Supercritical fluid drilling and blasting integrated double-arm drill jumbo and control method thereof

A control method of a supercritical fluid drilling and blasting integrated double-arm drill jumbo, wherein

• the supercritical fluid drilling and blasting integrated double-arm drill jumbo comprises a pre-splitting arm, a drill arm, a storage tank, a motor, an oil pump, an oil tank, a bearing platform, and an operation chamber;
• wherein the pre-splitting arm and the drill arm are configured for fracturing and drilling, respectively, and the pre-splitting arm and the drill arm are respectively connected to two sides of a front end of the operation chamber;
• the storage tank, the motor, the oil pump, and the oil tank are sequentially arranged at a rear end of the operation chamber, and are all arranged above the bearing platform;
• a liquid gas is stored in the storage tank, the motor is configured to provide power for positioning and drilling of the drill arm and the pre-splitting arm, and the oil tank is configured to store and supply oil for the oil pump;
• the pre-splitting arm comprises a positioning device, an arc sliding base, a fixing plate, a fixing buckle, a first rod, a connecting block, an electric telescopic rod, a water injection opening, and a pressure transmission opening;
• the arc sliding base is arranged on the fixing plate, the positioning device is arranged at an end of the fixing plate,
• the first rod, the electric telescopic rod, and the connecting block are all arranged on the arc sliding base, and the fixing buckle is fixed on the arc sliding base and is configured to fix the first rod;
• the first rod comprises a hydraulic expansion capsule and an oil injection opening provided at a bottom of the hydraulic expansion capsule;
• the longer first rod is connected to the connecting block through threads, the connecting block is connected to the electric telescopic rod, and a baffle plate is arranged at an end of the electric telescopic rod;
• the water injection opening and the pressure transmission opening are provided on the connecting block;
• the water injection opening, the pressure transmission opening, and the oil injection opening are respectively connected to different pressure-resistant hoses;
• a supercritical fluid generation chamber is further arranged at the rear end of the operation chamber, the supercritical fluid generation chamber comprises a constant pressure valve, an excitation circuit, and a mixed-phase fluid injection port, and the constant pressure valve and the pressure transmission opening are connected by a pressure-resistant hose;
• a mixed-phase fluid injected through the mixed-phase fluid injection port comprises a cracking agent mixed with one selected from the group consisting of liquid water, liquid carbon dioxide, and liquid nitrogen;
• the oil pump is connected to the hydraulic expansion capsule on the pre-splitting arm and is configured to inject or pump out oil;
• the storage tank is connected to the mixed-phase fluid injection port by a pressure-resistant hose;
• a working principle of the supercritical fluid drilling and blasting integrated double-arm drill jumbo is that:
• during operation, a computer controls the positioning device to position the pre-splitting arm according to information collected after drilling of a hole by the drill arm;
• after the positioning is completed, the fixing buckle on the arc sliding base is controlled to be opened, the electric telescopic rod is started, the first rod is jacked into a position in the hole, and the oil is injected into the hydraulic expansion capsule through the oil pump to block an opening of the hole, and then water is injected into the water injection opening until a gap space is filled;
• the mixed-phase fluid injection port is opened to inject the mixed-phase fluid;
• the mixed-phase fluid injection port is closed, the excitation circuit is started, and after a pressure rises to a set value, the constant pressure valve is automatically opened, and a rock mass is fractured;
• the control method comprising the following steps:
• S1:
• pre-drilling/cracking preparation:
• loading a drilling plan into the computer, connecting the computer to a scanner, arranging the electric telescopic rod, the connecting block, and the first rod in sequence on the arc sliding base, and controlling the fixing buckle to buckle;
• carrying out a first pre-drilling and pre-splitting, collecting a petrophysical parameter and influence of the pre-splitting on an area surrounding the hole, and feeding the petrophysical parameter and the influence of the pre-splitting back to a system to optimize the drilling plan;
• S2:
• automatic positioning and drilling:
• automatically making, by the system, a judgment according to the petrophysical parameter and the influence of the pre-splitting, to control the drill arm to carry out positioning and drilling, and the drill arm exiting after drilling a hole, and drilling a next hole;
• S3:
• hole sealing:
• obtaining, by the computer, information obtained after a hole is drilled by the drill arm;
• controlling the pre-splitting arm to extend into the hole drilled by the drill arm;
• collecting spatial position information by the scanner after the pre-splitting arm reaches a specific position;
• feeding back the spatial position information to the computer;
• controlling the oil pump to inject the oil into the hydraulic expansion capsule to achieve hole sealing;
• confirming that a hole sealing pressure reaches a set value;
• S4:
• water injection and filling:
• after the hole sealing is completed, injecting water through the water injection opening to fill the gap space until a set pressure is reached;
• S5:
• mixed-phase fluid injection:
• setting, by the system, weights of and a ratio between the cracking agent and the fluid according to the petrophysical parameter, opening an injection valve, injecting a set volume of the fluid mixed with the cracking agent through the mixed-phase fluid injection port, and closing the injection valve;
• S6:
• starting of the excitation circuit:
• starting, by the computer, the excitation circuit to form a state of high temperature and high pressure;
• after a pressure reaches a pressure set for the constant pressure valve, the pressure rushing out, with an impact force being transmitted to the rock mass by water medium to pre-crack the rock mass;
• and
• S7:
• after one operation cycle is completed, repeating the steps S2-S3 by the drill arm, and repeating the steps S3-S6 by the pre-splitting arm.