An early warning and emergency device for sudden changes in surrounding rock stress and its usage method

Abstract

The present invention discloses an emergency device for warning sudden changes in surrounding rock stress and a method for using the device, which relates to the field of mining technology, including a front shell, a rotating body, a rear shell, a driving device, a stress monitoring unit, an acoustic and optical warning unit, a high-pressure jet mechanism and a data analysis controller. The front shell and the rear shell are both tubular structures, and the rear end of the front shell is connected to the front end of the rear shell through the rotating body. The driving device can drive the rotating body to rotate, and the high-pressure jet mechanism is arranged on the rotating body. The stress monitoring unit is arranged inside the annular cavity of the front shell and the rear shell, and the data analysis controller is arranged on the inner side of the rear shell and is connected to the stress monitoring unit for communication. The data analysis controller is connected to the underground gateway through a wireless communication module. The present invention monitors the stress state of the surrounding rock of the underground tunnel and forms a stress mutation cloud map, timely warns and locates, perforates and relieves the stress mutation part through directional jet high-pressure water, and performs temporary support and sends out warning signals to remind workers to evacuate in time.

Description

Technical Field

[0001] The invention relates to the technical field of underground mining, and in particular to an emergency device for early warning of sudden changes in surrounding rock stress and a method for using the device. Background Art

[0002] When coal mining is carried out, the original rock stress field of the coal (rock) body is disturbed, destroying the original stress equilibrium state. The internal stress of the coal (rock) body changes to regain the equilibrium state. However, when the stress exceeds the maximum strength that the coal (rock) body can withstand, mine pressure will appear, and even cause large-scale mine dynamic phenomena such as impact ground pressure and roof collapse.

[0003] In particular, with the continuous increase in the depth and intensity of coal mining, deep mines are prone to dynamic disasters such as rock burst, causing serious equipment damage and casualties. Since the deep coal rock mass is in a surrounding rock environment of "three highs and one disturbance", the surrounding rock structure will be subjected to greater stress after the excavation of the tunnel and working face, and areas of abnormally increased stress to varying degrees may appear within the range of its supporting pressure. These abnormally increased areas are the main areas where dynamic disasters such as rock burst occur, and the existing technology lacks effective monitoring and early warning means for the areas of abnormally increased stress. Therefore, for deep mines, especially tunnels with impact hazards, certain monitoring equipment and instruments must be used to monitor and warn the tunnel surrounding rocks to ensure the safety of underground construction personnel to the greatest extent. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, one object of the present invention is to provide an emergency device for warning of sudden changes in surrounding rock stress, aiming to solve the above-mentioned problems.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a surrounding rock stress sudden change warning emergency device, including a front shell, a rotating body, a rear shell, a driving device, a stress monitoring unit, an sound and light warning unit, a high-pressure jet mechanism and a data analysis controller, the front shell and the rear shell are both tubular structures, the front shell is located in front of the rear shell and is coaxially arranged with the rear shell, the front end of the front shell is closed, and the rear end thereof is connected to the front end of the rear shell through the rotating body.

[0006] The interior of the tube walls of the front shell and the rear shell are both annular cavities with closed ends. Stress monitoring units are provided inside the annular cavities of the front shell and the rear shell. The outer wall of the rear shell has multiple water guide grooves. The data analysis controller is arranged on the inner side of the rear shell and is communicatively connected with the stress monitoring unit. A positioning module and a wireless communication module are also provided inside the rear shell. The data analysis controller is connected to the downhole gateway via the wireless communication module.

[0007] The sound and light warning unit is arranged at the rear end of the rear shell and is connected to the data analysis controller for communication.

[0008] The front end of the rotating body is located inside the front shell and is rotationally sealed with the front shell, and the rear end of the rotating body is located inside the rear shell and is rotationally sealed with the rear shell.

[0009] The driving device is arranged inside the front housing and comprises a servo motor and a gear mechanism. The output end of the servo motor drives the rotating body to rotate relative to the front housing and the rear housing through the gear mechanism.

[0010] The high-pressure jet mechanism includes a water supply pipe 1, a rotating joint, a water supply pipe 2, a high-pressure nozzle and a direction adjustment component. The water supply pipe 1 is located on the inner side of the rear shell, and the front end is connected to one end of the water supply pipe 2 arranged on the rotating body through a rotating joint, and the rear end passes through the rear shell and can be connected to the high-pressure water supply device.

[0011] The high-pressure nozzle is installed on the second water supply pipe, and the direction adjustment component is arranged on the rotating body. The direction of the high-pressure nozzle is controlled by driving the second water supply pipe to rotate around the rotating joint.

[0012] Furthermore, the front outer shell includes a first outer tube body with a closed front end and a first inner tube body, the first inner tube body is located on the inner side of the first outer tube body and is coaxially arranged therewith, the rear end of the first outer tube body is connected to the rear end of the first inner tube body through a first annular rubber sheet, and the first annular rubber sheet closes the annular cavity inside the front outer shell.

[0013] There are multiple groups of first springs evenly arranged in a ring shape between the first inner tube body and the first outer tube body, each group of first springs includes multiple first springs evenly arranged along the axial direction of the first inner tube body, and each first spring is arranged along the normal direction of the cross section of the first inner tube body.

[0014] Furthermore, the rear shell includes a second outer tube body and a second inner tube body, both of which are straight round tubes, and the second inner tube body is located on the inner side of the second outer tube body and is coaxially arranged therewith.

[0015] The front and rear ends of the second outer tube body are respectively connected to the corresponding ends of the second inner tube body through a second annular rubber sheet, and the second annular rubber sheet seals the annular cavity inside the rear outer shell.

[0016] There are multiple groups of second springs evenly arranged in a ring shape between the second inner tube body and the second outer tube body, each group of second springs includes multiple second springs evenly arranged along the axial direction of the second inner tube body, and each second spring is arranged along the normal direction of the cross section of the second inner tube body.

[0017] Furthermore, the stress monitoring unit includes a plurality of groups of strain gauges arranged in sequence and at equal intervals along the axial direction of the front outer shell, each group of strain gauges includes twelve strain gauges evenly arranged in a ring shape on the circumferential outer wall of the first inner tube body or the second inner tube body, and all strain gauges are electrically connected to the data analysis controller.

[0018] The circumferential inner wall of the first outer tube body is provided with pressure-guiding columns whose number is equal to and positions correspond to the strain gauges on the first inner tube body, and the circumferential inner wall of the second outer tube body is provided with pressure-guiding columns whose number is equal to and positions correspond to the strain gauges on the second inner tube body, and the pressure-guiding columns are conical structures, and their pointed ends are directly opposite to the strain gauges.

[0019] Furthermore, the rotating body is a cylindrical structure with a cavity, and the upper and lower ends of the rotating body are respectively provided with an upper end shaft and a lower end shaft coaxial therewith.

[0020] A first end ring is provided at the rear end of the front shell, a second end ring is provided at the front end of the rear shell, and a rear end cover is provided at the rear end of the rear shell. The upper end shaft passes through the center of the first end ring and is rotatably connected to the inner wall of the front shell, and the outer wall of the upper end shaft rotates and seals with the first end ring. The lower end shaft passes through the center of the second end ring and is rotatably connected to the inner wall of the rear shell, and the outer wall of the lower end shaft rotates and seals with the second end ring.

[0021] Furthermore, the gear mechanism includes a driving gear and a driven gear, the driven gear is fixedly mounted on the lower end shaft, the servo motor is mounted inside the rear housing, the servo motor is powered by a battery arranged in the rear housing, and the signal end of the servo motor is communicatively connected to the data analysis controller.

[0022] The driven gear is arranged on the output shaft of the servo motor and meshes with the driving gear to drive the rotating body to rotate relative to the front housing and the rear housing.

[0023] Furthermore, a vertical groove is opened on the circumferential side wall of the rotating body, and the vertical groove is communicated with the cavity inside the rotating body. A water supply pipe is embedded in the rotating body and arranged coaxially therewith. The front end of the water supply pipe is connected to the inlet of the rotating joint, and the rear end thereof passes through the rear end cover and extends to the outside of the rear shell. A solenoid valve is arranged on the water supply pipe, and the solenoid valve is communicatively connected to the data analysis controller.

[0024] The water supply pipe 2 is located in the vertical groove, one end of the water supply pipe 2 is connected to the outlet of the rotary joint, the high-pressure nozzle is located outside the rotating body and installed at the other end of the water supply pipe 2, and the high-pressure nozzle and the water supply pipe 2 can rotate around the rotary joint.

[0025] The direction adjustment component includes an electric telescopic rod and two hinged seats. The electric telescopic rod is located above the water supply pipe 2. The water supply pipe 2 is connected to the inner wall of the cavity of the rotating body through the electric telescopic rod. The electric telescopic rod drives the high-pressure nozzle and the water supply pipe 2 to swing up and down.

[0026] Furthermore, the data analysis controller is embedded with FLAC 3D and matlab data processing modules, and the stress monitoring unit and the positioning module are respectively connected to the data analysis controller for communication.

[0027] The data analysis controller quickly processes the electrical signal transmitted by the stress monitoring unit to generate a surrounding rock stress mutation cloud map, achieving full coverage of the stress mutation cloud map in the tunnel. When a surrounding rock stress mutation occurs somewhere in the tunnel, the stress mutation point can be instantly determined based on the tunnel stress mutation cloud map and the positioning module.

[0028] Another object of the present invention is to provide a method for using a surrounding rock stress sudden change warning emergency device.

[0029] A method for using a surrounding rock stress mutation warning emergency device, using the above-mentioned surrounding rock stress mutation warning emergency device, the method for using includes the following steps: S1, based on the analysis of tunnel field monitoring data and laboratory experimental data, determining the stress mutation warning threshold of the surrounding rock, the warning threshold includes warning threshold 1 and warning threshold 2, importing the stress mutation warning threshold into a data analysis controller, the surrounding rock specifically refers to coal rock mass.

[0030] S2. Determine the transport tunnel section that is greatly affected by mining stress and has a large number of workers, arrange a self-positioning temporary patrol robot in the transport tunnel section, and determine the installation point of the surrounding rock stress sudden change warning emergency device on the rock wall of the transport tunnel section, drill holes at the installation point positions on the rock wall and clean the inside of the holes.

[0031] All installation points are arranged in a square array on the rock wall. The horizontal distance between any two adjacent installation points is 3m to 5m, and the vertical distance between any two adjacent installation points is 1m to 1.5m.

[0032] S3. Adjust the relative position of the front shell and the rear shell so that the stress monitoring unit in the front shell corresponds to the stress monitoring unit in the rear shell, apply anchoring glue on the outer walls of the front shell and the rear shell, and avoid the water guide groove on the outer side of the rear shell.

[0033] Afterwards, the surrounding rock stress mutation warning emergency device is sent into the borehole, the front shell and the rear shell are fixed to the rock wall inside the borehole with anchoring glue, and the ends of each water supply pipe are connected to the high-pressure water supply device.

[0034] S4. Number and zero each surrounding rock stress mutation warning emergency device and establish communication connection with the underground gateway.

[0035] The stress monitoring unit is started to monitor the sudden stress changes of the surrounding rock through strain gauges and geoacoustic sensors, and converts the sudden stress changes into electrical signals and transmits them to the data analysis controller in real time.

[0036] The data analysis controller processes the received electrical signals in real time through the internally embedded FLAC 3D and matlab data processing modules to generate a real-time stress mutation cloud map of the entire tunnel.

[0037] S5. The data analysis controller compares and analyzes the stress mutation value with the warning threshold in real time, and the wireless communication module transmits the comparison and analysis results to the underground gateway in real time.

[0038] When the stress mutation value is less than the warning threshold 1, the high-pressure jet mechanism, the sound and light warning unit and the self-positioning temporary patrol robot will not respond.

[0039] When the warning threshold 1 ≤ stress mutation value < warning threshold 2, the positioning module locates the stress mutation point, and the surrounding rock stress mutation warning emergency device near the stress mutation point responds, and the high-pressure nozzle performs hydraulic perforation to relieve pressure and soften the stress mutation point; the wireless communication module sends the stress mutation point information and inspection information to the ground dispatching department through the underground gateway, pre-cracks and relieves pressure on the rock near the stress mutation point, and at the same time, the self-positioning temporary patrol robot responds to provide temporary support for the stress mutation point.

[0040] When the warning threshold 2 ≤ the stress mutation value, the sound and light warning device responds, reminding nearby workers to evacuate quickly. The high-pressure nozzle continues to hydraulically perforate and soften the stress mutation point. The wireless communication module sends stress mutation point information and rescue information to the ground dispatching department through the underground gateway.

[0041] Furthermore, the self-positioning temporary patrol robot comprises a vehicle frame, a crawler walking mechanism, an engine, a lifting bracket, a top plate and a self-positioning control unit. There are two crawler walking mechanisms which are symmetrically arranged on both sides of the vehicle frame.

[0042] The engine is arranged on the frame to drive the crawler walking mechanism to walk. The top plate is located above the frame, and its bottom is connected to the top of the frame through the lifting bracket. The self-positioning control unit is arranged at the front of the frame to control the self-positioning temporary patrol robot to patrol the line.

[0043] By adopting the above technical scheme, the beneficial technical effect of the present invention is as follows: the surrounding rock stress mutation early warning emergency device of the present invention can form a cloud map of the surrounding rock stress mutation of the whole tunnel in real time in the underground tunnel, and can timely monitor, warn and locate when the surrounding rock stress undergoes a high-intensity mutation, and hydraulically perforate and unload the rock mass of the stress mutation part through directional high-pressure water jet perforation and softening, which can delay and weaken the hazards caused by the stress mutation and impact ground pressure; at the same time, the self-positioning temporary patrol robot is mobilized to perform temporary support at the surrounding rock stress mutation point and timely transmit the stress mutation early warning signal, and send accurate location information and distress signals to the ground dispatching department so as to launch rescue in the first time; at the same time, the sound and light early warning device is started, and the alarm sound and alarm light are emitted to remind nearby workers to evacuate in time, which can minimize the casualties and property losses caused by the high-intensity mutation of the surrounding rock stress and impact ground pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a structural schematic diagram of a surrounding rock stress mutation early warning emergency device of the present invention.

[0045] Figure 2 It is a cross-sectional view of the rear housing and related parts of the present invention.

[0046] Figure 3 It is a cross-sectional view of the front housing and related parts of the present invention.

[0047] Figure 4 It is a usage status diagram of a surrounding rock stress sudden change early warning emergency device of the present invention.

[0048] Figure 5 It is a structural schematic diagram of the self-positioning temporary patrol robot of the present invention.

[0049] As shown in the figure: 1. front shell; 11. first outer tube; 12. first inner tube; 13. first annular rubber sheet; 14. first spring; 15. first end ring; 16. first O-ring; 2. rotating body; 21. upper end shaft; 22. lower end shaft; 3. rear shell; 31. second outer tube; 311. water guide groove; 32. second inner tube; 33. second annular rubber sheet; 34. second spring; 35. second end ring; 36. rear end cover; 37. second O-ring; 4. data analysis controller; 5 1. Strain gauge; 52. Pressure-guiding column; 61. Servo motor; 62. Driving gear; 63. Driven gear; 71. Water supply pipe 1; 72. Rotary joint; 73. Water supply pipe 2; 74. High-pressure nozzle; 75. Electric telescopic rod; 81. Positioning module; 82. Wireless communication module; 83. Buzzer; 84. Warning light; 9. Battery; 10. Drilling; 101. Frame; 102. Crawler walking mechanism; 103. Engine; 104. Lifting bracket; 105. Top plate; 106. Self-positioning control unit. DETAILED DESCRIPTION

[0050] The present invention is described in detail below in conjunction with the accompanying drawings: Embodiment 1, in conjunction with Figures 1 to 3 A surrounding rock stress mutation warning emergency device comprises a front shell 1, a rotating body 2, a rear shell 3, a driving device, a stress monitoring unit, an acoustic and visual warning unit, a high-pressure jet mechanism and a data analysis controller 4. The front shell 1 and the rear shell 3 are both tubular structures. The front shell 1 is located in front of the rear shell 3. The front shell 1 and the rear shell 3 have the same outer diameter and are coaxially arranged. The front end of the front shell 1 is closed, and the rear end thereof is connected to the front end of the rear shell 3 through the rotating body 2. The interior of the tube walls of the front shell 1 and the rear shell 3 are both annular cavities with closed ends.

[0051] Specifically, the front housing 1 includes a first outer tube body 11 and a first inner tube body 12, both of which are straight round tubes with closed front ends, the first inner tube body 12 is located inside the first outer tube body 11 and is coaxially arranged therewith, the rear end of the first outer tube body 11 is connected to the rear end of the first inner tube body 12 through a first annular rubber sheet 13, and the first annular rubber sheet 13 seals the annular cavity inside the front housing 1. The outer edge of the first annular rubber sheet 13 is connected to the rear end of the first outer tube body 11 as a whole, and the inner edge of the first annular rubber sheet 13 is connected to the rear end of the first inner tube body 12 as a whole, so as to prevent the pressurized water outside the first outer tube body 11 from entering the interior thereof.

[0052] There are six groups of first springs 14 evenly arranged in a ring shape between the first inner tube body 12 and the first outer tube body 11, each group of first springs 14 includes a plurality of first springs 14 equally spaced along the axial direction of the first inner tube body 12, each first spring 14 is arranged along the normal direction of the cross section of the first inner tube body 12, one end of the first spring 14 is fixedly connected to the outer wall of the first outer tube body 11, each first spring 14 is in a compressed state, each first spring 14 keeps the first inner tube body 12 and the first outer tube body 11 in a coaxial state, and the first annular rubber sheet 13 encloses all the first springs 14 in the annular cavity between the first inner tube body 12 and the first outer tube body 11.

[0053] The rear outer shell 3 includes a second outer tube body 31 and a second inner tube body 32, both of which are straight circular tubes. The second inner tube body 32 is located on the inner side of the second outer tube body 31 and is coaxially arranged therewith. The second outer tube body 31 and the first outer tube body 11 have the same specifications, and the second inner tube body 32 and the first inner tube body 12 have the same specifications. The outer side wall of the second outer tube body 31 has six water guide grooves 311, and the six water guide grooves 311 are evenly distributed on a circle with the axis of the second outer tube body 31 as the center. The front and rear ends of the water guide grooves 311 extend to the front and rear end surfaces of the second outer tube body 31 respectively, and are used for the high-pressure water flow ejected by the high-pressure nozzle 74 to jet the surrounding rock and then be discharged from the water guide grooves 311.

[0054] The front and rear ends of the second outer tube body 31 are respectively connected to the corresponding ends of the second inner tube body 32 through the second annular rubber sheet 33. The second annular rubber sheet 33 seals the annular cavity inside the rear outer shell 3. The outer edge of the second annular rubber sheet 33 is connected to the end of the second outer tube body 31 as a whole, and the inner edge of the second annular rubber sheet 33 is connected to the end of the second inner tube body 32 as a whole. The second annular rubber sheet 33 seals the annular cavity between the second outer tube body 31 and the second inner tube body 32 to prevent pressurized water outside the second outer tube body 31 from entering its interior.

[0055] Six groups of second springs 34 are evenly arranged in an annular shape between the second inner tube 32 and the second outer tube 31. Each group of second springs 34 includes a plurality of second springs 34 evenly arranged along the axial direction of the second inner tube 32. Each second spring 34 is arranged along the normal direction of the cross section of the second inner tube 32. One end of the second spring 34 is fixedly connected to the outer wall of the first outer tube 11. Each second spring 34 is in a compressed state. Each second spring 34 keeps the second inner tube 32 and the second outer tube 31 in a coaxial state. The second annular rubber sheet 33 encloses all the second springs 34 in the annular cavity between the second inner tube 32 and the second outer tube 31.

[0056] A stress monitoring unit is provided inside the annular cavity of the front outer shell 1 and the rear outer shell 3. The stress monitoring unit includes a plurality of groups of strain gauges 51 arranged at equal intervals in sequence along the axial direction of the front outer shell 1. Each group of strain gauges 51 includes twelve strain gauges 51 evenly arranged in a ring shape on the circumferential outer wall of the first inner tube body 12 or the second inner tube body 32. All strain gauges 51 are electrically connected to the data analysis controller 4, and all strain gauges 51 transmit electrical signals to the data analysis controller 4 in real time.

[0057] Specifically, the circumferential inner wall of the first outer tube body 11 is provided with pressure-guiding columns 52 whose number is equal to and positions correspond to the strain gauges 51 on the first inner tube body 12, and the circumferential inner wall of the second outer tube body 31 is provided with pressure-guiding columns 52 whose number is equal to and positions correspond to the strain gauges 51 on the second inner tube body 32. The pressure-guiding columns 52 are conical structures, and their pointed ends are directly opposite to the strain gauges 51.

[0058] The front end of the rotating body 2 is located inside the front shell 1 and is in rotational sealing cooperation with the front shell 1, and the rear end thereof is located inside the rear shell 3 and is in rotational sealing cooperation with the rear shell 3. Specifically, the rotating body 2 is a cylindrical structure with a cavity, and the upper and lower ends of the rotating body 2 are respectively provided with an upper end shaft 21 and a lower end shaft 22 coaxial therewith, the upper end of the rotating body 2 is rotationally connected to the first inner tube body 12 through the upper end shaft 21, and the lower end of the rotating body 2 is rotationally connected to the second inner tube body 32 through the lower end shaft 22. After the surrounding rock stress sudden change warning emergency device is installed in the rock wall of the tunnel, the first outer tube body 11 and the second outer tube body 31 are both anchored in the borehole of the coal rock mass, the first inner tube body 12 is kept coaxial with the first outer tube body 11 under the action of the six groups of first springs 14, and the second inner tube body 32 is kept coaxial with the second outer tube body 31 under the action of the six groups of second springs 34, and in this state, the rotating body 2 can achieve 360° rotation relative to the first inner tube body 12 and the second inner tube body 32.

[0059] The rear end of the front housing 1 is provided with a first end ring 15, the front end of the rear housing 3 is provided with a second end ring 35, the rear end of the rear housing 3 is provided with a rear cover 36, the upper end shaft 21 passes through the center of the first end ring 15 and is rotatably connected to the inner wall of the front housing 1, the outer wall of the upper end shaft 21 is rotatably sealed with the first end ring 15, the lower end shaft 22 passes through the center of the second end ring 35 and is rotatably connected to the inner wall of the rear housing 3, the outer wall of the lower end shaft 22 is rotatably sealed with the second end ring 35. Specifically, two installation grooves arranged at intervals are provided on the inner side walls of the first end ring 15 and the second end ring 35, the first O-ring 16 is embedded in the installation groove of the first end ring 15, and the second O-ring 37 is embedded in the installation groove of the second end ring 35, which blocks the high-pressure water flow ejected by the high-pressure nozzle 74 from entering the interior of the first inner tube body 12 and the second inner tube body 32, avoids damaging the electronic components inside, and ensures the safe and stable operation of the surrounding rock stress warning emergency device.

[0060] The driving device is arranged inside the front housing 1, and includes a servo motor 61 and a gear mechanism. The output end of the servo motor 61 drives the rotating body 2 to rotate relative to the front housing 1 and the rear housing 3 through the gear mechanism. The gear mechanism includes a driving gear 62 and a driven gear 63. The driven gear 63 is fixedly mounted on the lower end shaft 22. The servo motor 61 is installed inside the rear housing 3. The servo motor 61 is powered by a battery 9 arranged in the rear housing 3. The signal end of the servo motor 61 is connected to the data analysis controller 4 for communication. In addition, a wiring terminal is provided on the rear end cover 36 of the rear housing 3. The wiring terminal can be connected to an external power source and power the servo motor 61, and serves as a backup when the battery 9 is insufficiently powered.

[0061] The driven gear 63 is arranged on the output shaft of the servo motor 61, meshing with the driving gear 62, and driving the rotating body 2 to rotate relative to the front shell 1 and the rear shell 3. In the case of sudden stress in the surrounding rock, the outer wall of the front shell 1 and / or the rear shell 3 will be squeezed, so that the front shell 1 and / or the rear shell 3 will be offset to one side along the direction of the sudden stress, and the end of the pressure-conducting column 52 will contact the strain gauge 51 and act on the strain gauge 51. The stress monitoring unit determines the direction of the sudden stress through the received electrical signal, and determines the position of the sudden stress in combination with the ground sound sensor. After the determination, the driving device adjusts the angle according to the instruction of the stress monitoring unit, so that the high-pressure jet mechanism faces the direction of the sudden stress and sprays high-pressure water to the coal rock mass to perforate and relieve pressure and soften, which can delay and weaken the hazards caused by the sudden stress and rock burst.

[0062] The high-pressure jet mechanism includes a water supply pipe 1 71, a rotary joint 72, a water supply pipe 2 73, a high-pressure nozzle 74 and a direction adjustment component. The water supply pipe 1 71 is located inside the rear housing 3, and the front end is connected to one end of the water supply pipe 2 73 arranged on the rotating body 2 through the rotary joint 72, and the rear end passes through the rear housing 3 and can be connected to the high-pressure water supply device. The high-pressure nozzle 74 is installed on the water supply pipe 2 73, and the direction adjustment component is arranged on the rotating body 2, and the direction of the high-pressure nozzle 74 is controlled by driving the water supply pipe 2 73 to rotate around the rotary joint 72.

[0063] A vertical groove is provided on the circumferential side wall of the rotating body 2, and the vertical groove is communicated with the cavity inside the rotating body 2. A water supply pipe 71 is embedded in the rotating body 2 and arranged coaxially therewith. The front end of the water supply pipe 71 is connected to the inlet of the rotating joint 72, and the rear end thereof passes through the rear end cover 36 and extends to the outside of the rear shell 3. A solenoid valve is arranged on the water supply pipe 71, and the solenoid valve is communicated with the data analysis controller 4.

[0064] The water supply pipe 2 73 is located in the vertical groove, one end of the water supply pipe 2 73 is connected to the outlet of the rotating joint 72, the high-pressure nozzle 74 is located outside the rotating body 2 and installed at the other end of the water supply pipe 2 73, and the high-pressure nozzle 74 and the water supply pipe 2 73 can rotate around the rotating joint 72.

[0065] The direction adjustment assembly includes an electric telescopic rod 75 and two articulated seats. The electric telescopic rod 75 is located above the water supply pipe 2 73. The water supply pipe 2 73 is connected to the inner wall of the cavity of the rotating body 2 through the electric telescopic rod 75. The electric telescopic rod 75 drives the high-pressure nozzle 74 and the water supply pipe 2 73 to swing up and down. The high-pressure nozzle 74 and the water supply pipe 2 73 rotate around the rotating joint 72 within the range of 0° to 140°. The signal end of the electric telescopic rod 75 is connected to the data analysis controller 4 for communication. The data analysis controller 4 controls the rotation of the water supply pipe 2 73 through instructions, so that the high-pressure nozzle 74 faces the direction where the stress mutation occurs and jets high-pressure water to perforate, relieve pressure and soften the coal and rock mass.

[0066] The data analysis controller 4 is arranged on the inner side of the rear shell 3 and is communicated with the stress monitoring unit. A positioning module 81 and a wireless communication module 82 are also provided inside the rear shell 3. The data analysis controller 4 is connected to the downhole gateway through the wireless communication module 82, and the stress mutation cloud map and analysis results generated by the data analysis controller 4 are transmitted to the scheduling department above the bottom surface through the downhole gateway.

[0067] The sound and light warning unit is arranged at the rear end of the rear housing 3, and includes a buzzer 83 and an alarm light 84, which are respectively connected to the data analysis controller 4. When an abnormal state is detected, the data analysis controller 4 controls the buzzer 83 to emit a warning alarm sound, and the alarm light 84 starts to flash, to warn the construction personnel near the tunnel, and informs the dangerous area according to the number and position of the alarm lights 84 of each surrounding rock stress sudden change warning emergency device.

[0068] The data analysis controller 4 is embedded with FLAC 3D and matlab data processing modules, and the stress monitoring unit and the positioning module 81 are respectively connected to the data analysis controller 4. The data analysis controller 4 quickly processes the electrical signal transmitted by the stress monitoring unit to generate a surrounding rock stress mutation cloud map, so as to achieve full coverage of the stress mutation cloud map in the tunnel. When a surrounding rock stress mutation occurs somewhere in the tunnel, the stress mutation point can be instantly determined according to the tunnel stress mutation cloud map and the positioning module 81.

[0069] Embodiment 2, combined Figures 1 to 5 A method for using a surrounding rock stress mutation warning emergency device, using the above-mentioned surrounding rock stress mutation warning emergency device, the method of use includes the following steps: S1, based on the tunnel on-site monitoring data and laboratory experimental data analysis, determine the surrounding rock stress mutation warning threshold, the warning threshold includes warning threshold 1 and warning threshold 2, and import the stress mutation warning threshold into the data analysis controller 4.

[0070] S2. Determine the transport tunnel section that is greatly affected by mining stress and has a large number of workers, arrange a self-positioning temporary patrol robot in the transport tunnel section, and determine the installation point of the surrounding rock stress sudden change warning emergency device on the rock wall of the transport tunnel section, drill a hole at the installation point on the rock wall and clean the inside of the borehole 10.

[0071] All installation points are arranged in a square array on the rock wall. The horizontal distance between any two adjacent installation points is 3m to 5m, and the vertical distance between any two adjacent installation points is 1m to 1.5m.

[0072] The self-positioning temporary patrol robot comprises a frame 101, a crawler walking mechanism 102, an engine 103, a lifting bracket 104, a top plate 105 and a self-positioning control unit 106. The crawler walking mechanism 102 has two, which are symmetrically arranged on both sides of the frame 101. The engine 103 is arranged on the frame 101 to drive the crawler walking mechanism 102 to walk. The top plate 105 is located above the frame 101. The bottom of the top plate 105 is connected to the top of the frame 101 through the lifting bracket 104. The self-positioning control unit 106 is arranged at the front of the frame 101 to control the self-positioning temporary patrol robot to patrol the line.

[0073] S3. Adjust the relative positions of the front shell 1 and the rear shell 3 so that the stress monitoring unit in the front shell 1 corresponds to the stress monitoring unit in the rear shell 3, apply anchoring glue on the outer walls of the front shell 1 and the rear shell 3, and avoid the water guide groove outside the rear shell 3.

[0074] Afterwards, the surrounding rock stress mutation warning emergency device is sent into the borehole, the front shell 1 and the rear shell 3 are fixed to the rock wall inside the borehole with anchoring glue, and the ends of each water supply pipe 71 are connected to the high-pressure water supply device.

[0075] S4. Number and zero each surrounding rock stress mutation warning emergency device and establish communication connection with the underground gateway.

[0076] The stress monitoring unit is started, and the stress mutation of the surrounding rock is monitored through the strain gauge 51 and the geoacoustic sensor, and the stress mutation signal is converted into an electrical signal and transmitted to the data analysis controller 4 in real time.

[0077] The data analysis controller 4 processes the received electrical signals in real time through the internally embedded FLAC 3D and matlab data processing modules to generate a real-time stress mutation cloud map of the entire tunnel.

[0078] S5. The data analysis controller 4 compares and analyzes the stress mutation value with the warning threshold in real time, and the wireless communication module 82 transmits the comparison and analysis results to the underground gateway in real time.

[0079] When the stress mutation value is less than the warning threshold 1, the high-pressure jet mechanism, the sound and light warning unit and the self-positioning temporary patrol robot will not respond.

[0080] When the warning threshold 1 ≤ stress mutation value < warning threshold 2, the positioning module 81 locates the stress mutation point, and the surrounding rock stress mutation warning emergency device near the stress mutation point responds, and the high-pressure nozzle 74 performs hydraulic perforation to relieve pressure and soften the stress mutation point; the wireless communication module 82 sends the stress mutation point information and inspection information to the ground dispatching department through the downhole gateway, pre-cracks and relieves pressure on the rock near the stress mutation point, and at the same time, the self-positioning temporary patrol robot responds to provide temporary support for the stress mutation point.

[0081] When the warning threshold 2 ≤ the stress mutation value, the sound and light warning device responds to remind nearby workers to evacuate quickly, the high-pressure nozzle 74 continues to hydraulically perforate and soften the stress mutation point, and the wireless communication module 82 sends the stress mutation point information and rescue information to the ground dispatching department through the underground gateway.

[0082] Parts not described in the present invention can be implemented by adopting or drawing on existing technologies.

[0083] Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0084] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "up", "down", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0085] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A surrounding rock stress sudden change warning emergency device, characterized in that: It includes a front shell, a rotating body, a rear shell, a driving device, a stress monitoring unit, an acoustic and visual warning unit, a high-pressure jet mechanism and a data analysis controller. The front shell and the rear shell are both tubular structures. The front shell is located in front of the rear shell and is coaxially arranged therewith. The front end of the front shell is closed, and its rear end is connected to the front end of the rear shell through the rotating body. The interior of the tube wall of the front shell and the rear shell are both annular cavities with closed ends. The interior of the annular cavities of the front shell and the rear shell are both provided with stress monitoring units. The outer wall of the rear shell is provided with a plurality of water guide grooves. The data analysis controller is arranged on the inner side of the rear shell and is connected to the stress monitoring unit for communication. A positioning module and a wireless communication module are also provided inside the rear shell. The data analysis controller is connected to the underground gateway through the wireless communication module. The sound and light warning unit includes a buzzer and an alarm light, which are arranged at the rear end of the rear housing and are connected to the data analysis controller for communication; The front end of the rotating body is located inside the front housing and is in rotational sealing cooperation with the front housing, and the rear end of the rotating body is located inside the rear housing and is in rotational sealing cooperation with the rear housing; The driving device is arranged inside the front housing, and includes a servo motor and a gear mechanism. The output end of the servo motor drives the rotating body to rotate relative to the front housing and the rear housing through the gear mechanism. The high-pressure jet mechanism includes a water supply pipe 1, a rotating joint, a water supply pipe 2, a high-pressure nozzle and a direction adjustment component. The water supply pipe 1 is located inside the rear shell, and the front end is connected to one end of the water supply pipe 2 arranged on the rotating body through the rotating joint, and the rear end passes through the rear shell and can be connected to the high-pressure water supply device; The high-pressure nozzle is installed on the water supply pipe 2, and the direction adjustment component is arranged on the rotating body, and the direction of the high-pressure nozzle is controlled by driving the water supply pipe 2 to rotate around the rotating joint; The front housing comprises a first outer tube body with a closed front end and a first inner tube body, the first inner tube body is located inside the first outer tube body and is coaxially arranged therewith, the rear end of the first outer tube body is connected to the rear end of the first inner tube body through a first annular rubber sheet, and the first annular rubber sheet seals the annular cavity inside the front housing; A plurality of groups of first springs are evenly arranged in an annular shape between the first inner tube and the first outer tube, each group of first springs includes a plurality of first springs evenly arranged along the axis direction of the first inner tube, and each first spring is arranged along the normal direction of the cross section of the first inner tube; The rear housing includes a second outer tube body and a second inner tube body, both of which are straight round tubes, and the second inner tube body is located inside the second outer tube body and is coaxially arranged therewith; The front and rear ends of the second outer tube are respectively connected to the corresponding ends of the second inner tube through a second annular rubber sheet, and the second annular rubber sheet seals the annular cavity inside the rear outer shell; A plurality of groups of second springs are evenly arranged in an annular shape between the second inner tube and the second outer tube, each group of second springs includes a plurality of second springs evenly arranged along the axis direction of the second inner tube, and each second spring is arranged along the normal direction of the cross section of the second inner tube; The stress monitoring unit includes a plurality of groups of strain gauges arranged in sequence and at equal intervals along the axial direction of the front housing, each group of strain gauges includes twelve strain gauges evenly arranged in an annular shape on the circumferential outer wall of the first inner tube body or the second inner tube body, and all the strain gauges are electrically connected to the data analysis controller; The circumferential inner wall of the first outer tube body is provided with pressure-guiding columns whose number is equal to and positions correspond to the strain gauges on the first inner tube body, and the circumferential inner wall of the second outer tube body is provided with pressure-guiding columns whose number is equal to and positions correspond to the strain gauges on the second inner tube body, and the pressure-guiding columns are conical structures, and their pointed ends are directly opposite to the strain gauges.

2. The surrounding rock stress sudden change warning emergency device according to claim 1 is characterized in that: The rotating body is a cylindrical structure with a cavity, and the upper and lower ends of the rotating body are respectively provided with an upper end shaft and a lower end shaft coaxial therewith; A first end ring is provided at the rear end of the front shell, a second end ring is provided at the front end of the rear shell, and a rear end cover is provided at the rear end of the rear shell. The upper end shaft passes through the center of the first end ring and is rotatably connected to the inner wall of the front shell, and the outer wall of the upper end shaft rotates and seals with the first end ring. The lower end shaft passes through the center of the second end ring and is rotatably connected to the inner wall of the rear shell, and the outer wall of the lower end shaft rotates and seals with the second end ring.

3. The surrounding rock stress sudden change warning emergency device according to claim 2 is characterized in that: The gear mechanism includes a driving gear and a driven gear, the driven gear is fixedly mounted on the lower end shaft, the servo motor is mounted inside the rear housing, the servo motor is powered by a battery arranged in the rear housing, and the signal end of the servo motor is connected to the data analysis controller for communication; The driven gear is arranged on the output shaft of the servo motor and meshes with the driving gear to drive the rotating body to rotate relative to the front housing and the rear housing.

4. The surrounding rock stress sudden change warning emergency device according to claim 2 is characterized in that: A vertical groove is provided on the circumferential side wall of the rotating body, and the vertical groove is communicated with the cavity in the rotating body. A water supply pipe 1 is embedded in the rotating body and arranged coaxially therewith. The front end of the water supply pipe 1 is connected and communicated with the inlet of the rotating joint, and the rear end thereof passes through the rear end cover and extends to the outside of the rear shell. A solenoid valve is arranged on the water supply pipe 1, and the solenoid valve is communicated with the data analysis controller; The water supply pipe 2 is located in the vertical groove, one end of the water supply pipe 2 is connected to the outlet of the rotary joint, the high-pressure nozzle is located outside the rotating body and installed at the other end of the water supply pipe 2, and the high-pressure nozzle and the water supply pipe 2 can rotate around the rotary joint; The direction adjustment component includes an electric telescopic rod and two hinged seats. The electric telescopic rod is located above the water supply pipe 2. The water supply pipe 2 is connected to the inner wall of the cavity of the rotating body through the electric telescopic rod. The electric telescopic rod drives the high-pressure nozzle and the water supply pipe 2 to swing up and down.

5. The surrounding rock stress sudden change warning emergency device according to claim 3 is characterized in that: The data analysis controller is embedded with FLAC 3D and matlab data processing modules, and the stress monitoring unit and the positioning module are respectively connected to the data analysis controller for communication; The data analysis controller quickly processes the electrical signal transmitted by the stress monitoring unit to generate a surrounding rock stress mutation cloud map, achieving full coverage of the stress mutation cloud map in the tunnel. When a surrounding rock stress mutation occurs somewhere in the tunnel, the stress mutation point can be instantly determined based on the tunnel stress mutation cloud map and the positioning module.

6. A method for using a surrounding rock stress sudden change warning emergency device, characterized in that: The surrounding rock stress mutation warning emergency device according to any one of claims 1 to 5 is used, and the method of using the device comprises the following steps: S1. According to the tunnel field monitoring data and laboratory experimental data analysis, determine the stress mutation warning threshold of the surrounding rock, the warning threshold includes warning threshold 1 and warning threshold 2, and import the stress mutation warning threshold into the data analysis controller; S2. Determine the transport tunnel section that is greatly affected by mining stress and has a large number of workers, deploy a self-positioning temporary patrol robot in the transport tunnel section, and determine the installation point of the surrounding rock stress sudden change warning emergency device on the rock wall of the transport tunnel section, drill holes at the installation point positions on the rock wall and clean the inside of the holes; All installation points are arranged in a square array on the rock wall. The horizontal distance between any two adjacent installation points is 3m to 5m, and the vertical distance between any two adjacent installation points is 1m to 1.5m. S3, adjusting the relative position of the front shell and the rear shell so that the stress monitoring unit in the front shell corresponds to the stress monitoring unit in the rear shell, applying anchoring glue on the outer walls of the front shell and the rear shell, and avoiding the water guide groove outside the rear shell; Afterwards, the surrounding rock stress mutation warning emergency device is sent into the borehole, the front shell and the rear shell are fixed to the rock wall inside the borehole with anchoring glue, and the ends of each water supply pipe are connected to the high-pressure water supply device; S4. Number and zero each surrounding rock stress mutation warning emergency device and establish communication connection with the underground gateway; The stress monitoring unit is started to monitor the sudden stress changes in the surrounding rock through strain gauges and geoacoustic sensors, and converts the sudden stress changes into electrical signals and transmits them to the data analysis controller in real time; The data analysis controller processes the received electrical signals in real time through the internally embedded FLAC 3D and matlab data processing modules to generate a real-time stress mutation cloud map of the entire tunnel; S5. The data analysis controller compares and analyzes the stress mutation value with the warning threshold in real time, and the wireless communication module transmits the comparison and analysis to the underground gateway in real time; When the stress mutation value is less than the warning threshold 1, the high-pressure jet mechanism, the sound and light warning unit and the self-positioning temporary patrol robot will not respond; When the warning threshold 1 ≤ stress mutation value < warning threshold 2, the positioning module locates the stress mutation point, and the surrounding rock stress mutation warning emergency device near the stress mutation point responds, and the high-pressure nozzle performs hydraulic perforation to relieve pressure and soften the stress mutation point; the wireless communication module sends stress mutation point information and inspection information to the ground dispatching department through the underground gateway, pre-cracking and decompressing the rock mass near the stress mutation point, and at the same time, the self-positioning temporary patrol robot responds and provides temporary support for the stress mutation point; When the warning threshold 2 ≤ the stress mutation value, the sound and light warning device responds, reminding nearby workers to evacuate quickly. The high-pressure nozzle continues to hydraulically perforate and soften the stress mutation point. The wireless communication module sends stress mutation point information and rescue information to the ground dispatching department through the underground gateway.

7. The method for using the surrounding rock stress sudden change warning emergency device according to claim 6 is characterized in that: The self-positioning temporary patrol robot comprises a frame, a crawler walking mechanism, an engine, a lifting bracket, a top plate and a self-positioning control unit, wherein the crawler walking mechanism has two and is symmetrically arranged on both sides of the frame; The engine is arranged on the frame to drive the crawler walking mechanism to walk. The top plate is located above the frame, and its bottom is connected to the top of the frame through the lifting bracket. The self-positioning control unit is arranged at the front of the frame to control the self-positioning temporary patrol robot to patrol the line.

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