A mine expansion system and method

Abstract

The present application relates to a kind of well and cave extension mining system and mining method, mining system includes the passageway well connected to mining location, the three-dimensional controllable extension mining equipment of execution mining operation, measurement and control device, the power cable of three-dimensional controllable extension mining equipment energy supply, responsible for conveying ore shaft ore conveying device, the travel module of driving equipment body moves along passageway well and the support liquid filled in passageway well, three-dimensional controllable extension mining equipment includes equipment body and the three-dimensional extension section of extension mining range, one end of three-dimensional extension section is connected with equipment body, another end is connected with mining assembly or rock breaking assembly, three-dimensional extension section has deviation module and / or rotary module, by driving mining assembly or rock breaking assembly moves, to expand mining range.It relieves the problems such as rock burst, outburst, roof falling, collapse, water inrush and the like that occur in strata, promotes the smooth progress of mining work, and can be applied to mining deep mineral resources and mineral resources in strata below the ocean.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mining equipment, in particular to a shaft and gallery expansion mining system and a mining method. BACKGROUND

[0002] In the prior art, the vertical roadway method is used to develop underground solid mineral resources, that is, mining equipment is transported down through vertical shafts, inclined and horizontal roadways, and mining is carried out underground and the ore is transported out using cars or buckets. As the depth increases, more and more strata cannot be mined due to problems such as rock burst, rock burst, outburst, roof falling, collapse, water inrush, etc. Especially under the water, the prior art mainly uses the method of coastal development, drilling and excavating vertical shafts on the shore, and excavating roadways towards the ocean. The method of mining and transporting ore through vertical roadway method cannot be extended to the ocean, so there is an urgent need in the industry to develop a technology for mining deep mineral resources and mineral resources in strata under the ocean. SUMMARY

[0003] The present application solves the problem of the urgent need in the industry to develop a technology for mining deep mineral resources and mineral resources in strata under the ocean, and provides a shaft and gallery expansion mining system and a mining method to solve the technical problem. The shaft and gallery expansion mining technology based on underground well network uses the shaft as the travel channel and the operation guide channel, and uses the shaft to fix and drive the controllable three-dimensional expansion tunneling arm to form a controllable cavity group or gallery group using high-precision breaking methods such as mechanical breaking, impact breaking, static pressure breaking, and electric power breaking. The well hole transfer equipment, well hole gathering and transportation equipment, and shaft lifting equipment based on well network arrangement are used to realize the output of mineral materials, and further realize the integration of mining, transportation, and filling for rolling development. The technical elements include three-dimensional well network, underground breaking system, mineral material lifting system, particle flow transportation system, mineral material collection system, expansion mining system, support system, digital perception and monitoring system, support and back pressure system, and filling system.

[0004] In the present application, the three-dimensional controllable expansion mining equipment is transported from the channel well to the mining position to perform mining operations, and the mining assembly / rock breaking assembly of the three-dimensional controllable expansion mining equipment can move in a direction deviating from the axis of the channel well to expand the mining range. It can support the mining and rock breaking in the form of a cavity group along the three-dimensional well network, and realize safe and efficient cavity mining and filling operations in a rolling mining manner. At the same time, back pressure equipment is used to inject support liquid into the channel well during the mining process to temporarily support the stability of the cavity, until the filling is completed, effectively alleviating problems such as rock burst, rock burst, outburst, roof falling, collapse, water inrush, etc. in the strata, promoting the smooth progress of mining work, and being applicable to mining deep mineral resources and mineral resources in strata under the ocean.

[0005] To solve the above technical problems, the technical solution of the present application is as follows:

[0006] A shaft expansion mining system includes a channel shaft connected to a mining location, a three-dimensional controllable expansion mining device that performs mining operations based on the channel shaft, a measurement and control device for realizing at least one function including measuring operation status parameters and controlling the operation of the three-dimensional controllable expansion mining device, a power cable for supplying energy to the three-dimensional controllable expansion mining device, a shaft ore conveying device responsible for conveying ore, a travel module for driving the device body to move along the channel shaft, and a support fluid filled in the channel shaft. The three-dimensional controllable expansion mining device includes a device body and a three-dimensional expansion section for extending the mining range. The three One end of the three-dimensional expansion section is connected to the equipment body, and the other end is connected to the mining assembly or the rock splitting assembly. The three-dimensional expansion section has a deflection module and / or a rotation module. The deflection module drives the mining assembly or the rock splitting assembly to move in a direction deviating from the axis of the channel well. The rotation module drives the mining assembly or the rock splitting assembly to move around the channel well axis or the axis of the equipment body to drive the mining assembly or the rock splitting assembly to expand the mining range. The deflection module and the rotation module include an electric actuator, a hydraulic actuator or a pneumatic actuator for controllably performing the deflection action. The three-dimensional expansion section is configured as follows:

[0007] The three-dimensional extension section includes a mining arm body rotatably connected to the equipment body and at least one main mining arm connected to a mining assembly or a rock splitting assembly, wherein the mining assembly or the rock splitting assembly is arranged at the front end of the main mining arm, and the mining arm body can rotate around the axis of the channel shaft. A rotation control component for driving the mining arm body to rotate is provided between the mining arm body and the equipment body, and an extension control component for driving the main mining arm to move radially toward the channel shaft is connected between the mining arm body and the main mining arm, wherein the extension control component serves as a deflection module, and the rotation control component serves as a rotation module; or

[0008] The three-dimensional extension section is a mining arm with two or more degrees of freedom. The three-dimensional extension section is connected to the equipment body by an articulated connection and / or a rotary connection. At least two drive components or at least one dual-axis drive component are also connected between the three-dimensional extension section and the equipment body, which can realize the control of the two degrees of freedom of the three-dimensional extension section. The total length of the three-dimensional extension section is greater than 3 times the diameter of the channel shaft. The drive component serves as a deflection module and / or a rotary module; or

[0009] The three-dimensional expansion segment includes at least two controllable sections connected in sequence, the controllable sections are fixedly connected in sequence, each of the controllable sections includes a front portion and a rear portion that are controlled to rotate relative to each other, and an opening and closing control component and / or a joint control component that drives the controlled rotation of the front portion and the rear portion, and the opening and closing control component and the joint control component both serve as deflection modules; or

[0010] The three-dimensional expansion section comprises a plurality of controllable segments connected in sequence, adjacent controllable segments are connected in sequence in a hinged or rotating manner, the rear end of the three-dimensional expansion section is further provided with an expansion control mechanism, the expansion control mechanism comprises a driver with at least two degrees of freedom control quantity, the driver pulls the controllable segments of the three-dimensional expansion section through a pulling force transmission structure to drive the three-dimensional expansion section to realize three-dimensional movement, the driver serves as a biasing module, and the pulling force transmission structure is a rope, a belt or a chain,

[0011] The traveling module of the mine expansion mining system is a component of the device body, or the traveling module is an independent module detachably connected with the device body,

[0012] The power cable is arranged in the channel shaft and / or other process shafts connected with the channel shaft.

[0013] Preferably, the channel shaft is further provided with a skew structure for guiding the three-dimensional expansion section to deviate from the axis of the channel shaft, and the skew structure is arranged directly in the channel shaft; or

[0014] The channel shaft is fixedly provided with a pipe column for the three-dimensional controllable expansion mining device to pass through, the pipe column is provided with a traveling channel for the device to pass through, a window in communication with the traveling channel is formed in the side of the pipe column, and the skew structure is arranged in the pipe column.

[0015] Preferably, the mine expansion mining system further comprises a fixing device for preventing the three-dimensional controllable expansion mining device from tilting or rolling, and the fixing device is configured as:

[0016] The fixing device comprises a fixing assembly moving radially and reciprocally and a reciprocating driving assembly driving the fixing assembly to move reciprocally, the fixing device is arranged on the device body of the three-dimensional controllable expansion mining device and / or a fixed object in the channel shaft, when the fixing device is stretched and abuts between the device body and the fixed object, the position of the three-dimensional controllable expansion mining device is locked by the fixing device, and / or

[0017] The fixing device comprises two guide structures slidingly matched with each other, and the two guide structures are fixedly connected to the device body of the three-dimensional controllable expansion mining device and the fixed object in the channel shaft, respectively.

[0018] Preferably, when the fixing device comprises the fixing assembly and the reciprocating driving assembly, wherein:

[0019] The fixing assembly is a claw, and the reciprocating driving assembly is a telescopic control module connected between the device body and the claw; or

[0020] The fixed component is a support leg connected with the device body, and the reciprocating driving component is a push-pull control module hinged between the support leg and the device body; or

[0021] The fixed component is a bolt in sliding fit with the device body, the reciprocating driving component is a sliding driving module for driving the bolt to slide, and the well wall of the channel well or the fixed object in the channel well is further provided with a slot for the bolt to be inserted.

[0022] Preferably, in the case where the fixing device comprises a fixed component and a reciprocating driving component, the device body comprises at least two crawling sections arranged along the axis direction of the channel well, each of the crawling sections is provided with a fixing device, and the two crawling sections are connected through a telescopic structure capable of being controlled to extend or contract along the axis direction of the channel well, the two parts of the telescopic structure in relative movement are connected with the two crawling sections respectively, and the telescopic structure and the two crawling sections with the fixing devices cooperate to form the travel module for driving the device body to move along the channel well.

[0023] Preferably, in the case where the fixing device comprises two guide structures in sliding fit with each other, the fixing device comprises:

[0024] A guide groove opened on the fixed object in the channel well and a protrusion provided on the side surface of the device body, the guide groove extends along the length direction of the channel well, the protrusion is in sliding fit with the guide groove, and at least one set of the mutually fitted protrusion and guide groove is provided; or

[0025] A guide strip provided on the fixed object in the channel well and a groove opened on the side surface of the device body, the guide strip extends along the length direction of the channel well, the guide strip is in sliding fit with the groove, and at least one set of the mutually fitted guide strip and groove is provided.

[0026] Preferably, the travel module comprises:

[0027] A traction rope connected with the three-dimensional controllable expansion mining device; and / or

[0028] A pulley rotationally connected with the three-dimensional controllable expansion mining device and a driving motor for driving the pulley to rotate.

[0029] Preferably, in the case where the three-dimensional expansion section comprises a mining arm body and a main mining arm, at least two auxiliary mining arms are further connected between the main mining arm and the mining arm body, the two ends of the auxiliary mining arm are rotationally connected with the mining arm body and the main mining arm respectively to form a planar linkage mechanism, at least two traction chains or traction ropes are connected with the two auxiliary mining arms, the two traction chains or traction ropes respectively pull the auxiliary mining arms from the two sides, the expansion control component comprises a retracting motor for retracting each traction chain or traction rope, and the retracting motor is installed on the mining arm body; or

[0030] At least one hydraulic cylinder or electric cylinder is connected between the auxiliary mining arm and the mining arm body to drive the auxiliary mining arm to open and close relative to the device body of the three-dimensional controllable expansion mining device; or

[0031] A hydraulic motor is installed at the connection between the auxiliary mining arm and the mining arm body to drive the auxiliary mining arm to swing.

[0032] Preferably, when the three-dimensional expansion section and the device body realize relative movement in at least two degrees of freedom through the driving assembly, the length of the three-dimensional expansion section is greater than 2 times the maximum diameter of the channel well, a rotary joint is arranged between the three-dimensional expansion section and the device body, the rotary joint includes a fixed part connected with the device body and a rotating part connected with the three-dimensional expansion section, the rotating part and the three-dimensional expansion section realize opening and closing in a hinged manner, and the driving assembly includes a rotary driving structure for driving the fixed part to rotate relative to the rotating part and an opening and closing driving structure for driving the rotating part to rotate and open and close relative to the expansion arm.

[0033] Preferably, when the three-dimensional expansion section realizes movement in at least two degrees of freedom through the controllable joint and the expansion control mechanism, a reset mechanism is connected between the controllable joints to provide bending elasticity to restore the coaxial state, the expansion control mechanism includes at least three pulling force transmission structures and a driver for winding and unwinding each pulling force transmission structure, the pulling force transmission structure includes any one of a rope, a belt or a chain, a plurality of pulling force transmission structures are distributed in a circumferential direction around the three-dimensional expansion section, each pulling force transmission structure passes through each controllable joint in turn and is connected with the controllable joint at the front end of the three-dimensional expansion section to drive the three-dimensional expansion section composed of a plurality of controllable joints to swing in different directions in a pulling manner.

[0034] Preferably, the three-dimensional controllable expansion mining device has a rear end away from the mining position, and a traction cable or a traction rod is connected to the rear end of the three-dimensional controllable expansion mining device.

[0035] Preferably, the mining assembly includes a crushing structure for mining ore and a crushing power mechanism for driving the crushing structure to operate, and the crushing structure includes a heading head, a reamer, a saw or an impactor.

[0036] Preferably, when the crushing structure mines / crushes ore in a rotating form, the rotation axis of the crushing structure is perpendicular to the axis of the three-dimensional controllable expansion mining device.

[0037] Preferably, the rock breaking assembly is a blasting rock breaking assembly, a static pressure rock breaking assembly or a hydraulic rock breaking assembly.

[0038] Preferably, the hydraulic fracturing assembly comprises a fracturing device body, a fracturing hydraulic cylinder connected to the fracturing device body, a fracturing thrust connected to the piston rod of the fracturing hydraulic cylinder, and a hydraulic source connected to the fracturing hydraulic cylinder through a hydraulic line, wherein the hydraulic source is arranged outside the wellhead, in the wellbore, or on the three-dimensional controllable expansion mining equipment.

[0039] Preferably, the hydraulic fracturing assembly comprises a fracturing device body provided with a hydraulic port, a packer for sealing the access well, and a hydraulic port, wherein the hydraulic port is connected to a hydraulic source through a hydraulic line, and the hydraulic source is arranged outside the wellhead, in the wellbore, or on the three-dimensional controllable expansion mining equipment.

[0040] Preferably, the three-dimensional controllable expansion mining equipment further comprises a drilling assembly matched with the fracturing assembly, wherein the drilling assembly comprises a power module provided with a drill bit and a drill feeding module for moving the power module.

[0041] Preferably, the three-dimensional controllable expansion mining equipment further comprises a re-breaking assembly connected to the three-dimensional expansion section for re-breaking the large ore mined by the rockfall or fracturing assembly, wherein the re-breaking assembly comprises one or more of a breaking hammer, a breaking jaw, a breaking tongs, and a reamer.

[0042] The mining assembly is configured as a multifunctional mining assembly having the function of re-breaking the large ore mined by the rockfall or fracturing assembly.

[0043] Preferably, the three-dimensional controllable expansion mining equipment further comprises a rock mining assembly connected to the three-dimensional expansion section, wherein the rock mining assembly comprises one or more of a rake, a reaming suction mechanism, a mineral suction pipeline, a shovel, and a bucket.

[0044] Preferably, one end of the power cable is connected to the three-dimensional controllable expansion mining equipment underground, and the other end is connected to a power source outside the wellhead, wherein the power cable provides energy in the form of electrical energy, pressure energy, and chemical energy to the three-dimensional controllable expansion mining equipment.

[0045] Preferably, the wellbore ore conveying device comprises a flexible hose in communication with the ore particle flow outlet of the three-dimensional controllable expansion mining equipment, wherein one end of the flexible hose is in communication with the three-dimensional controllable expansion mining equipment, and the other end extends to the wellhead of the access well or other process wells in communication with the access well, one end of the flexible hose in communication with the ore particle flow outlet of the three-dimensional controllable expansion mining equipment is provided with a first releasable connector, and the three-dimensional controllable expansion mining equipment is provided with a second releasable connector matched with the first releasable connector.

[0046] Preferably, the flexible hose comprises a non-metal hose, and the non-metal hose is provided with a conductive layer or a cable in electrical connection with the releasable connector in the pipe wall interlayer.

[0047] Preferably, the mine shaft ore conveying device comprises a mine material hoisting pipe, the outlet of the mine material hoisting pipe is arranged at the wellhead of the access shaft or other process shafts in communication with the access shaft, the inlet of the mine material hoisting pipe extends to the well bottom and is communicated with an ore hoisting pump, the ore hoisting pump comprises a slurry pump or a booster pump; the slurry pump or the booster pump is arranged in the well for pumping the two-phase or multi-phase flow containing the mine material particles out of the wellhead.

[0048] Preferably, the mine shaft ore conveying device comprises a low-density medium injection pump or a back pressure pump, the low-density medium injection pump or the back pressure pump is arranged outside the wellhead of the access shaft or any other shaft in communication with the chamber, for injecting the low-density medium into the well or directly pumping the fluid downward; when the low-density medium injection pump is used, the low-density medium injection pump injects the low-density medium into the well, the low-density medium is mixed with the fluid containing the mine material and is turned over to the wellhead through the flowback well under the action of the support fluid column pressure; when the back pressure pump is used, the back pressure pump pumps the support fluid into the well, the support fluid carries the mine material to be discharged out of the wellhead through the flowback well, the mine material hoisting pipe or the flexible hose.

[0049] Preferably, the mine shaft ore conveying device further comprises a telescopic transfer pipe and a flowback well in communication with the access shaft, one end of the flowback well is communicated to the ground, the other end extends to below the access shaft and is communicated with the bottom wall of the access shaft, the end of the flowback well in communication with the access shaft is the inlet of the flowback well, one end of the transfer pipe is communicated with the mine material particle flow outlet of the three-dimensional controllable expansion mining equipment, the other end is communicated with the inlet of the flowback well.

[0050] Preferably, the three-dimensional controllable expansion mining equipment further comprises a sealing assembly for sealing the gap between the three-dimensional controllable expansion mining equipment and the inner sidewall of the access shaft, the transfer pipe is located between the fixing device and the sealing assembly.

[0051] Preferably, the transfer pipe comprises a hose, a multi-section telescopic pipe, a telescopic chute or a corrugated telescopic pipe, the transfer pipe is detachably connected with the mine material particle flow outlet of the three-dimensional controllable expansion mining equipment.

[0052] Preferably, the monitoring and control device comprises a telemetry device and a remote control device, the telemetry device comprises a sensor located in the well and a communication terminal located outside the wellhead, the sensor and the communication terminal transmit data through a communication line, the sensor comprises a flow meter, a mineral concentration meter, a current sensor, a voltage sensor, a laser detection device, an acoustic detection device or an electromagnetic detection device, which is used to sense the running state of the shaft ore conveying device, the three-dimensional controllable expansion mining equipment, the state of the chamber and / or the rock mass; the remote control device comprises a control terminal located outside the wellhead, the control terminal communicates with the deflection module and / or the rotation module through a communication line to transmit data and control instructions; the remote control device and the telemetry device can use the same or independent communication lines, and the communication lines used by the telemetry device and the remote control device are arranged in the access shaft or other process shafts.

[0053] A mining method suitable for the above-mentioned shaft and chamber expansion mining system, comprising the following steps:

[0054] S1. Transporting the three-dimensional controllable expansion mining equipment through the access shaft to the mining position;

[0055] S2. Controlling the three-dimensional controllable expansion mining equipment to excavate to form a chamber, and continuously injecting supporting liquid into the chamber;

[0056] S3. Controlling the shaft ore conveying device to continuously collect the excavated ore;

[0057] S4. Moving the three-dimensional controllable expansion mining equipment and repeating steps S2 and S3 to excavate to form a group of chambers;

[0058] S5. After completing the excavation work, filling each chamber.

[0059] A mining method suitable for the above-mentioned shaft and chamber expansion mining system, comprising the following steps:

[0060] S1. Transporting the three-dimensional controllable expansion mining equipment 2 provided with a drilling assembly at the end through the access shaft 1 to the mining position;

[0061] S2. Drilling holes on the wall of the access shaft or the wall of the chamber by using the drilling assembly;

[0062] S3. Transporting the three-dimensional controllable expansion mining equipment 2 provided with a rock splitting assembly at the end through the access shaft 1 to the mining position;

[0063] S4. Inserting the rock splitting assembly into the hole drilled by the drilling assembly; when the rock splitting assembly is a static pressure rock splitting assembly, starting the hydraulic piston to split the hole wall, and after the crack expands to the chamber wall, large rock collapses are triggered;

[0064] S5. The three-dimensional controllable expansion mining device 2 provided with the quarrying assembly at the end is transported to the mining location through the passage well 1, the ore is mined and absorbed to the shaft well ore conveying pipe system, and the ore is discharged to the outside of the well mouth through the shaft well ore conveying device.

[0065] The beneficial technical effects of the technical scheme of the present application are as follows:

[0066] (1) The passage well in the present application provides a passage for transporting the three-dimensional controllable expansion mining device to the mining location. When the three-dimensional controllable expansion mining device performs the mining operation, the three-dimensional expansion section for moving the mining assembly / rock splitting assembly in a direction deviating from the axis of the passage well is also included. By moving the mining assembly / rock splitting assembly in at least two degrees of freedom, the mining range can be expanded, allowing the three-dimensional controllable expansion mining device to perform mining, rock breaking in the form of a chamber group along a three-dimensional well pattern, and then using the shaft well ore conveying device to convey the mined rock to the ground. The rolling mining method can safely and efficiently realize chamber mining and filling operations. At the same time, the back pressure device supplements high-pressure support liquid into the passage well during the mining process, temporarily supporting the chamber with the support liquid until the filling is completed, which can effectively alleviate problems such as rock burst, outburst, roof falling, collapse, water inrush, and the like, and promote the smooth progress of mining work, which can be applied to mining deep mineral resources and mineral resources in the strata below the ocean.

[0067] There is a lack of related technology in the prior art that can first go down to the sea and then enter the ground to realize solid mineral mining. When the well chamber expansion mining system of the present application is applied in the mining method of first going down to the sea and then entering the ground, solid mineral resources can also be safely and efficiently mined in the overlying strata below the ocean. The well chamber method deep mining technology is an effective means for realizing deep and ocean mineral development proposed by the author, which has the advantages of less surface damage, large mining depth, water environment operation, and good economic efficiency, and has excellent application prospects in the development of mineral resources in deep strata and overlying strata below the ocean.

[0068] (2) A pipe column for the three-dimensional controllable expansion mining device to pass through is arranged in the passage well. The three-dimensional controllable expansion mining device can directly travel in the pipe column and travel in a safe space, thereby avoiding traveling in the mining tunnel and greatly reducing the probability of the three-dimensional controllable expansion mining device being buried in the mining operation area.

[0069] (3) When the device body includes two crawling sections and each crawling section is provided with a fixing device, the two crawling sections are connected by a telescopic structure, the two fixing devices alternately extend and lock the corresponding crawling sections, and the telescopic structure is elongated when one of the crawling sections is locked and is shortened when the other crawling section is locked, so that the device body can be moved forward as a whole.

[0070] (Four) The application can be applied to the mineral development in the stratum below the sea, and can rely on the marine platform technology, the submarine pipeline technology and other marine engineering technologies to develop minerals, without occupying a large area of sea area. The well rail expansion mining machine and the ore granulation conveying system enter the stratum through the riser and the wellbore to implement the mining operation, without damaging the seabed and directly affecting the marine environment and the seabed ecology, and have good implementability. The supporting liquid supplemented by the back pressure system in the mining process has a supporting function, and the rolling mining in the form of the chamber group can well guarantee the stability of the stratum, and has good feasibility.

[0071] (Five) The application creatively proposes to use a plurality of sequentially connected at least two controllable joints as a flexible three-dimensional expansion mining section, which can drive the controllable joints to curl away from the well shaft of the device passage in sequence from front to back, and can well adapt to the process that the chamber size gradually increases with mining.

[0072] (Six) The expansion control assembly, the rotation control assembly, the opening and closing control assembly and the joint control assembly can drive the three-dimensional mining section to perform controlled actions, and can realize fine mining control and control the shape of the ore chamber to realize the stability of the ore chamber. BRIEF DESCRIPTION OF DRAWINGS

[0073] Figure 1 A structure schematic view of the well chamber expansion mining system in the embodiment one of the application is shown;

[0074] Figure 2 A structure schematic view of the three-dimensional expansion section in the embodiment one of the application is shown;

[0075] Figure 3 A connection schematic view of the flexible hose and the three-dimensional controllable expansion mining device in the embodiment one of the application is shown;

[0076] Figure 4 A connection schematic view of the ore lifting pump and the three-dimensional controllable expansion mining device in the embodiment one of the application is shown;

[0077] Figure 5 A connection schematic view of the device body of the three-dimensional controllable expansion mining device and the three-dimensional expansion section in the embodiment one of the application is shown;

[0078] Figure 6 A cooperation schematic view of the expansion control mechanism and the three-dimensional expansion section in the embodiment one of the application is shown;

[0079] Figure 7 A cooperation schematic view of the controllable joint and the pulling force transmission structure in the embodiment one of the application is shown;

[0080] Figure 8 A cooperation schematic view of the three-dimensional controllable expansion mining device and the pipe column in the embodiment one of the application is shown.

[0081] Figure 9 A schematic diagram showing a disconnected flexible hose of a shaft expansion mining system in accordance with the first embodiment of the present invention is shown;

[0082] Figure 10 A schematic diagram showing the connection between the equipment body and the drilling assembly of the three-dimensional controllable expansion mining equipment in the first embodiment of the present invention is shown;

[0083] Figure 11 A schematic diagram of the operation of the rock splitting assembly in the first embodiment of the present invention is shown;

[0084] Figure 12 A schematic diagram showing the connection between the three-dimensional expansion section and the static pressure rock splitting assembly in the first embodiment of the present invention is shown;

[0085] Figure 13 A schematic diagram showing the connection between the three-dimensional expansion section and the hydraulic rock fracturing assembly in the first embodiment of the present invention is shown;

[0086] Figure 14 A schematic structural diagram of a flowback well and a channel well in the first embodiment of the present invention is shown;

[0087] Figure 15 It shows a schematic diagram of the connection between the device body, the swivel joint and the three-dimensional expansion section in the second embodiment of the present invention;

[0088] Figure 16 A schematic diagram showing the connection between the main mining arm and the mining arm body in the third embodiment of the present invention is shown;

[0089] Figure 17 It shows a schematic structural diagram of the main mining arm being stored in the mining arm body in the third embodiment of the present invention;

[0090] Figure 18 A schematic diagram showing the coordination between the three-dimensional controllable expansion mining equipment and the pipe string in the fourth embodiment of the present invention is shown;

[0091] Figure 19 A schematic diagram showing the coordination between the device body and the pipe string of the three-dimensional controllable expansion mining device in the fourth embodiment of the present invention is shown;

[0092] Figure 20 A schematic structural diagram of a low-density medium injection pump or back pressure pump and a flowback well in a seventh embodiment of the present invention is shown.

[0093] Markings in the accompanying drawings:

[0094] 1- access well; 11- tubing string; 111- travel channel; 112- guide groove; 113- inclined structure; 12- flowback well; 121- transfer pipe;

[0095] 2 - 3D controllable expansion mining equipment; 21 - equipment body; 211 - crawling section; 2111 - extension control module; 2112 - claw; 212 - extension structure; 213 - traction cable; 214 - second releasable connector; 215 - traction rope; 216 - protrusion; 217 - bolt; 218 - sliding drive module;

[0096] 22 - 3D expansion section; 221 - controllable joint; 2211 - joint control assembly; 222 - mining arm body; 2221 - auxiliary mining arm; 2222 - main mining arm; 2223 - traction chain; 2224 - winding and unwinding motor; 223 - driver; 2231 - traction transmission structure; 2232 - hinged structure; 2233 - reset mechanism; 224 - rotation drive structure; 225 - rotation joint;

[0097] 23 - mining assembly; 231 - crushing structure; 232 - crushing power mechanism; 2311 - cutting head; 2312 - vibration hammer;

[0098] 24 - rock splitting assembly; 241 - rock splitter body; 242 - static pressure rock splitting assembly; 2421 - rock splitting hydraulic cylinder; 2422 - rock splitting thrust piece; 243 - hydraulic rock splitting assembly; 2431 - hydraulic port; 2432 - packer;

[0099] 25 - drilling assembly; 251 - drill feeding module; 252 - power module; 253 - drill bit;

[0100] 3 - mine shaft ore conveying device; 31 - flexible hose; 311 - first releasable connector; 312 - roller; 32 - ore hoisting pipe; 321 - ore hoisting pump; 322 - low-density medium injection pump; 323 - back pressure pump;

[0101] 4 - power cable; 41 - power source;

[0102] 5 - telemetry equipment. DETAILED DESCRIPTION

[0103] In order to make the purpose, technical solutions and advantages of the present invention more clear, the shaft expansion mining system and mining method proposed by the present invention are further described in detail below in conjunction with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will become clearer. It should be noted that the drawings are in a very simplified form and are not in precise proportions. They are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, please refer to the drawings. It should be noted that the structures, proportions, sizes, etc. shown in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read. They are not used to limit the conditions for the implementation of the present invention, so they have no technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention.

[0104] The following will be combined with the Figures 1 to 20 The technical solutions of a shaft expansion mining system and a mining method of the present invention are described in detail with specific embodiments.

[0105] Example 1

[0106] like Figures 1 to 14 As shown, a shaft expansion mining system of this embodiment includes a channel shaft 1 connected to a mining location, a three-dimensional controllable expansion mining device 2 for performing mining operations based on the channel shaft 1, a measurement and control device for realizing at least one function including measuring operation status parameters and controlling the operation of the three-dimensional controllable expansion mining device, a power cable 4 for supplying energy to the three-dimensional controllable expansion mining device 2, a shaft ore conveying device 3 for conveying ore, a travel module for driving the device body 21 to move along the channel shaft 1, and a support fluid filled in the channel shaft 1. The three-dimensional controllable expansion mining device 2 includes a device body 21 and a three-dimensional expansion section 22 for extending the mining range. The three-dimensional expansion section 22 One end is connected to the equipment body 21, and the other end is connected to the mining assembly 23 or the rock splitting assembly 24. The three-dimensional expansion section 22 has a deflection mechanism deflection module and / or a rotation mechanism rotation module. The deflection mechanism deflection module drives the mining assembly 23 or the rock splitting assembly 24 to move in a direction deviating from the axis of the channel well 1. The rotation module of the rotation mechanism drives the mining assembly 23 or the rock splitting assembly 24 to move around the well axis of the channel well 1 or the axis of the equipment body 21 to drive the mining assembly 23 or the rock splitting assembly 24 to expand the mining range. The deflection mechanism deflection module and the rotation module of the rotation mechanism include an electric actuator, a hydraulic actuator or a pneumatic actuator for controllably performing the deflection action.

[0107] The channel well 1 in the scheme provides a channel for conveying the three-dimensional controllable expansion mining device 2 to the mining location, the three-dimensional controllable expansion mining device 2 includes a three-dimensional expansion section 22 for moving the mining assembly 23 / rock breaking assembly 24 in a direction deviating from the axis of the channel well 1, expanding the mining range, so as to mine to form a chamber, and the three-dimensional controllable expansion mining device 2 can also move in the channel well 1, so that the three-dimensional controllable expansion mining device 2 can realize mining, rock breaking in the form of a chamber group along a three-dimensional well pattern, and then the mined rock is conveyed to the ground by means of the shaft ore conveying device 3. The rolling mining method can safely and efficiently realize chamber mining and filling operation. In the mining process, high-pressure supporting liquid is supplemented and injected into the channel well 1, which can temporarily support the chamber by using the supporting liquid until the chamber is refilled after the mining is completed. The supporting liquid in the chamber can effectively alleviate the problems of rock burst, outburst, roof falling, collapse, water inrush and the like of the stratum, promote the smooth progress of the mining work, and can be applied to the mining of deep mineral resources and mineral resources under the sea. If the stratum leaks during the mining process, the supporting liquid needs to be supplemented from the wellhead to the well, so that the supporting liquid in the channel well 1 maintains a predetermined liquid column height, and in addition, a back pressure pump 323 can be used to supplement the lost supporting liquid in real time. The role of the supporting liquid is to provide support for the chamber in the mining process through the liquid column pressure, so that the chamber can be prevented from collapsing. In addition, the supporting liquid is also used to carry the ore, and is used to carry the ore out of the wellhead.

[0108] The three-dimensional expansion section 22 in the embodiment is configured to include at least two controllable sections 221 connected in sequence, and the adjacent controllable sections 221 are fixedly connected. The controllable section 221 includes a front part and a rear part relatively rotating. For the adjacent two controllable sections 221, the rear part of the former section is fixedly connected with the front part of the latter section. The controllable section 221 is also provided with an opening and closing control assembly and a joint control assembly 2211 for driving the two parts to rotate under control. The rotation axes between the two parts of different controllable sections 221 are not parallel. When the front part and the rear part of each controllable section 221 relatively rotate, the three-dimensional expansion section 22 formed by the controllable section 221 as a whole can drive the mining assembly 23 / rock breaking assembly 24 to move in two degrees of freedom. The opening and closing control assembly and the joint control assembly 2211 in the embodiment are used as a biasing module, and can be specifically selected from different actuators such as electric motors and pneumatic pistons.

[0109] In addition, for the three-dimensional expansion section 22 comprising a plurality of controllable segments 221 connected in sequence, the three-dimensional expansion section 22 can also be operated in another way. For example, in another embodiment of the present embodiment, the adjacent controllable segments 221 of the three-dimensional expansion section 22 are hingedly connected to each other, and the adjacent controllable segments 221 are hingedly or rotatably connected through the hinge structure 2232. The rear end of the three-dimensional expansion section 22 is also provided with an expansion control mechanism, which comprises three separately operated drives 223, each of which is connected with a pulling transmission structure 2231, which can be selected from a rope, a chain or a belt. The side surface of each controllable segment 221 is also welded with three ring structures for the pulling transmission structure 2231 to pass through, and the side surfaces of all controllable segments 221 have three rows of ring structures, which are uniformly arranged around the axis of the three-dimensional expansion section 22. Each pulling transmission structure 2231 passes through a row of ring structures in sequence and is connected with the controllable segment 221 at the front end of the three-dimensional expansion section 22. The three drives 223 can provide motion control in at least two directions, and by winding and unwinding the pulling transmission structure 2231, the three-dimensional expansion section 22 formed by a plurality of controllable segments 221 can be driven to swing in different directions to realize three-dimensional motion. The adjacent two controllable segments 221 are also provided with a reset mechanism 2233, which is used to provide a force to restore the coaxial state between the controllable segments 221, and to provide bending elasticity for the three-dimensional expansion section 22 formed by the plurality of controllable segments 221, so as to ensure the stability of the arm shape of the three-dimensional expansion section 22 when the drive 223 controls the three-dimensional expansion section 22 through the pulling transmission structure 2231.

[0110] The drive 223 in the present embodiment can wind and unwind the rope in a wound state, for example, the drive 223 is selected from an electric motor in an electric drive actuator, and the above-mentioned rope is wound on the output shaft of the electric motor or a rotating drum in transmission connection with the output shaft of the electric motor. The rope is used as the pulling transmission structure 2231, and at least three ropes are used to wind and unwind from different directions around the three-dimensional expansion section 22 to drive the three-dimensional expansion section 22 formed by a plurality of controllable segments 221 to swing in different directions. The reset mechanism 2233 in the present embodiment is an elastic member, which is used to provide a force to restore the coaxial state between the controllable segments 221, and can maintain the shape of the three-dimensional expansion section 22 when the rope pulls the three-dimensional expansion section 22 to deviate. The elastic member can be selected from an elastic tube, an elastic rod or a leaf spring.

[0111] In addition, the number of pulling transmission structures 2231 can also be increased, for example, two independent drives 223 are used to control two pairs of pulling transmission structures 2231, that is, four pulling transmission structures 2231. Taking the rope as the pulling transmission structure 2231 as an example, each pair of pulling transmission structures 2231 is symmetrically arranged on both sides of the axis of the three-dimensional expansion section 22, and the drive 223 retracts the rope on one side to release the rope on the other side. The control scheme of multiple pairs of ropes is similar.

[0112] It should be understood that the driver 223 described in the embodiment is a minimum structural unit capable of completely implementing the winding and unwinding of a pulling force transmission structure 2231, and in other embodiments, it can also represent a structural module capable of simultaneously winding and unwinding multiple pulling force transmission structures 2231.

[0113] In addition, the mine expansion mining system also includes a traveling module for moving the equipment body 21 in the access shaft 1, which can be a component of the equipment body 21 or an independent module detachably connected to the equipment body 21.

[0114] It should be understood that if the access shaft 1 is not directly aligned and communicated to the mining location, an inclined structure 113 can be installed in the access shaft 1 to guide the three-dimensional controllable expansion mining equipment 2 to break through the shaft wall of the access shaft 1 and drill towards the mining location.

[0115] Further, the access shaft 1 is also provided with a pipe column 11 through which the three-dimensional controllable expansion mining equipment 2 passes, the pipe column 11 is provided with a smooth traveling channel 111, the side of the pipe column 11 is provided with a window communicating with the traveling channel 111, and the inclined structure 113 is arranged in the pipe column 11 to guide the three-dimensional controllable expansion mining equipment 2 to pass out of the window. It should be understood that the drawing is a schematic view, the actual shaft length is several kilometers, and the curvature of the curved part of the shaft is very small. The pipe column 11 can smoothly pass through the curved position of the shaft during the process of being lowered into the access shaft 1. The diameter of the three-dimensional controllable expansion mining equipment is also smaller than that of the pipe column 11, that is, the three-dimensional controllable expansion mining equipment 2 itself can pass through the access shaft 1 and can also move smoothly in the pipe column 11. The equipment body 21 of the three-dimensional controllable expansion mining equipment 2 is of a multi-section structure, and each section can be deflected relative to each other, so that the three-dimensional controllable expansion mining equipment 2 can smoothly pass through the curved position of the shaft. During operation, the three-dimensional controllable expansion mining equipment 2 can be slowly lowered into the shaft by using a cable, and gradually sink to the bottom of the shaft by relying on its own gravity. After entering the inclined shaft section or the horizontal section, when it cannot continue to advance by relying on its own gravity, it can rely on the traveling module to move autonomously.

[0116] Further, when the three-dimensional controllable expansion mining equipment 2 is in the access shaft 1, it can be stably stopped in the access shaft 1 by relying on its own gravity, so as to ensure that the mining assembly 23 and the rock breaking assembly 24 do not deviate during operation. However, in order to improve the stability of the three-dimensional controllable expansion mining equipment 2, the mine expansion mining system also includes a fixing device for preventing the three-dimensional controllable expansion mining equipment 2 from tilting or rolling, and the fixing device is configured to:

[0117] The fixing device comprises a fixing assembly moving radially along the passage well 1 and a reciprocating driving assembly driving the fixing assembly to move reciprocally, and is arranged on the device body 21 of the three-dimensionally controllable expansion mining device 2 or on the fixed object in the passage well 1, and when the fixing device is stretched and abuts between the device body 21 and the fixed object, the position of the three-dimensionally controllable expansion mining device 2 is locked by the fixing device. It should be understood that the fixing device can also be arranged on the device body 21 of the three-dimensionally controllable expansion mining device 2 and the fixed object in the passage well 1 at the same time.

[0118] In the embodiment, the fixing assembly is a plurality of claws 2112 movably connected to the side of the device body 21, and the reciprocating driving assembly is a telescopic control module 2111 driving the claws 2112 to move close to or away from the device body 21. The claws 2112 are telescopic along the radial direction or the oblique direction, and are clamped on the inner wall of the well wall of the passage well 1 or the pipe column 11, so as to fix the three-dimensionally controllable expansion mining device 2 in the passage well 1. The extension stroke of the claws 2112 towards the well wall of the passage well 1 should be greater than the gap between the claws 2112 and the well wall of the passage well 1, so as to ensure that the claws 2112 can be fixed by means of pressing or clamping. In the present application, the claws 2112 are fixed by means of friction or locked by means of the structure matched with the well wall. In the embodiment, the pipe column 11 is taken as the fixed object in the passage well 1, and the three-dimensionally controllable expansion mining device 2 is located in the pipe column 11, so that the claws 2112 can be used to press against the inner wall of the pipe column 11.

[0119] In addition, the fixing assembly can also be a support leg connected to the device body 21, the support leg is in sliding fit or rotary fit with the device body 21, and the reciprocating driving assembly is a push-pull control module hinged between the support leg and the device body 21, the push-pull control module pushes the support leg to move, and abuts against the well wall of the passage well 1 or the inner wall of the pipe column 11 to realize locking.

[0120] It should be understood that the claws 2112, the support leg and the like can also be installed on the well wall of the passage well 1 or the fixed object in the passage well 1, and when the device body 21 passes through, the three-dimensionally controllable expansion mining device 2 can also be locked.

[0121] Further, the device body 21 in the embodiment comprises at least two crawling sections 211 arranged along the axis direction of the passage well 1, each of the crawling sections 211 is provided with a fixing device, and the two crawling sections 211 are connected through a telescopic structure 212 controlled to be telescopic along the axis direction of the passage well 1, the two parts relatively moving of the telescopic structure 212 are connected with the two crawling sections 211 respectively, and the telescopic structure 212 and the two crawling sections 211 with the fixing devices are combined to form a crawling module driving the three-dimensionally controllable expansion mining device 2 to move along the travel passage 111.

[0122] Further, the three-dimensional controllable expansion mining equipment 2 has a rear end away from the mining position, and a traction cable 213 or a traction rod is connected to the rear end of the three-dimensional controllable expansion mining equipment 2. When the three-dimensional controllable expansion mining equipment 2 needs to exit the channel well 1, the traction cable 213 or the traction rod can be used to pull the three-dimensional controllable expansion mining equipment 2 to move towards the well mouth, and the three-dimensional controllable expansion mining equipment 2 can exit the channel well 1.

[0123] Further, the mining assembly 23 includes a crushing structure 231 for mining ore and a crushing power mechanism 232 for driving the crushing structure 231 to operate. The crushing structure 231 includes a heading head, a cutting head, a reamer, a saw or an impactor. When the crushing structure 231 excavates / mines the ore in a rotary form, for example, the heading head or the reamer is used as the crushing structure 231, the rotary axis of the crushing structure 231 is perpendicular to the axis of the three-dimensional controllable expansion mining equipment 2, so as to avoid the reverse torque generated in the process of the heading head or the reamer crushing the ore from being transmitted along the axis of the three-dimensional controllable expansion mining machine.

[0124] Specifically, the rock breaking assembly 24 is one or more of a blasting rock breaking assembly 24, a static pressure rock breaking assembly 242 or a hydraulic rock breaking assembly 243.

[0125] The static pressure rock breaking assembly 242 includes a rock breaking device body 241 and a rock breaking hydraulic cylinder 2421 connected to the rock breaking device body 241. A rock breaking thrust piece 2422 is connected to a piston rod of the rock breaking hydraulic cylinder 2421. The rock breaking hydraulic cylinder 2421 is in communication with a hydraulic source through a hydraulic line. The hydraulic source is arranged outside the well mouth, in the well shaft or on the three-dimensional controllable expansion mining equipment 2.

[0126] The hydraulic rock breaking assembly 243 includes a rock breaking device body 241 provided with a hydraulic port 2431. The rock breaking device body 241 is further connected with a packer 2432 for sealing the channel well 1. The hydraulic port 2431 is in communication with a hydraulic source through a hydraulic line. The hydraulic source is arranged outside the well mouth, in the well shaft or on the three-dimensional controllable expansion mining machine.

[0127] Preferably, the three-dimensional controllable expansion mining equipment 2 further comprises a drilling assembly 25 matched with the rock breaking assembly 24. The drilling assembly 25 includes a power module 252 provided with a drill bit 253 and a drill feeding module 251 for driving the power module 252 to move.

[0128] In addition, the three-dimensional controllable expansion mining equipment 2 further comprises a re-breaking assembly (not shown in the figure) connected to the three-dimensional expansion section 22. The re-breaking assembly is arranged at the end of the three-dimensional expansion section 22. The re-breaking assembly includes a breaking hammer, a breaking jaw, a breaking clamp or a reamer, which is used to break the large ore falling from the rock breaking assembly 24.

[0129] When the re-crushing aggregate is a crushing jaw, the crushing jaw crushes the large ore blocks by biting action; when the re-crushing aggregate is a crushing hammer, the crushing hammer crushes the large ore blocks by impact action.

[0130] In addition, the three-dimensionally controllable expansion mining device 2 further comprises a stone mining assembly connected to the three-dimensionally expansion section 22, which comprises one or more of a rake, a suction mechanism, a suction pipe, a shovel or a bucket.

[0131] Specifically, the power cable 4 is connected to the three-dimensionally controllable expansion mining device 2 at one end and to a power source 41 outside the wellhead at the other end, and the power cable 4 provides energy in the form of electric energy, pressure energy or chemical energy to the three-dimensionally controllable expansion mining device 2.

[0132] The wellbore ore conveying device 3 in the embodiment comprises a flexible hose 31 in communication with the ore particle outlet of the three-dimensionally controllable expansion mining device 2, one end of the flexible hose 31 being in communication with the three-dimensionally controllable expansion mining device 2 and the other end extending to the wellhead of the access well 1 or another process well in communication with the access well 1, the end of the flexible hose 31 in communication with the ore particle outlet of the three-dimensionally controllable expansion mining device 2 being provided with a first releasable connector 311, and the three-dimensionally controllable expansion mining device 2 being provided with a second releasable connector 214 cooperating with the first releasable connector 311.

[0133] The end of the first releasable connector 311 or the second releasable connector 214 is provided with an alignment structure and a locking mechanism for pulling the alignment surfaces of the first releasable connector 311 and the second releasable connector 214 close to each other, the alignment mechanism comprising a guide cone or a guide groove 112 and an insert cooperating therewith, and the alignment mechanism is involved in numerous connection devices and plug-in devices, which will not be described herein again. The locking mechanism is used to realize the connection of the first releasable connector 311 and the second releasable connector 214. In the embodiment, the alignment structure comprises a conical guide cylinder formed on the end of each releasable connector, and when the two conical guide cylinders of the ends of the two releasable connectors are fitted into each other, the central axes of the two releasable connectors can be aligned; the locking mechanism of the releasable connector can be realized by a hydraulic locking mechanism or an electromagnetic attraction mechanism.

[0134] The operation steps are as follows:

[0135] (1) The three-dimensionally controllable expansion mining device 2 is lowered into the well through the cable, and then the flexible hose 31 is lowered into the return well 12.

[0136] (2) The flexible hose 31 pushes the first releasable connector 311 to approach the second releasable connector 214 by gravity, or the second releasable connector 214 at the rear end of the three-dimensionally controllable expansion mining device 2 pushes the first releasable connector 311 to approach by the crawling section 211.

[0137] (3) The first releasable connector 311 and the second releasable connector 214 are aligned by the alignment structure and locked by the locking mechanism.

[0138] (4) The first releasable connector 311 at the end of the flexible hose 31 is connected with the second releasable connector 214 arranged at the rear end of the three-dimensional controllable expansion mining equipment 2, and the connection is completed to realize the conveying of the ore.

[0139] The flexible hose 31 is directly connected to the ground, and the ground-mounted drum 312 can be used to directly drag the flexible hose 31. When the three-dimensional controllable expansion mining equipment 2 needs to be replaced, the releasable connector can be controlled to be disconnected, part of the flexible hose 31 is recovered, and a passage is left to connect the traction cable 213 or the traction rod at the rear end of the three-dimensional controllable expansion mining equipment 2 to move the three-dimensional controllable expansion mining equipment 2 towards the wellhead.

[0140] Specifically, the flexible hose 31 can be a non-metal hose, and the non-metal hose has a conductive layer or a cable in the pipe wall sandwiched layer.

[0141] When the flexible hose 31 is used, the ore lifting pump 321 such as a slurry pump or a booster pump can be directly installed at the rear of the three-dimensional controllable expansion mining equipment 2. The ore lifting pump 321 pumps the two-phase flow or multi-phase flow containing ore particles out of the wellhead through the flexible hose 31 when it operates.

[0142] The measurement and control device in the embodiment is used to realize the following three functions: the function of monitoring the mining operation, the function of measuring the operation state parameters, and the function of controlling the operation of the three-dimensional controllable expansion mining equipment 2, and at least one of them can be selected according to the needs. The telemetry device 5 of the embodiment includes a sensor located in the well. The sensor includes a flow meter, an ore concentration meter, a current sensor, a voltage sensor, a laser detection device, an acoustic detection device, or an electromagnetic detection device, which is used to sense the running state of the shaft ore conveying device 3 and the three-dimensional controllable expansion mining equipment 2, the state of the chamber shape and / or the rock mass. The sensor is connected to the communication terminal located outside the wellhead through a communication line, and the sensor and the communication terminal transmit data through the communication line, and the communication line is arranged in the passage well 1 or other process wells. The flow meter and the ore concentration meter are arranged along the flowback well 12, the ore lifting pipe 32 or the flexible hose 31 to monitor the ore conveying and provide early warning of ore particle blockage. The current sensor and the voltage sensor are used to monitor the working state of the three-dimensional controllable expansion mining equipment 2. The laser detection device, the acoustic detection device, or the electromagnetic detection device is used to detect the chamber shape and the stratum condition. In addition, the mining assembly 23 or the rock breaking assembly 24 or the outside of the expansion mining section in the embodiment is also provided with a laser detection device, an acoustic detection device for monitoring the mining operation process.

[0143] Further, the measuring and control device further comprises a remote control device, the remote control device comprises a control terminal located outside the well mouth, the control terminal communicates with the deflection module, the rotation module and the reciprocating drive assembly in the fixing device in this embodiment through a communication line to transmit data and control instructions, thereby realizing control of the operation of the three-dimensional controllable expansion mining device 2. The remote control device and the telemetry device 5 can share the same communication line, or can use independent communication lines. The communication lines used by the telemetry device 5 and the remote control device are arranged in the access well 1 or other process wells.

[0144] Embodiment two:

[0145] Please refer to Figure 15 The three-dimensional expansion section 22 is a two-degree-of-freedom or multi-degree-of-freedom mining arm, and is connected between the device body 21 and the three-dimensional expansion section 22 in a hinged connection and / or rotary connection manner, and at least two drive assemblies or at least one double-shaft drive assembly are further connected between the device body 21 and the three-dimensional expansion section 22, which can realize two-degree-of-freedom control of the three-dimensional expansion section 22, and the total length of the three-dimensional expansion section 22 is greater than 2 times the diameter of the access well 1. In this embodiment, the three-dimensional expansion section 22 and the device body 21 are connected through a hinged connection, and a rotary joint 225 is further arranged between the three-dimensional expansion section 22 and the device body 21. The rotary joint 225 includes a fixed part connected with the device body 21 and a rotating part connected with the three-dimensional expansion section 22. The rotating part and the three-dimensional expansion section 22 are connected in a hinged manner to realize opening and closing. The drive assembly includes a rotary drive structure 224 for driving the relative rotation of the fixed part and the rotating part, and an opening and closing drive structure for driving the rotating part and the expansion arm to rotate and open and close. The rotary drive structure 224 serves as a rotary module, and the opening and closing drive structure serves as a deflection module. The rotary drive structure 224 can be selected from a hydraulic motor, a stepping hydraulic motor, and an electric motor, which can drive the rotating part of the rotary joint 225 to rotate controllably relative to the fixed part. The rotary drive structure 224 can be selected from a hydraulic motor, a hydraulic cylinder, etc. In this embodiment, the rotary control mechanism is arranged on the fixed part of the rotary joint 225 to drive the rotating part of the rotary joint 225 to rotate, thereby driving the three-dimensional expansion section 22 to rotate around the axis of the device body 21 or the access well 1.

[0146] In this embodiment, the mining assembly 23 is an impactor, and the breaking structure 231 is a cutting head 2311 and a vibration hammer 2312. The breaking power mechanism 232 is an electric motor, a hydraulic piston or a pneumatic piston for driving the vibration hammer 2312 to reciprocate. Using a linear motor to drive the vibration hammer 2312 can obtain a higher impact frequency, which is beneficial to breaking rocks in a deep liquid-filled environment.

[0147] The length of the three-dimensional expansion section 22 is greater than three times the maximum diameter of the access well 1, which can realize a large range of mining work, and the three-dimensional expansion section 22 can rotate relative to the device body 21 and smoothly pass through the access well 1.

[0148] In addition, in the embodiment, the fixing assembly is a bolt 217 which is in sliding fit with the device body 21, the reciprocating driving assembly is a sliding driving module 218 which drives the bolt 217 to slide, and the well wall of the channel well 1 or the fixed object in the channel well 1 is further provided with a slot into which the bolt 217 is inserted. When the device body 21 is moved into position, the sliding driving module 218 is controlled to operate, and the bolt 217 is inserted into the slot to lock the three-dimensional controllable expansion mining device 2.

[0149] Embodiment three:

[0150] Please refer to Figure 16 and Figure 17 The three-dimensional expansion section 22 comprises at least one main mining arm 2222 on which the mining assembly 23 / rock splitting assembly 24 is mounted and a mining arm body 222 which is rotationally connected with the device body 21, the mining arm body 222 rotates around the axis of the channel well 1, the mining arm body 222 and the device body 21 are provided with a slewing control assembly which drives the mining arm body 222 to rotate, and the mining arm body 222 and the main mining arm 2222 are connected with an expansion control assembly which drives the main mining arm 2222 to move along the radial direction of the channel well 1. The expansion control assembly serves as a biasing module, the slewing control assembly serves as a slewing module, the expansion control assembly can provide movement in the radial direction, the slewing control assembly can provide movement in the circumferential direction, and the traveling device or the feeding device can provide axial movement, so that the expansion control assembly can realize mining control in three-dimensional directions.

[0151] Specifically, at least two auxiliary mining arms 2221 are arranged between the mining arm body 222 and the main mining arm 2222, the two ends of the auxiliary mining arm 2221 are rotationally connected with the mining arm body 222 and the main mining arm 2222 respectively, the two auxiliary mining arms 2221 and the mining arm body 222 and the main mining arm 2222 form a planar linkage mechanism, the two auxiliary mining arms 2221 are connected with pulling chains 2223, and the expansion control assembly comprises two sets of pulling chains 2223 which are respectively retracted and extended by a retraction motor 2224 from two directions, the output shaft of the retraction motor 2224 is provided with a winding drum, and the pulling chains 2223 are connected to the side of the winding drum. When the retraction motor 2224 rotates, the pulling chains 2223 can be smoothly wound. The pulling chains 2223 pull the auxiliary mining arms 2221 to drive the main mining arm 2222 to move, so that the mining assembly 23 / rock splitting assembly 24 moves away from or approaches the mining arm body 222. The pulling chains 2223 are arranged in two groups, the two groups of pulling chains 2223 pull the auxiliary mining arms 2221 from two sides respectively, and the two groups of pulling chains 2223 are always in a taut state, so as to ensure that the auxiliary mining arms 2221 remain stable during the mining operation. In addition, the auxiliary mining arms 2221 can also be driven to rotate by hydraulic pistons, which can also avoid the auxiliary mining arms 2221 from shaking and ensure the normal work of the mining assembly 23 or the rock splitting assembly 24.

[0152] In addition, at least one hydraulic cylinder or electric cylinder can be connected between the auxiliary mining arm 2221 and the mining arm body 222, and the two ends of the hydraulic cylinder or electric cylinder are hinged with the auxiliary mining arm 2221 and the mining arm body 222 respectively, the hydraulic cylinder or electric cylinder is directly used to push and pull the auxiliary mining arm 2221, drive the auxiliary mining arm 2221 to make opening and closing movement relative to the device body 21 of the three-dimensional controllable expansion mining device 2, and then make the main mining arm 2222 away from or close to the mining arm body main mining arm 222.

[0153] A hydraulic motor can also be installed at the connection between the auxiliary mining arm 2221 and the mining arm body 222, the housing of the hydraulic motor is connected with the mining arm body 222, the output shaft of the hydraulic motor is in transmission connection with the auxiliary mining arm 2221, and when the hydraulic motor works, the auxiliary mining arm 2221 is driven to swing, and then the main mining arm 2222 is away from or close to the mining arm body main mining arm 222.

[0154] The mining arm body 222 in the embodiment is provided with a recess for accommodating the auxiliary mining arm 2221 and the main mining arm 2222, when the three-dimensional controllable expansion mining device 2 is sent into the access shaft 1, the auxiliary mining arm 2221 and the main mining arm 2222 can be accommodated in the recess of the mining arm body 222, and the access shaft 1 is conveniently passed through.

[0155] Please refer to Figure 18 and Figure 19 The fixing device in the embodiment includes two guide structures that are in sliding cooperation with each other, and the two guide structures are fixedly connected with the device body 21 of the three-dimensional controllable expansion mining device 2 and a fixed object in the access shaft 1 respectively, and in the case that the tubular column 11 is arranged in the access shaft 1, the tubular column 11 is taken as the fixed object in the access shaft 1.

[0156] The two guide structures are respectively a guide groove 112 opened in the inner wall of the traveling channel 111, i.e. the inner wall of the tubular column 11, and a protrusion 216 arranged on the side surface of the device body 21, the guide groove 112 extends along the length direction of the traveling channel 111, the protrusion 216 is in sliding cooperation with the guide groove 112, and at least one set of the mutually cooperating protrusion 216 and guide groove 112 is arranged; or

[0157] The two guide structures are respectively a guide strip arranged on the inner wall of the traveling channel 111 and a groove opened in the side surface of the controllable joint 221, the guide strip extends along the length direction of the traveling channel 111, the guide strip is in sliding cooperation with the groove, and at least one set of the mutually cooperating guide strip and groove is arranged.

[0158] In the case that the tubular column 11 is not arranged in the access shaft 1, the corresponding guide groove 112 and guide strip can be arranged on other fixed objects in the access shaft 1.

[0159] The convex 216 is used to cooperate with the guide groove 112, or the groove is used to cooperate with the guide strip, so as to guide the device body 21 of the three-dimensional controllable expansion mining device 2 to smoothly slide along the running channel 111, but the device body 21 is prevented from rolling around the axis of the running channel 111.

[0160] When the front end of the expansion mining device is provided with the mining assembly 23, the friction force generated by the self weight of the expansion mining device is not enough to offset the reaction force generated by rock breaking, and the side of the device body 21 is movably provided with the claw 2112 and the telescopic control module 2111 for driving the claw 2112 to be close to or away from the device body 21 along the radial direction of the running channel 111, and the claw 2112 can resist the running channel 111 after being extended, so as to offset the reaction force generated by cutting and breaking rock, and prevent the device body 21 from axially sliding.

[0161] Embodiment five:

[0162] The three-dimensional controllable expansion mining device 2 in the embodiment is provided with a running module for driving the three-dimensional controllable expansion mining device 2 to move along the channel well 1 in the axial direction, and the running module comprises:

[0163] a traction rope 215 connected with the three-dimensional controllable expansion mining device 2; or

[0164] a pulley rotationally connected with the three-dimensional controllable expansion mining device 2 and a driving motor for driving the pulley to rotate.

[0165] The traction rope 215 and the pulley can be used simultaneously or separately, and both can be connected at any position of the device body 21, as long as they can drive the three-dimensional controllable expansion mining device 2 to move. The pulley needs to be paid attention to the blocking problem, so the pulley is more suitable to be used in the pipe column 11.

[0166] Embodiment six:

[0167] The well shaft ore conveying device 3 in the embodiment comprises a telescopic transfer pipe 121 and a flow-back well 12 in communication with the channel well 1. One end of the flow-back well 12 is communicated to the ground, and the other end extends to below the channel well 1 and is in communication with the bottom wall of the channel well 1. The end of the flow-back well 12 in communication with the channel well 1 is the inlet of the flow-back well 12. One end of the transfer pipe 121 is in communication with the ore particle outlet of the three-dimensional controllable expansion mining device 2, and the other end is in communication with the inlet of the flow-back well 12. The transfer pipe 121 transfers the ore of the three-dimensional controllable expansion mining device 2 to the flow-back well 12, and then the ore particles are mined from the flow-back well 12.

[0168] Preferably, the transfer pipe 121 comprises a hose, a multi-section telescopic pipeline, a telescopic chute, or a corrugated telescopic pipe, and the transfer pipe 121 is detachably connected with the ore particle outlet of the three-dimensional controllable expansion mining device 2.

[0169] Further, the well shaft ore conveying device 3 also comprises an ore lifting pipe 32, the outlet of the ore lifting pipe 32 is arranged at the well mouth of the flowback well 12, the inlet of the ore lifting pipe 32 extends to the underground of the flowback well 12 and is communicated with an ore lifting pump 321, the ore lifting pump 321 can be selected from a slurry pump and a booster pump; the slurry pump or the booster pump is arranged in the well and is used for pumping the two-phase flow or the multi-phase flow containing the ore particles out of the well mouth. When the ore lifting pump 321 operates, a negative pressure can be formed to suck the ore particles discharged from the ore particle flow outlet of the flowback well 12, the flowback pipe 121 and the three-dimensional controllable expansion mining equipment 2. For example, a motor-driven screw pump, an impeller pump, a vane pump or a diaphragm pump can realize the function of the slurry pump or the booster pump.

[0170] Further, the three-dimensional controllable expansion mining equipment 2 also comprises a sealing assembly for sealing the gap between the three-dimensional controllable expansion mining equipment 2 and the inner sidewall of the channel well 1, and the flowback pipe 121 is installed between the fixing device and the sealing assembly. The sealing assembly can not only position the three-dimensional controllable expansion mining equipment 2, but also avoid the ore lifting pump 321 directly sucking the liquid in the channel well 1, so as to ensure that the ore lifting pump 321 smoothly sucks the ore particles from the ore particle flow outlet of the three-dimensional controllable expansion mining equipment 2. The ore lifting pipe 32 and the ore lifting pump 321 can also be directly installed in the channel well 1 or other shafts communicated with the channel well 1 to suck the ore particles in the channel well 1.

[0171] Embodiment seven:

[0172] Please refer to Figure 20 The well shaft ore conveying device 3 in the embodiment comprises a low-density medium injection pump 322 or a back pressure pump 323, the low-density medium injection pump 322 or the back pressure pump 323 is arranged outside the well mouth of the channel well 1 or any other well communicated with the chamber, and is used for injecting low-density medium into the underground or directly pumping fluid downward; when the low-density medium injection pump 322 is adopted, the low-density medium injection pump 322 injects low-density medium into the well, and after the low-density medium is mixed with the fluid containing the ore, the low-density medium is returned to the well mouth through the flowback well 12 under the action of the support liquid column pressure; when the back pressure pump 323 is adopted, the back pressure pump 323 pumps the support liquid into the well, and the support liquid carries the ore and discharges the ore out of the well mouth through the flowback well 12, the ore lifting pipe 32 or the flexible hose 31.

[0173] For the embodiment two and the embodiment three, it should be understood that the pulling chain 2223 and the winding and unwinding motor 2224 in the embodiment three can also be regarded as the joint rotation control mechanism or the hinge rotation control mechanism to drive the mining arm to rotate around the axis where the joint is located, that is, as an embodiment of the driving assembly. In addition, the driving of the rotation position in the three-dimensional expansion section 22 in the embodiment two and the embodiment three can also be realized by the embodiment of the rope or chain driving mode.

[0174] Embodiment eight:

[0175] Based on the shaft and chamber expansion mining system described in the above embodiments, a mining method suitable for the shaft and chamber expansion mining system of the present embodiment comprises the following steps:

[0176] S1. Transporting the three-dimensional controllable expansion mining equipment 2 through the access shaft 1 to the mining location;

[0177] S2. Controlling the three-dimensional controllable expansion mining equipment 2 to excavate a chamber and continuously injecting support liquid into the chamber;

[0178] S3. Controlling the shaft ore conveying device 3 to continuously collect the excavated ore;

[0179] S4. Moving the three-dimensional controllable expansion mining equipment 2 and repeating steps S2 and S3 to excavate a group of chambers;

[0180] S5. After completing the excavation work, filling each chamber.

[0181] For the shaft and chamber expansion mining system configured with the drilling assembly 25 and the rock breaking assembly 24, the mining method suitable for the shaft and chamber expansion mining system comprises the following steps:

[0182] S1. Transporting the three-dimensional controllable expansion mining equipment 2 provided with the drilling assembly 25 at the end through the access shaft 1 to the mining location;

[0183] S2. Drilling holes on the wall of the access shaft 1 or the chamber wall using the drilling assembly 25;

[0184] S3. Transporting the three-dimensional controllable expansion mining equipment 2 provided with the rock breaking assembly 24 at the end through the access shaft 1 to the mining location;

[0185] S4. Inserting the rock breaking assembly 24 into the hole drilled by the drilling assembly 25; when the rock breaking assembly 24 is a static pressure rock breaking assembly 242, starting the hydraulic piston to break the hole wall by the hydraulic piston, and the crack expansion to the chamber wall will cause large rock collapse. When a hydraulic rock breaking assembly 243 is used, high-pressure water will form cracks near the rock breaking device, and when the cracks form a network or expand to the surface of the chamber wall, they will cause ore collapse;

[0186] S5. Transporting the three-dimensional controllable expansion mining equipment 2 provided with the rock breaking assembly at the end through the access shaft 1 to the mining location, collecting and absorbing the ore into the shaft ore conveying pipe system, and returning the ore to the outside of the shaft mouth through the shaft ore conveying device 3.

[0187] In all the above embodiments, the driving of the rotating part can be achieved by direct driving of an electric motor, direct driving of a hydraulic motor, direct driving of a pneumatic motor, and other equivalent structures, or can be achieved by driving in the form of pushing and pulling by using a hydraulic cylinder, an electric cylinder, a pneumatic cylinder, or a rope; the part that needs to be telescopic or slidable can be driven by a hydraulic cylinder, an electric cylinder, a pneumatic cylinder, a lead screw, a gear rack, or a rope, and other equivalent alternative mechanisms. Correspondingly, the electric drive actuator, the hydraulic actuator, and the pneumatic actuator used in the deflection module and the rotation module in the embodiments can be selected according to the need.

[0188] The technical features of the above embodiments can be combined in any manner. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the present disclosure.

[0189] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for ordinary skilled persons in the art, some modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims

1. A shaft expansion mining system, characterized in that: It includes a channel shaft connected to a mining location, three-dimensional controllable expansion mining equipment that performs mining operations based on the channel shaft, a measurement and control device for realizing at least one function including measuring operation status parameters and controlling the operation of the three-dimensional controllable expansion mining equipment, a power cable for supplying energy to the three-dimensional controllable expansion mining equipment, a shaft ore conveying device responsible for conveying ore, a travel module for driving the equipment body to move along the channel shaft, and a support fluid filled in the channel shaft. The three-dimensional controllable expansion mining equipment includes an equipment body and a three-dimensional expansion section for extending the mining range, one end of the three-dimensional expansion section is connected to the equipment body, and the other end is connected to a mining assembly, a pipe string for the three-dimensional controllable expansion mining equipment to pass through is fixed in the channel shaft, a travel channel for the three-dimensional controllable expansion mining equipment to pass through is provided in the pipe string, a window connected to the travel channel is opened on the side of the pipe string, and an inclined structure for guiding the three-dimensional expansion section to deviate from the axis of the channel shaft is provided in the pipe string; Alternatively, one end of the three-dimensional expansion section is connected to the equipment body, and the other end is connected to a rock splitting assembly, the rock splitting assembly is a static pressure rock splitting assembly or a hydraulic rock splitting assembly, the static pressure rock splitting assembly includes a rock splitter body, a rock splitting hydraulic cylinder connected to the rock splitter body, the piston rod of the rock splitting hydraulic cylinder is connected to a rock splitting thrust piece, the rock splitting hydraulic cylinder is connected to a hydraulic source through a hydraulic circuit, the hydraulic source is provided outside the wellhead, in the wellbore or on the three-dimensional controllable expansion mining equipment; the hydraulic rock splitting assembly includes a rock splitter body provided with a hydraulic port, the rock splitter body is further connected to a packer and a hydraulic port for closing the passage well, the hydraulic port is connected to the hydraulic source through a hydraulic circuit, the hydraulic source is provided outside the wellhead, in the wellbore or on the three-dimensional controllable expansion mining equipment; The three-dimensional expansion section has a deflection module and / or a rotation module. The deflection module drives the mining assembly or the rock splitting assembly to move in a direction deviating from the axis of the channel shaft. The rotation module drives the mining assembly or the rock splitting assembly to move around the channel shaft axis or the axis of the equipment body to drive the mining assembly or the rock splitting assembly to expand the mining range. The deflection module and the rotation module include an electric actuator, a hydraulic actuator or a pneumatic actuator for controllably performing the deflection action. The three-dimensional expansion section is configured as follows: The three-dimensional extension section includes a mining arm body rotatably connected to the equipment body and at least one main mining arm connected to a mining assembly or a rock splitting assembly. The mining assembly or the rock splitting assembly is arranged at the front end of the main mining arm. The mining arm body can rotate around the axis of the channel shaft. A rotation control component is provided between the mining arm body and the equipment body to drive the mining arm body to rotate. An extension control component is connected between the mining arm body and the main mining arm to drive the main mining arm to move radially toward the channel shaft. The extension control component serves as a deflection module, and the rotation control component serves as a rotation module. or The three-dimensional extension section is a mining arm with at least two degrees of freedom. The three-dimensional extension section is connected to the equipment body by an articulated connection and / or a rotary connection. At least two drive assemblies or at least one dual-axis drive assembly are also connected between the three-dimensional extension section and the equipment body, which can realize the control of the two degrees of freedom of the three-dimensional extension section. The total length of the three-dimensional extension section is greater than 3 times the diameter of the channel shaft. The drive assembly serves as a deflection module and / or a rotary module; or The three-dimensional expansion segment includes at least two controllable sections connected in sequence, the controllable sections are fixedly connected in sequence, each of the controllable sections includes a front portion and a rear portion that are controlled to rotate relative to each other, and an opening and closing control component and / or a joint control component that drives the controlled rotation of the front portion and the rear portion, and the opening and closing control component and the joint control component both serve as deflection modules; or The three-dimensional expansion segment includes at least two controllable sections connected in sequence, and the adjacent controllable sections are connected in sequence in a hinged manner. The rear end of the three-dimensional expansion segment is also provided with an expansion control mechanism, and the expansion control mechanism includes a driver with at least two degrees of freedom control. The driver pulls the controllable sections of the three-dimensional expansion segment through a pulling force transmission structure to drive the three-dimensional expansion segment to achieve three-dimensional movement. The driver serves as a deflection module, and the pulling force transmission structure is a rope, belt or chain. The traveling module of the shaft expansion mining system is a component of the equipment body, or the traveling module is an independent module detachably connected to the equipment body. The power cable is arranged in a channel well and / or other process wells connected to the channel well.

2. A shaft expansion mining system according to claim 1, characterized in that: The shaft expansion mining system further includes a fixing device for preventing the three-dimensional controllable expansion mining equipment from tipping over or rolling, wherein the fixing device is configured as follows: The fixing device includes a fixing assembly that reciprocates radially along the channel shaft and a reciprocating drive assembly that drives the fixing assembly to reciprocate. The fixing device is arranged on the equipment body of the three-dimensional controllable expansion mining equipment and / or on a fixed object in the channel shaft. When the fixing device is extended and pressed against between the equipment body and the fixed object, the position of the three-dimensional controllable expansion mining equipment is locked by the fixing device, and / or The fixing device includes two guide structures that slide together, and the two guide structures are respectively fixedly connected to the equipment body of the three-dimensional controllable expansion mining equipment and the fixed object in the channel well.

3. A shaft expansion mining system according to claim 2, characterized in that: When the fixing device includes a fixing assembly and a reciprocating drive assembly, wherein: The fixing component is a claw, and the reciprocating drive component is a telescopic control module connected between the device body and the claw; or The fixed component is a support leg connected to the device body, and the reciprocating drive component is a push-pull control module hinged between the support leg and the device body; or The fixing component is a latch that slides with the equipment body, the reciprocating drive component is a sliding drive module that drives the latch to slide, and the well wall of the channel well or the fixed object in the channel well is also provided with a slot for the latch to be inserted.

4. A shaft expansion mining system according to claim 2, characterized in that: In the case where the fixing device includes a fixing component and a reciprocating drive component, the equipment body includes at least two crawling segments arranged along the axial direction of the channel well, each of the crawling segments is provided with a fixing device, and the two crawling segments are connected by a telescopic structure that can be controllably extended and retracted along the axial direction of the channel well, and the two parts of the telescopic structure that move relative to each other are respectively connected to the two crawling segments, and the telescopic structure cooperates with the two crawling segments with fixing devices to form the traveling module that drives the equipment body to move along the channel well.

5. The shaft expansion mining system according to claim 2, characterized in that: In the case where the fixing device comprises two guide structures that slide in cooperation with each other, the fixing device comprises: A guide groove provided on a fixture in the channel well and a protrusion provided on the side of the device body, wherein the guide groove extends along the length of the channel well, the protrusion and the guide groove are slidably engaged, and at least one set of mutually engaged protrusions and guide grooves is provided; or A guide bar arranged on a fixture in the channel well and a groove opened on the side of the equipment body, the guide bar extends along the length direction of the channel well, the guide bar and the groove are slidably matched, and at least one set of guide bars and grooves that match each other is provided.

6. A shaft expansion mining system according to claim 2, characterized in that: The travel module includes: a traction rope connected to the three-dimensional controllable expansion mining equipment; and / or A pulley rotatably connected to the three-dimensional controllable expansion mining equipment and a drive motor driving the pulley to rotate.

7. The shaft expansion mining system according to claim 1, characterized in that: When the three-dimensional extension section includes a mining arm body and a main mining arm, at least two auxiliary mining arms are further connected between the main mining arm and the mining arm body, and the two ends of the auxiliary mining arms are respectively rotatably connected to the mining arm body and the main mining arm to form a planar connecting rod mechanism, and the two auxiliary mining arms are connected to at least two pulling chains or pulling ropes, and the two pulling chains or pulling ropes respectively pull the auxiliary mining arms from both sides, and the extension control component includes a retractable and retractable motor for retracting and extending each pulling chain or pulling rope, and the retractable and retractable motor is installed on the mining arm body; or At least one hydraulic cylinder or electric cylinder is connected between the auxiliary mining arm and the mining arm body to drive the auxiliary mining arm to open and close relative to the equipment body of the three-dimensional controllable expansion mining equipment; or A hydraulic motor is installed at the connection between the auxiliary mining arm and the mining arm body to drive the auxiliary mining arm to swing.

8. The shaft expansion mining system according to claim 1, characterized in that: When the three-dimensional expansion segment and the equipment body realize relative movement in at least two degrees of freedom directions through the driving assembly, the length of the three-dimensional expansion segment is greater than twice the maximum diameter of the channel well, and a swivel joint is provided between the three-dimensional expansion segment and the equipment body. The swivel joint includes a fixed part connected to the equipment body and a rotating part connected to the three-dimensional expansion segment. The rotating part and the three-dimensional expansion segment are opened and closed in a hinged manner. The driving assembly includes a rotary driving structure for driving the fixed part and the rotating part to rotate relative to each other and an opening and closing driving structure for driving the rotating part and the expansion arm to rotate and open.

9. The shaft expansion mining system according to claim 1, characterized in that: When the three-dimensional expansion segment realizes movement in at least two degrees of freedom directions through controllable nodes and an expansion control mechanism, a reset mechanism is connected between the controllable nodes to provide bending elasticity to restore the coaxial state. The expansion control mechanism includes at least three pulling force transmission structures and a driver for retracting and releasing each pulling force transmission structure. The pulling force transmission structure includes any one of a rope, a belt or a chain. Multiple pulling force transmission structures are distributed circumferentially around the three-dimensional expansion segment. Each pulling force transmission structure passes through each controllable node in turn and is connected to the controllable node located at the front end of the three-dimensional expansion segment, driving the three-dimensional expansion segment composed of several controllable nodes to swing in different directions in a pulling manner.

10. The shaft expansion mining system according to claim 1, characterized in that: The end of the three-dimensional controllable and expandable mining equipment away from the mining position is taken as the rear end, and the rear end of the three-dimensional controllable and expandable mining equipment is connected with a traction cable or a traction rod.

11. The shaft expansion mining system according to claim 1, characterized in that: The mining assembly includes a crushing structure for mining ore and a crushing power mechanism for driving the crushing structure to operate. The crushing structure includes a tunneling head, a reamer, a saw or an impactor.

12. A shaft expansion mining system according to claim 11, characterized in that: When the crushing structure excavates / crushes ore in a rotating manner, the rotation axis of the crushing structure is perpendicular to the axis of the three-dimensional controllable expansion mining equipment.

13. The shaft expansion mining system according to claim 1, characterized in that: The three-dimensional controllable expansion mining equipment also includes a drilling assembly matched with the rock splitting assembly, and the drilling assembly includes a power module equipped with a drill bit and a drill feeding module that drives the power module to move.

14. The shaft expansion mining system according to claim 1, wherein: The three-dimensional controllable expansion mining equipment further includes a re-crushing assembly connected to the three-dimensional expansion section for re-crushing the large ore mined by the rockfall or rock splitting assembly, wherein the re-crushing assembly includes one or more of a breaker hammer and a reamer; or The mining assembly is configured as a multifunctional mining assembly having the function of re-crushing the large pieces of ore mined by the rockfall or rock splitting assembly.

15. The shaft expansion mining system according to claim 1, wherein: The three-dimensional controllable expansion mining equipment further includes a quarrying assembly connected to the three-dimensional expansion section, and the quarrying assembly includes one or more of a rake, a hinge suction mechanism, a ore suction pipe, a shovel or a bucket.

16. The shaft expansion mining system according to claim 1, wherein: One end of the power cable is connected to the three-dimensional controllable expansion mining equipment underground, and the other end is connected to the power source outside the wellhead. The energy provided by the power cable to the three-dimensional controllable expansion mining equipment includes electrical energy, pressure energy, and chemical energy.

17. The shaft expansion mining system according to claim 1, wherein: The shaft ore transport device includes a flexible hose connected to the ore particle flow outlet of the three-dimensional controllable expansion mining equipment, one end of the flexible hose is connected to the three-dimensional controllable expansion mining equipment, and the other end extends to the wellhead of the channel well or other process wells connected to the channel well. The end of the flexible hose connected to the ore particle flow outlet of the three-dimensional controllable expansion mining equipment is installed with a first detachable connector, and the three-dimensional controllable expansion mining equipment is installed with a second detachable connector that cooperates with the first detachable connector.

18. A shaft expansion mining system according to claim 17, characterized in that: The flexible hose comprises a non-metal hose, wherein a conductive layer or a cable electrically connected to a detachable connector is provided in a wall interlayer of the non-metal hose.

19. The shaft expansion mining system according to claim 1, wherein: The shaft ore conveying device includes an ore lifting pipe, the outlet of which is arranged at the wellhead of a passage well or other process well connected to the passage well, and the inlet of the ore lifting pipe extends to the well and is connected to an ore lifting pump, which includes a slurry pump or a booster pump; the slurry pump or the booster pump is arranged in the well and is used to pump a two-phase flow or a multi-phase flow containing mineral particles out of the wellhead.

20. The shaft expansion mining system according to claim 1, wherein: The cave formed by the excavation of the three-dimensional controllable expansion mining equipment is defined as a chamber, and the wellbore ore transportation device includes a low-density medium injection pump or a back-pressure pump, which is arranged outside the wellhead of the access well or any other well connected to the chamber, and is used to inject low-density medium into the well or directly pump fluid downward; When a low-density medium injection pump is used, the low-density medium injection pump injects low-density medium into the well. After the low-density medium is mixed with the fluid containing the mineral material, it is returned to the wellhead through the return well under the action of the pressure of the supporting liquid column; when a back-pressure pump is used, the back-pressure pump pumps supporting fluid into the well. The supporting fluid carries the mineral material and is discharged from the wellhead through the return well, the mineral material lifting pipe or the flexible hose.

21. The shaft expansion mining system according to claim 2, wherein: The shaft ore transport device also includes a retractable transfer pipe and a return well connected to the channel well. One end of the return well is connected to the ground, and the other end extends to the bottom of the channel well and is connected to the bottom wall of the channel well. The end of the return well connected to the channel well is the entrance of the return well. One end of the transfer pipe is connected to the ore particle flow outlet of the three-dimensional controllable expansion mining equipment, and the other end is connected to the entrance of the return well.

22. A shaft expansion mining system according to claim 21, characterized in that: The three-dimensional controllable expansion mining equipment also includes a sealing assembly for sealing the gap between the three-dimensional controllable expansion mining equipment and the inner wall of the channel well, and the transfer pipe is located between the fixing device and the sealing assembly.

23. The shaft expansion mining system according to claim 21, wherein: The transfer pipe includes a hose, a multi-section telescopic pipe, a telescopic chute, and a corrugated telescopic pipe. The transfer pipe is detachably connected to the ore particle flow outlet of the three-dimensional controllable expansion mining equipment.

24. The shaft expansion mining system according to claim 1, wherein: The cave formed by the excavation of the three-dimensional controllable expansion mining equipment is defined as a chamber. The measurement and control device includes a telemetry device and a remote control device. The telemetry device includes a sensor located underground and a communication terminal located outside the wellhead. Data is transmitted between the sensor and the communication terminal through a communication line. The sensor includes a flow meter, a mineral concentration meter, a current sensor, a voltage sensor, a laser detection device, an acoustic detection device or an electromagnetic detection device, which is used to sense the operating status of the wellbore ore conveying device, the three-dimensional controllable expansion mining equipment, the chamber shape and / or the state of the rock mass; the remote control device includes a control terminal located outside the wellhead, and the control terminal communicates with the deflection module and / or the rotation module through a communication line to transmit data and control instructions; the remote control device and the telemetry device can use the same or independent communication lines, and the communication lines used by the telemetry device and the remote control device are set in the channel well or other process wells.

25. A mining method applicable to the shaft expansion mining system according to any one of claims 1 to 24, characterized in that: The following steps are involved: S1. The three-dimensional controllable expansion mining equipment is transported to the mining location through the channel well; S2. Controlling the three-dimensional controllable expansion mining equipment to form a chamber, and continuously injecting support fluid into the chamber; S3 controls the shaft transport device to continuously collect mined ore; S4 moves the three-dimensional controllable expansion mining equipment, and repeats steps S2 and S3, mining to form a chamber group; S5. Fill each chamber after completing the mining operation.

26. A mining method applicable to the shaft expansion mining system according to claim 13, characterized in that: The following steps are involved: S1. The end portion is provided with a three-dimensional controllable expansion drilling assembly through the channel shaft to the mining location; S2. Drilling a hole in the channel well wall or chamber wall using the drilling assembly; S3. The end portion is provided with a three-dimensional controllable expansion rock splitting assembly mining equipment transported to the mining location through the channel well; S4. Inserting the rock splitting assembly into the hole drilled by the drilling assembly; when the rock splitting assembly is a static rock splitting assembly, the hydraulic piston of the static rock splitting assembly is activated, and the hole wall is cracked by the hydraulic piston. When the crack extends to the chamber wall, it triggers a large rock collapse; S5. Transport the three-dimensional controllable expandable mining equipment with a quarrying assembly at the end to the mining location through the channel shaft, collect and absorb the ore into the shaft ore conveying device, and return the ore to the outside of the wellhead through the shaft ore conveying device.

Images