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摘要:
双钻头仿生自平衡连续钻进技术具有无需钻机、钻进速度快和对井壁扰动小等优点，是构建矿山灾害保障救援通道的潜在关键技术之一。该技术中的连续缆管由于内置有电源、信号和排屑等通道，要求在储放过程中不能出现像现有滚筒式绞车储存连续管时存在的互咬、挤压和设置动静导电滑环等情况，故需研制与之匹配的专用连续缆管地面储放设备。依据双钻头自平衡钻进技术的需求和连续管滚筒式绞车储存技术存在的不足，提出了连续缆管套筒式储存和夹持式输送原理，构建了连续缆管套筒式储存和输送模型，并应用有限元分析软件对连续缆管的夹持输送过程进行模拟分析。依据双钻头仿生自平衡钻进系统对连续缆管的性能要求，确定了整机尺寸参数，并对整机的运行参数进行了计算，建立了适用于连续缆管外径为50.8 mm、井眼深度小于1 016.8 m、场地面积小于50 m2钻井工况的钻孔救援连续缆管储放设备三维模型。最后，研发了与本设备匹配的电控系统，并对加工组装好的整机进行了连续缆管夹持输送、储放设备运行、连续缆管储放等机电一体化联调与试验。结果表明：连续缆管储放设备运行平稳，在连续缆管存储和输送过程中，无互咬和锁死现象，没有动静导电滑环，能够满足双钻头仿生自平衡钻进系统的技术需求，为钻孔救援双钻头自平衡连续钻进提供了必要的装备支撑。
Abstract:The double-bit bionic self-balancing continuous drilling technology has the advantages including requiring no drilling rig, high drilling speed and slight disturbance to the borehole wall. It is one of the key potential technologies for constructing the security and rescue passages against mine disasters. In this technology, as there are passages for power supply, signal, chip removal and other aspects that are built in the continuous cable pipe, it is required that there shall be no such interference, extrusion or arrangement of dynamic/static conductive electric conduction link as in using the existing drum hoist to store continuous pipes during storage. Therefore, the special ground storage equipment for continuous cable pipes that fits with the technology shall be developed. Firstly based on the demand of the double-bit self-balanced drilling technology and the deficiency in the drum hoist storage technology for continuous pipes. We proposed the sleeve storage and hold-down conveying principle for continuous cable pipes, constructed models, and applied the software of finite element analysis to conduct simulation analysis for the hold-down conveying process of the continuous cable pipes. Secondly according to the double-bit bionic self-balancing drilling system's requirements about the continuous cable pipe performance, the 3D model of the storage equipment of continuous cable pipe for borehole rescue that was applicable to the drilling conditions with the outer diameter of the continuous cable pipe of 50.8 mm, the borehole depth smaller than 1 016.8 m and the site area smaller than 50 m2 was constructed. Finally, the electronic control system fitting with this equipment was developed, and the mechatronics combined adjusting and test, including the continuous cable pipe's hold-down conveying, operation of storage equipment and storage of continuous cable pipes, were conducted for the machined, assembled equipment. As indicated by the results, during the storage and conveying of the continuous cable pipes, there was no interference, locking or dynamic and static electric conduction link, which can meet the technical demand of the double-bit bionic self-balancing drilling system and provide necessary equipment support for the double-bit self-balancing continuous drilling for borehole rescue.
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图 2 连续缆管储入套筒式存储筒受力原理
Fig. 2 Stress principle of continuous cable pipe storage sleeve storage cartridge
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图 6 储放注入机构夹持连续缆管工作原理
Fig. 6 Working principle diagram of storage and injection mechanism clamping continuous cable pipe
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图 7 夹持块夹持输送连续缆管的理论模型
Fig. 7 theoretical model of clamping block clamping and conveying continuous cable pipe
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图 10 钻孔救援连续缆管储放设备整体结构
Fig. 10 Overall structure of drilling rescue continuous cable pipe storage equipment
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图 11 储放注入机构
1—夹持电机；2—输送电机；3—输送电机压力传感器；4—夹持电机压力传感器；5—储放注入架体；6—夹持输送链条；7—承压弹簧
Fig. 11 Storage and injection mechanism
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图 12 连续缆管储放设备运行俯视图
Fig. 12 Operation top view of continuous cable pipe storage equipment
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图 13 钻孔救援连续缆管储放系统控制逻辑
Fig. 13 Control logic diagram of drilling rescue continuous cable pipe storage and release system
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图 14 连续缆管储放系统可视化操作界面
Fig. 14 Visual operation interface of continuous cable pipe storage and release system
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图 15 连续缆管储放设备运行实验
Fig. 15 Operation experiment of continuous cable pipe storage and release equipment
表 1 多套筒储管机构参数
Table 1 Parameters of multi sleeve storage mechanism
参数 数值 连续缆管直径d/mm 50.8 单筒高度h/mm 1 100 初始存储筒直径D1/mm 2 190 存储过渡间隔s/mm 150 存储筒数/个 3 过渡筒数/个 2 
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表 2 储放注入机构相关参数
Table 2 Relevant parameters of storage and injection mechanism
参数 数值 夹持电机额定推力/kN 62.4 摩擦因数μ 0.4 输送电机转速n/(r·min−1) 2 000 输送电机减速机减速比a 120 输送电机效率η 0.9 输送电机链轮半径/m 0.09
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表 3 Q235钢材相关参数
Table 3 Relevant parameters of Q235 steel
质量密度/(g·cm−3) 泊松比 弹性模量E/MPa 屈服应力 $ \sigma $/MPa 7.85 0.3 210 000 235
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表 4 钻孔救援连续缆管储放设备参数
Table 4 Parameters of drilling rescue continuous cable pipe storage equipment
参数 数值 鹅颈导向器半径/mm 1 010 存储筒间隔/mm 150 存储筒厚度/mm 10 设备高度/m 8.6 连续缆管存储量/m 1 016.8 最小存储筒半径/mm 2 190 牵引车运行半径/mm 3 141
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表 5 连续缆管储放设备各机构参数
Table 5 Parameters of Various Mechanisms of Continuous Cable Pipe Storage Equipment
储放设备单元 链轮半径/mm 转速比 额定转速/(r·min−1) 牵引车电机 80 45 1 300 储放注入机构输送电机 90 120 2 000 储放导正机构电机 90 120 2 000
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表 6 钻孔救援连续缆管储放设备运行参数
Table 6 Operation parameters of drilling rescue continuous cable pipe storage equipment
序号 牵引车速度/(r·min−1) 储放注入机构转速/(r·min−1) 储放导正机构速度/(r·min−1) 计算注入速度/(m·min−1) 实测注入速度/(m·min−1) 1 61 102 102 0.432 0.424 2 90 150 150 0.636 0.638 3 121 200 200 0.848 0.858 4 182 300 300 1.272 1.279 5 212 350 350 1.484 1.488
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表 7 连续缆管夹持输送实验数据
Table 7 Experimental data of continuous cable pipe clamping and transportation
序号 夹持力/N 注入力/N 静摩擦因数μ 1 7 815 4 800 0.61 2 13 865 11 720 0.84 3 19 165 17 473 0.91 4 23 355 21 026 0.90 5 31 282 28 261 0.90
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