Hard rock metal mine microwave irradiation and mechanical rock breaking integrated tunneling machine and method

Abstract

The application provides a hard rock metal mine microwave irradiation and mechanical rock breaking integrated tunneling machine, which has a tunneling module driven by a mechanical arm; a microwave generator is driven by the mechanical arm and has a microwave irradiation end on the microwave generator to generate microwaves to radiate and heat a metal mine hard rock area to be tunnelled on a working face; an image acquisition module is arranged on the mechanical arm and points to the front of the microwave irradiation end to acquire a working face image of the metal mine hard rock area to be tunnelled; a control center is arranged on the tunneling machine and is connected to the image acquisition module to process the working face image and identify a microwave thermal crack area; the microwave irradiation is used to break rocks, the rock intensity is weakened under microwave radiation, and the efficiency of mechanical tunneling and rock breaking is greatly improved; after the rock image is shot by a high-speed camera, binary processing is performed, and the cracking degree of the rock after microwave irradiation can be accurately judged.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of non-explosive mining, and particularly relates to a microwave irradiation and mechanical rock breaking integrated tunneling machine for hard rock metal mines and a method. BACKGROUND

[0002] At present, rock drilling and blasting is mainly used in hard rock metal mine mining, which has the problems of poor safety, low production efficiency, strong disturbance, high precision control requirement and the like, and the drilling, charging, detonation and ventilation processes derived from blasting seriously restrict the continuity and mechanization of mining, and further affect the intelligent development of underground metal mines. Since the rock mass of metal mines is generally hard and high in strength, the traditional mechanical rock breaking device is faced with the problems of difficult mechanical cutting and breaking, tool wear, sharply increased maintenance cost and low invasion rate. Microwave has the advantages of high heating efficiency and no secondary pollution, and is a rock breaking method with great development potential. Microwave rock breaking is to rapidly heat rock through microwave, so as to reduce the strength of rock and improve the breaking efficiency and reduce the cost. Therefore, it is of great significance to introduce a microwave irradiation device to develop a high-efficiency rock breaking mechanical tunneling machine in the field of hard rock metal mines for realizing non-explosive continuous and intelligent mining.

[0003] Therefore, it is necessary to provide an improved technical scheme for the above-mentioned deficiencies of the prior art. SUMMARY

[0004] The purpose of the application is to overcome the deficiencies in the prior art, and the application provides a microwave irradiation and mechanical rock breaking integrated tunneling machine for hard rock metal mines and a method.

[0005] In order to achieve the above-mentioned purpose, the application provides the following technical scheme:

[0006] A microwave irradiation and mechanical rock breaking integrated tunneling machine for hard rock metal mines comprises:

[0007] The tunneling machine has a tunneling module driven by a mechanical arm;

[0008] A microwave generator is driven by the mechanical arm, and has a microwave irradiation end on the microwave generator to generate microwave to radiate and heat the hard rock region of the metal mine to be tunneled;

[0009] An image acquisition module is arranged on the mechanical arm and points to the front of the microwave irradiation end to acquire the face image of the hard rock region of the metal mine to be tunneled;

[0010] A control center is arranged on the tunneling machine and connected to the image acquisition module to process the face image and identify the microwave thermal crack area;

[0011] The microwave generator, the mechanical arm, the image acquisition module and the tunneling module are correspondingly connected to the control center to control the tunneling machine according to the microwave heat-induced crack area.

[0012] Preferably, the tunneling machine further comprises an infrared temperature detector, which tests the temperature change of the ore rock surface after microwave radiation in real time, judges the metal ore grade of the working face in different regions according to the temperature rise rate, and performs concentrated microwave radiation on the high metal grade region.

[0013] Preferably, the tunneling machine further comprises a water cooling device, which has a cold water pipe pointing to the front of the tunneling module to cool and crack the region to be tunneled.

[0014] Preferably, the tunneling machine further comprises a traveling track and a shovel mechanism, the shovel mechanism is located below the mechanical arm, the shovel mechanism has a shovel plane downwardly inclined to the floor of the roadway, and two pin wheels are arranged on the shovel plane.

[0015] Preferably, the control center has a decision library, the data stored in the decision library includes the microwave heat source change rule of different metal ore grades, and the temperature measurement data of the infrared temperature detector is compared with the data stored in the decision library to determine the ore rock boundary line of the working face.

[0016] Preferably, the control center is correspondingly connected with a display to display the ore rock boundary line for the tunneling machine operator to distinguish on site.

[0017] A hard rock metal ore microwave irradiation and mechanical rock breaking integrated tunneling method, comprising the following steps:

[0018] Step S1, starting the microwave generator, and making the microwave irradiation end of the microwave generator close to the metal hard rock region to be tunneled;

[0019] Step S2, acquiring the working face image of the metal hard rock region to be tunneled, and transmitting the working face image to the control center for processing to identify the microwave heat-induced crack area in the working face image;

[0020] Step S3, tunneling based on the identification result of the microwave heat-induced crack area in the working face image, and opening the shovel mechanism to remove the tunneling debris during the tunneling process.

[0021] Preferably, in step S2, the working face image is further subjected to binaryzation processing to be converted into a black and white image, the cracks in the black and white image are detected and identified, the proportion of the crack area to the area of the working face image is calculated, and the tunneling is controlled according to the crack area proportion.

[0022] Preferably, the temperature change data of the working face is collected by an infrared thermometer, the rock composition of each region is determined according to the temperature change with time, and the high metal grade region is determined by the temperature change rate of the working face.

[0023] Preferably, the temperature change rule of each block under microwave radiation is analyzed and compared with the data in the decision library to deduce the metal grade of the ore in each block.

[0024] Beneficial effects: the rock is broken by microwave irradiation, the strength of the rock is weakened under microwave radiation, the efficiency of mechanical tunneling and rock breaking is greatly improved, the rock image is captured by a high-speed camera and then binarized, and the cracking degree of the rock after microwave irradiation can be accurately judged.

[0025] The surface temperature of the rock irradiated by the microwave is detected in real time by an infrared thermometer, the preferential tunneling region can be accurately located, the ore size is smaller after the microwave assisted rock breaking, and the dilution rate of the ore can be further reduced. BRIEF DESCRIPTION OF DRAWINGS

[0026] The drawings accompanying the specification of the present application are used to provide a further understanding of the present application, the illustrative embodiments of the present application and the description thereof serve to explain the present application, and do not constitute an improper limitation of the present application. Among them:

[0027] Figure 1 The structure diagram of the tunneling machine in the specific embodiment provided by the present application is shown.

[0028] In the figure: 1, mechanical arm; 2, control center; 3, tunneling module; 4, water cooling device; 5, microwave generator; 6, infrared thermometer; 7, image acquisition module; 8, microwave irradiation end; 9, shovel mechanism. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0030] In the description of the present application, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and are not required to be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. The terms "connected", "connected" used in the present application should be understood broadly, for example, it can be fixed connection, or detachable connection; it can be directly connected, or indirectly connected through intermediate components, and the specific meaning of the above terms can be understood by those skilled in the art according to the specific circumstances.

[0031] The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0032] In the mining of hard rock metal mines, in order to reduce the vibration and noise environment caused by tunnel excavation, and to avoid a series of safety problems caused by blasting, and considering the construction cost, in recent years, the demand for mechanical excavation construction technology from blasting to cantilever heading machine is increasing. Microwave rock breaking is to quickly heat rock by microwave, reduce rock strength, and thus improve the breaking efficiency and reduce the cost, so it is of great significance to introduce microwave radiation device to develop high-efficiency rock breaking mechanical heading machine in hard rock metal mine field for realizing non-explosive continuous and intelligent mining.

[0033] As shown in Figure 1 A hard rock metal mine microwave irradiation and mechanical rock breaking integrated heading machine, characterized in that it comprises a heading machine, a microwave generator 5, an image acquisition module 7 and a control center 2, the control center 2 can be a PC end, the heading machine has a heading module 3 driven by a mechanical arm 1, the structure of the mechanical arm 1 can refer to an excavator, which is driven by a hydraulic cylinder and connected with the heading machine through a rotating disc, the microwave generator 5 is driven by the mechanical arm 1 and can accurately irradiate different positions of the working face, the microwave generator 5 has a microwave irradiation end 8, and the microwave generator 5 and the microwave irradiation end 8 are electrically connected.

[0034] In the present embodiment, the microwave irradiation end 8 is connected to the mechanical arm 1 through a telescopic rod, which can be telescoped according to actual use, so as to be retracted when the heading module 3 is operating, thereby avoiding damage to the microwave irradiation end 8, and the heading module 3 can be a conventional heading drill bit, which is not limited here.

[0035] The microwave irradiation end 8 generates microwaves with the mechanical arm 1 to radiate and heat the metal mine hard rock area to be excavated, so that the rock is rapidly heated and then expands to generate cracks. After the microwave-assisted rock breaking, the ore size is smaller, and the ore dilution rate can be further reduced.

[0036] The image acquisition module 7 can be an industrial high-definition camera. The image acquisition module 7 is data-connected to the control center 2 and is arranged on the mechanical arm 1. The image acquisition module 7 is arranged in front of the microwave irradiation end 8 and can move synchronously with the microwave irradiation end 8 to collect the microwave radiation effect of the working face in real time, so as to collect the image of the working face of the metal mine hard rock area to be excavated. The control center 2 is arranged on the heading machine to process the image of the working face and identify the area of the microwave thermal cracks. The microwave generator 5, the mechanical arm 1, the image acquisition module 7, and the heading module 3 are correspondingly connected to the control center 2 to control the heading machine according to the area of the microwave thermal cracks.

[0037] In an optional embodiment, the heading machine further comprises an infrared thermometer 6, which is correspondingly connected to the control center 2 through a data line. The infrared thermometer 6 is close to the industrial high-definition camera to detect the temperature of the microwave radiation area, so as to test the temperature change of the rock surface after microwave radiation in real time. Since the microwave irradiation heating sensitivity of different grades of ore rock is different, the temperature change can be used to judge the heating rate of different areas of the working face metal ore grade. Based on the metal grade of the ore, waste rock and ore can be distinguished. After the complete excavation of the entire working face, the high metal grade area can be determined. In the subsequent excavation, the high metal grade area is subjected to concentrated microwave radiation, thereby improving the excavation efficiency and reducing the waste rock mixing rate.

[0038] In an optional embodiment, the heading machine further comprises a water cooling device 4, which has at least a water pump and a cold water pipe directed to the front of the heading module 3. The water pump is correspondingly connected to the control center 2 through a data line to cool and crack the area to be excavated after radiation heating. The heading machine using microwave heating and cold water cooling to assist in rock breaking can improve the degree of hard rock breaking by using the principle of thermal expansion and cold contraction, reduce the difficulty of excavation of the heading module 3, further reduce the wear of mechanical cutters, and greatly improve the rock breaking efficiency. Furthermore, the temperature of the working face can be reduced, and the excavation environment can be improved.

[0039] In an optional embodiment, the tunneling machine further comprises a traveling caterpillar and a shovel mechanism 9, the drive module of the traveling caterpillar and the drive motor of the sprocket are connected to the control center 2 in correspondence, the traveling caterpillar can travel in the tunnel, the main structure of the tunneling machine is similar to that of the excavator, the shovel mechanism 9 is in front of the tunneling machine and extends to below the mechanical arm 1, the main body of the shovel mechanism 9 is shovel-shaped, the shovel mechanism 9 has a downwardly inclined shovel plane in front of the tunneling machine, the shovel plane is provided with two sprockets, the sprockets are connected to the drive motor in correspondence, the sprockets are externally provided with a push plate, the two sprockets push the broken stones to both sides, so as to avoid the accumulation of the ore in front of the tunneling machine.

[0040] In the embodiment, the control center 2 has a decision library, the data stored in the decision library includes the change rule of the microwave heat source of different metal ore grades, and the data in the decision library is obtained through indoor test analysis of different metal ore grades. The existing test shows that the microwave sensitivity of the rock is closely related to the mineral composition. Generally, the higher the metal mineral composition, the lower the microwave sensitivity, and the slower the temperature rising speed. The lower the metal mineral composition, the higher the microwave sensitivity, and the faster the temperature rising speed. The temperature rising data in the decision library and the temperature measurement data of the infrared temperature measuring instrument 6 are compared with the data stored in the decision library, so as to determine the rock-ore boundary of the tunnel face, and facilitate the division of the ore and waste rock in the working face.

[0041] In an embodiment, the application further provides a hard rock metal mine microwave irradiation and mechanical rock breaking integrated tunneling method. The tunnel face of the hard rock metal mine is tunnelled by the tunneling method, so as to improve the tunneling efficiency and ensure the loss of the tunneling machine in the tunneling process. The specific tunneling process comprises the following steps:

[0042] Step S1, starting the microwave generator 5, the microwave generator 5 is used for generating microwaves, the microwave generator 5 has a microwave irradiation end 8, the microwave irradiation end 8 of the microwave generator 5 is close to the metal hard rock region to be tunnelled, so as to radiate and heat the metal hard rock region to be tunnelled of the tunnel face.

[0043] Step S2, collecting the tunnel face image of the metal hard rock region to be tunnelled, and performing binaryzation processing after the rock image is shot by the high-speed camera, so as to accurately judge the cracking degree of the microwave irradiation of the rock.

[0044] The tunnel face image is transmitted to the control center 2 for processing, so as to identify the microwave thermal crack area in the tunnel face image. In the embodiment, when the area ratio of the microwave thermal crack in the tunnel face region collected by the image collection device is greater than 50%, the microwave generator 5 is turned off for tunneling.

[0045] Step S3, based on the identification result of the microwave thermal crack area in the working face image, the thermal radiation cracking effect is judged, and after the cracking cracks reach the pre-determined density, the tunneling is carried out, and the shovel mechanism 9 is started to remove the tunneling rubble. After the microwave irradiation is used to break the rock, the strength of the ore rock is weakened, and the efficiency of mechanical tunneling and rock breaking is greatly improved.

[0046] In step S2, the working face image is further binarized to convert it into a black and white image. The binarization process converts the pixel values of the image to 0 or 255 by setting a threshold, thereby converting the grayscale image into a binary image. This processing method makes the image show obvious black and white effect, simplifies the image information, and detects and identifies the cracks in the black and white image through the control center 2, greatly speeding up the calculation speed of image processing. The crack density is identified by calculating the proportion of the crack area to the area of the working face image, and the tunneling is controlled according to the area proportion of the crack.

[0047] In an optional embodiment, the working face is divided into multiple regions, and radiation and tunneling are carried out in multiple times. After the area of the microwave thermal cracks in a certain region reaches the preset proportion, tunneling is carried out. In the tunneling process, the infrared thermometer 6 is used to collect temperature change data of the working face, and the rock composition of each region is determined according to the temperature change with time. The temperature rise rate of different regions is used to determine the metal grade of the working face, and the microwave is concentrated on the high metal grade area for radiation. The temperature change rule of each region under microwave radiation is analyzed and compared with the data in the decision library to deduce the metal grade of each block.

[0048] The infrared thermometer 6 is used to detect the surface temperature of the microwave irradiated ore rock in real time, so as to grasp the distribution of the working face ore, accurately locate the priority tunneling area, facilitate the on-site separation of the mined ore and waste rock, and reduce the waste rock mixing rate. After multiple tunneling in the tunneling direction of the working face, generally 5-10 times, the whole radiation tunneling of the working face is carried out once, so as to meet the judgment of the metal grade of all regions of the current working face, and ensure the accuracy of subsequent tunneling.

[0049] In an optional embodiment, the working face is divided into square block segments, each block segment is independently radiated and excavated, in order to effectively identify the rock boundary of the working face, and provide basic conditions for subsequent mining waste rock separation and transportation of the mining machine, temperature change data collection is carried out for each block segment as a collection unit, and the temperature record is transmitted to the rock control center 2, the control center 2 has a decision library, and the data in the decision library is analyzed through indoor test to analyze the change rule of the microwave heat source of different metal ore grades. The existing test shows that the microwave sensitivity of rock is closely related to the mineral composition. Generally speaking, the higher the metal mineral composition, the lower the microwave sensitivity, and the slower the temperature rising speed. The lower the metal mineral composition, the higher the microwave sensitivity, and the faster the temperature rising speed. Therefore, the rock category can be deduced according to the temperature change of each block segment, so as to determine the rock composition of each block segment according to the change relationship of temperature with time, and identify the rock boundary of the working face according to the test results of each block segment.

[0050] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application is within the protection scope of the claims of the present application.

Claims

1. A tunneling machine integrating microwave irradiation and mechanical rock breaking for hard rock metal ore, characterized in that, include: A tunneling machine, the tunneling machine having a tunneling module driven by a robotic arm; A microwave generator, driven by the robotic arm, has a microwave irradiation end to generate microwaves to radiate and heat the hard rock area of ​​the metal ore to be excavated at the working face. An image acquisition module is mounted on the robotic arm, directly in front of the microwave irradiation end, to acquire images of the tunnel face of the hard rock area of ​​the metal ore to be excavated. The control center is located on the tunneling machine and is connected to an image acquisition module to process the face image and identify the area of ​​microwave thermally induced cracks. The microwave generator, robotic arm, image acquisition module, and tunneling module are connected to the control center to control the tunneling machine based on the area of ​​microwave-induced cracks. The tunneling machine also includes an infrared thermometer, which measures the temperature change of the ore surface after microwave radiation in real time, judges the metal grade of the working face based on the heating rate of different areas, and conducts concentrated microwave radiation on high-metal-grade areas.

2. The integrated microwave irradiation and mechanical rock breaking tunneling machine for hard rock metal mines according to claim 1, characterized in that, The tunneling machine also includes a water cooling device, which has a cold water pipe pointing in front of the tunneling module to cool and crack the area to be tunneled.

3. The integrated microwave irradiation and mechanical rock breaking tunneling machine for hard rock metal mines according to claim 1, characterized in that, The tunneling machine also includes a traveling track and a shoveling mechanism. The shoveling mechanism is located below the robotic arm and has a shoveling plane that slopes downwards towards the bottom of the tunnel. Two deflectors are provided on the shoveling plane.

4. The integrated microwave irradiation and mechanical rock breaking tunneling machine for hard rock metal mines according to claim 1, characterized in that, The control center has a decision database, which stores data including the microwave heat source variation patterns of different metal ore grades. This data is compared with the temperature measurement data from the infrared thermometer and the data stored in the decision database to determine the ore-rock boundary at the working face.

5. The integrated microwave irradiation and mechanical rock breaking tunneling machine for hard rock metal mines according to claim 1, characterized in that, The control center is connected to a display to show the boundary between the ore and rock, allowing the tunneling machine operator to identify it on-site.

6. The tunneling method of the integrated microwave irradiation and mechanical rock breaking tunneling machine for hard rock metal mines according to claim 1, characterized in that, Includes the following steps: Step S1: Start the microwave generator and bring the microwave irradiation end of the microwave generator close to the hard rock area of ​​the metal ore to be excavated. Step S2: Acquire images of the tunnel face in the hard rock area of ​​the metal ore to be excavated, and transmit the images to the control center for processing to identify the area of ​​microwave thermally induced cracks in the tunnel face images. Step S3: Based on the identification results of the microwave thermal crack area in the tunnel face image, tunneling is carried out, and the shovel and transport mechanism is activated to remove the excavated debris during the tunneling process.

7. The integrated microwave irradiation and mechanical rock breaking tunneling method for hard rock metal mines according to claim 6, characterized in that, In step S2, the tunnel face image is binarized and converted into a black and white image. Cracks in the black and white image are detected and identified. The tunneling is controlled based on the proportion of the crack area to the area of ​​the tunnel face image.

8. The integrated microwave irradiation and mechanical rock breaking tunneling method for hard rock metal mines according to claim 6, characterized in that, Infrared thermometers are used to collect temperature change data at the working face. The rock composition of each area is determined based on the temperature change over time. The metal ore grade at the working face is judged based on the heating rate of different areas, and microwave concentrated radiation is applied to areas with high metal grade.

9. The integrated microwave irradiation and mechanical rock breaking tunneling machine for hard rock metal mines according to claim 8, characterized in that, The temperature variation pattern of each block under microwave radiation was analyzed and compared with the data in the decision database to infer the metal grade of the ore in each block.

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