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Supporting three-dimensional physical model test robot system simulation automatic mining method

A robot system and model test technology, which is applied in the field of simulating automatic mining with a robot system supporting a three-dimensional physical model test, which can solve the problems of inconsistent excavation process, difficult realization, time-consuming and laborious manual excavation, etc., and achieves a solid structure and simple operation. Effect

Active Publication Date: 2018-08-17
INST OF ROCK & SOIL MECHANICS CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Manual excavation is time-consuming and laborious, and the effect of roadway formation is not good. The method of pre-embedded cylinders is divided into taking out the cylinders before loading to form a roadway and pushing out the cylinders to form roadways during the loading process. The former is far from the actual excavation process on site. Large, the latter is difficult to achieve when the stress is high and multiple roadways are interlaced
In the 3D simulation of coal mining face mining, manual and simple mechanical excavation are basically used, which is inconsistent with the actual excavation process, and it is impossible to realize coal cutting and mining with a certain inclination angle.

Method used

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  • Supporting three-dimensional physical model test robot system simulation automatic mining method
  • Supporting three-dimensional physical model test robot system simulation automatic mining method
  • Supporting three-dimensional physical model test robot system simulation automatic mining method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0083] Example 1: Roadway Excavation Simulation

[0084] The method for simulating roadway excavation by using the above-mentioned three-dimensional physical model test device comprises the following steps:

[0085] Step 1: Construct the reaction frame A0 and build the model device:

[0086] To construct the reaction force frame A0, a plurality of parallel rectangular large steel plates A6 with a horizontal plane angle α are arranged on the cubic frame surface A11, and a plurality of parallel rectangular small steel plates A7 are arranged between two rectangular large steel plates A6.

[0087] A rock mass model A12 is set in the reaction frame A0, and a vertical loading system A15, a horizontal front-back loading system A14, and a horizontal left-right loading system A13 are installed.

[0088] Set the vertical loading system A15, the horizontal front-back loading system A14, and the horizontal left-right loading system A13 to load pressure on the rock mass model A12.

[008...

Embodiment 2

[0098] Example 2: Simulation of coal seam horizontal and inclined mining

[0099] The method for simulating horizontal coal seam mining by using the above-mentioned three-dimensional physical model test device comprises the following steps:

[0100] Steps 1-3: Consistent with the simulated roadway excavation in Embodiment 1. Until the excavation of the first roadway is completed.

[0101] Step 4: Remove the next small rectangular steel plate A7 adjacent to the removed first small rectangular steel plate A7.

[0102] Step 5: Repeat steps 2 to 4 to complete the working face advancement simulation.

[0103] In this embodiment, the adjacent small rectangular steel plates A7 are sequentially removed, so that a full recovery simulation can be performed on a simulated working face between two large rectangular steel plates A6 on the cube frame surface A11.

[0104] If necessary, the above steps can be repeated for another row of rectangular small steel plates A7 between the other ...

Embodiment 3

[0106] Embodiment 3: mining simulation of metal ore caving method

[0107] Steps 1-4: Consistent with the simulated roadway excavation in Embodiment 1; until the excavation of the first roadway is completed. The following steps are then taken to simulate metal ore caving mining production:

[0108] Step 5: Manipulate the vertical loading system A15, the horizontal front-back loading system A14, and the horizontal left-right loading system A13, control and generate vibration, and simulate an on-site blasting of a working face.

[0109] The jacks that control each loading system cooperate with each other to simulate an on-site blasting, which is the "ore falling" in actual production.

[0110] Step 6: directly discharge the rock mass model A12 fragments formed by the vibration.

[0111] The rock mass model A12 fragments formed by the vibration are the "ores" that have collapsed in the simulation of actual production; after the "ores" are discharged, this simulation is complete...

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Abstract

The invention relates to a simulated automatic mining method based on a three-dimensional physical model experiment robot system. The simulated automatic mining method includes arranging a plurality of parallel large rectangular steel sheets with the horizontal plane included angle of alpha on a cubic frame surface, and arranging a plurality of small rectangular steel sheets between the two large rectangular steel sheets side by side; arranging a rock model in a counterforce frame, and mounting a vertical loading system, a horizontal front-back loading system and a horizontal left-right loading system; demounting one or more small rectangular steel sheets at a simulated roadway heading position; forming a roadway heading face, wherein an included angle of alpha is formed between the heading face and the horizontal plane; placing an excavation robot at the position with the small rectangular steel sheets removed to simulate the rock model to a target position; continuing operation until simulated excavation of a first roadway is completed. By a simulation test, automatic excavation and working face extraction of simulated roadways can be realized through direct manual excavation or robot simulation. By the simulated automatic mining method, a reliable test measure can be provided for accurate disclosing of surrounding rock evolution laws during roadway excavation and working face extraction.

Description

technical field [0001] The invention belongs to the technical field of a three-dimensional physical model test device for rock mechanics, and in particular relates to a simulated automatic mining method for a three-dimensional physical model test robot system. Background technique [0002] With the development of the social economy and the needs of the national economy, the construction of underground mines and tunnels has shifted to the deep, and the research focus of rock mechanics has increasingly shifted to the underground. In the fields of mining engineering and hydropower engineering, the length, span and buried depth of underground roadways are also increasing. Therefore, the stress adjustment process and stability of the surrounding rock caused by roadway excavation under complex geological conditions become more important, while on-site surrounding rock monitoring requires more manpower, material and financial resources, and the workload is large and the cycle time i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01N33/24B25J11/00
CPCB25J11/00G01N33/24
Inventor 周辉胡明明张勇慧张传庆高阳卢景景魏天宇黄磊
Owner INST OF ROCK & SOIL MECHANICS CHINESE ACAD OF SCI