Rock breaking device and rock breaking method thereof

Abstract

The application provides a rock breaking device and a rock breaking method thereof. The rock breaking device comprises a mechanical arm having a fixed end and a movable end, a moving device to which the fixed end of the mechanical arm is connected, a cutter head arranged at the movable end of the mechanical arm, and an auxiliary rock breaking device arranged on the cutter head and used for pre-cutting rock before the cutter head cuts the rock to form a cutting seam on a preset cutting path of the cutter head. The application solves the problems of low hard rock breaking efficiency and high wear rate of a boom roadheader.

Description

Rock breaking device and rock breaking method Technical Field

[0001] This invention relates to the field of coal mining equipment technology, and in particular to a rock-breaking device and its rock-breaking method. Background Technology

[0002] The description in this section provides only background information related to the disclosure of this invention and does not constitute prior art.

[0003] In the field of coal mining equipment technology, the standard operating methods for tunneling coal mine roadways typically include drill-and-blast method and mechanical tunneling method. Drill-and-blast method uses explosives to break the rock mass and open up the tunnel, which carries risks such as coal spillage, large amounts of dust, high labor intensity for workers, and the risk of gas explosions and roof falls. Currently, mechanical tunneling method is gradually being adopted in the mining of conventional coal mine tunnels. Mechanical tunneling method mainly uses tunneling machines to break the rock, so the design of the tunneling machine is a key factor in determining the tunneling efficiency.

[0004] In the construction of existing hard rock tunnels in coal mines, cantilever tunneling machines are typically used to break the rock by impacting the rock face. However, when the hard rock is strong, the hard rock handling capacity of cantilever tunneling machines is significantly insufficient. The cutting teeth and tooth holders of the cutterhead are prone to wear, breakage, and detachment when cutting hard rock, thus requiring frequent machine shutdowns to replace the cutting teeth. This leads to a decrease in the tunneling efficiency of the machine, and the constant replacement of cutting teeth also results in high production costs during the tunneling process. Furthermore, cantilever tunneling machines also face problems such as difficulty in wedging the cutter head into hard rock and the generation of large amounts of dust during excavation.

[0005] It should be noted that the above description of the technical background is only for the purpose of providing a clear and complete explanation of the technical solutions of the present invention and facilitating understanding by those skilled in the art. It should not be assumed that the above technical solutions are known to those skilled in the art simply because they have been described in the background section of this invention. Summary of the Invention

[0006] The purpose of this invention is to provide a rock-breaking device and method that solves the problems of low efficiency and high wear rate of cantilever tunneling machines in breaking hard rock.

[0007] The above-mentioned objectives of this invention are mainly achieved by the following technical solutions:

[0008] This invention provides a rock-breaking device, comprising:

[0009] A robotic arm having a fixed end and a movable end;

[0010] A mobile device, wherein the fixed end of the robotic arm is connected to the mobile device;

[0011] A cutter head, which is disposed at the movable end of the robotic arm;

[0012] An auxiliary rock-breaking device is provided on the cutter head. The auxiliary rock-breaking device is used to pre-cut the rock before the cutter head cuts and breaks the rock, so as to form a kerf on the preset cutting path of the cutter head.

[0013] In one specific embodiment, the robotic arm has a hollow internal structure, and the movable end of the robotic arm is provided with a vibrating shell, with the cutter head connected to the vibrating shell;

[0014] The robotic arm is equipped with a drive device, and the vibrating shell is equipped with an eccentric shaft. The output end of the drive device is connected to the eccentric shaft to drive the eccentric shaft to rotate eccentrically.

[0015] In one specific embodiment, the eccentric shaft is mounted inside the vibrating housing via a roller bearing.

[0016] In one specific embodiment, the auxiliary rock-breaking device is an abrasive jet device for spraying abrasive to break rocks. The abrasive jet device is placed on the cutter head and is used to spray abrasive before the cutter head cuts and breaks the rock.

[0017] In one specific embodiment, the robotic arm has a hollow internal structure, and an abrasive delivery main pipeline is provided inside the robotic arm. Multiple jet nozzles are provided on the cutter head, and multiple abrasive delivery branch pipelines are provided inside the cutter head. One end of each of the multiple abrasive delivery branch pipelines is connected to the corresponding jet nozzle, and the other end of each of the multiple abrasive delivery branch pipelines is connected to the abrasive delivery main pipeline through a hollow rotary joint.

[0018] In one specific embodiment, a plurality of jet nozzles are arranged at circumferential intervals along the cutter head.

[0019] In one specific embodiment, the cutter head is rotatably disposed at the movable end of the robotic arm, and the outer periphery of the cutter head protrudes radially from the outer periphery of the movable end of the robotic arm.

[0020] In one specific embodiment, the cutter head is a cone with a gradually increasing radius from the direction near the robotic arm to the direction away from the robotic arm, and the extension direction of the jet nozzle is located in the radial plane of the cutter head.

[0021] In one specific embodiment, the rock-breaking device further includes a control room, which is disposed on the mobile device, and the fixed end of the robotic arm is connected to the control room;

[0022] A booster is installed in the control room. The booster is located on the main abrasive conveying pipeline, or the booster is connected to the main abrasive conveying pipeline.

[0023] In one specific embodiment, the rock-breaking device further includes a support plate, which is disposed on the top of the mobile device, and the control room is disposed on the top of the support plate;

[0024] The front end of the support plate is provided with a slag scraper, which gradually slopes downward from the direction close to the support plate to the direction away from the support plate.

[0025] In one specific embodiment, the auxiliary rock-breaking device is a laser rock-breaking device, a microwave rock-breaking device, or a carbon dioxide rock-breaking device.

[0026] In one specific embodiment, the robotic arm includes at least a first arm segment and a second arm segment, one end of the first arm segment is connected to the moving device, the other end of the first arm segment is rotatably connected to the second arm segment, and the cutter head is disposed at the other end of the second arm segment;

[0027] A hydraulic cylinder is provided between the first boom segment and the second boom segment to adjust the direction and / or angle of the swing of the second boom segment relative to the first boom segment.

[0028] In one specific embodiment, there are multiple hydraulic cylinders, which are arranged at intervals along the circumference of the robotic arm. One of the cylinder body and piston rod of the hydraulic cylinder is hinged to the first arm segment, and the other is hinged to the second arm segment.

[0029] In one specific embodiment, the first arm segment and the second arm segment are connected by a cross-shaped joint bearing.

[0030] In one specific embodiment, the cutter head includes multiple splicing blocks, each of which is provided with a cutting tool, and the multiple splicing blocks are assembled together to form the cutter head.

[0031] This invention provides a rock-breaking method using the aforementioned rock-breaking device, the rock-breaking method comprising the following steps:

[0032] An auxiliary rock-breaking device is used to pre-cut the rock to form a kerf along the pre-set cutting path of the cutter head;

[0033] The rock is cut and broken using a cutter head along the cut.

[0034] In one specific embodiment, after the cut reaches a preset depth, the auxiliary rock-breaking device is stopped and the cutter head is turned on.

[0035] In one specific embodiment, during the process of cutting and breaking the rock along the cut with a cutter head, the position and orientation of the cutter head are adjusted in real time by a robotic arm to control the cutter on the cutter head to maintain a suitable rock entry angle.

[0036] Compared with the prior art, the technical solution of the present invention has the following characteristics and advantages:

[0037] The rock-breaking device provided by this invention, by setting a cutterhead and an auxiliary rock-breaking device, can pre-cut the rock before the cutterhead cuts it, creating a slit in the rock beforehand. When the cutterhead cuts the slit, it can take advantage of the fact that the rock in the coal mine is resistant to compression but not to tension, thus achieving rapid rock breaking. This reduces the difficulty of rock breaking and the load on the cutterhead, reduces wear on the cutterhead edge, and improves the tunneling efficiency of the rock-breaking device. Attached Figure Description

[0038] Figure 1 is a structural diagram of the rock-breaking device of the present invention;

[0039] Figure 2 is a structural diagram of the cutterhead of the rock-breaking device of the present invention;

[0040] Figure 3 is a cross-sectional view of the vibrating outer shell of the rock-breaking device of the present invention;

[0041] Figure 4 is a structural diagram of the abrasive jet device of the rock-breaking device of the present invention;

[0042] Figure 5 is a partial structural diagram of the abrasive jet device of the rock-breaking device of the present invention;

[0043] Figure 6 is a structural diagram of the cross-joint bearing of the rock-breaking device of the present invention;

[0044] Figure 7 is a flowchart of the rock-breaking method of the present invention.

[0045] Explanation of icon numbers:

[0046] 1. Robotic arm; 11. Vibrating housing; 12. Drive unit; 121. Drive motor; 13. Eccentric shaft; 14. Roller bearing; 15. First arm section; 16. Second arm section; 17. Hydraulic cylinder;

[0047] 2. Mobile device;

[0048] 3. Cutter head;

[0049] 4. Auxiliary rock-breaking device; 41. Abrasive jet device; 411. Main abrasive conveying pipeline; 412. Jet nozzle; 413. Abrasive conveying branch pipeline; 414. Rotary joint;

[0050] 5. Control room; 51. Supercharger;

[0051] 6. Support plate;

[0052] 7. Slag scraper;

[0053] 8. Cross-shaped spherical plain bearing; 81. Bearing base; 82. Upper and lower bearing support seats; 83. Left and right bearing support seats;

[0054] A. The radial plane of the cutter head;

[0055] F. The direction of extension of the jet nozzle;

[0056] P, radial direction of the cutter head. Detailed Implementation

[0057] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0058] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0060] Implementation Method 1

[0061] As shown in Figures 1 and 2, the present invention provides a rock-breaking device, comprising:

[0062] Robotic arm 1, which has a fixed end and a movable end;

[0063] Mobile device 2, the fixed end of the robotic arm 1 is connected to the mobile device 2;

[0064] A cutter head 3 is disposed at the movable end of the robotic arm 1;

[0065] An auxiliary rock-breaking device 4 is disposed on the cutter head 3. The auxiliary rock-breaking device 4 is used to pre-cut the rock before the cutter head 3 cuts and breaks the rock, so as to form a slit on the preset cutting path of the cutter head 3.

[0066] The rock-breaking device provided by the present invention, by setting a cutterhead 3 and an auxiliary rock-breaking device 4, can pre-cut the rock before the cutterhead 3 cuts the rock, and pre-cut a slit in the rock. When the cutterhead 3 cuts the slit, it can take advantage of the characteristic that the rock in the coal mine is resistant to compression but not to tension, so as to achieve rapid rock breaking, reduce the difficulty of rock breaking and the load on the cutterhead 3, reduce the wear on the edge of the cutterhead 3, and improve the tunneling efficiency of the rock-breaking device.

[0067] In this embodiment, the robotic arm 1 is connected to the mobile device 2 and can freely adjust its position according to the tunneling progress in the coal mine. The mobile device 2 in this embodiment includes a tracked mobile vehicle or other movable platform. The robotic arm 1 in this embodiment is provided with a movable end and a fixed end, wherein the fixed end is connected to the mobile device 2, and the movable end extends forward from the mobile device 2 to abut against the rock wall that needs to be broken. The cutterhead 3 is provided at the movable end to perform rock breaking treatment on the rock wall that needs to be broken. In this embodiment, the cutterhead 3 is a cutter that is radially protruding from the movable end of the robotic arm 1 and is fixed at the movable end. In other embodiments, the cutterhead 3 can also be rotatably provided at the movable end. There is no specific limitation on whether the cutterhead 3 can be rotated. In this embodiment, the cutterhead 3 is provided with an auxiliary rock breaking device 4. In one embodiment, the auxiliary rock breaking device 4 can be attached to the outside of the cutterhead 3. In another embodiment, the auxiliary rock breaking device 4 can also be embedded in the inner cavity of the cutterhead 3. There is no specific limitation on the structure of the cutterhead 3 and the setting method of the auxiliary rock breaking device 4.

[0068] In this embodiment, the auxiliary rock breaking device 4 has the function of cutting grooves in the rock. The specific rock breaking method of the auxiliary rock breaking device 4 can be jet rock breaking, laser rock breaking, or ultrasonic rock breaking. There are no restrictions on the specific structure of the auxiliary rock breaking device 4.

[0069] As shown in Figures 1 and 3, in one specific embodiment, the robotic arm 1 has a hollow internal structure, and the movable end of the robotic arm 1 is provided with a vibrating shell 11, and the cutter head 3 is connected to the vibrating shell 11.

[0070] The robotic arm 1 is equipped with a drive device 12, and the vibrating housing 11 is equipped with an eccentric shaft 13. The output end of the drive device 12 is connected to the eccentric shaft 13 to drive the eccentric shaft 13 to rotate eccentrically.

[0071] The rock-breaking device provided by the present invention, by setting an eccentric shaft 13 and a driving device 12, can enable the eccentric shaft 13 to provide vibration force to the cutter head 3. After the cutter head 3 bears the vibration force, it can cut into the rock along the cutting direction and provide a pulling force to separate the rock cracks along the direction perpendicular to the cutting direction, which can significantly improve the rock-breaking efficiency and enable the rock to be separated more quickly.

[0072] In this embodiment, the eccentric shaft 13 is disposed in the inner cavity of the vibrating housing 11. The eccentric shaft 13 has a main shaft and an eccentric block. The eccentric block protrudes from the outer circumferential wall of the main shaft. The main shaft is arranged along the axis of the cutter head 3. During the rotation of the main shaft, the eccentric block can move along the circumferential direction of the cutter head 3. The output end of the drive device 12 is connected to the main shaft of the eccentric shaft 13. The output end of the drive device 12 drives the main shaft to rotate. The eccentric block rotates along the circumferential direction of the main shaft. The movement of the eccentric block applies a vibration force to the main shaft that moves along its circumference and radially outward. The vibration force provides the cutter with a vibration force that moves along the circumferential direction and radially outward through the vibrating housing, so that the cutting tip of the cutter head 3 can cut into the rock under the action of the vibration force.

[0073] As shown in Figures 1 and 3, in one specific embodiment, the eccentric shaft 13 is mounted inside the vibrating housing 11 via a roller bearing 14.

[0074] In this embodiment, the main shaft of the eccentric shaft 13 is mounted inside the vibrating housing 11 via at least one roller bearing 14. The circumferential direction of the roller bearing 14 is aligned with that of the cutter head 3. Preferably, the axis of the roller bearing 14 is collinear with the axis of the cutter head 3. In this embodiment, two roller bearings 14 are used, respectively located at both ends of the eccentric shaft 13. In other embodiments, there are no specific limitations on the number of roller bearings 14 or their positions on the eccentric shaft 13.

[0075] As shown in Figures 1 and 3, in one specific embodiment, the driving device 12 includes a drive motor 121.

[0076] In this embodiment, the drive motor 121 of the drive device 12 is disposed in the cavity of the robotic arm 1. The output end of the drive motor 121 is connected to one end of the main shaft of the eccentric shaft 13. The drive motor 121 is disposed at the end of the robotic arm 1 away from the vibration housing 11 to avoid the excessive vibration force provided by the eccentric shaft 13 from affecting the life of the drive motor 121. In other embodiments, there are no specific restrictions on the position of the drive motor 121 in the robotic arm 1.

[0077] As shown in Figures 1 and 2, in one specific embodiment, the auxiliary rock-breaking device 4 is an abrasive jet device 41 for spraying abrasive to break rocks. The abrasive jet device 41 is disposed on the cutter head 3 and is used to spray abrasive before the cutter head 3 cuts and breaks the rock.

[0078] In this embodiment, the auxiliary rock-breaking device 4 adopts an abrasive jetting device 41 that sprays abrasive. The abrasive jetting device 41 can pre-cut the hard rock in the coal mine, and by setting the abrasive jetting device 41 on the cutter head 3, the heat accumulated by the cutter head 3 during the operation is carried away by the liquid flow during the abrasive jetting process, thereby cooling the cutter head 3. This avoids the problem of reduced lifespan and risk of gas explosion in the coal seam caused by excessive temperature after continuous rock breaking.

[0079] In this embodiment, the abrasive jet device 41 is disposed on the cutter head 3. The pipeline of the abrasive jet device 41 can be embedded inside the cutter head 3, or the pipeline of the abrasive jet device 41 can also be disposed outside the cutter head 3. In this embodiment, the abrasive jet device 41 can be rotatably disposed in conjunction with the cutter head 3, that is, the abrasive jet can be sprayed in a rotating manner. In other embodiments, the abrasive jet device 41 may not rotate with the cutter head 3, that is, the abrasive jet device 41 always sprays the jet in one direction. There is no specific limitation on this.

[0080] As shown in Figures 1, 2, 4, and 5, in one specific embodiment, the robotic arm 1 has a hollow internal structure. An abrasive delivery main pipeline 411 is installed inside the robotic arm 1. Multiple jet nozzles 412 are installed on the cutter head 3. Multiple abrasive delivery branch pipelines 413 are installed inside the cutter head 3. One end of each abrasive delivery branch pipeline 413 is connected to a corresponding jet nozzle 412, and the other end of each abrasive delivery branch pipeline 413 is connected to the abrasive delivery main pipeline 411 via a hollow rotary joint 414.

[0081] The rock-breaking device provided by the present invention sets the abrasive delivery main pipeline 411 of the abrasive jet device 41 inside the robotic arm 1, embeds the abrasive delivery branch pipeline 413 inside the cutter head 3, and opens the jet nozzle 412 on the cutter head 3. By connecting the abrasive delivery main pipeline 411, the abrasive delivery branch pipeline 413, and the jet nozzle 412 together, the jet path of the abrasive jet device 41 is set. At the same time, setting the abrasive delivery main pipeline 411 and the abrasive delivery branch pipeline 413 inside the rock-breaking device, rather than attaching them to the outside of the robotic arm 1 or the outside of the cutter head 3, can further improve the heat carrying capacity of the abrasive jet device 41 and achieve rapid cooling.

[0082] In this embodiment, the abrasive delivery main pipeline 411 of the abrasive jet device 41 is installed inside the robotic arm 1. One end of the abrasive delivery main pipeline 411 is connected to the liquid tank of the abrasive jet device 41, and the other end of the abrasive delivery main pipeline 411 extends out of the robotic arm 1 and is connected to the abrasive delivery branch pipeline 413. In this embodiment, multiple jet nozzles 412 are provided on the cutter head 3. In other embodiments, the number of jet nozzles 412 on the cutter head 3 is not specifically limited. The number of abrasive delivery branch pipelines 413 corresponds to the number of jet nozzles 412. One end of each abrasive delivery branch pipeline 413 is connected to the other end of the abrasive delivery main pipeline 411, and the other end of each abrasive delivery branch pipeline 413 is connected to the jet nozzle 412. In this embodiment, the spray port of the jet nozzle 412 is opened radially outward toward the cutter head 3. The direction of the jet nozzle 412 in this embodiment is not specifically limited.

[0083] In this embodiment, the abrasive delivery branch pipe 413 and the abrasive delivery main pipe 411 are connected by a hollow rotary joint 414. The hollow design of the rotary joint 414 facilitates the entry of the jet from the abrasive delivery main pipe 411 into the abrasive delivery branch pipe 413. Using the rotary joint 414 avoids the problem of the eccentric shaft 13 generating rotational torque at the connection between the abrasive delivery main pipe 411 and the abrasive delivery branch pipe 413 when applying vibration force to the cutter head 3, thus preventing the connection from easily breaking. In this embodiment, the rotation axis of the rotary joint 414 is collinear with the axis of the cutter head 3 to minimize the vibration force caused by the eccentric shaft 13. The rotary joint 414 in this embodiment allows the abrasive delivery branch pipe 413 to rotate relative to the abrasive delivery main pipe 411.

[0084] As shown in Figures 1 and 2, in one specific embodiment, a plurality of jet nozzles 412 are arranged at intervals along the circumference of the cutter head 3.

[0085] The rock-breaking device provided by this invention, by arranging multiple nozzles at intervals along the circumference of the cutter head 3, can perform pre-cutting operations using jets when breaking rocks in different directions on the cutter head 3. In this embodiment, the nozzles are spaced around the circumference of the cutter head 3, meaning the jet direction can also be set outwards radially P from the cutter head 3. During the pre-cutting process, if the cutter head 3 needs to break rocks above the rock wall, the jet nozzle 412 with its opening facing upwards can be selected to pre-cut the rocks in the desired cutting direction.

[0086] As shown in Figures 1 and 2, in one specific embodiment, the cutter head 3 is rotatably disposed at the movable end of the robotic arm 1, and the outer periphery of the cutter head 3 is arranged to protrude from the outer periphery of the movable end along the radial direction of the robotic arm 1.

[0087] The rock-breaking device provided by this invention rotates the cutter head 3 at the movable end. Under the vibration force provided by the eccentric shaft 13, the cutter head 3 can rotate in one direction along its circumference and be flung by the eccentric shaft 13, thereby realizing the rotation of the cutter head 3 at the movable end. The rotation of the cutter head 3 allows it to better utilize the compressive but not tensile properties of hard rock to cut hard rock. At the same time, the rotation of the cutter head 3 can also avoid the cutter head 3 always cutting the rock at the same position, which would increase the risk of aging and damage at the same position of the cutter head 3, increase the frequency of replacement of the cutter head 3, and affect the rock-breaking efficiency of the rock-breaking device.

[0088] In this embodiment, the rotation axis of the cutter head 3 is collinear with the axis of the eccentric shaft 13 to maximize the use of the eccentric force transmitted by the eccentric shaft 13. The outer periphery of the cutter head 3 protrudes from the outer periphery of the movable end along the radial direction of the robotic arm 1, that is, the cutter head 3 can protrude from the movable end of the robotic arm 1, avoiding the problem of limited cutting angle caused by the small diameter of the cutter head 3. At the same time, using a larger diameter of the cutter head 3 can increase the rotation torque of the cutter head 3 and accelerate the rotation of the cutter head 3.

[0089] As shown in Figures 1 and 2, in one specific embodiment, the cutter head 3 is a cone with a gradually increasing radius from the direction close to the robotic arm 1 to the direction far away from the robotic arm 1, and the extension direction F of the jet nozzle 412 is located in the radial plane A of the cutter head 3.

[0090] The rock-breaking device provided by the present invention, by setting the cutter head 3 as an inverted conical structure, can further expand the cutting angle of the cutter head 3, avoiding the problem of the cutter head 3's cutting angle being limited due to the cutter tip being too close to the robotic arm 1. In this embodiment, the extension direction F of the jet nozzle 412 is located in the radial plane A of the cutter head 3, avoiding the risk of damage to the jet nozzle 412 caused by the vibration force transmitted by the eccentric shaft 13; at the same time, limiting the opening direction of the jet nozzle 412 can also make the cutting force of the jet and the vibration cutting force of the cutter head 3 located in the same plane, which promotes the cutting and rock-breaking.

[0091] In this embodiment, the radius of the end of the cutter head 3 connected to the robotic arm 1 is smaller than the radius of the end of the cutter head 3 away from the robotic arm 1, making the cutter head 3 generally have an inverted conical structure. In other embodiments, the cutter head 3 can also be set as a cubic structure, without specific limitations. In this embodiment, the axis of the cutter head 3 is collinear with the axis of the main shaft of the eccentric shaft 13, and the vibration cutting force of the cutter head 3 is set radially outward. In this embodiment, referring to Figure 2, one end of the jet nozzle 412 is connected to the abrasive conveying branch pipe 413, and the other end of the jet nozzle 412 is opened on the circumferential surface of the cutter head. The extension direction F of the jet nozzle 412 is also the opening direction of the jet nozzle 412, which is also the jet direction emitted by the jet nozzle 412. The extension direction F of the jet nozzle 412 is set in the radial plane A of the cutter head 3, that is, the extension direction F of the jet nozzle 412 and the radial direction P of the cutter head 3 are set at a certain angle in the radial plane A of the cutter head 3, which reduces the risk of damage to the jet nozzle 412.

[0092] As shown in Figure 1, in one specific embodiment, the rock-breaking device further includes a control room 5, which is disposed on the mobile device 2, and the fixed end of the robotic arm 1 is connected to the control room 5.

[0093] A booster 51 is installed in the control room 5. The booster 51 is located on the abrasive conveying main pipeline 411, or the booster 51 is connected to the abrasive conveying main pipeline 411.

[0094] The rock-breaking device provided by this invention minimizes the vibration impact of the eccentric shaft 13 on the booster 51 by placing the booster 51 in the operating room, thereby extending the life of the booster 51. In this embodiment, the control room 5 is mounted on the mobile device 2, allowing the operator to move the rock-breaking device along with it.

[0095] As shown in Figure 1, in one specific embodiment, the rock-breaking device further includes a support plate 6, which is disposed on the top of the moving device 2, and the control room 5 is disposed on the top of the support plate 6.

[0096] The front end of the support plate 6 is provided with a slag scraper 7, which gradually slopes downward from the direction close to the support plate 6 to the direction away from the support plate 6.

[0097] In this embodiment, the scraper plate 7 is disposed at the front end of the support plate 6. The scraper plate 7 gradually tilts downward in a direction away from the support plate 6, so that during the movement of the rock breaking device, the slag and rocks in front of the road can be scraped away, so as to avoid the slag and rocks affecting the movement and tunneling efficiency of the tunneling machine. The front end of the scraper plate 7 can abut against the bottom of the coal mine tunnel, or in other embodiments, the scraper plate 7 can also be raised above the bottom of the coal mine tunnel.

[0098] As shown in Figure 1, in one specific embodiment, the auxiliary rock-breaking device 4 is a laser rock-breaking device, a microwave rock-breaking device, or a carbon dioxide rock-breaking device.

[0099] In this embodiment, by replacing the auxiliary rock-breaking device 4 with a laser rock-breaking device, a microwave rock-breaking device, or a carbon dioxide rock-breaking device, compared with using jet for pre-cutting, the number of devices inside the robotic arm 1 and the cutter head 3 can be reduced, the overall structural stability of the rock-breaking device can be improved, and the internal components of the rock-breaking device can be prevented from being damaged by vibration. At the same time, the laser rock-breaking device uses laser to emit laser light outward from the radial direction P of the cutter head 3 to achieve the pre-cutting effect; the microwave rock-breaking device heats the rock with microwaves and then achieves rock fragmentation through thermal changes; or the carbon dioxide rock-breaking device is used, that is, the effect of the gas volume expansion of the vaporized carbon dioxide is used to break the rock.

[0100] As shown in Figure 1, in one specific embodiment, the robotic arm 1 includes at least a first arm segment 15 and a second arm segment 16. One end of the first arm segment 15 is connected to the moving device 2, and the other end of the first arm segment 15 is rotatably connected to the second arm segment 16. The cutter head 3 is disposed at the other end of the second arm segment 16.

[0101] A hydraulic cylinder 17 is provided between the first boom segment 15 and the second boom segment 16 to adjust the direction and / or angle of the swing of the second boom segment 16 relative to the first boom segment 15.

[0102] The rock-breaking device provided by the present invention, by further defining the robotic arm 1 into two arm segments, can realize the tilt angle adjustment function of the robotic arm 1. That is, in this embodiment, by changing the angle between the axis of the first arm segment 15 and the axis of the second arm segment 16, the second arm segment 16 can achieve multi-degree-of-freedom rotation relative to the first arm segment 15, so that the cutter head 3 connected to the second arm segment 16 can flexibly adjust the orientation of the cutter tip of the cutter head 3 according to the angle between its cutter tip and the cut of the rock to be cut, that is, adjust the rock entry angle of the cutter head 3.

[0103] In this embodiment, one end of the first arm segment 15 is connected to the moving device 2, and the other end of the first arm segment 15 is connected to one end of the second arm segment 16. The end of the first arm segment 15 connected to the moving device 2 is the fixed end of the robotic arm 1, and the end of the second arm segment 16 connected to the cutter head 3 is the movable end of the robotic arm 1. A hydraulic cylinder 17 is provided between the first arm segment 15 and the second arm segment 16. The swing angle of the second arm segment 16 relative to the first arm segment 15 can be flexibly adjusted by the hydraulic cylinder 17, and the swing direction of the second arm segment 16 relative to the first arm segment 15 can also be adjusted. That is, the swing direction and swing angle can be limited by the extension and retraction direction of the hydraulic cylinder 17. The specific location of the hydraulic cylinder 17 is not limited.

[0104] As shown in Figure 1, in one specific embodiment, there are multiple hydraulic cylinders 17, which are arranged at intervals along the circumference of the robotic arm 1. One of the cylinder body and piston rod of the hydraulic cylinder 17 is hinged to the first arm segment 15, and the other is hinged to the second arm segment 16.

[0105] The rock-breaking device provided by the present invention, by setting multiple hydraulic cylinders 17, can realize multiple swing directions of the second arm segment 16 relative to the first arm segment 15, and can control its swing angle in each swing direction.

[0106] In this embodiment, the hydraulic cylinders 17 are arranged along the circumference of the robotic arm 1. That is, under the premise that the axes of the second arm segment 16 and the first arm segment 15 are collinear, the hydraulic cylinders 17 are arranged at intervals along the circumference of the second arm segment 16 and the circumference of the first arm segment 15. Under the premise that the second arm segment 16 has a swing angle relative to the first arm segment 15, the extension or retraction angle of each hydraulic cylinder 17 changes accordingly.

[0107] As shown in Figures 1 and 6, in one specific embodiment, the first arm segment 15 and the second arm segment 16 are connected by a cross-shaped joint bearing 8.

[0108] In this embodiment, the first arm segment 15 and the second arm segment 16 are connected by a cross-shaped bearing 8, which can increase the connection stability between the first arm segment 15 and the second arm segment 16. At the same time, the cross-shaped bearing 8 can reduce the impact of the vibration force generated by the eccentric shaft 13 on the operating room.

[0109] In this embodiment, the first arm segment 15 and the second arm segment 16 are connected by a cross-shaped joint bearing 8, enabling them to achieve a rotational relationship with at least four degrees of freedom.

[0110] As shown in Figures 1 and 6, in one specific embodiment, the cross-shaped spherical bearing 8 includes a bearing base 81, upper and lower bearing support seats 82, and left and right bearing support seats 83. The upper and lower bearing support seats 82 and the left and right bearing support seats 83 are respectively connected to the bearing base 81. The bearing base 81 is connected to the first arm segment 15 and the second arm segment 16 through the upper and lower bearing support seats 82 and the left and right bearing support seats 83, respectively.

[0111] In this embodiment, the axes of the upper and lower bearing support seats 82 are perpendicular to the axes of the left and right bearing support seats 83. One end of the first arm segment 15 is rotatably fitted onto one of the upper and lower bearing support seats 82 or the left and right bearing support seats 83, and one end of the second arm segment 16 is rotatably fitted onto the other of the upper and lower bearing support seats 82 or the left and right bearing support seats 83. The bearing base 81 is hollow, which facilitates the jet pipeline to pass through the first arm segment 15 into the second arm segment 16. When the first arm segment 15 swings relative to the second arm segment 16, it can rotate using one of the upper and lower bearing support seats 82 or the left and right bearing support seats 83 as the axis of rotation. With the first arm segment 15 able to rotate relative to the operating chamber, the second arm segment 16 can also achieve six degrees of freedom of movement through the cross-shaped joint bearing 8.

[0112] In one specific embodiment, the cutter head 3 includes multiple splicing blocks, each of which is provided with a cutting tool, and the multiple splicing blocks are assembled together to form the cutter head 3.

[0113] In this embodiment, the cutter head 3 can be composed of multiple splicing blocks, which makes it convenient that when the cutter of each splicing block is worn, the entire cutter head 3 does not need to be replaced, but only the corresponding splicing block needs to be replaced, thus improving the rock breaking efficiency of the rock breaking device.

[0114] Implementation Method 2

[0115] As shown in Figure 7, a rock-breaking method using the aforementioned rock-breaking device includes the following steps:

[0116] Step S1: Use the auxiliary rock-breaking device 4 to pre-cut the rock to form a slit on the preset cutting path of the cutter head 3;

[0117] Step S2: Use the cutter head 3 to cut and break the rock along the cut.

[0118] The rock-breaking method provided by this invention, using the aforementioned rock-breaking device, can improve the rock-breaking efficiency of the rock-breaking device, avoid serious damage to the cutting tools, achieve rapid rock breaking, reduce the difficulty of rock breaking and the load on the cutterhead 3, reduce the wear on the edge of the cutterhead 3, and improve the tunneling efficiency of the rock-breaking device.

[0119] In this embodiment, the auxiliary rock-breaking device 4 first needs to pre-cut the rock, that is, to cut a slit in the cutter head 3 so that the tip of the cutter head 3 can be inserted into the slit. Then, by using the vibration force or other forces generated by the eccentric shaft 13, the cutter head 3 can use the rock's compressive but not tensile properties to crack the rock, thus achieving rapid rock breaking. This avoids the problem that the cutter head 3 needs to cut the slit multiple times, resulting in low rock breaking efficiency.

[0120] As shown in Figure 1, in one specific embodiment...

[0121] Once the cut reaches the preset depth, the auxiliary rock-breaking device 4 is stopped, and the cutter head 3 is turned on.

[0122] In this embodiment, the auxiliary rock-breaking device 4 needs to be stopped after the cut reaches the preset depth to avoid low cutting efficiency due to a deep cut, which would affect the rock-breaking efficiency of the auxiliary rock-breaking device 4. Furthermore, in this embodiment, the cutter head 3 needs to start cutting only after the auxiliary rock-breaking device 4 has stopped to avoid the auxiliary rock-breaking device 4 affecting the cutter head 3.

[0123] As shown in Figure 1, in one specific embodiment...

[0124] In the process of cutting and breaking the rock along the cut along the cut, the position and posture of the cutter head 3 are adjusted in real time by the robotic arm 1 to control the cutter on the cutter head 3 to maintain a suitable rock entry angle.

[0125] In this embodiment, the purpose of the slit is to provide a rock inlet for the cutter head 3. During the cutting process in the slit, the direction of the rock fissure extension will change. At this time, the position and posture of the cutter head 3 can be adjusted in real time by the robotic arm 1 so that the radial direction P of the cutter head 3 is always aligned with the direction of the fissure extension, thereby improving the squeezing effect on both sides of the rock fissure and achieving rapid rock breaking.

[0126] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A rock-breaking device, characterized in that, include: A robotic arm (1) having a fixed end and a movable end; a moving device (2) having the fixed end of the robotic arm (1) connected to the moving device (2); a cutter head (3) having the cutter head (3) disposed on the movable end of the robotic arm (1); an auxiliary rock-breaking device (4) having the auxiliary rock-breaking device (4) disposed on the cutter head (3), the auxiliary rock-breaking device (4) being used to pre-cut the rock before the cutter head (3) cuts and breaks the rock, so as to form a kerf on the preset cutting path of the cutter head (3); the robotic arm (1) includes at least a first arm segment (15) and a second arm segment (2). The arm segment (16) has one end of the first arm segment (15) connected to the moving device (2), and the other end of the first arm segment (15) rotatably connected to the second arm segment (16) via a cross-shaped bearing (8). The cutter head (3) is located at the other end of the second arm segment (16). A plurality of hydraulic cylinders (17) are provided between the first arm segment (15) and the second arm segment (16). The plurality of hydraulic cylinders (17) are arranged at intervals along the circumference of the robotic arm (1). In the hydraulic cylinder (17), one of the cylinder body and the piston rod is hinged to the first arm segment (15), and the other is hinged to the second arm segment (16). The hinge is used to adjust the direction and / or angle of the swing of the second arm segment (16) relative to the first arm segment (15); the cross-shaped bearing (8) includes a bearing base (81), upper and lower bearing supports (82) and left and right bearing supports (83), the upper and lower bearing supports (82) and the left and right bearing supports (83) are respectively connected to the bearing base (81), the bearing base (81) is hollow, the axis of the upper and lower bearing supports (82) is perpendicular to the axis of the left and right bearing supports (83), and one end of the first arm segment (15) is rotatably sleeved on the upper and lower bearing supports (82). The bearing base (81) is connected to the first arm segment (15) and the second arm segment (16) respectively through the upper and lower bearing supports (82) and the left and right bearing supports (83). When the first arm segment (15) swings relative to the second arm segment (16), it rotates about one of the upper and lower bearing supports (82) or the left and right bearing supports (83).The robotic arm (1) has a hollow interior and is equipped with a main abrasive delivery pipeline (411). The cutter head (3) has multiple jet nozzles (412) and multiple abrasive delivery branch pipelines (413) within it. One end of each branch pipeline (413) is connected to a corresponding jet nozzle (412), and the other end of each branch pipeline (413) is connected to the main abrasive delivery pipeline (411) via a hollow rotary joint (414). The cutter head (3) is rotatably mounted on the movable end of the robotic arm (1). The outer periphery of the cutter head (3) is arranged to protrude radially from the outer periphery of the movable end of the robotic arm (1); the cutter head (3) is a cone with a gradually increasing radius from the direction close to the robotic arm (1) to the direction away from the robotic arm (1); the extension direction of the jet nozzle (412) is located in the radial plane of the cutter head (3); one end of the jet nozzle (412) is connected to the abrasive conveying branch pipe (413); the other end of the jet nozzle (412) is opened on the circumferential surface of the cutter head (3); the extension direction of the jet nozzle (412) and the radial direction of the cutter head (3) are arranged at a certain angle in the radial plane of the cutter head (3).

2. The rock-breaking device according to claim 1, characterized in that, The robotic arm (1) has a hollow structure inside. The movable end of the robotic arm (1) is provided with a vibrating shell (11), and the cutter head (3) is connected to the vibrating shell (11). The robotic arm (1) is provided with a drive device (12), and the vibrating shell (11) is provided with an eccentric shaft (13). The output end of the drive device (12) is connected to the eccentric shaft (13) to drive the eccentric shaft (13) to rotate eccentrically.

3. The rock-breaking device according to claim 2, characterized in that, The eccentric shaft (13) is mounted inside the vibrating housing (11) via a roller bearing (14).

4. The rock-breaking device according to claim 1, characterized in that, The auxiliary rock-breaking device (4) is an abrasive jet device (41) for spraying abrasive to break rocks. The abrasive jet device (41) is placed on the cutter head (3) and is used to spray abrasive before the cutter head (3) cuts and breaks the rock.

5. The rock-breaking device according to claim 4, characterized in that, Multiple jet nozzles (412) are arranged at circumferential intervals along the cutter head (3).

6. The rock-breaking device according to claim 4, characterized in that, The rock-breaking device also includes a control room (5), which is located on the mobile device (2). The fixed end of the robotic arm (1) is connected to the control room (5). A booster (51) is provided in the control room (5). The booster (51) is located on the abrasive conveying main pipeline (411) or the booster (51) is connected to the abrasive conveying main pipeline (411).

7. The rock-breaking device according to claim 6, characterized in that, The rock-breaking device also includes a support plate (6), which is located on the top of the mobile device (2), and the control room (5) is located on the top of the support plate (6); a scraper plate (7) is provided at the front end of the support plate (6), and the scraper plate (7) gradually tilts downward from the direction close to the support plate (6) to the direction away from the support plate (6).

8. The rock-breaking device according to claim 1, characterized in that, The cutter head (3) includes multiple splicing blocks, each of which is equipped with a cutting tool, and the multiple splicing blocks are joined together to form the cutter head (3).

9. A rock-breaking method, comprising using the rock-breaking device according to any one of claims 1 to 8, characterized in that, The rock-breaking method includes the following steps: using an auxiliary rock-breaking device (4) to pre-cut the rock to form a slit on the cutting path of the preset cutter head (3); using the cutter head (3) to cut and break the rock along the slit.

10. The rock-breaking method according to claim 9, characterized in that, After the cut reaches the preset depth, the auxiliary rock-breaking device (4) is stopped and the cutter head (3) is turned on.

11. The rock-breaking method according to claim 9, characterized in that, In the process of cutting and breaking the rock along the cut with the cutter head (3), the position and posture of the cutter head (3) are adjusted in real time by the robotic arm (1) to control the cutter on the cutter head (3) to maintain a suitable rock entry angle.

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