A drilling and pulling continuous rapid rock breaking manipulator, rock breaking equipment and rock breaking method

Abstract

The present application relates to the technical field of rock and other hard solid material fracturing, and provides a drilling and pulling continuous and rapid rock breaking manipulator, rock breaking equipment, and rock breaking method. The drilling and pulling continuous and rapid rock breaking manipulator comprises: a mounting joint, a manipulator connecting arm, a pulling system, a particle size adjustment mechanism, an in-hole locking system, and a drilling system. One end of the manipulator connecting arm is disposed on the mounting joint, and the other end is connected to the drilling system. The drilling system includes a drilling power unit, a drilling rod, and a drilling bit. The pulling system, the particle size adjustment mechanism, and the in-hole locking system are connected and arranged coaxially with the drilling rod. The drilling and pulling continuous and rapid rock breaking manipulator has the characteristics of continuous and rapid rock breaking, strong rock breaking capacity, controllable particle size, and a wide range of applications.

Description

Technical Field

[0001] The present application belongs to the technical field of fracture of hard solid materials such as rocks, especially the field of hard rock engineering in underground engineering. More specifically, it relates to a drilling and pulling continuous and rapid rock breaking manipulator, rock breaking equipment and rock breaking method. Background Art

[0002] Underground mining, excavation of rescue passages, and construction of underground caverns and tunnels all require rock breaking. While traditional blasting is highly efficient, its safety and operational continuity are difficult to guarantee. Existing mechanical rock breaking methods include TBMs, cantilevered tunnel boring machines (TBMs), and splitters. TBMs are bulky and lack flexibility; cantilevered tunnel boring machines have weak rock-breaking capabilities; splitters require a prefabricated free surface when operating in underground mining conditions, making rock breaking efficiency and continuity difficult to guarantee; and the size of rock fragments produced by direct pulling is difficult to control. These issues severely restrict the safe and continuous construction and development of critical infrastructure, including underground mining, tunneling, and rescue passage construction. Summary of the Invention

[0003] In order to solve the deficiencies of the above-mentioned prior art, the purpose of the embodiment of the present application is to provide a drilling and pulling continuous and rapid rock breaking manipulator, whose drilling and rock breaking operations can not only be integrated and coaxial, but also can control the broken piece size, making full use of the stress distribution characteristics of underground rock mass in a non-three-dimensional stress field environment and the non-tensile properties of rock mass to break rock, and at the same time can be combined with various equipment carriers, with the characteristics of continuous and rapid rock breaking, strong rock breaking ability, controllable piece size and wide range of applications.

[0004] To achieve the above-mentioned purpose, the technical solution adopted in this application is: a drilling and pulling continuous and rapid rock breaking manipulator, including: a mounting joint, a manipulator connecting arm, a pulling system, a block size adjustment mechanism, an in-hole locking system and a drilling system, one end of the manipulator connecting arm is set on the mounting joint, and the other end is connected to the drilling system, the drilling system includes a drilling power unit, a drilling drill rod and a drilling drill bit, the pulling system, the block size adjustment mechanism and the in-hole locking system are connected and coaxially arranged with the drilling drill rod.

[0005] In one embodiment, the blockiness adjustment mechanism includes an adjustment bracket and a blockiness control abutment point. There are at least two blockiness control abutment points, and the distance between the blockiness control abutment points and the center of the adjustment bracket is adjustable.

[0006] In one embodiment, the in-hole locking system is a hole-expanding key-locking system, or a non-hole-expanding friction-locking system.

[0007] In one embodiment, the in-hole locking system is a reaming lock-key locking system, which includes: a locking drill bit, a locking drill rod, a locking power device, a locking sleeve and a sleeve tapered surface, wherein the sleeve tapered surface is provided at one end of the locking sleeve, and the other end of the locking sleeve is connected to the pulling system, the locking drill bit includes at least two drill bit pieces hinged to one end of the locking drill rod and spaced around the axis of the locking drill rod, the other end of the locking drill rod is connected to the locking power device, the locking drill bit is provided close to the sleeve tapered surface, and the locking power device drives the locking drill rod and the locking drill bit to rotate and reciprocate on the locking sleeve;

[0008] Alternatively, the in-hole locking system includes: a locking drill bit, a locking drill rod and a locking power device, the drilling drill bit is provided with a drill cone surface, the locking drill bit includes at least two drill bit plates hinged to one end of the locking drill rod and spaced around the axis of the locking drill rod, the other end of the locking drill rod is connected to the locking power device, the locking drill bit is arranged close to the drill cone surface, and the locking power device drives the locking drill rod and the locking drill bit to rotate and reciprocate on the drilling drill bit.

[0009] In one embodiment, the in-hole locking system is a non-expansion friction locking system, and the in-hole locking system includes: a hydraulic cylinder body and a pressure piece provided on the hydraulic cylinder body, and the hydraulic cylinder body drives the pressure piece to press against the inner wall of the pressure hole.

[0010] In one embodiment, the pressing member is a piston, and the contact mode between the piston and the inner wall of the hole is single-point contact, multi-point contact or full-scale contact.

[0011] In one embodiment, the pressing member includes a conical sleeve and at least two fins arranged around the conical sleeve, and the hydraulic cylinder drives the conical sleeve to move into the hole or out of the hole.

[0012] In one embodiment, an auxiliary sliding mechanism is provided on the manipulator connecting arm, and the in-hole locking system and the drilling system are arranged on the auxiliary sliding mechanism. The auxiliary sliding mechanism drives the in-hole locking system to reciprocate on the drilling drill rod, or the auxiliary sliding mechanism drives the drilling system to reciprocate.

[0013] In one embodiment, the drawing system includes at least one oil cylinder.

[0014] Another object of the present application is to provide a rock-breaking device, including an equipment carrier and the drilling-pulling continuous and rapid rock-breaking manipulator as described above, wherein at least one drilling-pulling continuous and rapid rock-breaking manipulator is provided, and the drilling-pulling continuous and rapid rock-breaking manipulator is arranged on the equipment carrier through an installation joint, and the equipment carrier is an excavator, a scraper, a rock drilling rig, a mining machine or a tunneling machine.

[0015] In one embodiment, at least two of the drilling and pulling continuous fast rock breaking manipulators are provided, one of which is used as a rock breaking manipulator, and the other is used as a drilling manipulator.

[0016] Another object of the present application is to provide a rock breaking method, based on the above-mentioned rock breaking equipment, the rock breaking method comprises the following steps:

[0017] S1. Install the drilling and pulling continuous rapid rock breaking manipulator on the equipment carrier;

[0018] S2. The equipment carrier travels to the mining working face;

[0019] S3, drilling system operation, drilling holes on the mining working face;

[0020] S4. After the drilling is completed, the drilling system stops operating and the locking system in the hole operates to lock it with the inner wall of the hole;

[0021] S5. Adjust the size adjustment mechanism according to the size requirements of the rock fragments; after the size adjustment mechanism is adjusted, the pulling system is operated to apply a pulling force out of the hole to the rock mass until the rock mass breaks.

[0022] The beneficial effects of the drilling and pulling continuous rapid rock breaking manipulator, rock breaking equipment and rock breaking method provided by the present application are:

[0023] First, the drilling and pulling continuous rapid rock breaking manipulator uses a block size adjustment mechanism to adjust the rock breaking size, which can realize the control of the pulling and breaking rock block size;

[0024] Second, the drilling and rock breaking operations of the drill-pull continuous and rapid rock breaking manipulator are integrated and coaxial, which can achieve continuous and rapid rock breaking operations;

[0025] Third, the drilling and pulling continuous rapid rock breaking manipulator fully utilizes the stress distribution characteristics of underground rock mass in a non-three-dimensional stress field environment and the rock mass's non-tensile properties to break rock, and has a strong rock breaking ability;

[0026] Fourth, the drilling and pulling continuous and rapid rock breaking manipulator can be combined with various equipment carriers by installing joints, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0028] Figure 1 A simplified structural diagram of the drilling and pulling continuous rapid rock breaking manipulator provided in this application;

[0029] Figure 2 A simplified structural diagram of the drilling system provided in Example 1 of the present application;

[0030] Figure 3 A simplified structural diagram of the in-hole locking system provided in Example 1 of the present application;

[0031] Figure 4 This is a simplified structural diagram of the locking completion state provided in Example 1 of the present application;

[0032] Figure 5 A simplified structural diagram of the connection relationship between the first block size adjustment mechanism and the drawing system provided in Example 1 of the present application;

[0033] Figure 6 A simplified structural diagram of the connection relationship between the second block size adjustment mechanism and the drawing system provided in Example 1 of the present application;

[0034] Figure 7 A simplified structural diagram of the tripod structure provided in Example 1 of the present application;

[0035] Figure 8 A simplified structural diagram of the four-legged bracket structure provided in Example 1 of the present application;

[0036] Figure 9 A simplified structural diagram of the third drawing system provided in Example 1 of the present application;

[0037] Figure 10 A simplified structural diagram of the drilling system provided in Example 2 of the present application;

[0038] Figure 11 A simplified structural diagram of the in-hole locking system provided in Example 2 of the present application;

[0039] Figure 12 A simplified structural diagram of the locking completion state provided in Example 2 of the present application;

[0040] Figure 13 This is a simplified structural diagram of the first non-expansion friction locking system provided in Example 3 of the present application;

[0041] Figure 14 A simplified structural diagram of the second non-expansion friction locking system provided in Example 3 of the present application;

[0042] Figure 15 This is a simplified structural diagram of the third non-expansion friction locking system provided in Example 3 of the present application;

[0043] Figure 16 A simplified structural diagram of the fourth non-expansion friction locking system provided in Example 3 of the present application;

[0044] Figure 17 A simplified structural diagram of the fifth non-expansion friction locking system provided in Example 3 of the present application;

[0045] Figure 18 A simplified structural diagram of the rock breaking equipment provided in Example 4 of the present application, in which two drilling and pulling continuous rapid rock breaking manipulators are installed to serve as rock breaking manipulators and drilling manipulators;

[0046] Figure 19 A simplified structural diagram of the rock breaking equipment provided in Example 4 of the present application with hydraulic support added;

[0047] Figure 20 A simplified structural diagram of the rock breaking equipment provided in Example 4 of the present application equipped with multiple drilling and pulling continuous and rapid rock breaking manipulators.

[0048] Among them, the reference numerals in the figures are:

[0049] 1. Drilling system; 11. Drilling bit; 12. Drill rod; 13. Drilling power unit; 14. Drill bit cone; 2. In-hole locking system; 21. Locking drill bit; 22. Locking drill rod; 23. Locking power unit; 24. Locking casing; 25. Casing cone; 26. Locking completed state; 27. First hydraulic cylinder; 28. Single-point contact piston; 29. ​​Multi-point contact piston; 210. Full contact piston; 211. Second hydraulic cylinder; 212. First cone sleeve; 213. First Wing; 214, second cone sleeve; 215, second wing; 3, block size adjustment mechanism; 31, adjustment bracket; 311, tripod bracket structure; 312, four-legged bracket structure; 32, block size control abutment point; 4, manipulator connecting arm; 41, connecting arm; 42, rotating joint; 5, installation joint; 6, pulling system; 61, pulling power device; 62, drill pipe reducing ring; 7, auxiliary sliding mechanism; 8, equipment carrier; 81, hydraulic support; 9, rock breaking manipulator; 10, drilling manipulator. DETAILED DESCRIPTION

[0050] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0051] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0052] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined. Example 1:

[0054] like Figures 1-9 As shown, a drilling and pulling continuous rapid rock breaking manipulator provided in an embodiment of the present application will now be described. This drilling and pulling continuous rapid rock breaking manipulator comprises: a mounting joint 5, a manipulator connecting arm 4, a pulling system 6, a block size adjustment mechanism 3, an in-hole locking system 2, and a drilling system 1. The mounting joint 5 is used to be mounted on various equipment carriers 8. One end of the manipulator connecting arm 4 is mounted on the mounting joint 5, and the other end is connected to the drilling system 1. The manipulator connecting arm 4 includes multiple connecting arms 41 and a rotating joint 42, which are used to achieve multi-angle drilling and rock breaking.

[0055] like Figure 1 and Figure 2As shown, in this embodiment, the drilling system 1 includes a drilling power unit 13, a drilling rod 12, and a drilling bit 11. One end of the drilling rod 12 is connected to the drilling power unit 13, and the other end is connected to the drilling bit 11. The drilling power unit 13 is used to drive the drilling rod 12 to rotate so that the drilling bit 11 performs a drilling operation. The drilling power unit 13 is a conventional power unit for driving the drilling rod to rotate, such as a rock drill or a down-the-hole drill, and the specific form is not limited here.

[0056] In this embodiment, the pulling system 6, the block size adjustment mechanism 3 and the in-hole locking system 2 are connected and coaxially arranged with the drilling rod 12. The coaxial arrangement of the drilling system 1, the pulling system 6, the block size adjustment mechanism 3 and the in-hole locking system 2 can simplify the drilling and rock breaking process and improve the rock breaking efficiency. After the drilling bit 11 completes the drilling, the in-hole locking system 2 enters the borehole and locks the inner wall of the hole. The block size adjustment mechanism 3 abuts against the mining surface and can adjust the distance between the abutment point and the borehole to adjust the size of the broken rock. The pulling system 6 is used to provide an outward pulling force, so that the in-hole locking system 2 pulls and breaks the rock when it moves out of the hole. When providing the outward pulling force, the pulling system 6 will give the block size adjustment mechanism 3 a force to press against the mining working surface.

[0057] In this embodiment, the drilling and rock breaking operations of the drilling and pulling continuous and rapid rock breaking manipulator are integrated and coaxial, which can realize continuous and rapid rock breaking operations; the drilling and pulling continuous and rapid rock breaking manipulator fully utilizes the stress distribution characteristics of underground rock mass in a non-three-dimensional stress field environment and the non-tensile properties of rock mass to break rock, and has a strong rock breaking ability; at the same time, the block size adjustment mechanism 3 is used to adjust the rock breaking size to achieve the purpose of controlling the size of the pulling and breaking rock blocks; the drilling and pulling continuous and rapid rock breaking manipulator can be combined with various equipment carriers 8 by installing the joint 5, and has a wide range of applications.

[0058] like Figure 5-8 As shown, in this embodiment, the blockiness adjustment mechanism 3 includes an adjustment bracket 31 and a blockiness control abutment point 32 . There are at least two blockiness control abutment points 32 and the distance between the blockiness control abutment points 32 and the center of the adjustment bracket 31 is adjustable.

[0059] like Figure 5As shown, in one embodiment, the pulling system 6 is at least one hollow oil cylinder, which is installed on the drilling rod 12. The block size control abutment point 32 is set on the adjustment bracket 31. The block size control abutment point 32 is used to abut the mining working surface. The front end of the pulling system 6 is connected to the adjustment bracket 31, and the rear end is connected to the in-hole locking system 2. When working, when the oil cylinder drives the in-hole locking system 2 to move out of the hole, it gives the adjustment bracket 31 a reaction force in the direction of the hole, so that the block size control abutment point 32 abuts the mining working surface. The distance from the block size control abutment point 32 to the borehole is within the rock breaking size range. The adjustment bracket 31 can be a bracket with a telescopic function. The adjustment method can be manually adjusted, or an automatic device such as a telescopic oil cylinder can be used to adjust the distance between the block size control abutment point 32 and the center of the adjustment bracket 31, so as to achieve the purpose of controllable rock breaking block size.

[0060] like Figure 6 As shown, in another embodiment, the pulling system 6 has at least two cylinders, the number of which is the same as the number of the particle size control abutment points 32. The rear end of the cylinder is mounted on the adjustment bracket 31, and the front end of the cylinder is connected to the particle size control abutment point 32. The adjustment bracket 31 is connected to the in-hole locking system 2. During operation, the cylinder is actuated, exerting a force outward from the hole on the adjustment bracket 31. The adjustment bracket 31 drives the in-hole locking system 2 outward to achieve pulling and breaking of the rock. At the same time, the cylinder exerts a reaction force on the particle size control abutment point 32, so that the particle size control abutment point 32 stably abuts the mining working face.

[0061] like Figure 7 As shown, the adjustment bracket 31 is a tripod bracket structure 311, and three block control abutment points 32 are provided; Figure 8 As shown, the adjustment bracket 31 is a four-legged bracket structure 312, and there are four block size control abutment points 32. In other embodiments, the number of block size control abutment points 32 can be 6, 8 or 10 according to construction requirements.

[0062] like Figure 9 As shown, the pulling system 6 includes a pulling power device 61, which is at least one hollow oil cylinder. The drilling rod 12 is provided with a drill rod reducing convex ring 62, and the oil cylinder is installed on the drilling rod 12. The outer wall of the oil cylinder is connected to the in-hole locking system 2, and the piston of the oil cylinder abuts against the drill rod reducing convex ring 62. When the oil cylinder is working, it will give the in-hole locking system 2 a force outward from the hole, thereby causing the in-hole locking system 2 to drive the rock to break; the adjusting bracket 31 is sleeved on the drilling rod 12 and is located on the side of the drill rod reducing convex ring 62 away from the drilling bit 11, so that the piston of the oil cylinder first abuts the adjusting bracket 31 and makes the adjusting bracket 31 abut against the drill rod reducing convex ring 62, so that the block control abutment point 32 on the adjusting bracket 31 has an abutment force on the mining working face.

[0063] like Figure 3 and Figure 4 As shown, in this embodiment, the in-hole locking system 2 is a hole-expanding lock-key type locking system.

[0064] Specifically, the in-hole locking system 2 includes a locking drill bit 21, a locking drill rod 22, a locking power unit 23, a locking sleeve 24, and a sleeve taper 25. The locking drill rod 22 is a hollow drill rod that is sleeved onto the drilling drill rod 12. The sleeve taper 25 is provided at one end of the locking sleeve 24, the other end of which is connected to the pulling system 6. The locking drill bit 21 includes at least two drill bits hinged to one end of the locking drill rod 22 and spaced apart around the axis of the locking drill rod 22. Each drill bit is hinged to one end of the locking drill rod 22 via a hinge or hinge structure. The other end of the locking drill rod 22 is connected to the locking power device 23, and the locking drill bit 21 is arranged close to the casing tapered surface 25. The locking power device 23 drives the locking drill rod 22 and the locking drill bit 21 to rotate and reciprocate on the locking casing 24; during the rotation process, the locking drill bit 21 drills in the direction of the hole and is gradually expanded by the casing tapered surface 25, realizing the hole expansion and locking with the inner wall of the hole at the same time. The locking completion state 26 is shown as Figure 4 When the pulling system 6 applies a pulling force to the locking sleeve 24 out of the hole, the rock mass can be pulled and crushed. The locking power device 23 can be a conventional drilling power device 13 such as a rock drill.

[0065] like Figure 1 As shown, in this embodiment, an auxiliary sliding mechanism 7 is provided on the manipulator connecting arm 4, and the in-hole locking system 2 and the drilling system 1 are mounted on the auxiliary sliding mechanism 7. The auxiliary sliding mechanism 7 drives the in-hole locking system 2 to reciprocate on the drilling rod 12, or the auxiliary sliding mechanism 7 drives the drilling system 1 to reciprocate. The auxiliary sliding mechanism 7 can be a conventional sliding track, a retractable bracket, a rotating, telescopic, and sliding combination mechanism with its own power source. Before the auxiliary sliding mechanism 7 is installed, the drilling system 1 is driven by the manipulator connecting arm 4 to achieve drilling. After the auxiliary sliding mechanism 7 is installed, the driving action of the drilling system 1 and the in-hole locking system 2 can also be achieved by the auxiliary sliding mechanism 7, increasing the variety of options. Example 2

[0066] like Figure 10 、 Figure 11 and Figure 12As shown, this embodiment differs from Embodiment 1 in that it provides another drilling system 1 and a reaming lock-key in-hole locking system. Specifically, the drilling system 1 includes: a drilling bit 11, a drilling rod 12, a drilling power unit 13, and a drill cone 14. The drill cone 14 is disposed on the side of the drilling bit 11 away from the drilling surface. The in-hole locking system 2 includes: a locking drill bit 21, a locking drill rod 22, and a locking power unit 23. The locking drill bit 21 includes at least two drill bits hinged to one end of the locking drill rod 22 and spaced apart around the axis of the locking drill rod 22. The other end of the locking drill rod 22 is connected to the locking power unit 23. The locking drill bit 21 is disposed near the drill cone 14. The locking power unit 23 drives the locking drill rod 22 and the locking drill bit 21 to rotate and reciprocate on the drilling bit 11. In a specific implementation, the locking drill bit 21 and the locking drill rod 22 can be drilled together on the drilling rod 12 in the direction of the hole under the action of the locking power device 23, so that the locking drill bit 21 is opened along the drill bit cone surface 14 and the rock is drilled to achieve the hole expansion. After the hole expansion is completed, the locking drill bit 21 is fully opened and forms a locking completion state 26 with the rock mass. The locking completion state 26 is as shown in FIG. Figure 12 shown. Example 3

[0067] like Figure 13-17 As shown, the difference between this embodiment and embodiment 1 and embodiment 2 is that a type of non-expansion friction type in-hole locking system is provided. In this embodiment, the non-expansion friction type in-hole locking system can be a variety of schemes.

[0068] Specifically, the in-hole locking system 2 includes: a hydraulic cylinder body and a pressing member arranged on the hydraulic cylinder body. The hydraulic cylinder body drives the pressing member to press the inner wall of the hole laterally. After the pressing member presses the inner wall of the hole, it completes the locking with the rock mass.

[0069] like Figure 13-15 As shown, in one embodiment, the pressing member is a piston, which is movably arranged on the hydraulic cylinder body, and the contact mode between the piston and the inner wall of the hole is single-point contact, multi-point contact or full contact. Figure 13 As shown, the piston is a single-point contact piston 28; Figure 14 As shown, there are multiple pistons spaced apart, and the pistons are multi-point contact pistons 29; Figure 15 As shown, the piston is provided as a plate-like structure on the outside of the hydraulic cylinder body, so that the piston is in surface contact with the inner wall of the hole, that is, the piston is in full contact with the piston 210. The type of piston can be selected according to the required lateral pressure. The piston is extended outward under the oil pressure of the hydraulic cylinder body, so that the piston squeezes the rock mass on the inner wall of the hole, and a large friction force is generated between the two, so that the rock mass is broken when it is pulled out of the hole under the action of the pulling system 6. Figure 13-15 As shown, the hydraulic cylinder body is the first hydraulic cylinder 27.

[0070] like Figure 16-17 As shown, in another embodiment, the pressing member includes a conical sleeve and at least two fins arranged around the conical sleeve, and the hydraulic cylinder drives the conical sleeve to move into the hole or out of the hole.

[0071] like Figure 16 As shown, the conical sleeve is the first conical sleeve 212, the wing is the first wing 213, and the hydraulic cylinder body is the second hydraulic cylinder 211; the piston of the second hydraulic cylinder 211 is connected to the first conical sleeve 212, and the outer wall of the second hydraulic cylinder 211 is connected to the first wing 213; in specific implementation, the piston of the second hydraulic cylinder 211 contracts inward, driving the first conical sleeve 212 to move out of the hole, while the outer wall of the second hydraulic cylinder 211 does not move, forming the first conical sleeve 212 and the first wing 213 to move toward each other, and then the first wing 213 is stretched open by the first conical sleeve 212, and the first wing 213 squeezes the inner wall of the hole, thereby realizing the locking between the in-hole locking system 2 and the inner wall of the hole.

[0072] like Figure 17 As shown, the conical sleeve is the second conical sleeve 214, the wing is the second wing 215, and the hydraulic cylinder body is the second hydraulic oil cylinder 211; the piston of the second hydraulic oil cylinder 211 is connected to the second conical sleeve 214, and the outer wall of the second hydraulic oil cylinder 211 is connected to the second wing 215. In specific implementation, the piston of the second hydraulic oil cylinder 211 extends outward, driving the second conical sleeve 214 to move into the hole. At the same time, the outer wall of the second hydraulic oil cylinder 211 remains stationary, causing the second conical sleeve 214 and the second wing 215 to move toward each other. The second wing 215 is then stretched open by the second conical sleeve 214, and the second wing 215 presses against the inner wall of the hole, achieving locking between the in-hole locking system 2 and the inner wall of the hole. The contact surfaces of the wing and the conical sleeve are both inclined surfaces. Example 4

[0073] like Figures 18-20 As shown, this embodiment also provides a rock-breaking device, comprising an equipment carrier 8 and the drilling-pulling continuous rapid rock-breaking manipulator described in Examples 1-3 above. The drilling-pulling continuous rapid rock-breaking manipulator is mounted on the equipment carrier 8 via a mounting joint 5. At least one drilling-pulling continuous rapid rock-breaking manipulator is provided, and the equipment carrier 8 is an excavator, scraper, drilling rig, mining machine, or roadheader. While retaining its original functions, the equipment carrier 8 is enhanced by the addition of the drilling-pulling continuous rapid rock-breaking manipulator.

[0074] In this embodiment, the number of drilling and pulling continuous rapid rock breaking manipulators can be set to one, two or three according to demand. Figure 18 As shown, there are two drilling and pulling continuous rapid rock breaking manipulators, such as Figure 20 As shown, there are three drilling and pulling continuous rapid rock breaking manipulators.

[0075] Similarly, the drilling and pulling continuous rapid rock-breaking manipulator can be used as both the rock-breaking manipulator 9 and the drilling manipulator 10, depending on functional requirements. Specifically, when two drilling and pulling continuous rapid rock-breaking manipulators are installed, one serves as the rock-breaking manipulator 9, while the other serves as the drilling manipulator 10. The drilling manipulator 10 and the rock-breaking manipulator 9 can work in conjunction with each other. After drilling a hole in the rock mass, the drilling manipulator 10 exits, and the rock-breaking manipulator 9 enters the hole drilled by the drilling manipulator 10 to perform rock-breaking operations. Alternatively, the drilling manipulator 10 and the rock-breaking manipulator 9 can operate independently.

[0076] like Figure 19 As shown, in order to ensure the overall stability of the rock breaking equipment, the equipment carrier 8 is provided with a plurality of hydraulic supports 81 that can abut against the ground, the side or the top of the tunnel.

[0077] In this embodiment, a rock breaking method is also provided. Based on the above rock breaking equipment, the rock breaking method includes the following steps:

[0078] S1. Install the drilling and pulling continuous rapid rock breaking manipulator on the equipment carrier 8;

[0079] S2, the equipment carrier 8 travels to the mining working face;

[0080] S3, drilling system 1 operates to drill holes on the mining working face;

[0081] S4: After the drilling is completed, the drilling system 1 stops operating, and the in-hole locking system 2 operates to lock it with the inner wall of the hole;

[0082] S5. Adjust the size adjustment mechanism 3 according to the size requirement of the rock fragments; after the size adjustment mechanism 3 is adjusted, the pulling system 6 operates to apply a pulling force out of the hole to the rock mass until the rock mass is broken.

[0083] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A drilling and pulling continuous rapid rock breaking manipulator, characterized in that: include: A mounting joint (5), a manipulator connecting arm (4), a pulling system (6), a block size adjustment mechanism (3), an in-hole locking system (2) and a drilling system (1), wherein one end of the manipulator connecting arm (4) is arranged on the mounting joint (5), and the other end is connected to the drilling system (1), and the drilling system (1) comprises a drilling power unit (13), a drilling rod (12) and a drilling bit (11), wherein the drilling rod (12) is provided with a drill rod diameter reducing convex ring (62), the pulling system (6), the block size adjustment mechanism (3) and the in-hole locking system (2) The drawing system (6) is connected to and coaxially arranged with the drilling rod (12); the drawing system (6) includes at least one oil cylinder, which is a hollow oil cylinder and is installed on the drilling rod (12); the outer wall of the oil cylinder is connected to the in-hole locking system (2), and the piston of the oil cylinder abuts against the drill rod reducing ring (62); the block size adjustment mechanism (3) includes an adjustment bracket (31) and a block size control abutment point (32), and at least two block size control abutment points (32) are provided and the distance between the block size control abutment point (32) and the center of the adjustment bracket (31) is adjustable.

2. The drilling and pulling continuous rapid rock breaking manipulator according to claim 1, characterized in that: The in-hole locking system (2) is a hole-expanding key-locking system, or a non-hole-expanding friction-locking system.

3. The drilling and pulling continuous rapid rock breaking manipulator according to claim 2, characterized in that: The in-hole locking system (2) is a hole-reaming lock-key locking system, and the in-hole locking system (2) comprises: a locking drill bit (21), a locking drill rod (22), a locking power device (23), a locking sleeve (24) and a sleeve cone (25), wherein the sleeve cone (25) is arranged at one end of the locking sleeve (24), and the other end of the locking sleeve (24) is connected to the drawing system (6), the locking drill bit (21) comprises at least two drill bit pieces hinged to one end of the locking drill rod (22) and arranged at intervals around the axis of the locking drill rod (22), the other end of the locking drill rod (22) is connected to the locking power device (23), the locking drill bit (21) is arranged close to the sleeve cone (25), and the locking power device (23) drives the locking drill rod (22) and the locking drill bit (21) to rotate and reciprocate on the locking sleeve (24); Alternatively, the in-hole locking system (2) comprises: a locking drill bit (21), a locking drill rod (22) and a locking power device (23); the drilling drill bit (11) is provided with a drill bit cone surface (14); the locking drill bit (21) comprises at least two drill bit plates hinged to one end of the locking drill rod (22) and spaced around the axis of the locking drill rod (22); the other end of the locking drill rod (22) is connected to the locking power device (23); the locking drill bit (21) is arranged close to the drill bit cone surface (14); and the locking power device (23) drives the locking drill rod (22) and the locking drill bit (21) to rotate and reciprocate on the drilling drill bit (11).

4. The drilling and pulling continuous rapid rock breaking manipulator according to claim 2, characterized in that: The in-hole locking system (2) is a non-expanding friction locking system, and the in-hole locking system (2) comprises: a hydraulic cylinder body and a pressing member arranged on the hydraulic cylinder body, wherein the hydraulic cylinder body drives the pressing member to press the inner wall of the hole laterally.

5. The drilling and pulling continuous rapid rock breaking manipulator according to claim 4, characterized in that: The pressing member is a piston, and the contact mode between the piston and the inner wall of the hole is single-point contact, multi-point contact or full-scale contact.

6. The drilling and pulling continuous rapid rock breaking manipulator according to claim 4, characterized in that: The pressing member includes a conical sleeve and at least two fins arranged around the conical sleeve, and the hydraulic cylinder drives the conical sleeve to move into the hole or out of the hole.

7. The drilling and pulling continuous rapid rock breaking manipulator according to any one of claims 1 to 6, characterized in that: An auxiliary sliding mechanism (7) is provided on the manipulator connecting arm (4); the in-hole locking system (2) and the drilling system (1) are arranged on the auxiliary sliding mechanism (7); the auxiliary sliding mechanism (7) drives the in-hole locking system (2) to reciprocate on the drilling rod (12), or the auxiliary sliding mechanism (7) drives the drilling system (1) to reciprocate.

8. A rock breaking device, characterized in that: The invention comprises an equipment carrier (8) and a drilling and pulling continuous rapid rock breaking manipulator according to any one of claims 1 to 7, wherein at least one drilling and pulling continuous rapid rock breaking manipulator is provided, and the drilling and pulling continuous rapid rock breaking manipulator is arranged on the equipment carrier (8) through an installation joint (5), and the equipment carrier (8) is an excavator, a scraper, a rock drilling rig, a mining machine or a tunneling machine.

9. The rock breaking equipment according to claim 8, characterized in that: At least two of the drilling and pulling continuous rapid rock-breaking manipulators are provided, one of which is used as a rock-breaking manipulator (9), and the other is used as a drilling manipulator (10).

10. A rock breaking method, characterized in that: Based on the rock breaking equipment according to claim 8 or 9, the rock breaking method comprises the following steps: S1. Installing a drilling and pulling continuous rapid rock breaking manipulator on an equipment carrier (8); S2, the equipment carrier (8) travels to the mining working face; S3, drilling system (1) operates to drill holes on the mining working face; S4, after the drilling is completed, the drilling system (1) stops operating, and the in-hole locking system (2) operates to lock it with the inner wall of the hole; S5. Adjust the size adjustment mechanism (3) according to the size requirement of the rock fragments; after the size adjustment mechanism (3) is adjusted, the pulling system (6) operates to apply a pulling force out of the hole to the rock mass until the rock mass is broken.

Images