Rock breaking device and rock breaking method

Abstract

The invention discloses a rock breaking device and a rock breaking method, belongs to the technical field of tunneling equipment, and aims at solving the problem that an existing cantilever tunneling machine is low in tunneling efficiency in a hard rock roadway. The rock breaking device comprises a cutter head (14) and a mechanical arm (20) which are arranged front and back, and the mechanical arm (20) comprises a first excitation system (21) and a second excitation system (6); the first excitation system (21) can apply first vibration force to the cutter head (14), the first vibration force moves in the circumferential direction of the mechanical arm (20) and is outward in the radial direction, the second excitation system (6) can apply second vibration force to the cutter head (14), and the second vibration force circulates in a reciprocating mode in the axial direction of the mechanical arm (20). According to the rock breaking device, circumferential vibration force and axial vibration force can be applied to rocks while the cutterhead is used for rotating to break the rocks, the difficulty that the cutterhead is wedged into the rocks is reduced, the abrasion loss of cutters is reduced, the hard rock breaking capacity of the composite cutterhead is improved, and the construction cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of tunneling equipment, in particular to a rock breaking device and a rock breaking method. Background Art

[0002] Due to the flexibility of hard rock tunnels and the small mining section, cantilevered roadheaders are mostly used to cut coal mine rock formations. According to statistics, when the rock strength exceeds 60MPa, the traditional cantilevered roadheaders are insufficient in processing hard rock, and the picks and tooth seats are prone to wear, breakage, and falling off when cutting hard rock, and their service life is relatively low. In order to ensure the rock-breaking ability of the roadheader, the picks need to be replaced frequently, which is not only time-consuming and labor-intensive, resulting in reduced efficiency in hard rock tunnel excavation, but also high cost. Summary of the invention

[0003] In order to solve the problem of low excavation efficiency of the above-mentioned existing cantilever tunneling machines in hard rock tunnels, the present invention provides a rock breaking device and a rock breaking method. The rock breaking device can not only use the rotation of the cutter disc to break the rock, but also apply circumferential vibration force and axial vibration force to the rock, thereby reducing the difficulty of the cutter disc wedging into the rock, reducing the wear of the tool, improving the ability of the composite cutter disc to break hard rock, and reducing construction costs.

[0004] The technical solution adopted by the embodiment of the present invention to solve the technical problem is:

[0005] A rock breaking device comprises a cutter disc and a mechanical arm arranged in a front and a rear direction, wherein the mechanical arm comprises a first excitation system and a second excitation system, wherein the first excitation system can apply a first vibration force to the cutter disc, and the first vibration force moves along the circumference of the mechanical arm and radially outward, and the second excitation system can apply a second vibration force to the cutter disc, and the second vibration force reciprocates along the axial direction of the mechanical arm.

[0006] The robotic arm extends in the front-to-back direction, and the second excitation system includes a first excitation box and a second excitation box. The second excitation box is located in the first excitation box, and the front and rear ends of the second excitation box are connected to the first excitation box through elastic components. The second excitation box can reciprocate along the axial direction of the robotic arm, and the elastic components can provide restoring force to the second excitation box.

[0007] The second excitation box is connected to the first rotating shaft and the second rotating shaft which are spaced apart from each other. The first rotating shaft and the second rotating shaft both extend in the left-right direction. A first eccentric block is fixed outside the first rotating shaft, and a second eccentric block is fixed outside the second rotating shaft. The first rotating shaft is connected to a first driving mechanism, which can drive the first rotating shaft and the second rotating shaft to rotate.

[0008] During the rotation of the first rotating shaft and the second rotating shaft, the vertical component of the first force applied by the first eccentric mass to the first rotating shaft and the vertical component of the second force applied by the second eccentric mass to the second rotating shaft are always of the same magnitude and opposite directions.

[0009] A driving gear is externally connected to the first rotating shaft, a driven gear is externally connected to the second rotating shaft, the driving gear and the driven gear are meshed and connected, and the first driving mechanism comprises a second motor and a coupling which are connected in sequence.

[0010] The front end and rear end of the second excitation box are both connected to an excitation shaft, and the axis of the excitation shaft extends in the front-to-back direction. The front end and rear end of the first excitation box are both connected to a mounting seat. The elastic component is a spring. The end of the excitation shaft and the elastic component are both located in the mounting seat. One end of the elastic component abuts against the excitation shaft, and the other end of the elastic component abuts against the first excitation box.

[0011] The robotic arm comprises a front cantilever and a rear cantilever arranged front and rear, the front cantilever is connected to a support seat, and the second excitation system is fixed outside the rear end of the support seat; the first excitation system comprises an eccentric shaft and a first driving mechanism, the axis of the eccentric shaft extends in the front and rear directions, the front end of the eccentric shaft is connected and fixed to the cutter disc through a rotating shaft, the rear end of the eccentric shaft and the first driving mechanism are both located in the support seat, and the first driving mechanism can drive the eccentric shaft to rotate; a vibration shell is arranged outside the eccentric shaft and the rotating shaft, the front end of the vibration shell abuts against the cutter disc, the rear end of the vibration shell is connected and fixed to the front cantilever, and the vibration shell can transmit the second vibration force.

[0012] The cutter disc includes a cutter body, which is a truncated cone structure with the bottom end facing forward. The front end of the cutter body is provided with a first spherical tooth and a second spherical tooth. The first spherical tooth is located at the edge of the cutter body, and the second spherical tooth is located between the edge and the center of the cutter body.

[0013] The rock breaking device also includes a dust removal system, which includes a nozzle, a rotary joint and a conveying pipeline connected in sequence. The nozzle is located at the center of the front end of the cutter body. A monitoring device is also provided at the front end of the cutter body, and the monitoring device is located between the first spherical tooth and the second spherical tooth.

[0014] A rock breaking method, wherein the rock breaking method adopts the above-mentioned rock breaking device, and the rock breaking method comprises the following steps:

[0015] The cutterhead rotates to break the rock;

[0016] The first excitation system applies the first vibration force to the rock through the cutterhead;

[0017] The second excitation system applies the second vibration force to the rock through the cutter head.

[0018] The beneficial effects of the embodiments of the present invention are:

[0019] 1. According to the rock strength, the rock breaking device can control the oblique excitation mode, the axial excitation mode or any combination thereof to efficiently complete the rock breaking task. During the construction process, the second spherical teeth on the composite cutter head, under the action of the axial excitation system, first impact the rock surface in a directional manner to produce cracks or free surfaces. After reaching the set target, the monitoring device feeds back to the operating room to stop the axial excitation system.

[0020] 2. The composite cutter disc begins to cut the rock under the action of oblique cutting vibration. The existence of the first spherical tooth on the edge of the composite cutter disc can effectively break the rock. In addition, the cracks or free surfaces on the rock surface reduce the difficulty of the cutter disc wedging into the rock, reduce the wear of the tool, improve the ability of the composite cutter disc to break hard rock, reduce construction costs, and achieve intelligent and efficient rock breaking.

[0021] 3. If the amount of dust is too large, the dust removal system can be started continuously, and the dust removal system and monitoring device can be integrated into the composite cutter head system to prevent damage caused by splashing slag and stone during construction. At the same time, it saves layout space, makes the entire device more compact, and is more convenient and advantageous for construction in hard rock tunnels of coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0023] Figure 1 It is a schematic front view of the rock breaking device of the present invention.

[0024] Figure 2 yes Figure 1 A magnified schematic diagram of area A in the middle.

[0025] Figure 3 It is a left view schematic diagram of the cutter disc.

[0026] Figure 4 It is a left view schematic diagram of the cross joint bearing.

[0027] Figure 5 is a schematic diagram of the second excitation system.

[0028] Figure 6 It is a schematic diagram of the force analysis of the first rotating shaft and the second rotating shaft.

[0029] Figure 7 It is a schematic diagram of the dust removal system.

[0030] Figure 8 yes Figure 7 A magnified schematic diagram of area B in the middle.

[0031] The following are the descriptions of the reference numerals:

[0032] 1. Control room; 2. Rear-section cantilever; 3. Cross-joint bearing; 4. Telescopic oil cylinder; 5. Front-section cantilever; 6. Second excitation system; 7. Support base; 8. First motor; 9. Transmission gear; 10. Roller bearing; 11. Eccentric shaft; 12. Vibration housing; 13. Rotating shaft; 14. Cutter head; 15. Dust removal system; 16. Monitoring device; 17. Support device; 18. Slag scraping device; 19. Moving device; 20. Robot arm; 21. First excitation system;

[0033] 301. Bearing support base; 302. Bearing matrix;

[0034] 601. First excitation box; 602. Mounting seat; 603. Elastic component; 604. Excitation shaft; 605. Second excitation box; 606. Driving gear; 607. Second motor; 608. First rotating shaft; 609. First eccentric block; 610. Driven gear; 611. Second rotating shaft; 612. Second eccentric block;

[0035] 701. Bottom plate; 702. Mounting cylinder;

[0036] 1401. First spherical tooth; 1402. Second spherical tooth; 1403. Cutter body;

[0037] 1501. Supercharger; 1502. Delivery pipeline; 1503. Rotary joint; 1504. Nozzle. Detailed implementation manners

[0038] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0039] For the convenience of understanding and description, the following description of the present invention adopts the absolute position relationship. Without special explanation, the orientation word "upper" herein represents Figure 1 the upper side direction in Figure 1 the lower side direction in Figure 1 the left side direction perpendicular to the Figure 1 paper surface of Figure 1 and pointing to the outside of the paper surface, the orientation word "right" represents the right side direction perpendicular to the Figure 1 paper surface of

[0040] Figure 1 and pointing to the inside of the paper surface, the orientation word "front" represents Figure 1 the left side direction in

[0040] and the orientation word "rear" represents Figure 1 the right side direction in

[0040] Figure 1 The description of the present invention is made from the observation perspective of the reader or user, but the above orientation words should not be understood or construed as limiting the protection scope of the present invention. Regarding the dimensions and angles of the components therein, those skilled in the art can specifically determine them according to actual needs or through limited experiments.

[0040] like Figure 1 As shown, a rock breaking device described in an embodiment of the present invention includes a cutter disc 14 and a mechanical arm 20 arranged in a front and rear direction, the mechanical arm 20 contains a first excitation system 21 and a second excitation system 6, the first excitation system 21 can apply a first vibration force to the cutter disc 14, the first vibration force moves along the circumference of the mechanical arm 20 and radially outward, the second excitation system 6 can apply a second vibration force to the cutter disc 14, the second vibration force reciprocates along the axial direction of the mechanical arm 20.

[0041] In this embodiment, if Figure 1 and Figure 5 As shown, the robot arm 20 extends in the front-to-back direction, and the second excitation system 6 includes a first excitation box 601 and a second excitation box 605. The first excitation box 601 and the second excitation box 605 both contain internal cavities. The second excitation box 605 is located in the internal cavity of the first excitation box 601. The front and rear ends of the second excitation box 605 are connected to the first excitation box 601 through an elastic component 603. The second excitation box 605 can reciprocate along the axial direction of the robot arm 20, that is, reciprocate back and forth, and the elastic component 603 can provide a restoring force to the second excitation box 605.

[0042] In this embodiment, the first rotating shaft 608 and the second rotating shaft 611 are connected to the inner cavity of the second excitation box 605, and the first rotating shaft 608 and the second rotating shaft 611 are both extended in the left-right direction. The first rotating shaft 608 is fixed with a first eccentric block 609, and the second rotating shaft 611 is fixed with a second eccentric block 612. The first rotating shaft 608 is connected with a first driving mechanism, and the first driving mechanism can drive the first rotating shaft 608 and the second rotating shaft 611 to rotate. The first eccentric block 609 can rotate synchronously with the first rotating shaft 608, and the second eccentric block 612 can rotate synchronously with the second rotating shaft 611.

[0043] In this embodiment, if Figure 5 As shown, the first rotating shaft 608 and the second rotating shaft 611 are symmetrical from bottom to top and are mirror images of each other, the first eccentric mass 609 and the second eccentric mass 612 can be symmetrical from top to bottom and are mirror images of each other, the first rotating shaft 608 and the second rotating shaft 611 have the same rotation speed, and the first rotating shaft 608 and the second rotating shaft 611 rotate in opposite directions. The first rotating shaft 608 can rotate around the axis of the first rotating shaft 608, and the second rotating shaft 611 can rotate around the axis of the second rotating shaft 611.

[0044] In this way, Figure 6As shown, during the rotation of the first rotating shaft 608 and the second rotating shaft 611, the first force F1 applied by the first eccentric block 609 to the first rotating shaft 608 along the vertical direction component F11 and the second force F2 applied by the second eccentric block 612 to the second rotating shaft 611 along the vertical direction component F21 are always of the same magnitude and opposite direction, and cancel each other out. The first force F1 applied by the first eccentric block 609 to the first rotating shaft 608 along the front-to-back direction component F12 and the second force F2 applied by the second eccentric block 612 to the second rotating shaft 611 along the front-to-back direction component F22 are always of the same magnitude and the same direction, and are superimposed on each other. The superimposed force is the second vibration force, which is finally transmitted to the cutter head 14.

[0045] In this embodiment, a driving gear 606 is fixedly connected to the outside of the first rotating shaft 608, and a driven gear 610 is fixedly connected to the outside of the second rotating shaft 611. The driving gear 606 and the driving gear 606 are symmetrical and mirror images of each other, and the driving gear 606 and the driving gear 606 are meshed and connected. The first driving mechanism includes a second motor 607 and a coupling connected in sequence, and the coupling is connected to the first rotating shaft 608. The second motor 607 can drive the first rotating shaft 608 to rotate, thereby driving the second rotating shaft 611 to rotate synchronously.

[0046] In this embodiment, if Figure 5 As shown, the front end and the rear end of the second excitation box 605 are fixedly connected to the outside with an excitation shaft 604, and the axes of the two excitation shafts 604 extend in the front-to-back direction. The front end and the rear end of the first excitation box 601 are connected to the mounting seat 602, the elastic component 603 is a spring, and the end of the excitation shaft 604 and the elastic component 603 are both located in the mounting seat 602, one end of the elastic component 603 abuts against the excitation shaft 604, and the other end of the elastic component 603 abuts against the first excitation box 601.

[0047] In this embodiment, the axis of the excitation shaft 604 coincides with the axis of the robot arm 20, the first rotating shaft 608 is located below the axis of the excitation shaft 604, the second rotating shaft 611 is located above the axis of the excitation shaft 604, the mounting seat 602 is a cylindrical structure, the axis of the mounting seat 602 coincides with the axis of the excitation shaft 604, and the excitation shaft 604 and the mounting seat 602 can be clearance-fitted.

[0048] In this embodiment, if Figure 1 As shown, the robot arm 20 includes a front cantilever 5 and a rear cantilever 2 arranged front and back, and both the front cantilever 5 and the rear cantilever 2 are hollow structures, and both the front cantilever 5 and the rear cantilever 2 contain internal channels that penetrate along the axial direction, that is, the internal channels extend along the front and back directions. A support seat 7 is fixedly connected to the internal channel of the front cantilever 5, and the second excitation system 6 is fixed to the rear end of the support seat 7.

[0049] In this embodiment, the axis of the front cantilever 5, the axis of the rear cantilever 2 and the axis of the robot arm 20 can coincide with each other, the support seat 7 contains a mounting tube 702 and a base plate 701 connected front and back, the axis of the mounting tube 702 and the axis of the base plate 701 both coincide with the axis of the robot arm 20, the front end of the mounting tube 702 is in an open state, and the base plate 701 is connected and fixed to the first excitation box 601 of the second excitation system 6 front and back.

[0050] In this embodiment, if Figure 1 As shown, the first excitation system 21 includes an eccentric shaft 11 and a first driving mechanism. The axis of the eccentric shaft 11 extends in the front-to-back direction. A protrusion is provided on the outer peripheral surface of the eccentric shaft 11, so that the first vibration force can be generated during the rotation of the eccentric shaft 11, and the first vibration force is finally transmitted to the cutter disc 14. The front end of the eccentric shaft 11 is connected and fixed to the cutter disc 14 through the rotating shaft 13. For example, the eccentric shaft 11, the rotating shaft 13 and the cutter disc 14 are connected and fixed in sequence by bolts. The rear end of the eccentric shaft 11 and the first driving mechanism are both located in the support seat 7. The first driving mechanism can drive the eccentric shaft 11 to rotate, and the first driving mechanism can also drive the cutter disc 14 to rotate.

[0051] In this embodiment, the axis of the cutter disc 14, the axis of the rotating shaft 13, the axis of the eccentric shaft 11 and the axis of the front section cantilever 5 coincide with each other, the first driving mechanism includes a first motor 8, the output shaft of the first motor 8 is externally connected to a transmission gear 9, the eccentric shaft 11 is connected to the support seat 7 through a roller bearing 10, and the first motor 8 can drive the eccentric shaft 11, the rotating shaft 13 and the cutter disc 14 to rotate around the axis of the front section cantilever 5.

[0052] In this embodiment, if Figure 2 and Figure 3 As shown, the cutter disc 14 includes a cutter body 1403, and the cutter body 1403 is in a truncated cone structure, the bottom end of the truncated cone structure faces forward and the top end faces backward. The front end of the cutter body 1403 is provided with a first spherical tooth 1401 and a second spherical tooth 1402. The cutter disc 14 can be called a composite cutter disc, the first spherical tooth 1401 is located at the edge of the cutter body 1403, and the second spherical tooth 1402 is located between the edge and the center of the cutter body 1403. Multiple first spherical teeth 1401 and multiple second spherical teeth 1402 are arranged at intervals along the circumference of the cutter body 1403.

[0053] In this embodiment, if Figure 1 , Figure 7 and Figure 8As shown, the rock breaking device also includes a dust removal system 15, which includes a nozzle 1504, a rotary joint 1503, a conveying pipeline 1502 and a supercharger 1501 connected in sequence, and the nozzle 1504 is located at the center of the front end of the cutter body 1403. The front end of the cutter body 1403 is also provided with a monitoring device 16, which may include a camera, and the monitoring device 16 is located between the first spherical tooth 1401 and the second spherical tooth 1402.

[0054] In this embodiment, a plurality of nozzles 1504 are arranged at intervals along the circumference of the blade body 1403, the nozzles 1504 can spray water from the front, the rotary joint 1503 is located in the rotating shaft 13, and the delivery pipeline 1502 passes through the eccentric shaft 11, the bottom plate 701, the second vibration system 6, the front section cantilever 5, the cross joint bearing 3 and the rear section cantilever 2. When the delivery pipeline 1502 passes through the second vibration system 6, the delivery pipeline 1502 can pass through the elastic component 603 and the vibration shaft 604, the delivery pipeline 1502 can also pass between the first rotating shaft 608 and the second rotating shaft 611, or, since the delivery pipeline 1502 does not rotate, the delivery pipeline 1502 can also bypass the second vibration system 6.

[0055] like Figure 1 As shown, when the conveying pipeline 1502 passes through the cross joint bearing 3, the conveying pipeline 1502 passes through the inner hole of the bearing base 302 of the cross joint bearing 3. The function of the cross joint bearing 3 is to adjust the rock entry angle of the composite cutter head 14 under the stroke control of the telescopic cylinder 4, and the existence of the cross joint bearing 3 can slow down the vibration generated by the oblique cutting excitation and axial excitation systems and transmit them to the control room 1 and other equipment, thereby protecting the control room 1 and other equipment.

[0056] In this embodiment, if Figure 1 and Figure 4 As shown, the rock breaking device also includes a control room 1, a supporting device 17 and a moving device 19 which are sequentially connected from top to bottom. The control room 1 is located on the supporting device 17, and can control whether the first vibration system 21 and the second vibration system 6 are in working state. The rear section cantilever 2 is located in front of the control room 1, the front section cantilever 5 is connected to the rear section cantilever 2 through a cross joint bearing 3, the front section cantilever 5 is connected to the cross joint upper and lower / left and right bearing support seat 301, and the rear section cantilever 2 is connected to the cross joint upper and left and right bearing support seat 301.

[0057] The control room 1 can control the start and stop of the dust removal system 15, and move with the composite cutter head 14, which can effectively remove dust and improve the working environment. During the construction process, according to the rock strength, the control room 1 can control the beveling mode, the excitation mode, or any combination thereof to complete the rock breaking task, which can effectively reduce tool wear, improve construction efficiency, and reduce construction costs.

[0058] like Figure 1 As shown, the front cantilever 5 and the rear cantilever 2 are arranged to have a hollow structure inside, the function of the cross joint bearing 3 is to allow the front cantilever 5 and the rear cantilever 2 to be not on the same axis, the telescopic cylinder 4 is installed on the front cantilever 5 and the rear cantilever 2, the number is 4, and it is evenly distributed around the front cantilever 5 and the rear cantilever 2, and the control system changes the telescopic stroke of the telescopic cylinder 4 to control the rock entry angle of the cutter head 14, and provides an open surface for the cutter head 14 when breaking the rock. During the excavation process, according to the cutting trajectory and the rock hardness conditions, the control system changes the telescopic stroke in real time to compensate for the rock entry angle in real time.

[0059] The front end of the eccentric shaft 11 is connected to the rotating shaft 13 by bolts, and the eccentric shaft 11 and the rotating shaft 13 are outerly provided with a vibration shell 12. The vibration shell 12 is a cylindrical structure, and the axis of the vibration shell 12 coincides with the axis of the rotating shaft 13. The vibration shell 12 is connected and fixed to the front section cantilever 5, the front end of the rotating shaft 13 is fixed to the composite cutter disc 14 by bolts, and the rear end of the rotating shaft 13 is fixed to the eccentric shaft 11 by bolts. The interior of the rotating shaft 13 is set to a hollow structure, and the first motor 8 drives the eccentric shaft 11 to rotate through the transmission gear 9 to generate vibration, which is transmitted to the cutter disc 14 through the rotating shaft 13. The first motor 8 also drives the rotating shaft 13 to transmit the rotation to the cutter disc 14, so the cutter disc 14 has both rotation and vibration functions.

[0060] In addition, the front end of the vibration shell 12 abuts against the composite cutter head 14, and the rear end of the vibration shell 12 is connected and fixed to the front cantilever 5, for example, by welding or bolting. The vibration shell 12 can transmit the second vibration force, and the axial excitation generated by the second excitation system 6 can be transmitted to the cutter head 14 through the support seat 7, the front cantilever 5 and the vibration shell 12 in sequence. The second spherical teeth 1402 on the cutter head 14 impact and squeeze the rock to produce cracks or free surfaces.

[0061] like Figure 3 and Figure 4As shown, the first spherical teeth 1401 are arranged at a certain angle on the edge of the cutter body 1403, and the second spherical teeth 1402 are evenly distributed on the cutter body 1403. The dust removal system 15 is integrated in the front cantilever 5 and the rear cantilever 2, the supercharger 1501 is arranged in the control room 1, the delivery pipeline 1502 is arranged in the eccentric shaft 11, the rotating shaft 13 and the rear cantilever 2, the rotary joint 1503 is arranged in the rotating shaft 13, the nozzles 1504 are evenly distributed in the composite cutter head 14, and the number of nozzles 1504 depends on the diameter of the cutter head 14. The monitoring device 16 is evenly distributed in the cutter head 14 and is located outside the second spherical teeth 1402. The nozzles 1504 and the monitoring device 16 are both arranged in the composite cutter head 14, which can prevent the splashing of debris and stones during the rock breaking process from damaging the nozzles 1504 or the monitoring device 16. The supporting device 17 is arranged on the moving device 19, and the scraping device 18 is arranged in front of the supporting device 17 for collecting rock blocks cut during the construction process.

[0062] The booster 1501 in the dust removal system 15 increases the dust removal medium to a certain pressure, and delivers it to the nozzle 1504 through the delivery pipeline 1502. The existence of the rotary joint 1503 cooperates with the rotation function of the cutter head 14 to avoid damage to the delivery pipeline 1502. During the construction process, if the amount of dust is too large, the dust removal system 15 can be continuously started to reduce the amount of dust, and the nozzle 1504 is integrated into the composite cutter head 14 to prevent damage caused by splashing of slag during construction, while saving layout space, making the entire device more compact, and more flexible and convenient to construct in the hard rock tunnel of coal mines, which is more advantageous.

[0063] A rock breaking method is described below. The rock breaking method uses the above-mentioned rock breaking device and comprises the following steps:

[0064] The cutter head 14 rotates to break the rock;

[0065] The first vibration system 21 applies the first vibration force to the rock through the cutter head 14;

[0066] The second vibration system 6 applies the second vibration force to the rock through the cutter head 14 .

[0067] The working process of the rock breaking device is described below.

[0068] During the construction process, according to the hardness of the rock, any mode of oblique excitation or axial excitation or a combination of these modes is selected to complete the rock breaking task. When the oblique excitation mode is performed, the first excitation system 21 can apply the first vibration force to the cutter head 14, and then the first vibration force is applied to the rock through the cutter head 14. When the axial excitation mode is performed, the second excitation system 6 can apply the second vibration force to the cutter head 14, and then the second vibration force is applied to the rock through the cutter head 14.

[0069] In addition, the dust removal system can be started and stopped according to the amount of dust. If the rock hardness is high, the axial excitation mode can be started first. The axial excitation is generated to impact and squeeze the rock surface through the second spherical teeth on the composite cutter disc to force cracks or open surfaces on the rock surface. The camera set in the composite cutter disc determines whether the oblique excitation mode starts to cut the rock to complete the rock breaking task by observing the cracks, or the two modes work simultaneously to efficiently complete the rock breaking task, which reduces the strength of the composite cutter disc wedging into the rock, reduces the tool wear, improves the composite cutter disc's ability to break hard rocks, and reduces construction costs; the dust removal system follows the vibration of the composite cutter disc to remove dust and improve the working environment.

[0070] The rock breaking device combines vibration bevel cutting and axial impact rock breaking methods. The axial impact is to generate axial vibration through the axial excitation system and transmit it to the composite cutter disc, forcing the second spherical teeth on the composite cutter disc to directionally impact the rock, so that cracks appear on the rock surface or it is broken to produce an open surface; the bevel cutting excitation is to drive the eccentric shaft and the rotating shaft to realize the rotation and vibration functions through the motor, and the rotation and vibration are transmitted to the composite cutter disc to form a composite cutter disc vibration bevel cutting rock breaking technology. The cracks or open surfaces on the rock surface reduce the difficulty of the cutter disc wedging into the rock, reduce the tool wear, improve the composite cutter disc's ability to break hard rocks, and reduce construction costs.

[0071] The operating room can control either axial excitation or oblique excitation mode or a combination to complete the rock breaking task. The jet system and monitoring device are integrated into the composite cutter disc. The monitoring device can monitor the rock crushing situation at the front end of the composite cutter disc in real time and feed back to the operating room to control which mode to select, thereby realizing intelligent and efficient rock breaking. At the same time, the dust removal system can follow the composite cutter disc, solving the problem of large dust production during rock breaking and improving the construction working environment.

[0072] The above is only a specific embodiment of the present invention, and cannot be used to limit the scope of the invention. Therefore, the replacement of equivalent components, or equivalent changes and modifications made according to the protection scope of the present invention should still fall within the scope of the present invention. In addition, the technical features of the present invention can be freely combined with each other, with technical features and technical solutions, with technical solutions and embodiments.

Claims

1. A rock breaking device, characterized in that: The rock breaking device comprises a cutter disc (14) and a mechanical arm (20) arranged front and rear, the mechanical arm (20) comprising a first excitation system (21) and a second excitation system (6), the first excitation system (21) being capable of applying a first vibration force to the cutter disc (14), the first vibration force moving along the circumference of the mechanical arm (20) and radially outward, the second excitation system (6) being capable of applying a second vibration force to the cutter disc (14), the second vibration force reciprocating along the axial direction of the mechanical arm (20).

2. The rock breaking device according to claim 1, characterized in that: The robot arm (20) extends in the front-to-back direction, and the second excitation system (6) includes a first excitation box (601) and a second excitation box (605). The second excitation box (605) is located in the first excitation box (601). The front and rear ends of the second excitation box (605) are connected to the first excitation box (601) through an elastic component (603). The second excitation box (605) can reciprocate along the axial direction of the robot arm (20), and the elastic component (603) can provide a restoring force to the second excitation box (605).

3. The rock breaking device according to claim 2, characterized in that: The second excitation box (605) is connected with a first rotating shaft (608) and a second rotating shaft (611) which are spaced apart from each other. The first rotating shaft (608) and the second rotating shaft (611) both extend in the left-right direction. A first eccentric block (609) is fixed outside the first rotating shaft (608), and a second eccentric block (612) is fixed outside the second rotating shaft (611). The first rotating shaft (608) is connected with a first driving mechanism, and the first driving mechanism can drive the first rotating shaft (608) and the second rotating shaft (611) to rotate.

4. The rock breaking device according to claim 3, characterized in that: During the rotation of the first rotating shaft (608) and the second rotating shaft (611), the component of the first force applied by the first eccentric block (609) to the first rotating shaft (608) along the up-down direction and the component of the second force applied by the second eccentric block (612) to the second rotating shaft (611) along the up-down direction are always of the same magnitude and opposite directions.

5. The rock breaking device according to claim 3, characterized in that: The first rotating shaft (608) is externally connected to a driving gear (606), the second rotating shaft (611) is externally connected to a driven gear (610), the driving gear (606) and the driven gear (610) are meshedly connected, and the first driving mechanism includes a second motor (607) and a coupling which are connected in sequence.

6. The rock breaking device according to claim 3, characterized in that: The front and rear ends of the second excitation box (605) are both connected to an excitation shaft (604), and the axis of the excitation shaft (604) extends in the front-to-back direction. The front and rear ends of the first excitation box (601) are both connected to a mounting seat (602). The elastic component (603) is a spring. The end of the excitation shaft (604) and the elastic component (603) are both located in the mounting seat (602). One end of the elastic component (603) is in contact with the excitation shaft (604), and the other end of the elastic component (603) is in contact with the first excitation box (601).

7. The rock breaking device according to claim 1, characterized in that: The mechanical arm (20) comprises a front section cantilever (5) and a rear section cantilever (2) arranged front and rear, the front section cantilever (5) is connected to a support seat (7), and the second excitation system (6) is fixed outside the rear end of the support seat (7); the first excitation system (21) comprises an eccentric shaft (11) and a first driving mechanism, the axis of the eccentric shaft (11) extends in the front-to-back direction, the front end of the eccentric shaft (11) is connected and fixed to a cutter disc (14) via a rotating shaft (13), the rear end of the eccentric shaft (11) and the first driving mechanism are both located in the support seat (7), and the first driving mechanism can drive the eccentric shaft (11) to rotate; a vibration shell (12) is provided outside the eccentric shaft (11) and the rotating shaft (13), the front end of the vibration shell (12) is in contact with the cutter disc (14), the rear end of the vibration shell (12) is connected and fixed to the front section cantilever (5), and the vibration shell (12) can transmit the second vibration force.

8. The rock breaking device according to claim 7, characterized in that: The cutter disc (14) comprises a cutter body (1403), the cutter body (1403) is in a truncated cone structure, the bottom end of the truncated cone structure faces forward, a first spherical tooth (1401) and a second spherical tooth (1402) are arranged at the front end of the cutter body (1403), the first spherical tooth (1401) is located at the edge of the cutter body (1403), and the second spherical tooth (1402) is located between the edge and the center of the cutter body (1403).

9. The rock breaking device according to claim 8, characterized in that: The rock breaking device also includes a dust removal system (15), which includes a nozzle (1504), a rotary joint (1503) and a conveying pipeline (1502) connected in sequence, wherein the nozzle (1504) is located at the center of the front end of the cutter body (1403), and a monitoring device (16) is also provided at the front end of the cutter body (1403), and the monitoring device (16) is located between the first spherical tooth (1401) and the second spherical tooth (1402).

10. A rock breaking method, characterized in that: The rock breaking method adopts the rock breaking device according to claim 1, and the rock breaking method comprises the following steps: The cutter head (14) rotates to break the rock; The first vibration system (21) applies the first vibration force to the rock through the cutter head (14); The second vibration system (6) applies the second vibration force to the rock through the cutter head (14).

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