A coaxial drilling precise splitting device, crushing equipment and coaxial splitting method

Abstract

The application relates to the technical field of solid material breaking, and provides a coaxial drilling accurate splitting device, a breaking equipment and a coaxial splitting method.The coaxial drilling accurate splitting device comprises a total control system, a drilling power device, a cylinder system, an oil pressure control system, a splitting mechanism, a drill rod, a rock mass multi-source acoustic positioning and identification module and a rock breaking mechanism; the drilling power device, the cylinder system, the splitting mechanism, the drill rod and the rock breaking mechanism are coaxially arranged; one end of the drill rod is connected with the drilling power device, the other end of the drill rod is connected with the rock breaking mechanism after penetrating through the cylinder system and the splitting mechanism, the cylinder system and the oil pressure control system are matched to control the splitting mechanism to split and break rocks, and a ground sound sensor is arranged on the splitting mechanism and the rock breaking mechanism.The coaxial drilling accurate splitting machine has the advantages of high splitting efficiency, safety, accurate splitting, low energy consumption and long service life.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of breaking solid materials such as rock and concrete, and more particularly relates to a coaxial drilling precise splitting device, a breaking equipment and a coaxial splitting method. BACKGROUND

[0002] The compressive strength of various types of rock or ore and other solid materials is much higher than the tensile strength and shear strength. Generally, the compressive strength of sandstone rock is between 20-200 MPa; the compressive strength of granite rock is higher, and is between 100-250 MPa. Moreover, cleavage exists in rock materials, which makes them have directionality when breaking. The existence of cleavage makes the tensile strength of rock and other solid materials much lower than the compressive strength and shear strength. How to fully utilize this physical and mechanical property of rock, concrete and other solid materials for breaking is the key to improving the breaking efficiency of solid materials.

[0003] From the perspective of the principle of mechanically breaking solid materials, it can be divided into three categories: impact compression shear method, milling and cutting method, and in-rock splitting method. The drilling and splitting method is to drill a hole in the rock, concrete and other solid materials, and then apply static or quasi-static load to the hole wall to make the rock break or break. Since it is to break the solid material from the inside of the rock or concrete, it can fully utilize the mechanical property that the tensile strength and shear strength of rock or concrete is much lower than the compressive strength. Compared with the impact compression shear method and the milling and cutting method, the energy utilization rate of the drilling and splitting rock breaking method is greatly improved, and the breaking efficiency of solid materials is also significantly improved, and it is especially suitable for solid material construction with high strength. Compared with the drilling and blasting method, the drilling and splitting rock breaking method has high controllability, can avoid damage to the surrounding structure and overbreak during solid material construction, and can also avoid other harmful effects caused by blasting method, such as seismic wave, air shock wave, harmful gas, flying stone and noise, etc., so its application range is very wide.

[0004] In the prior art, a patent with patent application number CN202220720293.0 discloses a drilling and splitting integrated machine. When the drilling and splitting integrated machine is working, the articulated seat is connected with an excavator or other equipment, and then the horizontal rotation mechanism is started to drive the rack to swing horizontally, so that the rock drill set is swung to the drilling position, and then the rock drill set is started to move for drilling. When the drilling is completed, the horizontal rotation mechanism is started again to drive the rack to swing horizontally, so that the splitting machine set is swung to the front rock hole, and then the splitting machine set is started to push into the rock hole for rock splitting operation. The drilling and splitting integrated machine needs to use the rock drill set to drill a hole first, and then the rock drill set needs to retreat after the drilling is completed, and then the splitting machine set is used for hole alignment. That is, the drilling, hole retreat and hole alignment operation processes are required. Similarly, the drilling and splitting integrated platform with patent application number CN202020675232.8 and the drilling and splitting platform with patent application number CN202020981705.7 also have the above operation processes, so that the existing equipment operation process has high positioning difficulty, slow hole alignment time, short service life of the rotating part under the vibration and impact force generated by the splitting of solid materials such as rock, and low drilling and splitting construction efficiency, high construction and maintenance cost and other problems. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a coaxial drilling and accurate splitting device to solve the technical problem of low drilling and splitting construction efficiency caused by the complex operation processes of drilling, hole retreat and hole alignment in the prior art.

[0006] To achieve the above purpose, the technical solution adopted by the present application is to provide a coaxial drilling and accurate splitting device, which comprises a total control system, a drilling power device, an oil cylinder system, an oil pressure control system, a splitting mechanism, a drill rod, a rock mass multi-source acoustic positioning and identification module and a rock breaking mechanism. The drilling power device, the oil cylinder system, the splitting mechanism, the drill rod and the rock breaking mechanism are coaxially arranged. One end of the drill rod is connected with the drilling power device, passes through the oil cylinder system and the splitting mechanism, and the other end is connected with the rock breaking mechanism. The oil cylinder system and the oil pressure control system cooperate to control the splitting mechanism to split and break rocks. At least the splitting mechanism and the rock breaking mechanism are provided with a ground sound sensor.

[0007] Under the control of the total control system, the drilling power device controls the action of the drill rod and the rock breaking mechanism to realize drilling operation, and after drilling is completed, the oil pressure control system and the oil cylinder system cooperate to control the splitting mechanism to perform splitting rock breaking operation. The coaxial drilling accurate splitting device has a coaxial structure, and the rock breaking mechanism does not need to perform processes such as hole retraction, splitting of the hole, and re-entry hole splitting. The splitting process is simple, and the geophone sensor arranged in combination with the drill rod and the rock breaking mechanism and the rock mass multi-source acoustic positioning and identification module collect the rock drilling or splitting rock breaking signal to inversely calculate the structure of the surrounding material to be mined. In combination with the actual free surface, the best splitting direction and the required splitting force of the splitting mechanism are determined, which can effectively avoid damage to the surrounding structure or underbreak and overbreak of the material to be mined in the breaking or construction process.

[0008] In an embodiment, the coaxial drilling accurate splitting device further comprises a positioning mechanism for positioning on the mining working face, the total control system is arranged on the positioning mechanism through a first linear drive mechanism, the oil cylinder system is arranged on the positioning mechanism through a second linear drive mechanism, and the splitting mechanism is arranged on the oil cylinder system. The positioning mechanism is provided with a geophone sensor.

[0009] Through the above technical scheme, the positioning mechanism is used for abutting and positioning with the mining working face, for positioning the coaxial drilling accurate splitting device on the material to be mined, thereby ensuring the stability and position accuracy of the coaxial drilling accurate splitting device, and ensuring that the coaxial drilling accurate splitting device does not move during rock drilling and splitting. The first linear drive mechanism is used to realize the reciprocating motion of the total control system and the drilling power device, so as to realize drilling operation, and the second linear drive mechanism is used to drive the oil cylinder system to reciprocate, so as to drive the splitting mechanism to enter the hole for splitting operation.

[0010] In an embodiment, the positioning mechanism comprises a positioning square tube, a telescopic rod, and a thimble. The positioning square tube is provided with a circular channel, the telescopic rod is sealingly movably arranged in the positioning square tube, and the thimble is arranged on the telescopic rod. The positioning square tube is provided with a fifth oil port, and the fifth oil port is connected with the oil pressure control system.

[0011] Through the above technical scheme, the thimble is controlled to extend and retract through the telescopic rod, so as to be suitable for positioning on different mining working faces.

[0012] In an embodiment, the oil pressure control system comprises a first oil pipe, a second oil pipe, an oil pressure instrument panel, a first control switch, and a second control switch. The first oil pipe and the second oil pipe are connected with the oil pressure instrument panel, the first control switch controls the opening and closing of the first oil pipe, the second control switch controls the opening and closing of the second oil pipe, and the first oil pipe and the second oil pipe are connected with the oil cylinder system.

[0013] By adopting the technical scheme, the oil pressure control system can accurately control the oil pressure of each oil pipe and display the oil pressure on the oil pressure instrument panel, thereby facilitating confirmation.

[0014] In one embodiment, the oil cylinder system comprises a cylinder body and a piston, the piston is arranged in the cylinder body and divides the cylinder body into a first chamber and a second chamber, the cylinder body is provided with a first oil port in communication with the first chamber and a second oil port in communication with the second chamber, the drill rod passes through the cylinder body and the piston, and the movement direction of the piston is the same as the length direction of the drill rod; the first oil pipe is connected with the first oil port, and the second oil pipe is connected with the second oil port.

[0015] In one embodiment, the splitting mechanism is a mechanical rigid splitting mechanism, comprising a translation sliding block and a splitting wedge, the splitting wedge is arranged around the translation sliding block, the drill rod passes through the translation sliding block, the translation sliding block is connected with the piston, one end of the cylinder body close to the splitting mechanism is provided with a clamping groove, a resilient device providing radial elastic force is arranged in the clamping groove, and one end of the splitting wedge is arranged in the clamping groove and connected with the resilient device.

[0016] By adopting the technical scheme, the translation sliding block moves towards the hole direction, the splitting wedge is opened, the splitting wedge exerts splitting force on the hole, and at the same time, the resilient device is compressed; after the splitting operation is completed, the translation sliding block moves reversely, under the elastic force of the resilient device, the splitting wedge returns to the initial state, so as to perform the next splitting operation.

[0017] In one embodiment, the oil cylinder system comprises a servo motor and a hydraulic pump, the splitting mechanism is a hydraulic servo splitting mechanism, comprising a shell and a splitting block, the servo motor is connected with the hydraulic pump, the hydraulic pump is connected with the shell, the hydraulic pump is provided with a third oil port and a fourth oil port, the third oil port is connected with the first oil pipe, and the fourth oil port is connected with the second oil pipe, a plurality of splitting blocks are arranged at intervals, and the splitting blocks are sealingly extended out of the shell or accommodated in the shell.

[0018] Another purpose of the present application is to provide a breaking device, comprising a device main body and a coaxial hole splitting device as described above, the coaxial hole splitting device further comprises a hinging mechanism, the hinging mechanism comprises a connecting seat and a rotary driving assembly, the rotary driving assembly is connected with the positioning mechanism, and the connecting seat is connected with the device main body.

[0019] By adopting the technical scheme, the coaxial hole splitting device is arranged on the device main body through the hinging structure, so as to be suitable for different types of device main bodies, and the rotary driving assembly can be suitable for drilling and splitting work at different angles.

[0020] In one embodiment, the equipment body is a excavator, a scraper, a rock drilling jumbo, a roadheader, a boom mining robot or a rock drilling robot.

[0021] Still another object of the present application is to provide a coaxial splitting method based on the crushing equipment as described above, comprising the following steps:

[0022] S1, the equipment body carries the coaxial drilling and accurate splitting device to the mining working face;

[0023] S2, the total control system controls the drilling power device in the coaxial drilling and accurate splitting device to work, the drilling power device drives the drill rod and the rock breaking mechanism to act to perform drilling operation, at the same time, the rock mass multi-source acoustic positioning and identification module automatically transmits the feature information of the material to be mined to the intelligent analysis module in the total control system;

[0024] S3, the total control system controls the oil pressure control system in the coaxial drilling and accurate splitting device to cooperate with the oil cylinder system to make the splitting mechanism split the material to be mined towards the back of the free face, and the oil pressure control system automatically transmits the oil pressure information to the intelligent analysis module;

[0025] S4, the rock mass multi-source acoustic positioning and identification module is used to dynamically perceive the sound sources induced by the breaking, stress and deformation of the material to be mined during rock drilling, and then according to the positions of the multiple sound sources and the propagation time between the acoustic sensors arranged by the rock breaking mechanism, the positioning mechanism and the splitting mechanism, the parameters of the material to be broken in the broken area are inverted, including joint, fracture, strength, water body, fault and other abnormal areas, and then the splitting direction and splitting force of the in-situ broken material to be mined are accurately and timely determined, and the in-situ splitting of the material to be mined is started;

[0026] S5, after the material to be mined is split down, the total control system controls the oil pressure control system in the coaxial drilling and accurate splitting device to stop the application of splitting force, and the total control system controls the rock breaking mechanism in the coaxial drilling and accurate splitting device to further break the peeled material to be mined, and then the coaxial drilling and accurate splitting device is moved to the next splitting position;

[0027] S6, after the coaxial drilling and accurate splitting device completes the splitting operation of the accessible mining working face, the split material to be mined is cleaned out;

[0028] S7, the equipment body moves to make the coaxial drilling and accurate splitting device move to the next mining working face.

[0029] The coaxial drilling and accurate splitting device, the crushing equipment and the coaxial splitting method provided by the present application have the following beneficial effects:

[0030] First, the coaxial drilling accurate splitting device is a coaxial structure, the rock breaking mechanism does not need to retreat the hole, the splitting mechanism does not need to split the hole and re-enter the hole, and the splitting process is simple, which improves the drilling and splitting construction efficiency.

[0031] Second, the coaxial drilling accurate splitting device is a coaxial structure, and the reduction of the operation process can avoid the problems of multiple equipment rotation or equipment internal mechanism rotation switching, reduce the equipment cost and improve the service life of the equipment.

[0032] Third, the coaxial drilling accurate splitting device is a coaxial structure, which effectively reduces the equipment volume, improves the flexibility, has strong rock breaking capacity and low rock breaking specific energy, and reduces energy consumption.

[0033] Fourth, the rock mass multi-source acoustic positioning and identification module is used to dynamically perceive and locate the sound sources induced by rock mass breaking, stress and deformation in the rock drilling process, and then according to the positions and propagation times between the multi-type and multiple sound sources and the positions of the geophone sensors arranged by the rock breaking mechanism, the positioning mechanism and the splitting mechanism, the parameters of the rock mass in the region to be broken are inversed, including the joint, the fracture, the strength, the water body, the fault and other abnormal regions, and then the splitting direction and the splitting force of the in-situ broken material to be mined are accurately and timely determined, which can effectively avoid the damage or underexcavation and overexcavation of the surrounding structure during the breaking or construction process of the material to be mined.

[0034] Fifth, the coaxial drilling accurate splitting device has the advantages of safety, high efficiency, accurate splitting, low energy consumption and long service life. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0036] Figure 1 The overall simplified structure schematic diagram of the coaxial drilling accurate splitting device provided for the embodiment 1 of the present application is shown in the figure.

[0037] Figure 2 The simplified structure schematic diagram of the oil pressure control system in the coaxial drilling accurate splitting device provided for the embodiment 1 of the present application is shown in the figure.

[0038] Figure 3 The simplified structure schematic diagram of the oil cylinder control system in the coaxial drilling accurate splitting device provided for the embodiment 1 of the present application is shown in the figure.

[0039] Figure 4A simplified structure diagram of a mechanical rigid splitting mechanism in a coaxial drilling accurate splitting device provided for Embodiment 1 of the present application;

[0040] Figure 5 A simplified structure diagram of a positioning mechanism in a coaxial drilling accurate splitting device provided for Embodiment 1 of the present application;

[0041] Figure 6 A simplified structure diagram of a hinged mechanism in a coaxial drilling accurate splitting device provided for Embodiment 1 of the present application;

[0042] Figure 7 A simplified structure diagram of a cylinder system and a hydraulic splitting mechanism in a coaxial drilling accurate splitting device provided for Embodiment 2 of the present application.

[0043] In the drawings, various reference signs represent:

[0044] 1, total control system; 2, drilling power device; 3, cylinder system; 31, first oil port; 32, second oil port; 33, cylinder body; 34, first chamber; 35, second chamber; 36, piston; 37, clamping groove; 38, rebound device; 4, oil pressure control system; 41, first oil pipe; 42, second oil pipe; 43, oil pressure instrument panel; 44, first control switch; 45, second control switch; 5, hinged mechanism; 51, connecting seat; 52, rotary drive assembly; 6, drill rod; 7, splitting mechanism; 71, translation slide; 72, splitting wedge; 73, servo motor; 74, hydraulic pump; 75, shell; 76, splitting block; 77, third oil port; 78, fourth oil port; 8, positioning mechanism; 81, fifth oil port; 82, telescopic rod; 83, thimble; 84, positioning square tube; 9, ground sound sensor; 10, rock mass multi-source acoustic positioning and identification module; 11, rock breaking mechanism; 12, first linear drive mechanism; 13, second linear drive mechanism. DETAILED DESCRIPTION

[0045] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0046] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can 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 can be directly connected to the other element or indirectly connected to the other element.

[0047] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0048] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0049] Example 1:

[0050] like Figures 1-6 As shown, a coaxial drilling precision splitting device provided in this application embodiment will now be described. The coaxial drilling precision splitting device includes: a main control system 1, a drilling power unit 2, a hydraulic cylinder system 3, a hydraulic pressure control system 4, a splitting mechanism 7, a drill rod 6, a rock mass multi-source acoustic positioning and identification module 10, and a rock breaking mechanism 11.

[0051] The drilling power unit 2, hydraulic cylinder system 3, splitting mechanism 7, drill rod 6, and rock breaking mechanism 11 are coaxially arranged. The multi-source acoustic positioning and identification module 10 is located between the splitting mechanism 7 and the rock breaking mechanism 11. One end of the drill rod 6 is connected to the drilling power unit 2, and after passing through the hydraulic cylinder system 3 and the splitting mechanism 7, the other end is connected to the rock breaking mechanism 11. The rock breaking mechanism 11 includes at least a rock breaking drill bit, which is used to drill and break the material to be mined. The hydraulic pressure control system 4 is connected to the hydraulic cylinder system 3 through an oil pipe. The hydraulic cylinder system 3 and the hydraulic pressure control system 4 cooperate to control the splitting mechanism 7 to split and break the rock. At least the splitting mechanism 7 and the rock breaking mechanism 11 are equipped with ground acoustic sensors 9, which cooperate with the multi-source acoustic positioning and identification module 10. The ground acoustic sensors 9 are used to monitor the wave velocity during the rock drilling of the coaxial drilling precision splitting device and the in-situ breaking of the material to be mined. The main control system 1 can be an existing PLC control system; the drilling power unit 2 can control the rotation of the drill rod 6 in an existing conventional way, or provide propulsion force while controlling the drill rod 6 to drill.

[0052] In the embodiment, under the control of the total control system 1, the drilling power device 2 controls the drill pipe 6 and the rock breaking mechanism 11 to act to realize the drilling operation, and after the drilling is completed, the oil pressure control system 4 and the oil cylinder system 3 cooperate to control the splitting mechanism 7 to perform the splitting rock breaking operation. The coaxial drilling precise splitting device is a coaxial structure, and the rock breaking mechanism 11 does not need to retreat, split and re-enter the hole, and the like. The splitting process is simple, the geophone sensor 9 and the rock mass multi-source acoustic positioning and identification module 10 are arranged in combination with the drill pipe 6 and the rock breaking mechanism 11, and the drilling or splitting rock breaking signal collected by the rock mass multi-source acoustic positioning and identification module 10 is inverted to obtain the structure of the surrounding material to be mined (referring to rock, concrete and other solid materials), the actual free surface is combined to determine the best splitting direction of the splitting mechanism 7 and the required splitting force, which can effectively avoid the damage or under excavation and over excavation of the surrounding structure of the material to be mined in the breaking or construction process.

[0053] As shown in Figure 1 and Figure 5 In the embodiment, the coaxial drilling precise splitting device further comprises a positioning mechanism 8 for positioning on the mining working face. The total control system 1 is arranged on the positioning mechanism 8 through a first linear driving mechanism 12, the drilling power device 2 is arranged on the total control system 1, the oil cylinder system 3 is arranged on the positioning mechanism 8 through a second linear driving mechanism 13, the splitting mechanism 7 is arranged on the oil cylinder system 3, and the positioning mechanism 8 is provided with the geophone sensor 9. The positioning mechanism 8 is used for abutting and positioning with the mining working face, for fixing the coaxial drilling precise splitting device on the material to be mined, thereby ensuring the stability and position accuracy of the coaxial drilling precise splitting device, and ensuring that the coaxial drilling precise splitting device does not move during rock drilling and splitting. The first linear driving mechanism 12 and the second linear driving mechanism 13 can adopt existing screw component structures, track driving components or hydraulic cylinders and slide rail components. The first linear driving mechanism 12 is used for controlling the movement of the total control system 1 and the drilling power device 2, thereby also synchronously driving the movement of the drill pipe 6 and the rock breaking mechanism 11; the second linear driving mechanism 13 is used for controlling the movement of the oil cylinder system 3 and the splitting mechanism 7; in the actual working process, the first linear driving mechanism 12 and the second linear driving mechanism 13 can work synchronously during drilling; or the first linear driving mechanism 12 works first during drilling, and then the second linear driving mechanism 13 works after the drilling is completed. The specific situation is selected according to actual needs.

[0054] The total control system 1 is used to control the corresponding actions of each working part. The total control system 1 comprises an intelligent analysis module, which dynamically controls the working state of the coaxial drilling precise splitting device by receiving the oil pressure information transmitted by the oil pressure control system 4 and the rock mass quality information transmitted by the rock mass multi-source acoustic positioning and identification module 10, such as dynamically adjusting the splitting force value, the drilling rate and the acting force of the positioning mechanism 8, etc. The oil pressure control system 4 can control and read the oil pressure of each chamber of the coaxial drilling precise splitting device, and further control the operation of the coaxial drilling precise splitting device. Further, the oil pressure control system 4 is connected with the intelligent analysis module of the total control system 1, and can transmit the read oil pressure data to the total control system 1.

[0055] Specifically, as shown in Figure 5 , the positioning mechanism 8 comprises a positioning square tube 84, an extension rod 82 and a thimble 83. The surface of the positioning square tube 84 is a plane, which is convenient for installing the first linear drive mechanism 12 and the second linear drive mechanism 13. The positioning square tube 84 is provided with a circular channel for installing the extension rod 82, and the extension rod 82 is sealingly movably arranged in the positioning square tube 84. The thimble 83 is arranged on the extension rod 82 and is used to press against the mining working face. The ground vibration sensor 9 is arranged on the thimble 83. The positioning square tube 84 is provided with a fifth oil port 81, which is connected with the oil pressure control system 4. The extension rod 82 is controlled to act by inputting oil pressure, so as to be suitable for positioning the mining face at different positions.

[0056] As shown in Figure 1 and Figure 2 , the oil pressure control system 4 comprises a first oil pipe 41, a second oil pipe 42, an oil pressure instrument panel 43, a first control switch 44 and a second control switch 45. The first oil pipe 41 and the second oil pipe 42 are connected with the oil pressure instrument panel 43. The first control switch 44 controls the opening and closing of the first oil pipe 41, and the second control switch 45 controls the opening and closing of the second oil pipe 42. The first oil pipe 41 and the second oil pipe 42 are connected with the oil cylinder system 3. In other embodiments, the number of oil pipes and control switches can be appropriately increased according to requirements.

[0057] As shown in Figure 1 , Figure 3 , in this embodiment, the oil cylinder system 3 comprises a cylinder body 33 and a piston 36. The piston 36 is arranged in the cylinder body 33 and divides the cylinder body 33 into a first chamber 34 and a second chamber 35. The cylinder body 33 is provided with a first oil port 31 communicating with the first chamber 34 and a second oil port 32 communicating with the second chamber 35. The drill rod 6 passes through the cylinder body 33 and the piston 36. The moving direction of the piston 36 is the same as the length direction of the drill rod 6. The first oil pipe 41 is connected with the first oil port 31, and the second oil pipe 42 is connected with the second oil port 32.

[0058] AsFigure 1 , Figure 3 and Figure 4 As shown, in this embodiment, the splitting mechanism 7 is a mechanically rigid splitting mechanism, including a translation slider 71 and a splitting wedge 72. The splitting wedge 72 is arranged around the translation slider 71, and the drill rod 6 passes through the translation slider 71. The translation slider 71 is connected to the piston 36, preferably by a threaded connection. The cylinder body 33 has a groove 37 at one end near the splitting mechanism 7. A spring-loaded device 38 that provides radial elastic force is provided in the groove 37. One end of the splitting wedge 72 is disposed in the groove 37 and connected to the spring-loaded device 38. Specifically, the spring-loaded device 38 includes a spring. One end of the splitting wedge 72 is L-shaped to connect with the spring. The spring drives the splitting wedge 72 to move in the direction of the axis, so that multiple splitting wedges 72 converge. When they converge, no splitting force is applied to the inner wall of the hole. The translation slider 71 is a circular tube structure, and the contact surfaces of the translation slider 71 and the splitting wedge 72 are both wedge-shaped surfaces, which facilitates the splitting wedge 72 to be spread open to apply splitting force to the inner wall of the hole.

[0059] In this embodiment, as Figure 1 and Figure 5 As shown, the coaxial drilling precision splitting device also includes a hinge mechanism 5. The hinge mechanism 5 includes a connecting seat 51 and a rotary drive assembly 52. ​​The connecting seat 51 is used to connect with the main body of the device described below. The rotary drive assembly 52 is used to install the positioning mechanism 8. The rotary drive assembly 52 can drive the positioning mechanism to rotate 360°, thereby enabling the coaxial drilling precision splitting device to perform drilling and splitting operations on mining faces at different angles. The rotary drive assembly 52 can be implemented using a motor combined with a turntable.

[0060] In this embodiment, the multi-source acoustic positioning and identification module 10 is used to dynamically sense and locate the sound sources induced by rock fracture, stress, and deformation during rock drilling. Then, based on the positions of multiple sound sources and the positions and propagation times between them and the ground acoustic sensors arranged in the rock breaking mechanism, positioning mechanism, and splitting mechanism 7, it inversely calculates the parameters of the rock mass in the area to be broken, including joints, fissures, strength, water-bearing bodies, faults, and other abnormal areas. This allows for the precise and real-time determination of the splitting direction and splitting force of the material to be mined in situ. The specific working principle of the multi-source acoustic positioning and identification module includes:

[0061] a. The ground acoustic sensor 9 installed in the rock breaking mechanism 11, positioning mechanism 8 and splitting mechanism 7 determines its own position in a timely manner based on inertial navigation and ground-penetrating communication; its specific principle can be referred to the patent with application number CN202110127701.1.

[0062] b. According to the arrival time of multiple sound sources caused by rock breaking, stress, deformation and the like in the rock breaking process of the rock breaking mechanism 11 received by the ground sound sensor 9, the sound source positioning is performed in combination with the ground sound sensor 9 in step a. The specific principle can refer to the patent with the application number CN202010796166.4.

[0063] c. According to the position and arrival time of multiple sound sources caused by rock breaking, stress, deformation and the like, and the position of the ground sound sensor, the wave velocity field of the rock mass in the to-be-measured broken area is inversely calculated. The specific principle can refer to the patent with the application number CN202010811187.9, and the wave velocity expression of the rock mass is as follows:

[0064]

[0065] In the formula: v(x i ,y i ,z i ) is the wave velocity field of the rock mass in the to-be-measured broken area, Δ(t i ,t 0i ) is the arrival time difference between the signal arrival time and the initial time, S(x i ,y i ,z i x 0i ,y 0i ,z 0i ) is the distance between the sensor and the source signal.

[0066] d. According to the data size of the wave velocity field, the abnormal area is determined: the wave velocity less than 340 m / s is usually a cavity, which needs to be avoided to prevent sticking and splitting block 76 from breaking; the wave velocity of 340-1000 m / s may contain water, which needs to be prepared in advance to prevent water inrush; and the wave velocity greater than 6000 m / s needs to be prevented from causing damage to personnel and equipment due to rock burst and the like.

[0067] In the embodiment, the total control system 1 controls the drilling power device 2, the drill pipe 6 and the rock breaking mechanism 11 to drill, after the drilling is completed, the first control switch 44 is turned on, the oil pressure control system 4 adds oil pressure to the first chamber 34, since the piston 36 is fixedly connected with the translation slide 71, the piston 36 moves with the translation slide 71 in the splitting wedge block 72 to the hole direction, and gradually separates the splitting wedge block 72, so that the splitting wedge block 72 splits the rock and other solid materials (to-be-mined materials) in the hole in situ. After the splitting is completed, the first control switch 44 is turned off, the second control switch 45 is turned on, the oil pressure control system 4 adds oil pressure to the second chamber 35, the piston 36 moves with the translation slide 71 in the splitting wedge block 72 to the hole direction, the piston 36 is reset, and at the same time, the elastic force of the rebound device 38 drives the splitting wedge block 72 to reset and gather, so as to facilitate the next splitting work of the device, which has the advantages of good construction effect, high safety factor and simple structure.

[0068] In the embodiment, a breaking device is also provided, comprising a device body and the coaxial drilling precise splitting device as stated above, and the connecting seat 51 of the coaxial drilling precise splitting device is connected with the device body.

[0069] Specifically, in the embodiment, the device body is an excavator, a dragline, a rock drilling jumbo, a heading machine, a boom-type mining robot or a rock-penetrating flexible rock drilling robot. Among them, the boom-type heading mining robot can adopt the boom-type heading mining robot disclosed in the patent with the application number CN202210419094.0; the rock-penetrating flexible rock drilling robot adopts the rock-penetrating flexible rock drilling robot disclosed in the patent with the application number CN202110940989.4; specifically, the connecting seat 51 of the coaxial drilling precise splitting device is arranged at the front end of the machine arm of the device body. The device body is provided with a traveling mechanism and can freely travel to the mining working face.

[0070] In the embodiment, a coaxial splitting method is also provided, based on the breaking device as stated above, and the coaxial splitting method comprises the following steps:

[0071] S1, the device body carrying the coaxial drilling precise splitting device moves to the mining working face;

[0072] S2, the total control system 1 controls the drilling power device 2 in the coaxial drilling precise splitting device to work, the drilling power device 2 drives the drill rod 6 and the rock breaking mechanism 11 to act to perform drilling operation, at the same time, the rock mass multi-source acoustic positioning and identification module 10 automatically transmits the characteristic information of the material to be mined to the intelligent analysis module in the total control system 1;

[0073] S3, the total control system 1 controls the oil pressure control system 4 in the coaxial drilling precise splitting device to cooperate with the oil cylinder system 3 to make the splitting mechanism 7 split the material to be mined towards the rear of the free face, and the oil pressure control system 4 automatically transmits the oil pressure information to the intelligent analysis module;

[0074] S4, the rock mass multi-source acoustic positioning and identification module is used to dynamically perceive the sound sources induced by the breaking, stress and deformation of the material to be mined in the rock drilling process, and then according to the positions of the multiple sound sources and the propagation time between the rock breaking mechanism, the positioning mechanism and the geophone arranged by the splitting mechanism 7, the parameters of the material to be broken in the region to be broken are inverted, including the abnormal regions such as joints, fissures, strength, water body and faults, and then the splitting direction and splitting force of the material to be broken in situ are accurately and timely determined, and the material to be broken in situ is started to be split;

[0075] S5, after the to-be-mined material is split down, the total control system 1 controls the oil pressure control system 4 in the coaxial drilling precise splitting device to stop the application of the splitting force, and the total control system 1 controls the rock breaking mechanism in the coaxial drilling precise splitting device to further break the stripped to-be-mined material, and then the coaxial drilling precise splitting device is moved to the next splitting position;

[0076] S6, after the coaxial drilling precise splitting device completes the splitting operation of the accessible mining working face, the stripped to-be-mined material is cleaned out; the cleaning out can be realized through the structure of the equipment main body or through another device.

[0077] S7, the equipment main body is moved to move the coaxial drilling precise splitting device to the next mining working face.

[0078] Embodiment 2:

[0079] In this embodiment, another oil cylinder system 3 and splitting mechanism 7 are provided, which are different from those in Embodiment 1. Specifically, as shown in Figure 7 the oil cylinder system 3 includes a servo motor 73 and a hydraulic pump 74, and the splitting mechanism 7 is a hydraulic servo type splitting mechanism 7, which includes a shell 75 and splitting blocks 76. The servo motor 73 is connected with the hydraulic pump 74, the hydraulic pump 74 is connected with the shell 75, the hydraulic pump 74 is provided with a third oil port 77 and a fourth oil port 78, the third oil port 77 is connected with the first oil pipe 41, and the fourth oil port 78 is connected with the second oil pipe 42. The splitting blocks 76 are arranged at intervals, and the splitting blocks 76 are sealingly extended out of the shell 75 or stored in the shell 75. The servo motor 73 is used to adjust the splitting angle, and the hydraulic pump 74 is used to control the input oil pressure in the shell 75. The oil pressure pushes each splitting block 76 out of the shell 75 to apply a splitting force to the rock wall in the hole.

[0080] In this embodiment, the total control system 1 controls the drilling power device 2, the drill rod 6 and the rock breaking mechanism to drill, after the drilling is completed, the servo motor 73 adjusts the angle so that each splitting block 76 is aligned in the direction to be split, the first control switch 44 is turned on, the oil pressure control system 4 inputs oil pressure into the third oil port 77 and adjusts the state of each splitting block 76 under the control of the hydraulic pump 74 to load the splitting force, so that each splitting block 76 is in contact with the hole wall to perform in-situ splitting operation.

[0081] The above only describes the preferred embodiments of the present application and is not used to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A coaxial drilling precision splitting device, characterized in that, include: The system includes a main control system (1), a drilling power unit (2), a cylinder system (3), a hydraulic control system (4), a splitting mechanism (7), a drill rod (6), a rock mass multi-source acoustic positioning and identification module (10), and a rock breaking mechanism (11). The drilling power unit (2), the cylinder system (3), the splitting mechanism (7), the drill rod (6), and the rock breaking mechanism (11) are arranged coaxially. The rock mass multi-source acoustic positioning and identification module (10) is set between the splitting mechanism (7) and the rock breaking mechanism (11). One end of the drill rod (6) is connected to the drilling power unit (2), passes through the cylinder system (3) and the splitting mechanism (7), and the other end is connected to the rock breaking mechanism (11). The cylinder system (3) and the hydraulic control system (4) cooperate to control the splitting mechanism (7) to split and break the rock. At least the splitting mechanism (7) and the rock breaking mechanism (11) are equipped with ground acoustic sensors (9). The ground acoustic sensors (9) cooperate with the rock mass multi-source acoustic positioning and identification module (10). The ground acoustic sensors (9) are used to monitor the rock drilling of the coaxial borehole precision splitting device and the wave velocity when breaking the material to be mined in situ in real time. The multi-source acoustic positioning and identification module (10) is used to dynamically sense and locate the sound sources induced by the fracture, stress and deformation of the material to be mined during the rock drilling process. Then, based on the position of multiple sound sources and the position and propagation time between the ground acoustic sensors (9) arranged by the rock breaking mechanism (11), the positioning mechanism (8) and the splitting mechanism (7), the parameters of the material to be mined in the area to be broken are inverted, including joints, fissures, strength, water-bearing bodies or fault-forming abnormal areas. Then, the splitting direction and splitting force of the material to be mined in situ are accurately determined in real time, and the material to be mined in situ is split in situ. It also includes a positioning mechanism (8) for positioning on the mining face, the overall control system (1) is mounted on the positioning mechanism (8) via a first linear drive mechanism (12), the hydraulic cylinder system (3) is mounted on the positioning mechanism (8) via a second linear drive mechanism (13), the splitting mechanism (7) is mounted on the hydraulic cylinder system (3), and the positioning mechanism (8) is equipped with a ground acoustic sensor (9); The positioning mechanism (8) includes: a positioning square tube (84), a telescopic rod (82), and a pin (83). The positioning square tube (84) has a circular channel inside. The telescopic rod (82) is sealed and movable inside the positioning square tube (84). The pin (83) is disposed on the telescopic rod (82). The positioning square tube (84) has a fifth oil port (81), which is connected to the oil pressure control system (4).

2. The coaxial drilling precision splitting device as described in claim 1, characterized in that: The hydraulic control system (4) includes a first oil pipe (41), a second oil pipe (42), a hydraulic instrument panel (43), a first control switch (44), and a second control switch (45); the first oil pipe (41) and the second oil pipe (42) are both connected to the hydraulic instrument panel (43), the first control switch (44) controls the opening and closing of the first oil pipe (41), and the second control switch (45) controls the opening and closing of the second oil pipe (42). The first oil pipe (41) and the second oil pipe (42) are both connected to the hydraulic cylinder system (3).

3. The coaxial drilling precision splitting device as described in claim 2, characterized in that: The cylinder system (3) includes: a cylinder body (33) and a piston (36); the piston (36) is disposed in the cylinder body (33) and divides the cylinder body (33) into a first chamber (34) and a second chamber (35); the cylinder body (33) is provided with a first oil port (31) communicating with the first chamber (34) and a second oil port (32) communicating with the second chamber (35); the drill rod (6) passes through the cylinder body (33) and the piston (36); the direction of movement of the piston (36) is the same as the length direction of the drill rod (6); the first oil pipe (41) is connected to the first oil port (31), and the second oil pipe (42) is connected to the second oil port (32).

4. The coaxial drilling precision splitting device as described in claim 3, characterized in that: The splitting mechanism (7) is a mechanical rigid splitting mechanism, including a translation slider (71) and a splitting wedge (72). The splitting wedge (72) is arranged around the translation slider (71). The drill rod (6) passes through the translation slider (71). The translation slider (71) is connected to the piston (36). The cylinder (33) has a groove (37) at one end near the splitting mechanism (7). A spring-loaded device (38) that provides radial elastic force is provided in the groove (37). One end of the splitting wedge (72) is arranged in the groove (37) and connected to the spring-loaded device (38).

5. The coaxial drilling precision splitting device as described in claim 2, characterized in that: The cylinder system (3) includes a servo motor (73) and a hydraulic pump (74). The splitting mechanism (7) is a hydraulic servo splitting mechanism, including a housing (75) and splitting blocks (76). The servo motor (73) is connected to the hydraulic pump (74), and the hydraulic pump (74) is connected to the housing (75). The hydraulic pump (74) is provided with a third oil port (77) and a fourth oil port (78). The third oil port (77) is connected to the first oil pipe (41), and the fourth oil port (78) is connected to the second oil pipe (42). Multiple splitting blocks (76) are spaced apart. The splitting blocks (76) are either sealed and extended out of the housing (75) or stored inside the housing (75).

6. A crushing device, characterized in that, The device includes a main body and a coaxial drilling precision splitting device as described in any one of claims 2-5. The coaxial drilling precision splitting device further includes a hinge mechanism (5), which includes a connecting seat (51) and a rotary drive assembly (52). The rotary drive assembly (52) is connected to the positioning mechanism (8), and the connecting seat (51) is connected to the main body of the device.

7. The crushing equipment as described in claim 6, characterized in that: The main body of the equipment is an excavator, a rake, a rock drilling rig, a tunneling machine, a cantilever mining robot, or a flexible rock drilling robot.

8. A coaxial splitting method, characterized in that, Based on the crushing equipment as described in claim 6, the coaxial splitting method includes the following steps: S1. The main body of the equipment, equipped with a coaxial drilling precision splitting device, moves to the mining face; S2, the main control system (1) controls the drilling power unit (2) in the coaxial drilling precision splitting device to work. The drilling power unit (2) drives the drill rod (6) and the rock breaking mechanism (11) to perform drilling operations. At the same time, the rock mass multi-source acoustic positioning and identification module (10) automatically transmits the characteristic information of the material to be mined to the intelligent analysis module in the main control system (1). S3, the main control system (1) controls the hydraulic control system (4) in the coaxial drilling precision splitting device to cooperate with the cylinder system (3) to make the splitting mechanism (7) split the material to be mined in the direction of the free face. The hydraulic control system (4) automatically transmits the hydraulic information to the intelligent analysis module. S4, Rock Mass Multi-Source Acoustic Positioning and Identification Module (10) is used to dynamically sense and locate the sound sources induced by the fracture, stress and deformation of the material to be mined during the rock drilling process. Then, based on the position of multiple sound sources and the position and propagation time between the ground acoustic sensors (9) arranged by the rock breaking mechanism (11), positioning mechanism (8) and splitting mechanism (7), the parameters of the material to be mined in the area to be broken are inverted, including joints, fissures, strength, water-bearing bodies or fault-forming abnormal areas. Then, the splitting direction and splitting force of the material to be mined in situ are accurately determined in real time, and the material to be mined in situ is split in situ. S5. After the material to be mined is split, the main control system (1) controls the hydraulic control system (4) in the coaxial drilling precision splitting device to stop the application of splitting force. The main control system (1) controls the rock breaking mechanism (11) in the coaxial drilling precision splitting device to further break the stripped material to be mined, and then moves the coaxial drilling precision splitting device to the next splitting position. S6. After the coaxial drilling precision splitting device completes the splitting operation on the accessible mining face, it cleans up and removes the slag from the split material to be mined. S7. The movement of the main body of the equipment allows the coaxial drilling precision splitting device to move to the next mining face.

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