal seams |
| topic | coal mine drilling robot interlaced soft and hard coal seams inclined coal seams horizontal drilling drill rod system vibration characteristics |
| url | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2023120052 |
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