Intelligent system and method for low-pressure abrasive air jet grooving assisted roller cutter breaking hard rock

Abstract

The present invention discloses an intelligent system and method for low-pressure abrasive air jet grooving to assist a roller cutter in breaking hard rock. The system includes: a low-pressure abrasive air jet mixing device, which can fully mix the low-pressure abrasive air jet and form a stable and reliable abrasive air jet; and an abrasive jet multi-stage acceleration device, which can accelerate the acquisition of hypersonic abrasive particles. The system of the present invention can monitor the force on the roller cutter in real time, and the central processing unit adjusts the working parameters of the jet system according to the force on the roller cutter, thereby changing the grooving parameters of the low-pressure abrasive air jet. After advanced grooving, the rock confining pressure on the working surface is reduced, further reducing the force applied to the roller cutter when breaking hard rock. The system effectively solves the problem of severe wear of the roller cutter when breaking hard rock, and adopts a low-energy, safe and reliable low-pressure abrasive air jet system to achieve intelligent assisted rock breaking, which greatly improves the rock breaking efficiency.

Description

Technical Field

[0001] The present invention specifically relates to the field of tunnel construction technology and energy development technology, and in particular to an intelligent system and method for low-pressure abrasive air jet grooving-assisted roller cutter hard rock breaking. Background Art

[0002] Tunnel boring machines (TBMs) are playing an increasingly important role in rock tunneling. TBMs primarily rely on rotating cutters on their cutterheads to fracture and break rock. However, during excavation, they inevitably encounter hard rock. Relying solely on cutters for breaking hard rock can lead to severe wear and damage due to the limited strength of mechanical cutting tools. Opening the cutterhead to change cutters can easily cause imbalance in the excavation face, increase time and construction costs, and severely impact efficiency.

[0003] To address this issue, the current research focuses on abrasive water jet-assisted roller cutter rock breaking systems, such as the application number CN114562285A, entitled "A TBM post-mixed abrasive jet-assisted rock breaking system and rock breaking method." It uses a high-pressure water jet device and an abrasive supply device to perform post-mixed mixed-assisted roller cutter rock breaking, which is suitable for the problem of difficult roller cutter breaking of hard rock. However, it requires a high-pressure or even ultra-high-pressure working environment, the system has high power and poor safety. Under high-pressure conditions, the abrasive jet system is prone to damage.

[0004] Furthermore, patent application number CN112196571A, titled "An Abrasive Jet-Assisted Mechanical Rock Breaking System and Method," utilizes the confining pressure parameters of the face to control the pressure and flow rate, thereby varying the abrasive jet parameters. While this method achieves intelligent and precise assisted rock breaking, it lacks cutter force detection, making it difficult to ensure minimal cutter wear, and the operating environment is also stressful. In summary, existing methods for assisting cutter rock breaking fail to meet the requirements of intelligent, safe, efficient, and energy-efficient rock breaking, significantly limiting their widespread adoption. Summary of the Invention

[0005] To this end, the present invention proposes an intelligent system and method for low-pressure abrasive air jet grooving to assist a roller cutter in breaking hard rock to solve the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a low-pressure abrasive air jet grooving assisted roller cutter hard rock breaking intelligent system, comprising:

[0007] A low-pressure abrasive air jet mixing device, which can fully mix the low-pressure abrasive air jet and form a stable and reliable abrasive air jet;

[0008] An abrasive jet multi-stage accelerator, which can accelerate the acquisition of hypersonic abrasive particles;

[0009] A roller cutter rock breaking device is provided with two groups, each consisting of a roller cutter, a signal processor, and a pressure sensor mounted on the roller cutter. The pressure sensor can monitor and collect the force applied by the roller cutter during rock breaking in real time, and then transmit the signal to a central processing unit through the signal processor. The central processing unit controls a low-pressure abrasive air jet mixing device to adjust the working pressure, flow rate, and target distance of the abrasive air jet according to the force applied to the roller cutter.

[0010] and an atomizing dust suppression device capable of reducing dust concentration during abrasive air jet grooving;

[0011] The outlet end of the low-pressure abrasive air jet mixing device is connected to the inlet ends of the abrasive jet multi-stage acceleration device and the atomization dust reduction device respectively.

[0012] Furthermore, preferably, the atomizing dust suppression device includes an atomizing nozzle, a water tank and a nozzle, a dust cover is installed on the surface of the atomizing nozzle, and the atomizing nozzle is connected to the water tank through a hose.

[0013] Furthermore, as a preference, the outlet end of the low-pressure abrasive air jet mixing device is connected to the diversion device and the water treatment device through a jet rolling path and a pressure pipeline respectively;

[0014] The diversion device is connected to the diversion pipeline, and a check valve device and a back pressure valve device are installed on the diversion pipeline;

[0015] A clamp is provided between the two hobs. The clamp controls the erosion target distance of the abrasive jet of the nozzle through a telescopic rod, and a second dust cover is provided on the nozzle.

[0016] Furthermore, preferably, the nozzle is provided with an internal nozzle material, and the internal nozzle material divides the internal environment of the nozzle into a working fluid and a guide fluid, and accelerates the abrasive particles into hypersonic abrasives through the high-speed jet gas.

[0017] Further, as a preference, the abrasive jet mixing device includes an air compressor, a magnetic stirrer and an abrasive tank, the air compressor is connected to the unloading valve, and then divided into two pipelines, one of which is sequentially installed with a pressure gauge, a stop valve, a high-pressure gas cylinder, and a pressure reducing valve, and then connected to the upper end of the magnetic stirrer, the magnetic stirrer is provided with an inverted abrasive tank, the lower end of the magnetic stirrer is connected to the air supply pipeline through valve 2, and the air supply pipeline is equipped with a pressure control and flow valve controlled by a central processing unit;

[0018] Another pipeline is connected to the gas supply pipeline and the pressure pipeline.

[0019] Furthermore, preferably, the diversion device divides the jet pipeline into an inner pipeline and an outer pipeline through an annular fixation, thereby dividing the abrasive jet working fluid into working fluid and guide fluid, and reaches the nozzle along the pipeline and is accelerated to varying degrees.

[0020] The method of the low-pressure abrasive air jet grooving assisted roller cutter hard rock breaking intelligent system comprises the following steps:

[0021] S1: Load the auxiliary abrasive jet system onto the cutterhead, set the initial flow valve and pressure control according to the corresponding rock, start the air compressor and open the stop valve as the cutter starts to penetrate the rock, turn the abrasive tank upside down and add abrasive, mix it evenly in the magnetic stirrer and start to form the abrasive air jet working fluid;

[0022] S2: The low-pressure abrasive air jet fluid is divided into two pipes through the diversion device. The outer pipe is the injection fluid, and the inner pipe is the working fluid. After being accelerated by the nozzle, the abrasive is accelerated to ultra-high sonic abrasive. The jet begins to erode the rock and cut a groove in front of the cutter side.

[0023] S3: After the air compressor is turned on, the pressure pipeline is connected to the water treatment signal. The central processor controls the water treatment signal to change the pressure of the atomizing nozzle pipeline. At the same time, the activator is added to the activator device to increase the dust reduction effect of the atomizing nozzle.

[0024] S4: When the cutter is breaking rock, the signal processor monitors the cutter force through the pressure sensor and transmits the signal to the central processor. Based on whether the cutter force exceeds the corresponding threshold, the flow valve, pressure control and telescopic rod are controlled.

[0025] S5: If the cutter is under light force, the mass flow rate and target distance of the corresponding abrasive jet are not changed; if the cutter is under heavy force, the pressure control is first increased, and the corresponding target distance is adjusted by extending the telescopic rod. The corresponding parameters are gradually increased until the cutter is under less force and begins to break rock stably. The corresponding flow valve, pressure control and telescopic rod are controlled to remain stable.

[0026] S6: When the abrasive in the corresponding abrasive tank is insufficient, add abrasive in time; when the water in the water tank is insufficient, add water in time; when the nozzle and hob are seriously worn, replace them in time;

[0027] S7: The central processing unit monitors the force on the tool in real time and controls the mass flow of the abrasive jet. When rock breaking is completed, the stop valve is closed in time to clean up related dust and prevent pipeline blockage.

[0028] The present invention adopts the above technology and has the following beneficial effects compared with the existing technology:

[0029] 1. This invention uses full acceleration of abrasives as a means, integrates the technical concepts of jet pumps and Laval nozzles, divides the pipeline into inner and outer pipelines, and adopts pressure zone control to achieve multi-stage accelerated erosion of hard rock by abrasives under low pressure conditions. The jet pressure is less than 2.0 MPa, which greatly reduces the risk of rock breaking, reduces energy consumption, and extends the service life of the jet system equipment.

[0030] 2. The present invention adopts a magnetic stirring abrasive tank for abrasive mixing. The abrasive tank can continuously add abrasives, and when entering the stirring tank, it can be fully mixed with the air in the tapered tube, ensuring that the low-pressure abrasive air jet is evenly mixed; a check valve device is installed to use the pressure difference to achieve a one-way jet rock breaking direction, reducing the blockage inside the abrasive pipeline; a back pressure valve device is installed to ensure the stability of the pressure in the gas pipeline during coal breaking operation, ensure the fluid pressure difference of different pipelines of the nozzle, and increase the stability and efficiency of the rock breaking system.

[0031] 3. The present invention utilizes a central processing unit to analyze the forces acting on the roller cutter in real time, thereby affecting the supply pressure, mass flow rate, erosion target distance, etc. of the abrasive jet, thereby enabling intelligent and precise auxiliary tool rock breaking, reducing tool wear, and extending the service life of the roller cutter. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the present invention;

[0033] Figure 2 Schematic diagram of the structure of the low-pressure abrasive air jet mixing device of the present invention;

[0034] Figure 3 Schematic diagram of the structure of the diversion device in the present invention;

[0035] Figure 4 Schematic diagram of the internal piping of the abrasive jet pipeline in the present invention;

[0036] Figure 5 Schematic diagram of the acceleration state in the nozzle of the present invention.

[0037] Figure: 1, atomizing nozzle; 2, dust cover; 3, pressure sensor; 4, signal processor; 5, hose; 6, cutter head; 7, water tank; 8, signal transmission line; 9, central processing unit; 10, low-pressure abrasive air jet mixing device; 11, jet pipeline; 12, diverter device; 13, diverter pipeline; 14, check valve device; 15, back pressure valve device; 16, clamp; 17, telescopic rod; 18, nozzle; 19, dust cover 2; 20, hob; 21, activator device; 22, water treatment device; 23, pressure pipeline; 101, air compressor machine; 102, pressure gauge; 103, stop valve; 104, high-pressure gas cylinder; 105, pressure reducing valve; 106, abrasive tank; 107, magnetic stirrer; 108, valve; 109, flow valve; 110, pressure control; 111, air supply line; 113, unloading valve; 121, external pipeline; 122, annular fixation; 123, guided fluid; 124, internal pipeline; 125, working fluid; 191, nozzle surface material; 192, nozzle internal material; 193, low-speed abrasive; 194, high-speed abrasive; 195, hypersonic abrasive. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] Example: Please see the attached Figure 1-5 The present invention provides a technical solution: a low-pressure abrasive air jet grooving assisted roller cutter hard rock breaking intelligent system, which includes:

[0040] The low-pressure abrasive air jet mixing device 10 can fully mix the low-pressure abrasive air jet and form a stable and reliable abrasive air jet;

[0041] Abrasive jet multi-stage accelerator, which can accelerate the acquisition of hypersonic abrasive particles;

[0042] The rock-breaking device is provided with two groups of rock-breaking devices. The rock-breaking device is composed of a rock cutter 20, a signal processor 4, and a pressure sensor 3 installed on the rock cutter 20. The pressure sensor 3 can monitor the force applied by the rock cutter 20 in real time and collect the data. The signal is then transmitted to the central processing unit 9 through the signal processor 4. The central processing unit 9 controls the low-pressure abrasive air jet mixing device 10 to adjust the working pressure, flow rate, and target distance of the abrasive air jet according to the force applied to the rock cutter 20.

[0043] and an atomizing dust suppression device, which can reduce the dust concentration during abrasive air jet grooving;

[0044] The outlet end of the low-pressure abrasive air jet mixing device 10 is connected to the inlet ends of the abrasive jet multi-stage acceleration device and the atomization dust reduction device respectively.

[0045] In this embodiment, the atomizing dust suppression device includes an atomizing nozzle 1, a water tank 7, and a nozzle 18. A dust cover 2 is installed on the surface of the atomizing nozzle 1, and the atomizing nozzle 1 is connected to the water tank 7 through a hose 5;

[0046] Specifically, the pressure pipeline 23 mainly relies on the pressure provided by the low-pressure abrasive air jet mixing device 10, and then connects the activator device 21 and the water treatment device 22 to transmit it to the water tank 7, and controls the water treatment device 22 according to the working parameters transmitted by the central processor, thereby controlling the dust reduction effect of the atomizing nozzle 1 on the working surface.

[0047] In this embodiment, the outlet end of the low-pressure abrasive air jet mixing device 10 is connected to the diversion device 12 and the water treatment device 22 through the jet rolling path 11 and the pressure pipeline 23 respectively;

[0048] The diverter device 12 is connected to the diverter pipeline 13, and the diverter pipeline 13 is installed with a check valve device 14 and a back pressure valve device 15;

[0049] A clamp 16 is provided between the two hobs 20. The clamp 16 controls the erosion target distance of the abrasive jet of the nozzle 18 through a telescopic rod 17. A dust cover 19 is provided on the nozzle 18.

[0050] Specifically, when the pressure value monitored by the pressure sensor 3 is greater than the preset roller cutter pressure value, the central processor 9 controls the flow valve 109 and the pressure control 110, and then changes the telescopic rod 17 to match the optimal target distance of the corresponding mass flow, thereby increasing the cutting depth.

[0051] In this embodiment, the low-pressure abrasive air jet accelerates the abrasive particles primarily at the nozzle 18. The nozzle structure provides multi-stage acceleration. The nozzle 18 is provided with an internal nozzle material 192 that divides the internal environment of the nozzle 18 into a working fluid 125 and a guide fluid 123. The high-speed jet gas accelerates the abrasive particles into hypersonic abrasive particles 195.

[0052] Specifically, the nozzle 18 is installed on the side of the roller cutter 20, and mainly relies on the hypersonic abrasive 195 to cut grooves to reduce the rock confining pressure, thereby reducing the force on the roller cutter 20. According to the control of the central processor 9, the auxiliary roller cutter rock breaking system is a dynamic process;

[0053] Furthermore, as the cutter 20 acts on the rock, the signal processor 4 monitors the force on the cutter through the pressure sensor 3, and further transmits a signal to the central processor 9. Depending on whether the force on the cutter exceeds a corresponding threshold, the flow valve 109 and the pressure control 110 are controlled to increase the mass flow of the abrasive jet. Then, according to the different mass flow rates, the central processor 9 changes the telescopic rod 17 to adjust the corresponding optimal target distance, so that the abrasive jet cuts grooves on the side of the cutter, reducing the stress state of the cutter during operation.

[0054] It should be noted that the position of the abrasive jet nozzle is movable. The default position between the two rollers is better. However, after working on the rock for a period of time, as the cracks inside the rock expand, the force on one roller may be much greater than that on the adjacent rollers. At this time, the central processing unit 6 controls the abrasive jet clamp 16 to move to the side where the roller is subjected to greater force, and the central processing unit controls the entire auxiliary roller rock breaking system in real time.

[0055] In this embodiment, the abrasive jet mixing device 10 includes an air compressor 101, a magnetic stirrer 107 and an abrasive tank 106. The air compressor 101 is connected to an unloading valve 113, and then divided into two pipelines. One of the pipelines is sequentially installed with a pressure gauge 102, a stop valve 103, a high-pressure gas cylinder 104, and a pressure reducing valve 105, and then connected to the upper end of the magnetic stirrer 107. The magnetic stirrer 107 is provided with an inverted abrasive tank 106. The lower end of the magnetic stirrer 107 is connected to an air supply pipeline 111 through a second valve 108, and the air supply pipeline 111 is equipped with a pressure control 110 and a flow valve 109 controlled by a central processing unit 9;

[0056] Another pipeline is connected to the gas supply pipeline 111 and the pressure pipeline 23;

[0057] Specifically, the abrasive jar 106 can be inverted to continuously add abrasive, and the abrasive can be fully mixed with the air in the tapered tube portion when entering the magnetic stirrer 107 .

[0058] In this embodiment, the diversion device 12 divides the jet pipeline 11 into an inner pipeline 124 and an outer pipeline 121 through the annular fixing 122, thereby dividing the abrasive jet working fluid into a working fluid 125 and a guide fluid 123, and reaches the nozzle 18 along the pipeline and is accelerated to varying degrees.

[0059] The method of the low-pressure abrasive air jet grooving assisted roller cutter hard rock breaking intelligent system comprises the following steps:

[0060] S1: The auxiliary abrasive jet system is loaded onto the cutterhead 6. The initial flow valve 109 and pressure control 110 are set according to the corresponding rock. As the roller cutter 20 begins to penetrate the rock, the air compressor 101 is turned on, the stop valve 103 is opened, and the abrasive tank 106 is inverted to add abrasive. The abrasive is evenly mixed in the magnetic stirrer and begins to form an abrasive air jet working fluid.

[0061] S2: The low-pressure abrasive air jet fluid is divided into two pipes by the diversion device 12. The outer pipe is the injection fluid 123, and the inner pipe is the working fluid 125. After being accelerated by the nozzle 18, the abrasive is accelerated to the ultra-high-speed abrasive 195. The jet begins to erode the rock and cut a groove in front of the cutter side.

[0062] S3: After the air compressor 101 is turned on, the pressure pipe 23 is connected to the water treatment signal 22. The central processor 9 controls the water treatment signal 22 to change the pressure of the atomizing nozzle pipe. At the same time, an activator is added to the activator device 21 to increase the dust reduction effect of the atomizing nozzle 1.

[0063] S4: When the cutter 20 breaks rock, the signal processor 4 monitors the force on the cutter through the pressure sensor 3 and transmits a signal to the central processor 9. Based on whether the force on the cutter 20 exceeds a certain threshold, the central processor 9 controls the flow valve 109, the pressure control 110, and the telescopic rod 17.

[0064] S5: If the force on the cutter 20 is small, the mass flow rate and target distance of the corresponding abrasive jet are not changed; if the force on the cutter 20 is large, the pressure control 110 is first increased, and the corresponding target distance is adjusted by extending the telescopic rod 17. The corresponding parameters are gradually increased until the force on the cutter 20 is small and the rock is broken stably. The corresponding flow valve 109, pressure control 110 and telescopic rod 17 are controlled to remain stable.

[0065] S6: When the abrasive in the corresponding abrasive tank 106 is insufficient, add abrasive in time; when the water in the water tank 7 is insufficient, add water in time; when the nozzle and hob are seriously worn, replace them in time;

[0066] S7: The central processing unit 9 monitors the force on the cutter in real time and controls the mass flow of the abrasive jet. When the rock breaking is completed, the stop valve 103 is closed in time to clean the relevant dust to prevent the pipeline from being blocked.

[0067] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. Low-pressure abrasive air jet grooving assisted hob cutter hard rock breaking intelligent system, characterized by: It includes: A low-pressure abrasive air jet mixing device (10), wherein the low-pressure abrasive air jet mixing device (10) is capable of fully mixing the low-pressure abrasive air jet and forming a stable and reliable abrasive air jet; An abrasive jet multi-stage accelerator, which can accelerate the acquisition of hypersonic abrasive particles; A roller cutter rock breaking device, wherein the roller cutter rock breaking device is provided with two groups, and the roller cutter rock breaking device is composed of a roller cutter (20), a signal processor (4), and a pressure sensor (3) installed on the roller cutter (20), wherein the pressure sensor (3) can monitor the magnitude of the force applied by the roller cutter (20) when breaking the rock in real time and collect the force, and then transmit the signal to a central processing unit (9) through the signal processor (4), and the central processing unit (9) controls a low-pressure abrasive air jet mixing device (10) according to the magnitude of the force applied to the roller cutter (20) to adjust the working pressure, flow rate and target distance of the abrasive air jet; Atomizing dust suppression device, which can reduce the dust concentration during abrasive air jet grooving; The outlet end of the low-pressure abrasive air jet mixing device (10) is connected to the inlet ends of the abrasive jet multi-stage acceleration device and the atomization dust reduction device respectively; The atomizing dust suppression device comprises an atomizing nozzle (1), a water tank (7), and a nozzle (18); a dust cover (2) is installed on the surface of the atomizing nozzle (1); and the atomizing nozzle (1) is connected to the water tank (7) via a hose (5); The outlet end of the low-pressure abrasive air jet mixing device (10) is connected to the diversion device (12) and the water treatment device (22) through the jet rolling path (11) and the pressure pipeline (23) respectively; The diverter device (12) is connected to a diverter pipeline (13), and a check valve device (14) and a back pressure valve device (15) are installed on the diverter pipeline (13); A clamp (16) is provided between the two hobs (20), and the clamp (16) controls the erosion target distance of the abrasive jet of the nozzle (18) through a telescopic rod (17), and a second dust cover (19) is provided on the nozzle (18); The nozzle (18) is provided with a nozzle internal material (192), and the nozzle internal material (192) divides the internal environment of the nozzle (18) into a working fluid (125) and a guide fluid (123), and accelerates the abrasive particles into hypersonic abrasive (195) through the high-speed jet gas; The diversion device (12) divides the jet pipeline (11) into an inner pipeline (124) and an outer pipeline (121) through an annular fixing (122), thereby dividing the abrasive jet working fluid into a working fluid (125) and a guide fluid (123), and the fluid reaches the nozzle (18) along the pipeline and is accelerated to varying degrees.

2. The low-pressure abrasive air jet grooving assisted roller cutter hard rock breaking intelligent system according to claim 1, characterized in that: The low-pressure abrasive air jet mixing device (10) comprises an air compressor (101), a magnetic stirrer (107) and an abrasive tank (106). The air compressor (101) is connected to an unloading valve (113), and then two pipelines are set up. One pipeline is sequentially installed with a pressure gauge (102), a stop valve (103), a high-pressure gas cylinder (104), and a pressure reducing valve (105). The pipeline is then connected to the upper end of the magnetic stirrer (107). The magnetic stirrer (107) is provided with an inverted abrasive tank (106). The lower end of the magnetic stirrer (107) is connected to an air supply pipeline (111) through a second valve (108). The air supply pipeline (111) is equipped with a pressure control (110) and a flow valve (109) controlled by a central processing unit (9); the other pipeline is connected to the air supply pipeline (111) and the pressure pipeline (23).

3. A method for a low-pressure abrasive air jet grooving-assisted roller cutter hard rock breaking intelligent system, using the low-pressure abrasive air jet grooving-assisted roller cutter hard rock breaking intelligent system as claimed in claim 2, characterized in that: It includes the following steps: S1: The auxiliary abrasive jet system is loaded onto the cutterhead (6), and the initial flow valve (109) and pressure control (110) are set according to the corresponding rock. As the roller cutter (20) begins to penetrate the rock, the air compressor (101) is turned on, the stop valve (103) is opened, and the abrasive tank (106) is inverted to add abrasive, and the abrasive is evenly mixed in the magnetic stirrer to begin to form an abrasive air jet working fluid; S2: The low-pressure abrasive air jet fluid is divided into two pipes through the diversion device (12), the outer part is the injection fluid (123), and the inner part is the working fluid (125). After being accelerated by the nozzle (18), the abrasive is accelerated to ultra-high-speed abrasive (195). The jet begins to erode the rock and cut a groove in front of the roller cutter side. S3: After the air compressor (101) is turned on, the pressure pipe (23) is connected to the water treatment device (22), and the central processing unit (9) controls the water treatment device (22) to change the pressure of the atomizing nozzle pipe, and at the same time, an activator is added to the activator device (21) to increase the dust reduction effect of the atomizing nozzle (1); S4: When the cutter (20) breaks the rock, the signal processor (4) monitors the force on the cutter through the pressure sensor (3), and further transmits the signal to the central processor (9). According to whether the force on the cutter (20) exceeds the corresponding threshold, the flow valve (109), the pressure control (110) and the telescopic rod (17) are controlled; S5: If the force on the cutter (20) is small, the mass flow rate and target distance of the corresponding abrasive jet are not changed; if the force on the cutter (20) is large, the pressure control (110) is first increased, and the corresponding target distance is adjusted by extending the telescopic rod (17), and the corresponding parameters are gradually increased until the cutter (20) is less stressed and begins to break the rock stably, and the corresponding flow valve (109), pressure control (110) and telescopic rod (17) are controlled to remain stable; S6: When the abrasive in the corresponding abrasive tank (106) is insufficient, add abrasive in time; when the water in the water tank (7) is insufficient, add water in time; when the nozzle and the hob are seriously worn, replace them in time; S7: The central processing unit (9) monitors the force on the cutter in real time and controls the mass flow of the abrasive jet. When the rock breaking is completed, the stop valve (103) is closed in time to clean the relevant dust to prevent the pipeline from being blocked.

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