A tunneling device for rock mining

Abstract

The present invention relates to the technical field of tunneling equipment, and specifically relates to a tunneling device for rock excavation, including a shear and expansion clamp, a laser generating assembly, a cold mass injection assembly, a three-dimensional imaging assembly, and a processor. The processor estimates the crushing path for the rock to be broken and searches for a suitable notch. If there is one, it performs the crushing action; if not, it presets a crushing notch, and the laser generating assembly forms a shaped notch at the crushing notch; if the formation of the shaped notch fails, after the laser generating assembly works, the cold mass injection assembly is controlled to inject cold mass towards it to form a notch; after the notch is formed, the crushing action is performed. By utilizing the irregular shape of the rock, the notch of the rock is in a U / V shape, and the shear and expansion clamp extends into it, directly shearing / crushing some protruding rocks along the predetermined crushing path, so that the rock breaks along the stress trajectory at a predetermined angle and is broken into a preset shape, without reducing the number of crushing times multiple times / largely, thereby improving the working efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of tunneling equipment, and particularly relates to a tunneling device for rock mining. Background Art

[0002] During the process of underground rock mining or large tunnel excavation, especially in mountainous areas and deep underground where most are rock layers, especially hard rock layers such as basalt, the tunneling speed is relatively slow. Currently, blasting demolition or direct tunneling with a roadheader is usually adopted. Among them, the tunneling method of blasting demolition has problems of explosive control, safety, and cost. At the same time, the controllability of the working face is poor and the tunneling efficiency is low. The method of direct tunneling with a roadheader uses cutter teeth to directly break and excavate the rock layer, with high bit wear and low tunneling efficiency.

[0003] With the progress and development of technology, many rock-breaking technologies and equipment have emerged, such as water jet, laser, ultrasonic rock-breaking, etc., providing technical reserves for shield machines to excavate tunnels. Among them, using high-power laser to impact and thermally damage the rock layer to pre-crush the rock, releasing a certain amount of internal stress of the rock, reducing the rock strength, improving the drillability of the rock, and then using mechanical rock-breaking can significantly improve the tunneling efficiency; using water jet + laser can cause a sharp change in the tensile stress inside the rock due to thermal expansion and contraction, resulting in rock fragmentation and significantly improving the tunneling efficiency; using ultrasonic waves to cause the rock to resonate and break can also significantly improve the efficiency.

[0004] Using the above several methods can theoretically significantly improve the efficiency. Only when the size of the broken rock meets the conveying requirements of the tunneling equipment can the efficiency be significantly improved. However, the shape of the broken rock cannot be controlled and may be too large or too small. If it is too large, since it cannot meet the requirements of the roadheader for transporting the size of the rock, the large pieces of rock that have fallen off still need to be broken again until they meet the requirements for transportation size. Although the bit wear is reduced, there are still unstable factors in the efficiency. If it is too small, the original rock needs to be broken again, and there are still efficiency problems.

[0005] Moreover, if the rock is too large, breaking the whole rock is a great waste of cost because only the blocking part on the extraction path needs to be removed, and there is no need to break the whole rock. Using the above several methods, the size of the broken part cannot be controlled.

[0006] Furthermore, continuous laser breaking requires a large amount of cold source for cooling. However, the space in the tunneling tunnel is small, and a large amount of cold source required for the laser needs space for installation, resulting in an increase in the volume of the roadheader. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a tunneling device for rock mining that can control the size and position of rock fragmentation.

[0008] To solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0009] A tunneling device for rock mining, comprising

[0010] Scissor-expansion pliers;

[0011] A laser generating assembly for heating and / or perforating the rock to be broken;

[0012] A cold mass injection assembly for injecting cold mass and providing cooling to the laser generating assembly;

[0013] A three-dimensional imaging assembly for performing three-dimensional imaging on the rock to be broken and judging the size of the rock to be broken;

[0014] A processor for confirming the estimated breaking path of the rock to be broken and searching for a suitable notch. If there is one, the breaking action is executed; if not, a preset breaking notch is set, then the laser generating assembly heats or perforates the breaking notch to form a notch; if the notch forming fails, after the laser generating assembly heats or perforates the breaking notch, the cold mass injection assembly is controlled to inject cold mass into the heated or perforated area of the breaking notch to form a notch; after the notch is formed, the breaking action is executed;

[0015] The breaking action includes: controlling the scissor-expansion pliers to extend into the notch to shear or expand and break the rock to be broken; if the breaking fails, while the laser generating assembly heats or perforates the notch, the scissor-expansion pliers extend into the notch to shear or expand and break the rock to be broken; if the breaking fails again, the laser generating assembly heats or perforates the notch, the scissor-expansion pliers extend into the notch to shear or expand and break the rock to be broken, and at the same time the cold mass injection assembly injects cold mass into the heated or perforated area of the notch.

[0016] The beneficial effect of the present invention is that by utilizing the irregular shape of the rock, the notch of the rock is in a U / V shape, the scissor-expansion pliers extend into it, and directly shear or break some protruding rocks along the predetermined breaking path, which can directly meet the tunneling requirements, or expand to both sides to add prestress (tensile stress outward), similar to the traditional rock splitting machine. When the splitting machine cannot enter the ground and tunneling is required, the rock still breaks along the stress trajectory at a predetermined angle and is broken into a preset shape, without the need for multiple / large amounts of reducing the number of breakings, thereby improving work efficiency. Description of the Drawings

[0017] Figure 1 It is a schematic structural diagram of a tunneling device for rock mining according to a specific embodiment of the present invention;

[0018] Figure 2 For Figure 1 Partial A schematic diagram of

[0019] Figure 3 Schematic diagram of the operation of an excavation device for rock mining according to a specific embodiment of the present invention;

[0020] Label description: 1. Shearing and expanding pliers; 11. Hydraulic system; 12. Connecting rod; 13. Scissor body; 14. Hydraulic column; 15. Protrusion; 2. Laser generating assembly; 3. Cold mass injection assembly; 4. Three-dimensional imaging assembly; 5. Excavation mainframe; 6. Manipulator; 7. Central axis. Specific embodiment

[0021] To describe in detail the technical content, achieved objectives and effects of the present invention, the following is described in conjunction with the embodiments and with reference to the drawings.

[0022] Please refer to Figures 1 to 3 , an excavation device for rock mining, comprising

[0023] Shearing and expanding pliers 1;

[0024] Laser generating assembly 2, for heating and / or perforating the rock to be broken;

[0025] Cold mass injection assembly 3, for injecting cold mass and providing cooling to the laser generating assembly 2;

[0026] Three-dimensional imaging assembly 4, for three-dimensionally imaging the rock to be broken and judging the size of the rock to be broken;

[0027] A processor, for confirming the estimated breaking path of the rock to be broken and searching for a suitable notch. If there is one, perform the breaking action; if not, preset a breaking notch, then the laser generating assembly 2 heats or perforates the breaking notch to form a notch; if the notch forming fails, after the laser generating assembly 2 heats or perforates the breaking notch, control the cold mass injection assembly 3 to inject cold mass into the heated or perforated area of the breaking notch to form a notch; after the notch is formed, perform the breaking action;

[0028] The breaking action includes: controlling the shearing and expanding pliers 1 to extend into the notch to shear or expand and break the rock to be broken; if the breaking fails, while the laser generating assembly 2 heats or perforates into the notch, the shearing and expanding pliers 1 extend into the notch to shear or expand and break the rock to be broken; if the breaking fails again, the laser generating assembly 2 heats or perforates into the notch, the shearing and expanding pliers 1 extend into the notch to shear or expand and break the rock to be broken, and at the same time the cold mass injection assembly 3 injects cold mass into the heated or perforated area of the notch.

[0029] As can be seen from the above description: By utilizing the irregular shape of the rock, the notch of the rock is U / V-shaped, and the rock splitting pliers 1 are inserted into it, directly cutting or splitting some protruding rocks along the predetermined breaking path to directly meet the tunneling requirements, or spreading them to both sides and applying prestress (tensile stress outward), similar to a traditional rock splitting machine. When the splitting machine cannot enter the ground for tunneling, the rock still breaks along the stress trajectory at a predetermined angle and is broken into a preset shape, without the need to reduce the number of breakings multiple times or in large quantities, thereby improving work efficiency.

[0030] Working process: Through the laser generating component 2 and / or the cold mass injection component 3, a notch can be independently formed to facilitate the execution of the breaking action, and it can also cooperate with the rock splitting pliers 1; when the laser heating cooperates with the rock splitting pliers 1, the laser causes impact damage and thermal damage, pre-breaking the rock, releasing a certain amount of the internal stress of the rock, reducing the rock strength, and at the same time the rock splitting pliers 1 apply an outward tensile stress, thereby causing the internal and external stress imbalance and cracking, and the rock will crack along the outward tensile stress trajectory applied by the rock splitting pliers 1; when the laser heating, the rock splitting pliers 1, and the cold mass injection component 3 cooperate, the laser causes thermal damage, and the cold mass injection component 3 sprays cold mass to the place where thermal damage has already occurred. The sudden cold shrinkage causes the tensile stress inside the rock to increase sharply, and at the same time the rock splitting pliers 1 apply an outward tensile stress. The internal and external stresses interact, resulting in the collapse and fragmentation of the rock structure, and the rock will crack along the outward tensile stress trajectory applied by the rock splitting pliers 1; the three cooperate with each other, so that structurally there is no need for one component to undertake the breaking work, greatly reducing the work burden, enabling the structures of all three to be simplified, without the continuous work of a complex system position device. Especially for the laser generating component 2, because the working time is short, there is no need for a large amount of cold mass and complex power supply, and both the cold mass and the rock splitting pliers 1 are small-volume components, greatly simplifying the device.

[0031] Furthermore, the three-dimensional imaging component 4 is one of infrared scanning imaging or ultrasonic three-dimensional imaging.

[0032] Furthermore, it also includes a tunneling mainframe 5 and a robotic arm 6. The robotic arm 6 includes a base and an operating end. The base is rotatably connected to the tunneling mainframe 5. The rock splitting pliers 1, the laser generating component 2, the cold mass injection component 3, and the three-dimensional imaging component 4 are integrated on the operating end;

[0033] The processor controls the work of the tunneling mainframe 5 and the robotic arm 6.

[0034] Furthermore, the operating end of the robotic arm 6 includes a platform;

[0035] The cutting and expanding pliers 1 include a hydraulic system 11, two connecting rods 12, and two symmetrically arranged scissor bodies 13. The hydraulic system 11 is arranged inside the platform. The hydraulic system 11 includes a hydraulic column 14. There are two bosses arranged on the outer surface of the platform. A rotating part is arranged on the scissor body 13, and the rotating part is rotatably connected to the boss. One end of the connecting rod 12 is rotatably connected to the scissor body 13, and the other end is rotatably connected to the hydraulic column 14.

[0036] Further, a cold mass source is provided inside the tunneling main machine 5, and the cold mass source provides cold mass for the cold mass injection assembly 3.

[0037] The cold mass injection assembly 3 includes a nozzle and a pipeline. The nozzle is arranged on the side of the platform. The nozzle is communicated with the cold mass source through the pipeline, and the pipeline is buried inside the robotic arm 6.

[0038] As can be seen from the above description: By burying the pipeline inside the platform, it is possible to prevent falling objects from breaking the pipeline and affecting the efficiency.

[0039] Further, the nozzle is arranged obliquely. The central line 7 of the nozzle intersects with the central line 7 of the two scissor bodies 13, and the intersection point is spaced 8 - 15 cm from the end of the scissor body 13.

[0040] As can be seen from the above description: By the central line 7 of the nozzle intersecting with the central line 7 of the two scissor bodies 13, and the intersection point being spaced 8 - 15 cm from the end of the scissor body 13, it can be ensured that during operation, the injected cold mass will not affect the operation of the laser. Generally, a notch depth of 12 cm is more appropriate. If it is too shallow, the notch needs to be deepened. If it is too deep, the cutting and expanding pliers 1 will directly open. If the stone is too large, it needs to be broken multiple times, and it has little relationship with the size of the notch.

[0041] Further, a slot is formed between the middle of one side of the scissor body 13 facing the other scissor body 13 and the platform.

[0042] The laser generating assembly 2 includes a laser head. The laser head is arranged in the space formed by the slots of the two scissor bodies 13 and is connected to the platform.

[0043] As can be seen from the above description: By using the slot of the scissor body 13 as the accommodation space for the laser head, the scissor body 13 can be used as a protection to prevent falling stones and other objects from damaging the laser head.

[0044] Further, a serrated protrusion 15 is arranged on the outer side of the end of the scissor body 13.

[0045] As can be seen from the above description: Through the serrated protrusion 15, the friction force can be increased, and the disconnection of the cutting and expanding pliers 1 can be reduced or avoided.

[0046] Further, the robotic arm 6 is a universal robotic arm 6.

[0047] Further, the cooling medium is cooling water at 20-25 °C.

[0048] As can be seen from the above description: Since the working time of the laser generating device of the present application is short, the need for cooling is not high. Cooling water at 20-25 °C can meet the requirement, and this temperature of cooling water does not require too many complex devices for storage and can be used, with low cost.

[0049] Embodiment 1

[0050] A tunneling device for rock mining includes

[0051] Scissor-expanding pliers;

[0052] A laser generating assembly for heating and / or perforating the rock to be broken;

[0053] A cooling medium spraying assembly for spraying the cooling medium and providing cooling to the laser generating assembly;

[0054] A three-dimensional imaging assembly for performing three-dimensional imaging on the rock to be broken and judging the size of the rock to be broken;

[0055] A processor for confirming the estimated breaking path of the rock to be broken and searching for a suitable notch. If there is one, the breaking action is executed; if not, a preset breaking notch is set, then the laser generating assembly heats or perforates at the breaking notch to form a notch; if the notch forming fails, after the laser generating assembly heats or perforates at the breaking notch, the cooling medium spraying assembly sprays the cooling medium into the heating or perforating area at the breaking notch to form a notch; after the notch is formed, the breaking action is executed;

[0056] The breaking action includes: controlling the scissor-expanding pliers to extend into the notch to shear or expand and break the rock to be broken; if the breaking fails, the laser generating assembly heats or perforates into the notch while the scissor-expanding pliers extend into the notch to shear or expand and break the rock to be broken; if the breaking fails again, the laser generating assembly heats or perforates into the notch, the scissor-expanding pliers extend into the notch to shear or expand and break the rock to be broken, and at the same time the cooling medium spraying assembly sprays the cooling medium into the heating or perforating area at the notch.

[0057] The three-dimensional imaging assembly is an infrared scanning imaging.

[0058] The tunneling device for rock mining further includes a tunneling mainframe and a robotic arm. The robotic arm includes a base and an operating end. The base is rotatably connected to the tunneling mainframe. The scissor-expanding pliers, the laser generating assembly, the cooling medium spraying assembly, and the three-dimensional imaging assembly are integrated on the operating end;

[0059] The processor controls the operation of the tunneling mainframe and the robotic arm.

[0060] The operating end of the robotic arm includes a platform;

[0061] The cutting and expanding pliers include a hydraulic system, two connecting rods, and two symmetrically arranged scissor bodies. The hydraulic system is arranged inside the platform. The hydraulic system includes a hydraulic column; two convex platforms are arranged on the outer surface of the platform; a rotating part is arranged on the scissor body, and the rotating part is rotatably connected to the convex platform. One end of the connecting rod is rotatably connected to the scissor body, and the other end is rotatably connected to the hydraulic column.

[0062] A cold mass source is provided inside the tunneling mainframe, and the cold mass source provides cold mass for the cold mass injection assembly;

[0063] The cold mass injection assembly includes a nozzle and a pipeline. The nozzle is arranged on the side of the platform. The nozzle is communicated with the cold mass source through the pipeline, and the pipeline is buried inside the robotic arm.

[0064] The nozzle is arranged obliquely. The central line of the nozzle intersects with the central lines of the two scissor bodies, and the intersection point is spaced 8 - 15 cm from the end of the scissor body.

[0065] A slot is formed between the middle of the side of one scissor body facing the other scissor body and the platform;

[0066] The laser generating assembly includes a laser head. The laser head is arranged in the space formed by the slots of the two scissor bodies and is connected to the platform.

[0067] Jagged protrusions are arranged on the outer side of the end of the scissor body.

[0068] The robotic arm is a universal robotic arm.

[0069] The cold mass is cooling water at 20 - 25 °C.

[0070] Embodiment 2

[0071] A tunneling device for rock excavation, the same parts as those in Embodiment 1 will not be described again. Among them, the three-dimensional imaging assembly is ultrasonic three-dimensional imaging.

[0072] The cold mass can be replaced with liquid nitrogen as needed.

[0073] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. All equivalent transformations made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in related technical fields, are equally included in the patent protection scope of the present invention.

Claims

1. A tunneling device for rock mining, characterized in that, including rock shearing and expanding pliers; a laser generating component for heating and / or perforating the rock to be broken; a cold mass injection component for injecting cold mass and cooling the laser generating component; a three-dimensional imaging component for three-dimensionally imaging the rock to be broken and judging the size of the rock to be broken; a processor for confirming the estimated breaking path of the rock to be broken and searching for a suitable notch. If there is one, the breaking action is executed; if not, a preset breaking notch is set, then the laser generating component heats or perforates at the breaking notch to form a notch; if the notch forming fails, after the laser generating component heats or perforates at the breaking notch, the cold mass injection component is controlled to inject cold mass into the heating or perforating area at the breaking notch to form a notch; after the notch is formed, the breaking action is executed; The breaking action includes: controlling the rock shearing and expanding pliers to extend into the notch to shear or expand and break the rock to be broken; if the breaking fails, the laser generating component heats or perforates into the notch while the rock shearing and expanding pliers extend into the notch to shear or expand and break the rock to be broken; if the breaking fails again, the laser generating component heats or perforates into the notch, the rock shearing and expanding pliers extend into the notch to shear or expand and break the rock to be broken, and at the same time the cold mass injection component injects cold mass into the heating or perforating area at the notch.

2. The tunneling device for rock mining according to claim 1, wherein The three-dimensional imaging component is one of infrared scanning imaging or ultrasonic three-dimensional imaging.

3. The tunneling device for rock mining according to claim 1, characterized in that, It further includes a tunneling mainframe and a robotic arm. The robotic arm includes a base and an operating end. The base is rotatably connected to the tunneling mainframe. The rock shearing and expanding pliers, the laser generating component, the cold mass injection component, and the three-dimensional imaging component are integrated on the operating end; The processor controls the work of the tunneling mainframe and the robotic arm.

4. The tunneling device for rock mining according to claim 3, characterized in that, The operating end of the robotic arm includes a platform; The rock shearing and expanding pliers include a hydraulic system, two connecting rods, and two symmetrically arranged scissor bodies. The hydraulic system is arranged in the platform. The hydraulic system includes a hydraulic column; two convex platforms are arranged on the outer surface of the platform; a rotating part is arranged on the scissor body, and the rotating part is rotatably connected to the convex platform. One end of the connecting rod is rotatably connected to the scissor body, and the other end is rotatably connected to the hydraulic column.

5. The tunneling device for rock mining according to claim 4, characterized in that, There is a cold mass source in the tunneling mainframe, and the cold mass source provides cold mass for the cold mass injection component; The cold mass injection component includes a nozzle and a pipeline. The nozzle is arranged on the side of the platform. The nozzle is communicated with the cold mass source through the pipeline, and the pipeline is buried in the robotic arm.

6. The tunneling device for rock mining according to claim 5, characterized in that, The nozzle is inclined, and the central line of the nozzle intersects the central lines of the two scissor bodies. The intersection point is 8-15 cm away from the end of the scissor body.

7. The tunneling device for rock mining according to claim 4, characterized in that, A slot is formed between the middle of one side of the scissor body facing the other scissor body and the platform; The laser generating component includes a laser head. The laser head is arranged in the space formed by the slots of the two scissor bodies and is connected to the platform.

8. The tunneling device for rock mining according to claim 4, characterized in that, Jagged protrusions are arranged on the outer side of the end of the scissor body.

9. The tunneling device for rock mining according to claim 3, characterized in that, The robotic arm is a universal robotic arm.

10. The tunneling device for rock mining according to claim 1, characterized in that, The cold mass is cooling water at 20-25 °C.

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