Ore body cutting scanning feedback mechanism, ore body cutting system and method having the same

Abstract

This invention discloses a ore body cutting scanning feedback mechanism, comprising an ore body information acquisition module and a cutting information acquisition module. The ore body information acquisition module is used to collect ore body information of the target ore body, including its material composition and hardness coefficient. The cutting information acquisition module is used to collect cutting data during the ore body cutting process, including target distance, cutting depth, and cutting width. An ore body cutting system and method with the above-mentioned ore body cutting scanning feedback mechanism are also disclosed. This system enables accurate, rapid, and intelligent identification of ore body properties before cutting and real-time feedback during the cutting process, improving the rock-breaking accuracy of abrasive waterjet and reducing ore loss.

Description

Technical Field

[0001] This invention relates to the field of thin vein mining technology, specifically to a ore body cutting scanning feedback mechanism, an ore body cutting system and method having the same. Background Technology

[0002] Thin veins are an important type of mineral resource occurrence in my country, especially in the mining of rare metals, such as antimony, tungsten, silver, and gold. These thin veins share common characteristics: very little thick ore and a large amount of thin ore. Their strike and dip vary considerably, and different mining methods are often used within the same mining area. Furthermore, the currently used mining methods have significant weaknesses. For example, the widely used shallow-hole casting method makes boundary control of the ore body difficult, resulting in high dilution and loss rates, sometimes reaching 70%. Additionally, the electric scraper method for ore extraction is difficult to use, requires a large amount of manual labor, and has low efficiency, hindering the improvement of overall enterprise production efficiency and economic benefits. In response to the existing problems in the current thin vein mining project, and taking into full account the actual conditions of the mine, how to improve the overall ore recovery rate, reduce the ore dilution rate and loss rate, and improve the economic efficiency of the mining process has become one of the key issues that need to be addressed in the thin vein mining process.

[0003] Abrasive waterjet machining is one of the fastest-growing new cutting technologies in the world. It involves a high-speed jet of liquid-solid two-phase media formed by mixing solid abrasive particles with high-speed flowing water in a specific ratio. The abrasive particles mixed into the high-speed water flow transfer some of the kinetic energy of the high-pressure water to these particles, thus changing the way the jet acts on the workpiece—from a continuous action of the water jet to an impact grinding action of the abrasive. Simultaneously, the high-speed particle stream generates high-frequency erosion on the workpiece, significantly improving the quality and efficiency of the jet. This technology is simple to operate and easy to control, offering advantages over traditional mechanical cutting and pure water cutting methods, including lower jet pressure, greater cutting depth, higher efficiency, and lower energy dissipation. However, it is significantly affected by cutting parameters such as abrasive concentration, nozzle-to-target distance, cutting speed, and jet angle, and existing high-pressure abrasive waterjet technology cannot effectively meet the precision requirements of engineering applications.

[0004] Currently, most abrasive waterjet technologies involve cutting ore and rock on a fixed workbench, which greatly limits the operability of abrasive waterjet systems in engineering applications. Existing abrasive waterjet systems in engineering applications mostly rely on observation instruments to observe and analyze data and set jet parameters, lacking intelligent elements. Furthermore, existing abrasive waterjet systems cannot provide real-time feedback on the surface morphology of the ore body, the waterjet cutting target distance, and the cutting depth during the cutting process, which seriously affects the quality of the cutting operation. Summary of the Invention

[0005] The purpose of this invention is to provide a ore body cutting scanning feedback mechanism, an ore body cutting system and method having the same, which can realize accurate, rapid and intelligent identification of ore body properties before cutting and real-time feedback during the cutting process, improve the rock breaking accuracy of abrasive water jet and reduce ore loss.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A ore body cutting scanning feedback mechanism includes an ore body information acquisition module and a cutting information acquisition module. The ore body information acquisition module is used to collect ore body information of the target ore body, including the material composition and hardness coefficient of the target ore body. The cutting information acquisition module is used to collect cutting data of the ore body cutting process, including the target distance, cutting depth and cutting width.

[0008] Furthermore, the ore body information acquisition module includes an X-ray emitter, a radiation detector, and a counter. The X-ray emitter emits X-rays towards the target ore body, and the radiation detector and counter measure and record the direction and intensity of the diffraction lines to obtain the diffraction pattern of the target ore body. The ore body information acquisition module sends the obtained diffraction pattern of the target ore body to the control unit of the ore body cutting system. By comparing it with the preset standard diffraction pattern in the control unit, the material composition of each region of the target ore body can be obtained, and the corresponding firmness coefficient can be determined based on the material composition of each region of the target ore body.

[0009] Furthermore, the cutting information acquisition module includes a rangefinder and a 3D camera. The rangefinder is used to determine the initial target distance of the ore body cutting unit. The 3D camera acquires image information of the target ore body in real time during the cutting process and sends the image information to the control unit of the ore body cutting system. The control unit models based on the acquired image information to obtain the real-time target distance, cutting depth, and cutting width.

[0010] A ore body cutting system includes a control unit, an information acquisition unit connected to the input terminal of the control unit, and an ore body cutting unit connected to the output terminal of the control unit. The information acquisition unit is the ore body cutting scanning feedback mechanism described in this invention.

[0011] Furthermore, the ore cutting unit includes a water tank, an abrasive jar, a pump body, a nozzle, and a robotic arm. The nozzle is fixed to the movable end of the robotic arm, and the robotic arm is connected to a control unit. The nozzle is connected to the water tank and the abrasive jar through a pipeline, the pump body is connected to the pipeline, and the information acquisition unit is fixed to the movable end of the robotic arm.

[0012] Furthermore, it also includes a tracked walking unit and a drive unit for driving the tracked walking unit. The ore cutting unit is fixed on the tracked walking unit, and the drive unit is connected to the control unit.

[0013] A method for cutting an ore body, using the ore body cutting system described in this invention to cut a target ore body, includes the following steps:

[0014] S1, move the ore body cutting system to the target ore body location, and collect the ore body information of the target ore body through the ore body information acquisition module, namely the material composition and firmness coefficient of the target ore body;

[0015] S2, the control unit analyzes and calculates the optimal cutting parameters based on the acquired ore body information, and sends the optimal cutting parameters to the ore body cutting unit, so that the ore body cutting unit cuts the ore body according to the set optimal cutting parameters;

[0016] S3. During the cutting process, the cutting information acquisition module collects cutting data in real time and feeds it back to the control unit. The control unit adjusts the ore body cutting unit in real time based on the determined optimal cutting parameters and the acquired real-time cutting data to ensure that the ore body cutting unit cuts the ore body according to the set optimal cutting parameters.

[0017] Furthermore, the control unit is equipped with a continuously updated database, which contains a mapping between different ore body information and optimal cutting data. In S2, the control unit compares the acquired ore body information with the ore body information in the database to determine the optimal cutting data of the database preset ore body information that is the same as or close to the acquired ore body information.

[0018] The beneficial effects of this invention are as follows: This invention acquires ore body information of the target ore body through an ore body information acquisition module, achieving accurate, rapid, and intelligent identification of ore body attributes before cutting. The ore body information is then fed back to the control unit of the ore body cutting system. The control unit analyzes and calculates the optimal cutting parameters based on the acquired ore body information and sends these parameters to the ore body cutting unit, enabling the unit to cut the ore body according to the set optimal cutting parameters. By acquiring cutting data during the ore body cutting process through the cutting information acquisition module, and by adjusting the ore body cutting unit in real time based on the determined optimal cutting parameters and the acquired real-time cutting data, this invention ensures that the ore body cutting unit cuts the ore body according to the set optimal cutting parameters, significantly improving the rock-breaking accuracy of the ore body cutting system and reducing ore loss. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the ore body cutting and scanning feedback mechanism described in this invention;

[0020] Figure 2 This is a schematic diagram of the ore body cutting system described in this invention;

[0021] Figure 3 This is a schematic diagram of the state of the ore body before cutting by the ore body cutting system;

[0022] Figure 4 This is a schematic diagram of the state during the cutting process of the ore body cutting system;

[0023] Figure 5 This is a schematic diagram of the data feedback adjustment for data cutting.

[0024] In the diagram, 1—control unit, 2—information acquisition unit, 3—ore body cutting unit, 31—pump body, 32—nozzle, 33—robotic arm, 34—high pressure alloy pipe, 4—tracked walking unit, 5—drive unit, and 6—target ore body. Detailed Implementation

[0025] The following description, with reference to the accompanying drawings and preferred embodiments, illustrates the implementation of the technical solution of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0026] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0027] Example 1, see Figure 1 The ore body cutting scanning feedback mechanism shown includes an ore body information acquisition module and a cutting information acquisition module. The ore body information acquisition module is used to collect ore body information of the target ore body, including the material composition and hardness coefficient of the target ore body. The cutting information acquisition module is used to collect cutting data of the ore body cutting process, including the target distance, cutting depth and cutting width.

[0028] The ore body information acquisition module includes an X-ray emitter, a radiation detector, and a counter. The X-ray emitter emits X-rays towards the target ore body, and the radiation detector and counter measure and record the direction and intensity of the diffraction lines to obtain the diffraction pattern of the target ore body. The ore body information acquisition module sends the obtained diffraction pattern of the target ore body to the control unit of the ore body cutting system. By comparing it with the preset standard diffraction pattern in the control unit, the material composition of each region of the target ore body can be obtained, and the corresponding firmness coefficient can be determined based on the material composition of each region of the target ore body.

[0029] The cutting information acquisition module includes a rangefinder and a 3D camera. The rangefinder is used to determine the initial target distance of the ore body cutting unit. In this embodiment, the rangefinder is a structured light image ranging component, which includes an IR transmitter and at least one camera. The IR transmitter actively emits invisible IR light to the target ore body, and the target ore body is photographed by at least one camera to acquire a structured light image. The initial target distance of the ore body cutting unit is calculated based on the structured light image.

[0030] The 3D camera acquires real-time image information of the target ore body during the cutting process and sends the image information to the control unit of the ore body cutting system. The control unit models the real-time target distance, cutting depth and cutting width based on the acquired image information.

[0031] This invention acquires ore body information of the target ore body through an ore body information acquisition module, achieving accurate, rapid, and intelligent identification of ore body attributes before cutting. The ore body information is then fed back to the control unit of the ore body cutting system. The control unit analyzes and calculates the optimal cutting parameters based on the acquired ore body information and sends these parameters to the ore body cutting unit, enabling the unit to cut the ore body according to the set optimal cutting parameters. By acquiring cutting data during the ore body cutting process through the cutting information acquisition module, and adjusting the ore body cutting unit in real time based on the determined optimal cutting parameters and the acquired real-time cutting data, this invention ensures that the ore body cutting unit cuts the ore body according to the set optimal cutting parameters, significantly improving the rock-breaking accuracy of the ore body cutting system and reducing ore loss.

[0032] Example 2, see Figure 2 The ore body cutting system shown includes a control unit 1, an information acquisition unit 2 connected to the input end of the control unit 1, and an ore body cutting unit 3 connected to the output end of the control unit 1. The information acquisition unit 2 is the ore body cutting scanning feedback mechanism of the present invention.

[0033] The ore cutting unit 3 includes a water tank, an abrasive jar, a pump body 31, a nozzle 32, and a robotic arm 33. The nozzle 32 is fixed to the movable end of the robotic arm 33, and the robotic arm 33 is connected to the control unit 1. The nozzle 32 is connected to the water tank and the abrasive jar through a pipeline. The pump body 31 is connected to the pipeline, and the information acquisition unit 2 is fixed to the movable end of the robotic arm 33.

[0034] The pipeline includes a flexible hose and a high-pressure alloy pipe 34 fixed to the movable end of the robotic arm 33. The nozzle 32 is connected to the outlet of the high-pressure alloy pipe 34, and the spatial position of the nozzle 32 can be adjusted by adjusting the posture of the robotic arm 34. The water in the water tank and the abrasive in the abrasive tank are mixed and pressurized by the pump body 31, and then transmitted to the nozzle 32 in sequence through the flexible hose and the high-pressure alloy pipe 34. The nozzle 32 sprays out to form a high-pressure abrasive water jet for cutting the target ore body 6.

[0035] In a preferred embodiment of this invention, the ore cutting system further includes a tracked walking unit 4 and a drive unit 5 for driving the tracked walking unit 4. The ore cutting unit 3 is fixed to the tracked walking unit 4, and the drive unit 5 is connected to the control unit 1. The tracked walking unit 4 is less affected by complex external environments and has strong adaptability.

[0036] By integrating the tracked walking unit 4, pump body 31, and control unit onto the same vehicle body, the vehicle body serves as an abrasive water jet rock-breaking vehicle, which is highly operable and intelligent.

[0037] Example 3: A method for cutting an ore body, which uses the ore body cutting system described in this invention to cut a target ore body, including the following steps.

[0038] S1 specifies the nozzle-to-target distance L as the distance between the nozzle and the target ore body, the hardness coefficient of the target ore body as F, the maximum depth of abrasive jet cutting as H, and the cutting width as B. The control center can adjust the nozzle-to-target distance L by adjusting the posture of the walking mechanism and the robotic arm.

[0039] See Figure 3 The ore body cutting system is moved to the target ore body 6. The ore body information acquisition module collects the ore body information, namely the material composition and hardness coefficient F of the target ore body. Specifically, the X-ray emitter of the ore body information acquisition module emits X-rays towards the target ore body. The direction and intensity of the diffraction lines are measured and recorded by the radiation detector and counter to obtain the diffraction pattern of the target ore body. Then, the ore body information acquisition module sends the obtained diffraction pattern of the target ore body to the control unit 1 of the ore body cutting system. By comparing it with the preset standard diffraction pattern in the control unit 1, the material composition of each region of the target ore body 6 can be obtained. Based on the material composition of each region of the target ore body 6, the corresponding hardness coefficient F is determined.

[0040] The initial target distance L of the nozzle is obtained by the rangefinder of the cutting information acquisition module. The IR transmitter of the rangefinder actively emits invisible IR to the target ore body 6. The target ore body 6 is photographed by at least one camera to acquire a structured light image. The initial target distance of the ore body cutting unit is calculated based on the structured light image.

[0041] S2, the control unit 1 analyzes and calculates the optimal cutting parameters based on the acquired ore body information, and sends the optimal cutting parameters to the ore body cutting unit 3, so that the ore body cutting unit 3 cuts the ore body according to the set optimal cutting parameters.

[0042] S3, see S3. Figure 4 and Figure 5 During the cutting process, the cutting information acquisition module collects cutting data in real time and feeds it back to the control unit 1. The control unit 1 adjusts the pump body 31, track walking mechanism 4 and robotic arm 5 of the ore body cutting unit 3 in real time based on the determined optimal cutting parameters and the acquired real-time cutting data to ensure that the ore body cutting unit 3 cuts the ore body according to the set optimal cutting parameters.

[0043] If the surface flatness of the target ore body 6 changes, causing the nozzle target distance L to change, the control unit 1 will adjust the nozzle target distance L by adjusting the posture of the track walking mechanism 4 and the robotic arm 33, so that the nozzle target distance L changes with the flatness and always maintains the optimal target distance.

[0044] If the cutting depth H, cutting width B, and other cutting data cannot meet the requirements for cutting the spalled ore body, the control unit 1 will adjust the processing parameters such as the pump pressure of the abrasive water jet, the abrasive concentration, and the nozzle-target distance to adjust the cutting depth H and cutting width B, thereby improving the rock-breaking accuracy of the abrasive water jet and reducing ore loss. After completing the cutting work on this working face, the unit will advance to the next working face and repeat the above operation.

[0045] The control unit contains a continuously updated database, which maps different ore body information to optimal cutting data. In S2, the control unit compares the acquired ore body information with the ore body information in the database to determine the optimal cutting data of the database preset ore body information that is the same as or close to the acquired ore body information.

[0046] After the cutting is completed, the ore cutting system is shut down. First, the control unit 1 sends a command to the water tank, abrasive tank, and pump body 31 to shut down the pump pressure in preparation for the next use.

[0047] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. An ore body cutting scanning feedback mechanism, characterized by: It includes a ore body information acquisition module and a cutting information acquisition module. The ore body information acquisition module is used to collect ore body information of the target ore body, including the material composition and hardness coefficient of the target ore body. The cutting information acquisition module is used to collect cutting data of the ore body cutting process, including the target distance, cutting depth and cutting width. The ore body information acquisition module includes an X-ray emitter, a radiation detector, and a counter. The X-ray emitter emits X-rays toward the target ore body, and the radiation detector and counter measure and record the direction and intensity of the diffraction lines to obtain the diffraction pattern of the target ore body. The ore body information acquisition module sends the obtained diffraction pattern of the target ore body to the control unit of the ore body cutting system. By comparing it with the preset standard diffraction pattern in the control unit, the material composition of each region of the target ore body can be obtained, and the corresponding firmness coefficient can be determined based on the material composition of each region of the target ore body. The cutting information acquisition module includes a rangefinder and a 3D camera. The rangefinder is used to determine the initial target distance of the ore body cutting unit. The 3D camera acquires image information of the target ore body in real time during the cutting process and sends the image information to the control unit of the ore body cutting system. The control unit models the real-time target distance, cutting depth and cutting width based on the acquired image information.

2. An ore body cutting system, characterized by: It includes a control unit, an information acquisition unit connected to the input end of the control unit, and a ore body cutting unit connected to the output end of the control unit, wherein the information acquisition unit is the ore body cutting scanning feedback mechanism as described in claim 1.

3. The ore body cutting system according to claim 2, characterized in that: The ore cutting unit includes a water tank, an abrasive jar, a pump body, a nozzle, and a robotic arm. The nozzle is fixed to the movable end of the robotic arm, and the robotic arm is connected to a control unit. The nozzle is connected to the water tank and abrasive container via pipelines, the pump body is connected to the pipelines, and the information acquisition unit is fixed to the movable end of the robotic arm.

4. The ore body cutting system according to claim 2, characterized in that: It also includes a tracked walking unit and a drive unit for driving the tracked walking unit. The ore cutting unit is fixed on the tracked walking unit, and the drive unit is connected to the control unit.

5. A method for cutting an ore body, characterized in that, Cutting a target ore body using the ore body cutting system according to any one of claims 2 to 4 includes the following steps: S1, move the ore body cutting system to the target ore body location, and collect the ore body information of the target ore body through the ore body information acquisition module, namely the material composition and firmness coefficient of the target ore body; S2, the control unit analyzes and calculates the optimal cutting parameters based on the acquired ore body information, and sends the optimal cutting parameters to the ore body cutting unit, so that the ore body cutting unit cuts the ore body according to the set optimal cutting parameters; S3. During the cutting process, the cutting information acquisition module collects cutting data in real time and feeds it back to the control unit. The control unit adjusts the ore body cutting unit in real time based on the determined optimal cutting parameters and the acquired real-time cutting data to ensure that the ore body cutting unit cuts the ore body according to the set optimal cutting parameters.

6. The method of cutting into a mineral body of claim 5, wherein: The control unit contains a continuously updated database, which maps different ore body information to optimal cutting data. In S2, the control unit compares the acquired ore body information with the ore body information in the database to determine the optimal cutting data of the database preset ore body information that is the same as or close to the acquired ore body information.

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