Deep well hole type flexible mining device and using method thereof

Abstract

The invention relates to a deep-ground well hole type flexible mining device and a using method thereof.The deep-ground well hole type flexible mining device comprises an equipment channel well communicated to a mining position, detection equipment and a flexible mining machine, and a power line of the flexible mining machine is connected with a power source outside the well; the flexible mining machine comprises a crushing device for excavating ores and an advancing driving device, the crushing device comprises an expansion arm, a crushing assembly and a crushing power assembly, the advancing driving device comprises a device body, and the device body and the expansion arm are connected in a hinged or rotary connection mode and can relatively move in at least two freedom degree directions. And the expansion arms and the device body are folded and unfolded, so that the flexible mining machine can be switched between a first state of passing through the equipment channel well and a second state of performing mining work. The mining operation can be carried out under the condition that personnel do not need to descend into a well, the mining requirements of a deep bottom layer and a seabed bottom layer can be met, and the mining difficulty and the mining cost are reduced.

Description

Technical Field

[0001] The present invention relates to the field of underground mining, and particularly to a deep-earth well-hole type flexible mining device and a using method thereof. Background Art

[0002] In deep formations, the in-situ stress is strong and the ground pressure is high. There is a risk of uncontrollable water inrush in formations under water bodies, including seabed formations. Therefore, when mining in deep formations and seabed formations, there are problems such as high ground pressure, roof caving and water inrush, and great mining difficulty. The existing mining schemes need to be supported by opening roadways and a large number of vertical shafts. As the depth of the mining formation increases, the corresponding mining cost increases steeply, making the existing mining technology costly, construction complex, and difficult to meet the mining requirements of deep formations and seabed formations. In conventional mining, in order for the mining vehicle to pass, the width or height of the roadway often reaches 5-10 meters, and the shape is also irregular. In particular, the diameter of the vertical shaft for transporting equipment reaches about 10 meters. And roadways several meters high are difficult to stably preserve under deep formation conditions. In some mining environments, it is also necessary for workers to go down the well to debug mining equipment, resulting in difficult operation during the mining process and increased mining cost. In addition, the overlying rock pressure and in-situ stress increase with the increase of depth, and there is a risk of rock burst when it exceeds 300 meters. Summary of the Invention

[0003] The present invention solves the problems of complex construction and high mining cost of the current mining technology for deep formations and seabed formations, and provides a deep-earth well-hole type flexible mining device and a using method thereof to solve the technical problems. An equipment passage well is built, and a flexible mining machine that can be retracted and passed through the equipment passage well is deployed underground for mining work. The present invention can realize the transmission of equipment by using a small-diameter equipment passage well (the optimal inner diameter range is between 0.3 and 2 meters), without any vehicle or large equipment entering. The present invention has great advantages in underwater formation mining, flooded formation mining, high ground pressure formation mining or deep mineral mining with a depth greater than 300 meters. In particular, it can operate under the condition of being immersed in the water environment, and can better let the liquid column pressure in the well support the mine cave, reducing the mining difficulty and mining cost. Moreover, the mining device and method of the present invention can realize the mining operation without personnel going down the well, and can meet the mining requirements of deep formations and formations under the ocean, that is, it can go into the sea and then into the ground for mineral development. In addition, the present invention can develop small mineral deposits without vertical shafts and roadways, making small mineral deposits that were originally unable to obtain economic benefits have development value. The present invention not only greatly reduces the cost, but is also less affected by vibration, blasting or goaf.

[0004] To solve the above technical problems, the technical solution of the present invention is as follows:

[0005] A deep borehole flexible mining device, comprising an equipment channel shaft with a major axis diameter of less than 3 meters and a length of more than 100 meters connected to a mining position, a detection device for detecting mining operation information inside a mine hole, and a flexible mining machine for mining ore, wherein a power line of the flexible mining machine is arranged in the equipment channel shaft or other process shafts with a diameter smaller than the equipment channel shaft, and the two ends of the power line are respectively connected to the flexible mining machine and a power source, wherein the power source is arranged outside the wellhead, and the flexible mining machine comprises a crushing device for mining ore and a travel drive device for driving the crushing device to travel, wherein:

[0006] A crushing device, comprising an expansion arm, a crushing assembly mounted on the expansion arm, and a crushing power assembly connected to the crushing assembly in a transmission manner; the expansion arm is longer than twice the maximum diameter of the equipment channel well; and the crushing power assembly is connected to the power line;

[0007] The travel drive device includes a device body connected to the expansion arm, the device body and the expansion arm are connected by a hinged connection or a rotational connection, and a drive component including at least two degrees of freedom control quantities is also connected between the expansion arm and the device body to control the flexible mining machine as a whole to switch between a folded and unfolded state or to control the flexible mining machine to achieve a larger range of mining operations, that is, to switch between a first state of passing through the equipment channel shaft and a second state of performing mining work.

[0008] Preferably, a swivel joint is provided between the extension arm and the device body, the swivel joint includes a fixed part connected to the device body and a rotating part connected to the extension arm, the rotating part and the extension arm are opened and closed in a hinged manner, and the driving assembly includes a rotation driving structure for driving the fixed part and the rotating part to rotate relative to each other and an opening and closing driving structure for driving the rotating part and the extension arm to rotate and open.

[0009] Preferably, the deep borehole flexible mining device includes a guide well section and a winch for winding up the power line, the guide well section is a partial well section of an equipment channel well or other process well arranged along the forward mining direction of the flexible tunneling machine, the power line is passed through the guide well section, the end of the power line is connected to the front of the flexible mining machine, and the winch is arranged on the flexible mining machine or outside the wellhead.

[0010] Preferably, the travel drive device further comprises a pulling mechanism and / or a crawling mechanism connected to the device body, wherein:

[0011] The device body includes a support mechanism that is movably pressed against the rock wall of the mine cave. When the flexible mining machine is in a first state, the support mechanism is in a retracted / contracted state. When the flexible mining machine is in a second state driven by a driving assembly, the support mechanism is in an unfolded / expanded state.

[0012] The pulling mechanism includes a towing cable, a towing chain or a towing rod connected to the device body in front of the tunneling direction of the flexible mining machine, and a towing power device for providing towing power; the crawling mechanism is connected to the device body and moves the device body forward / backward by repeatedly extending and contracting.

[0013] Preferably, at least two support mechanisms are provided along the length direction of the flexible mining machine, and the crawling mechanism is connected between two adjacent support mechanisms. The crawling mechanism is configured as:

[0014] The crawling mechanism includes at least two crawling arms connected in an articulated manner, and the two crawling arms at both ends are respectively articulated to two adjacent support mechanisms. Crawling drive structures are connected between the mutually articulated crawling arms and the support mechanisms and between the two mutually articulated crawling arms; or

[0015] The crawling mechanism includes a telescopic crawling section, and both ends of the telescopic crawling section are respectively connected to two adjacent support mechanisms.

[0016] Preferably, the plane perpendicular to the length direction of the flexible mining machine where the support mechanism is located is defined as the reference plane. During the rotation of the expansion arm, the area of the largest circumscribed circle determined by the limit position where the support mechanism unfolds / expands is larger than the projected area of the crushing operation area of the crushing assembly in the reference plane.

[0017] Preferably, there is a first contact point for supporting the mine cave rock wall along the direction of the maximum stress of the overlying strata of the mine cave and a second contact point for supporting the support mechanism between the support mechanism and the mine cave rock wall. The height difference in the vertical direction between the first contact point and the second contact point is not less than the minor axis of the cross-section of the excavation face generated by the excavation of the crushing assembly.

[0018] Preferably, the support mechanism includes a telescopic support section with support members articulated at both ends. The support member has a fitting surface that fits the rock wall, and the area of the fitting surface is larger than 1 square decimeter.

[0019] Preferably, the support mechanism includes a support body and at least two support rods articulated to the support body. The support rods are arranged circumferentially around the support body, and the axes of relative rotation between the support rods and the support body are all perpendicular to the length direction of the flexible mining machine. The support body is also connected with a retracting and releasing drive structure for driving the support rods to rotate closer to or away from the support body.

[0020] Preferably, a long groove for accommodating the support rod and the retracting and releasing drive structure is formed on the side surface of the support body, and the long groove extends along the length direction of the flexible mining machine.

[0021] Preferably, the support rod is a controllable telescopic rod structure. One end of the support rod is connected to the support body, and the other end is connected with a positioning member which has a conical surface for tightly abutting against the rock wall.

[0022] Preferably, the extension arm includes at least two arm structures. The crushing assembly is hinged to one of the arm structures, and a deflection driving structure for driving the crushing assembly to deflect is connected between the crushing assembly and this arm structure. Adjacent arm structures are connected by one of the following two connection methods:

[0023] Adjacent arm structures are in sliding fit with each other, and a telescopic power unit for driving the adjacent arm structures to slide is configured.

[0024] Adjacent arm structures are hinged to each other, and a swing driving structure for driving the adjacent arm structures to swing relatively is connected.

[0025] Preferably, the deep wellbore type flexible mining device further includes a control terminal located outside the well and a wireless communication device or communication line for realizing communication. The communication line passes through the equipment access shaft or other process wells. The wellhead end of the communication line is in communication connection with the control terminal, and the mine end of the communication line is in communication connection with the flexible mining machine and / or the detection device.

[0026] Preferably, the detection device is installed on the flexible mining machine. The detection device includes a video detection module, a radar, a sonar or a lidar, and the detection device is connected to the control terminal outside the well.

[0027] Preferably, the power line of the flexible mining machine includes one or more of a cable, a hydraulic pipeline or a pneumatic pipeline. The power line is arranged in front of the flexible drilling machine and is used to supply power to the flexible mining machine from the front and is dragged or wound up as the flexible drilling machine advances.

[0028] Preferably, when the power line of the flexible mining machine selects a hydraulic pipeline or a pneumatic pipeline, the flexible mining machine is further configured with an electromagnetic control valve connected to each hydraulic pipeline or pneumatic pipeline. The electromagnetic control valve is in communication connection with the control terminal outside the well through a wireless communication device or a communication line.

[0029] Preferably, the flexible mining machine further includes a circulating system. The circulating system includes a pipeline and a water spraying structure with a water spraying port pointing to the crushing assembly. The water spraying structure is communicated with a heat dissipation water pump and / or a water supply facility outside the well through the pipeline. The heat dissipation water pump is installed on the flexible mining machine.

[0030] Preferably, the deep wellbore type flexible mining device further includes a rock debris treatment mechanism for collecting rock debris. The rock debris treatment mechanism includes a chip removal pipeline passing through the equipment access shaft or other process wells. The bottom end of the chip removal pipeline is inserted into the mine interior and is communicated with a rock debris pump.

[0031] Preferably, the crushing assembly includes a driving unit and a drill bit, a reamer, a cutting head or a tunneling head connected to the driving unit. The maximum diameter of the drill bit, the reamer, the cutting head or the tunneling head is 30%-99% of the inner diameter of the equipment access shaft; the length of the extension arm is more than 5 times the diameter of the drill bit, the cutting head or the tunneling head.

[0032] Preferably, the inner diameter of the equipment access shaft is between 0.2 and 2 meters; the length of the extension arm is more than 3 times the diameter of the equipment access shaft; taking the plane perpendicular to the length direction of the flexible mining machine as the reference mining surface, during the rotation of the extension arm, the total projected area of the area that the extension arm can reach on the reference mining surface is more than 10 times the cross-sectional area of the equipment access shaft.

[0033] Preferably, when the flexible mining machine is operating, a support fluid with a density of 0.8-2.4 g / cm 3 is poured into the mine cave and the wellbore. The support fluid supports the mine cave by means of liquid column pressure to prevent the collapse of the mine cave; the detection device includes a pressure-resistant housing and can withstand a pressure greater than 3 MPa, and is used to bear the fluid column pressure in the mine cave.

[0034] A method for using the above-mentioned deep well-hole type flexible mining device includes the following steps:

[0035] S1. Construct and build an equipment access shaft;

[0036] S2. Lower a reamer into the equipment access shaft and perform local reaming operation at the mining position;

[0037] S3. Lower the detection device and the flexible mining machine in the first state from the equipment access shaft to the mining position;

[0038] S4. Expand the flexible mining machine and start the crushing assembly at the same time to start mining ore.

[0039] A method for using the above-mentioned deep well-hole type flexible mining device includes the following steps:

[0040] S1. Construct and build an equipment access shaft;

[0041] S2. Lower a reamer into the equipment access shaft and perform local reaming operation at the mining position;

[0042] S3. Lower the detection device and the flexible mining machine in the first state from the equipment access shaft to the mining position;

[0043] S4. When using the flexible tunneling machine to operate in a crawling manner:

[0044] S4-1. Unfold the flexible mining machine, and at the same time start the crushing assembly to begin tunneling;

[0045] S4-2. After the crushing assembly can no longer contact the rock wall of the mine tunnel, control each of the support mechanisms to fold / contract one by one. During the folding / contracting of each support mechanism, use the crawling mechanism to drive the support mechanism in the folded / contracted state in the tunneling direction, and before the next support mechanism folds / contracts, control the current support mechanism to resume pressing against the rock wall of the mine tunnel;

[0046] S4-3. After each support mechanism has moved in the tunneling direction and resumed pressing against the rock wall of the mine tunnel, start the crushing assembly again to carry out tunneling;

[0047] S4-4. Repeat steps S4-2 to S4-3;

[0048] S5. When using the pulling method to tow the tunneling machine for operation:

[0049] S5-1. Unfold the extension arm and the support mechanism, and at the same time start the crushing assembly to begin tunneling;

[0050] S5-2. After the crushing assembly can no longer contact the rock wall of the mine tunnel, then pull the flexible mining machine forward by winding up the towing cable or towing chain;

[0051] S5-3. Use the support mechanism to stably support the flexible mining machine again, and start the crushing assembly to carry out tunneling:

[0052] S5-4. Repeat steps S5-2 to S5-3.

[0053] Advantageous technical effects of the technical solution of the present invention:

[0054] (1) The equipment passage connects the outside of the well with the mining position in the formation. The detection equipment enters the mining position through the equipment passage well, which can assist in observing the mining operation information in the mine tunnel and assist the staff outside the well to carry out mining work. The flexible mining machine includes a crushing device for excavating ore and a traveling driving device for driving the crushing device to travel. The device body of the traveling driving device and the extension arm of the crushing device are driven by a driving assembly to move in two degrees of freedom directions, that is, an excavation surface can be formed by moving in two free directions, and an excavation working surface with an area much larger than the cross-section of the equipment passage well can be extended. The entire wall surface of the mine tunnel can be mined smoothly.

[0055] The driving assembly can also control the overall retraction or expansion of the flexible mining machine, switching between the first state of passing through the equipment access shaft and the second state of carrying out mining operations, smoothly reaching the mining position through the small-diameter equipment access shaft, and enabling mining operations without the need for personnel to enter the shaft. It can meet the requirements of mining in deep strata and strata below the ocean, that is, it can go into the sea and then enter the ground for mineral development. In addition, the present invention can develop small mineral deposits without the need for vertical shafts and roadways, making small mineral deposits that were originally economically unfeasible have development value. The present invention not only greatly reduces costs but is also less susceptible to vibration, blasting, or goafs.

[0056] (2) The support mechanism is movably abutted against the rock wall of the mine cave. It can not only stably support the crushing device for mining operations but also disengage from the rock wall of the mine cave. The position of the device body is driven by the crawling mechanism and / or the pulling mechanism, enabling the flexible mining machine to move in the extremely complex mine cave environment conditions in the driving direction. It can achieve continuous driving and mining without the need for personnel to enter the shaft, realizing mining in deep strata and even submerged water environment conditions.

[0057] (3) Connect to the power source outside the wellhead through a power line and set the end of the power line in front of the flexible mining machine, so that the power line advances synchronously with the flexible mining machine, which can vacate the space behind the flexible mining machine, making it impossible for rock bursts, roof falls, and collapses occurring in the goaf to affect the mining operations at the working face.

[0058] (4) The projection of the crushing assembly on the reference plane is always within the largest circumscribed circle determined by the limit positions of the expansion / extension of the support mechanism. After the crushing assembly excavates the mine cave space formed by the rock wall, it can ensure that the expanded / extended support mechanism can smoothly abut against the rock wall of the mine cave.

[0059] (5) For mining operations under the conditions of roof falls, rock bursts, and collapses that may be faced in deep strata mining, the shape of the rock wall of the mine cave is irregular. Therefore, the support members of the support mechanism are connected to both ends of the telescopic support section in a hinged manner, and the support members have a fitting surface that fits the rock wall. When the support members rotate, they can adapt to rock walls with different angles, and can contract and extend freely, ensuring that the support members of the support mechanism can stably abut against the rock wall of the mine cave, thus firmly supporting the crushing assembly for mining work, and at the same time, it can also have excellent passability.

[0060] (6) A long groove for accommodating the support rod and the retracting and extending drive structure is provided on the side of the support body. When the support rod is retracted, it can be placed in the long groove to save space.

[0061] (7) The telescopic support rod can adapt to mine cave rock walls with different diameters, and a positioning member is connected to the end of the support rod. By using the conical surface of the positioning member to tightly abut and penetrate into the rock wall, it can stably support the crushing device for excavation work.

[0062] (8) The relative sliding or relative swinging of adjacent arms of the extension arm can drive the crushing assembly to move, enabling all-round crushing and mining of the mine cave rock wall. The crushing assembly is hinged to the first-stage arm structure, and the driving hydraulic cylinder is used to drive the crushing assembly to deflect, which can conveniently adjust the rock-breaking angle and is beneficial to improving the rock-breaking efficiency of the flexible mining machine for the mine cave rock wall.

[0063] (9) When the crushing assembly is operating, the circulating system sprays water onto the crushing assembly, which can promote the cooling of the crushing assembly and the rock wall, and timely wash away the crushed rock chips, improving the working efficiency of the crushing assembly.

[0064] (10) For the development of coal fields or other mineral deposits that require crushing, the present invention directly pumps out of the well after fine crushing by mechanical mining, achieving the purposes of mining and crushing almost simultaneously. Description of the Drawings

[0065] Figure 1 Shows the structural schematic diagram of the deep well hole type flexible mining device in Embodiment 1 of the present invention;

[0066] Figure 2 Shows the connection schematic diagram between the support mechanism, the swivel joint and the extension arm in Embodiment 1 of the present invention;

[0067] Figure 3 Shows the cooperation schematic diagram between the traction mechanism of the flexible mining machine and the process well in Embodiment 1 of the present invention;

[0068] Figure 4 Shows the projection schematic diagram of the support mechanism and the crushing assembly on the reference plane in Embodiment 1 of the present invention;

[0069] Figure 5 Shows the connection schematic diagram between the water spraying structure of the flexible mining machine and the pipeline in Embodiment 1 of the present invention;

[0070] Figure 6 Shows the connection schematic diagram between the water spraying structure of the flexible mining machine and the pipeline and the radiator pump in Embodiment 1 of the present invention;

[0071] Figure 7 Shows the structural schematic diagram of the deep well hole type flexible mining device in Embodiment 2 of the present invention;

[0072] Figure 8 Shows the structural schematic diagram of the deep well hole type flexible mining device in Embodiment 2 of the present invention;

[0073] Figure 9 Shows the structural schematic diagram of the deep well hole type flexible mining device in Embodiment 3 of the present invention.

[0074] Reference Signs in the Drawings:

[0075] 1 - Equipment channel well; 11 - Power line; 12 - Communication line; 13 - Process well; 14 - Power source; 15 - Wellhead; 2 - Support mechanism; 21 - Telescopic support section; 22 - Support member; 23 - Support body; 24 - Long groove; 25 - Support rod; 26 - Retracting and deploying drive structure; 27 - Rotary joint; 28 - Anchoring device; 29 - Guide member; 3 - Crawling mechanism; 31 - Crawling arm; 32 - Crawling drive structure; 33 - Telescopic crawling section; 34 - Pulling mechanism; 35 - Winch; 36 - Towing cable; 37 - Drilling and workover rig; 38 - Towing rod; 4 - Extension arm; 41 - Arm structure; 42 - Swing drive structure; 43 - Opening and closing drive structure; 44 - Rotating drive structure; 5 - Crushing assembly; 51 - Deflection drive structure; 52 - Crushing power assembly; 6 - Detection device; 7 - Water spraying structure; 71 - Pipeline; 72 - Radiator water pump; 8 - Chip removal pipeline; 81 - Chip pump; 82 - Suction inlet; 83 - Chip removal well; 9 - Electric control valve. Detailed implementation mode

[0076] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the following further elaborates in detail a deep - well - hole type flexible mining device and its usage method proposed by the present invention in combination with the accompanying drawings and specific implementation modes. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the accompanying drawings are in a very simplified form and all use non - precise scales, only for the purpose of conveniently and clearly assisting in explaining the implementation modes of the present invention. In order to make the objectives, features and advantages of the present invention more obvious and understandable, please refer to the accompanying drawings. It should be known that the structures, scales, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have any technical substance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects that the present invention can produce and the objectives that can be achieved, should still fall within the scope covered by the technical content disclosed by the present invention.

[0077] The following will combine the attached Figures 1 to 9 and specific embodiments to elaborate in detail the technical solutions of a deep - well - hole type flexible mining device and its usage method of the present invention.

[0078] Embodiment 1

[0079] As Figures 1 to 6As shown, a deep borehole flexible mining device of the present embodiment includes an equipment passage shaft 1 connected to a mining position, the cross-sectional major axis diameter of which is less than 3 meters (the optimal diameter range is between 0.5-2 meters) and the length of which is greater than 100 meters, a detection device 6 for detecting mining operation information inside the mine, and a flexible mining machine for excavating ore. A power line 11 of the flexible mining machine is passed through the equipment passage shaft 1 or other process wells 13 whose diameter is smaller than that of the equipment passage shaft 1. Both ends of the power line 11 are respectively connected to the flexible mining machine and a power source 14. The power source 14 is arranged outside the wellhead 15 of the equipment passage shaft 1 or other process wells 13. The flexible mining machine includes a crushing device for excavating ore and a travel drive device for driving the crushing device to move; the crushing device includes an expansion arm 4, a crushing assembly 5 installed on the expansion arm 4, and a crushing power assembly 52 connected to the crushing assembly 5; the length of the expansion arm 4 is greater than 2 times, preferably more than 3 times, the maximum diameter of the equipment channel shaft 1; the crushing power assembly 52 is connected to the power line 11, and is used to convert electrical energy or pressure energy into mechanical power, and is used to provide rock breaking power for the crushing assembly 5. The crushing power assembly 52 can be a hydraulic motor, a pneumatic motor or an electric motor;

[0080] The travel drive device includes a device body connected to the crushing device, and the device body is connected to the expansion arm 4 by a hinged connection or a rotational connection. A driving component including at least two degrees of freedom control quantities is also connected between the expansion arm 4 and the device body to control the flexible mining machine as a whole to switch between a folded and unfolded state, that is, to switch between a first state of passing through the equipment channel shaft 1 and a second state of performing mining work.

[0081] The device body includes a support mechanism 2 that is tightly pressed against the rock wall of the mine. When the flexible mining machine is in the first state, the support mechanism 2 is in a retracted / contracted state. When the flexible mining machine is in the second state driven by the driving assembly, the support mechanism 2 is in an unfolded / expanded state.

[0082] The detection device 6 enters the mining position through the equipment channel shaft 1, and can help the staff outside the well to display the shape of the mine rock wall in real time, and assist the staff outside the well to carry out mining work. The support mechanism 2 is in close contact with the rock wall of the mine, which can not only stably support the crushing device for mining operations, but also be able to break away from the rock wall of the mine. The position of the device body is driven by the travel drive device to move, so that the flexible mining machine moves forward for excavation, and can achieve continuous excavation and mining without the need for personnel to go down the well, thereby reducing mining costs. The crushing assembly 5 is used to mine ore or crush large pieces of collapsed gravel. The mined ore can be pumped out with a pump, or it can be taken out with a salvage tube or a grab. It should be understood that the long axis section in the present invention is less than 3 meters, including a maximum distance of any shape section less than 3 meters.

[0083] In this embodiment, a swivel joint 27 is provided between the extension arm 4 and the device body. The swivel joint 27 includes a fixed part connected to the device body and a rotating part connected to the extension arm 4. The fixed part and the rotating part are rotationally matched, and the rotating part and the extension arm 4 are opened and closed in an articulated manner. The drive assembly includes a rotation drive structure 44 for driving the relative rotation of the fixed part and the rotating part and an opening and closing drive structure 43 for driving the rotation and opening and closing between the rotating part and the extension arm 4. The drive assembly including the rotation drive structure 44 and the opening and closing drive structure 43 controls the relative rotation between the extension arm 4 and the device body, so that the flexible mining machine as a whole switches between the first state of being retracted and passing through the equipment access shaft 1 and the second state of being deployed for mining work. When the flexible mining machine is in the first state, the support mechanism 2 is also in a retracted / contracted state. When the flexible mining machine is retracted, it can conveniently pass through the equipment access shaft 1 and reach the underground mining position; when deployed at the mining position, it can smoothly carry out mining work. Only a small-diameter equipment access shaft 1 is needed to realize the transmission of the equipment, without the need for any vehicles or large equipment to enter, and mining operations can be carried out without personnel going down the shaft, which can meet the needs of deep and seabed stratum mining, reduce the mining difficulty and excavation cost. In addition, small mineral deposits can also be developed without the need for vertical shafts and roadways, making small mineral deposits that were originally economically unfeasible have development value. The present invention not only greatly reduces the cost, but is also less susceptible to vibration, blasting or goaf influence.

[0084] The communication line 12 and the power line 11 of the flexible mining machine pass through the equipment access shaft 1 and remain connected to the control terminal and the power source 14 outside the shaft, which can facilitate the staff to directly view the mining operation information in the mine tunnel from outside the shaft and control the movement and tunneling of the flexible mining machine.

[0085] The power line 11 can be selected from one or more of a cable, a hydraulic pipeline or a pneumatic pipeline. When the power line 11 is selected as a hydraulic pipeline or a pneumatic pipeline, the flexible mining machine is also equipped with an electric control valve 9 (not shown in the figure) connected to each hydraulic pipeline or pneumatic pipeline, and the electric control valve 9 is communicatively connected to the control terminal outside the shaft. Using the above-mentioned hydraulic pipeline, high-pressure gas pipeline or cable as the power line 11 to provide power for the flexible mining machine can provide energy for the flexible mining machine in the mine tunnel in a high-efficiency and high-energy-density manner. Power equipment such as generators or hydraulic sources can be placed on the ground or ocean platforms, greatly reducing the volume and size of the flexible mining machine, facilitating its entry into the mine tunnel through the equipment access shaft 1, and working in a submerged environment.

[0086] Specifically, the power line 11 provides power or communication connection for the flexible mining machine; the deep well-hole type flexible mining device in this solution further includes a winch 35 for winding the power line 11, and the winch 35 is installed on the flexible mining machine or outside the wellhead 15.

[0087] Specifically, the traveling drive device further includes a pulling mechanism 34 and / or a crawling mechanism 3 connected to the device body. Taking the crawling mechanism 3 as an example:

[0088] The crawling mechanism 3 includes a telescopic crawling section 33. The two ends of the telescopic crawling section 33 are respectively connected to two adjacent support mechanisms 2. When the telescopic crawling section 33 expands and contracts, it can directly pull or push the support structure to move. When the telescopic crawling section 33 directly pulls the support structure to move in a telescopic manner, the structure and control method are simple and convenient for maintenance.

[0089] Furthermore, the support mechanism 2 includes a cylindrical support body 23 connected to the crawling mechanism 3 and at least two support rods 25 rotatably connected to the support body 23. In this embodiment, three support rods 25 are installed. The length direction of the support body 23 is parallel to the length direction of the flexible mining machine. The three support rods 25 are evenly arranged around the axis of the support body 23, and the axes of relative rotation between the support rods 25 and the support body 23 are all perpendicular to the axis of the support body 23. The support body 23 is also connected with a retracting and extending drive structure 26 for driving the support rods 25 to rotate closer to or away from the support body 23. Further, a long groove 24 extending along the length direction of the flexible mining machine is formed on the side surface of the support body 23. The support rods 25 and the retracting and extending drive structure 26 are both installed in the long groove 24. The support rods 25 are rotatably connected to the groove wall of the long groove 24. When the support rods 25 are retracted, they can be placed in the long groove 24 to save space. The support rods 25 are of a telescopic rod structure. One end of the support rod 25 is connected to the support body 23, and the other end is connected with a positioning member. The positioning member has a conical surface that abuts against the rock wall. The conical surface can penetrate into the formation to enhance the fixing effect.

[0090] The plane perpendicular to the length direction of the flexible mining machine where the support mechanism 2 is located is defined as the reference plane. In this embodiment, the reference plane can be selected as the vertical plane where the support rods 25 rotate to be perpendicular to the length direction of the support body 23. During the rotation of the extension arm 4, the area of the largest circumscribed circle determined by the extreme positions of the telescopic support section 21 and the positioning members at both ends when they are unfolded / extended is larger than the projected area of the crushing operation area of the crushing assembly in the reference plane, so as to ensure that when the telescopic support section 21 extends to the extreme position, the positioning members of the support rods 25 can smoothly abut against the rock wall of the mine tunnel excavated by the crushing assembly 5. Taking a plane perpendicular to the length direction of the flexible mining machine as the reference mining surface, the reference mining surface is parallel to the reference plane. During the rotation of the extension arm 4, the total area of the region that the projection of the extension arm 4 can reach on the reference mining surface is larger than 10 times the cross-sectional area of the equipment access shaft 1.

[0091] The three support rods 25 are in contact with the mine cave rock wall through positioning members. One of the support rods 25 is in tight contact with the top wall of the mine cave rock wall in the vertical direction, and the contact point between this support rod 25 and the mine cave rock wall is used as the first contact point for supporting the mine cave rock wall along the direction of the maximum stress of the overlying strata of the mine cave. The other two support rods 25 are in tight contact with the side parts of the mine cave rock wall, and the two contact points between these two support rods 25 and the mine cave rock wall are used as the second contact points for supporting the support mechanism 2. Generally, in deeper strata, the overlying strata pressure is the maximum principal stress. By applying stress to the rock wall through the first contact point between the support mechanism 2 and the mine cave rock wall, the occurrence of rock bursts and rock bursts can be effectively avoided or their intensity can be reduced.

[0092] In this embodiment, the axis of the support body 23 is parallel to the length direction of the flexible mining machine, and the reference plane where the support mechanism 2 is located is perpendicular to the axis of the support body 23. When the support rod 25 rotates to be perpendicular to the axis of the support body 23, the support mechanism 2 extends to the limit position. Taking the axis of the support body 23 as the axis of the flexible mining machine, the distance n between the maximum extended position where the support mechanism 2 extends and the axis of the flexible mining machine is greater than 70% of the distance m between the maximum extended position where the extension arm 4 rotates and the axis of the flexible mining machine, that is, n > 0.7m, so that the support arm can have a sufficient length to more easily find a support point inside the tunnel wall and can tightly hold the mine cave rock wall excavated by the crushing assembly 5.

[0093] Specifically, a rotary joint 27 is installed between the extension arm 4 and the support body 23 of the support mechanism 2. The rotary joint 27 includes a fixed part connected to the device body and a rotating part connected to the extension arm 4. In this embodiment, the fixed part of the rotary joint 27 is directly connected to the support body 23. The fixed part and the rotating part of the rotary joint 27 rotate relative to each other, and the rotation axis between the fixed part and the rotating part is parallel to the axis of the support body 23, that is, parallel to the length direction of the flexible mining machine, and the rotating part is connected to the extension arm 4 in an articulated manner. The driving assembly mentioned in this embodiment that includes two degrees of freedom control quantities includes a rotation driving structure 44 connected between the fixed part and the rotating part, and an opening and closing driving structure 43 connected between the rotating part and the extension arm 4. The rotation driving structure 44 can be, but is not limited to, a hydraulic motor or an electric motor.

[0094] In this embodiment, in order to enable the relative movement of the device body and the extension arm 4 in two degrees of freedom directions, the rotational relationship between the rotating part, the fixed part, and the extension arm 4 is utilized. Moreover, the axis of rotation between the rotating part and the fixed part is perpendicular to the hinge axis between the rotating part and the extension arm 4. However, it should be understood that there are other ways to enable the device body and the extension arm 4 to move in two degrees of freedom directions. For example, the device body and the extension arm 4 can be hinged in a ball joint manner, and a structure similar to a universal joint is used to achieve the movement in two degrees of freedom directions. Alternatively, the connection between the fixed part and the rotating part can be directly set as a rotational connection, and the rotating part and the extension arm 4 are also rotationally connected. The axes of rotation between the rotating part and the fixed part, and the extension arm 4 are configured as two non-parallel axes of rotation. By controlling the rotation of the rotating part and the extension arm 4, the extension arm 4 can be made to move relative to the device body in two degrees of freedom directions.

[0095] In addition, in this embodiment, if it is necessary to achieve movement in three degrees of freedom directions, a telescopic drive structure can also be installed between the device body and the swivel joint 27 or between the swivel joint 27 and the extension arm 4. The telescopic drive structure is used to drive the extension arm 4 to extend and retract along the length direction of the flexible mining machine. The telescopic drive structure can be selected from displacement drive components such as cylinders, oil cylinders, lead screw modules, and linear motors.

[0096] Furthermore, in addition to using the crawling mechanism 3 to drive the crushing device to move forward, a pulling mechanism 34 can also be used. For example, in this embodiment, a pulling mechanism 34 is added as a traction power device. The pulling mechanism 34 includes a traction cable 36, a traction chain connected to the device body and located in front of the tunneling direction of the flexible mining machine, and a winch 35 for winding the traction cable 36 or the traction chain. The pulling mechanism 34 includes a winch 35 installed on the swivel joint 27. The winch 35 is wound with a traction cable 36. One end of the traction cable 36 is fixed to the winch 35, and the other end passes through the equipment access shaft 1 or the process well 13 and is fixedly connected outside the well. When the winch 35 winds the traction cable 36, the flexible mining machine can be pulled to move. In addition, when the power line 11 is firmly connected in front of the flexible mining machine, the power line 11 can be directly used as the traction cable 36. Both the pulling mechanism 34 and the crawling mechanism 3 are used, but it should be noted that the pulling mechanism 34 can be used alone to drive the device body to move. Although there is no need for the crawling mechanism 3, it still includes a support mechanism 2 that actively abuts against the mine cave rock wall. During the ore mining process of the crushing assembly 5, the support mechanism 2 can bear the reaction force of the ore mining and provide a fulcrum for the swing and rotation of the extension arm 4.

[0097] Further, the flexible mining machine further includes a circulating system for spraying water onto the crushing assembly 5. The circulating system sprays water onto the crushing assembly 5 during the tunneling process, which can promote the cooling of the crushing assembly 5 and the rock wall, and timely wash away the crushed rock chips, improving the working efficiency of the crushing assembly 5. Specifically describing the circulating system for spraying water to cool the crushing assembly 5, the circulating system includes a pipeline 71 and a water spraying structure 7 with a water spraying port pointing to the crushing assembly 5. The water spraying structure 7 is connected to a heat dissipation water pump 72 and / or a water supply facility outside the well through the pipeline 71. The heat dissipation water pump 72 is installed on the extension arm 4 of the flexible mining machine. The water supply facility can be used to supply water to the water spraying structure 7 during deep underground and seabed mining. When mining on the seabed, the heat dissipation water pump 72 can also directly suck seawater and supply it to the water spraying structure 7. This circulating system can also be applied to other embodiments.

[0098] Further, the extension arm 4 includes two arm structures 41. One of the arm structures 41 is hinged to the support mechanism 2, and the crushing assembly 5 is installed at the end of the other arm structure 41 away from the support mechanism 2 in a hinged manner. Moreover, a deflection driving structure 51 for driving the crushing assembly 5 to deflect is installed on the side of the arm structure 41 where the crushing assembly 5 is installed, which can conveniently adjust the rock-breaking angle and is beneficial to improving the rock-breaking efficiency of the flexible mining machine on the mine cave rock wall. It should be understood that the extension arm 4 can also be set to more arm structures 41.

[0099] In this embodiment, the adjacent arm structures 41 are connected by one of the following two connection methods:

[0100] The adjacent arm structures 41 are in sliding fit, and a telescopic power unit for driving the adjacent arm structures 41 to expand and contract is configured. For example, the cylinder body and piston rod of a hydraulic cylinder are directly used as the two arm structures 41, and the telescopic power unit includes the chamber of the hydraulic cylinder and the hydraulic oil for providing power. Of course, the two arm structures 41 can also be directly in sliding fit, and the telescopic power unit can be a hydraulic cylinder or a screw drive module;

[0101] The adjacent arm structures 41 are hinged, and a swing driving structure 42 for driving the adjacent arm structures 41 to swing relative to each other is connected. The swing driving structure 42 is used to drive the adjacent arm structures 41 to rotate relative to each other, thereby driving the crushing assembly 5 to move, so as to perform all-round crushing and mining on the mine cave rock wall.

[0102] Specifically, the crushing assembly 5 includes a drill bit, a reamer, a cutting head, a tunneling head, a pneumatic pick or a tool bit connected to the crushing power assembly 52. The maximum diameter of the drill bit, reamer, cutting head or tunneling head is 30%-99% of the inner diameter of the equipment access shaft, aiming to make full use of the diameter of the access shaft to send in a flexible mining machine with as high efficiency and performance as possible. The length of the extension arm is more than 5 times the diameter of the drill bit, reamer, cutting head or tunneling head. When the flexible mining machine is in the first state, the major axis of the cross-section perpendicular to its own length direction does not exceed 3 times the maximum diameter of the drill bit, reamer, cutting head or tunneling head. Through an expandable manner, the present invention enables a flexible mining device with high passability to achieve a larger mining volume through a smaller-diameter equipment access shaft 1.

[0103] Furthermore, the detection device 6 is installed on the flexible mining machine or the detection robot. The detection robot is a special robot suitable for use in a mine. If it is used in an underwater mine, an underwater robot needs to be selected. Specifically, the detection device 6 includes a video detection module, a radar, a sonar or a lidar. Among them, the sonar can only be selected for use when underwater. The detection device 6 is connected to the control terminal outside the well through a communication line 12 or a wireless communication device, and can directly transmit the monitored mine conditions to the control terminal for the convenience of the staff to view.

[0104] In addition, the deep wellbore type flexible mining device further includes a cuttings handling mechanism for collecting cuttings. The cuttings handling mechanism includes a chip removal pipeline 8 passing through the equipment access shaft 1. The bottom end of the chip removal pipeline 8 is inserted into the bottom of the mine and is connected to a chip pump 81. The suction port 82 of the chip pump 81 is located at the bottom of the mine. When the chip pump 81 operates, it pumps out the water and cuttings mixture in the mine to the outside of the well. In addition, a gap is left between the chip removal pipeline 8 and the side wall of the equipment access shaft 1 for the communication line 12 and the power line 11 of the flexible mining machine to pass through. As a supplementary explanation, it is also possible to replace the chip pump 81 by lowering a high-passability grab to grab ores with a rope. The diameter of the high-passability grab is smaller than that of the equipment access shaft 1 and is lowered into the mine by a winch for grabbing ores and lifting them out of the well. This method is more suitable as a supplement to the chip pump 81.

[0105] In this embodiment, the inner diameter of the equipment access shaft 1 is between 0.2 and 2 meters, and the length of the extension arm 4 is more than 3 times the diameter of the equipment access shaft 1, so as to expand the crushing assembly 5 to a larger range and make the diameter of the excavation surface formed during tunneling larger than the diameter of the equipment access shaft 1.

[0106] A usage method applicable to the above-mentioned deep wellbore type flexible mining device includes the following steps:

[0107] s1. Construct the equipment access shaft 1;

[0108] S2. Lower a reamer into the equipment access shaft 1 and perform local reaming operation at the mining position;

[0109] S3. Lower the detection device 6 and the flexible mining machine in the first state from the equipment access shaft 1 to the mining position;

[0110] S4. Expand the flexible mining machine and simultaneously start the crushing assembly 5 to start mining ore.

[0111] It should be understood that the foregoing usage method is a brief and general usage method. Considering the selection of the pulling mechanism 34 and the crawling mechanism 3, this embodiment also discloses a detailed usage method applicable to the above deep wellbore type flexible mining device, including the following steps:

[0112] S1. Construct the equipment access shaft 1;

[0113] S2. Lower a reamer into the equipment access shaft 1 and perform local reaming operation at the mining position;

[0114] S3. Lower the detection device 6 and the flexible mining machine in the first state from the equipment access shaft 1 to the mining position;

[0115] S4. When using the crawling method to push the flexible tunneling machine for operation:

[0116] S4-1. Control the opening and closing drive structure 43 to operate, expand the flexible mining machine, and simultaneously start the crushing assembly 5 to start tunneling;

[0117] S4-2. After the crushing assembly 5 can no longer contact the rock wall of the mine tunnel, control each support mechanism 2 to retract / contract one by one, and during the retraction / contraction of each support mechanism 2, use the crawling mechanism 3 to drive the support mechanism 2 in the retracted / contracted state to move in the tunneling direction, and before the next support mechanism 2 retracts / contracts, control the current support mechanism 2 to resume pressing against the rock wall of the mine tunnel;

[0118] S4-3. After all the support mechanisms 2 have moved in the tunneling direction and resumed pressing against the rock wall of the mine tunnel, start the crushing assembly 5 again for tunneling;

[0119] S4-4. Repeat steps S4-2 to S4-3;

[0120] S5. When using the pulling method to tow the tunneling machine for operation:

[0121] S5-1. Control the opening and closing drive structure 43 to operate, expand the extension arm 4 and the support mechanism 2, and simultaneously start the crushing assembly 5 to start tunneling;

[0122] After the crushing assembly 5 of the S5-2 cannot contact the rock wall of the mine tunnel, control each support mechanism 2 to reduce the support force, and then pull the flexible excavator forward by winding the traction cable 36 or the traction chain;

[0123] S5-3. Use the support mechanism 2 to stably support the flexible excavator again, and start the crushing assembly 5 for tunneling:

[0124] S5-4. Repeat steps S5-2 to S5-3.

[0125] When performing the reaming operation, the method of blasting reaming can also be adopted to directly obtain a mine tunnel with a spatial dimension sufficient to accommodate the flexible excavator to enter and expand.

[0126] Embodiment 2

[0127] Please refer to Figure 7 And Figure 8 , except for using the pulling mechanism 34 in Embodiment 1, the traction power device in this embodiment is a workover rig 37, and the workover rig 37 is a drilling rig, a workover rig, an anchor rod machine or other devices that can perform the function of connecting drill pipes or tubing. The pulling mechanism 34 includes a traction rod 38. One end of the traction rod 38 is installed at the front of the flexible drilling machine, specifically near the connection between the device body of the traveling drive device and the crushing device. The traction rod 38 passes through the equipment access shaft 1 or other process wells 13. One end of the traction rod 38 is connected to the support mechanism 2 of the flexible excavator, and the other end passes through the equipment access shaft 1 or the process well 13 and is connected to the traction power device outside the well. The traction power device drags the flexible excavator to move by pulling the traction rod 38, and the crushing power assembly 52 of the flexible excavator provides power to the crushing assembly 5 for excavation work. In this embodiment, the traction rod 38 is a drill pipe or tubing, and the traction power device uses the method of releasing the connection of the pipe string to lift the traction rod 38 out of the well section by section to continuously pull the flexible excavator forward through the traction rod 38.

[0128] The flexible excavator in this embodiment adopts a tubular support mechanism 2, which includes two sections of pipe fittings respectively arranged at the front and rear of the flexible excavator. Due to the limitation of the equipment access shaft 1, the two ends of the pipe fittings can provide stable positioning for the flexible excavator. The support mechanism 2 also includes an anchoring device 28 and a swivel joint 27. The anchoring device 28 is an electric anchor, a hydraulic anchor or a hydraulic anchor, which is used to fix the support mechanism 2 in the equipment access shaft 1 to fix the flexible excavator. The rotation drive structure 44 in the swivel joint 27 arranged behind the anchoring device 28 provides another degree of freedom control amount for the flexible excavator, and can make the extension arm 4 rotate around the equipment access shaft 1, greatly increasing the working range of the extension arm 4. In this embodiment, the cuttings are discharged from the chip discharge well 83, and a grab bucket or a chip pump 81 is used to lift the cuttings outside the wellhead 15.

[0129] The power line 11 is disposed inside the drawbar 38 or within the pipe wall of the drawbar 38. In addition, in this embodiment, a guiding member 29 is further included. The guiding member 29 is used to guide the travel of the flexible drilling machine, including restricting its travel direction so that the flexible drilling machine travels along a stable route.

[0130] Embodiment Three:

[0131] Please refer to Figures 2 to 9 , the difference between this embodiment and Embodiment One is that the crawling mechanism 3 includes two articulated crawling arms 31. The adjacent ends of the two crawling arms 31 are articulated to each other, and the other two ends of the two crawling arms 31 are respectively articulated to the telescopic support sections 21 of two adjacent support mechanisms 2. Crawling drive structures 32 are connected between the mutually articulated crawling arms 31 and the telescopic support sections 21 and between the two mutually articulated crawling arms 31.

[0132] In this embodiment, the detection device 6, the electric control valve 9, the communication line 12, and the chip removal pipeline 8 mentioned in the foregoing embodiments are also shown. The detection device 6 is installed on the side of the telescopic support section 21 of the flexible mining machine; the electric control valve 9 is also installed on the flexible mining machine; the communication line 12 passes through the equipment passage shaft 1, and one end of the communication line is connected to the flexible mining machine; the chip removal pipeline 8 directly passes through the equipment passage shaft 1 in the vertical direction, and there is a sufficient gap between the chip removal pipeline 8 and the equipment passage shaft for the power line 11 and the communication line 12 to pass through.

[0133] When the flexible mining machine in this embodiment is retracted, the telescopic support section 21 and the connected crawling arms 31 are retracted and closed, and the telescopic support sections 21 on both sides are retracted to the side of the middle crawling mechanism 3, which can reduce the space occupied by the flexible mining machine in its own width direction, so that the flexible mining machine can pass through the equipment passage shaft 1 with a diameter much smaller than the mining working face, facilitating communication between the ground and the mine tunnel at a lower cost.

[0134] As Figure 9 shown, the crawling arms 31 of the crawling mechanism 3 are articulated to the support mechanism 2 and can perform opening and closing movements relative to the two support mechanisms 2 before and after, driving the two support mechanisms 2 to move. Taking the tunneling direction of the flexible mining machine as the front, the flexible mining machine in this embodiment travels in the following manner:

[0135] A1: Tighten the mine tunnel rock wall with the first support mechanism 2 located in front of the crawling mechanism 3, and release the pressing state between the second support mechanism 2 located behind the crawling mechanism 3 and the mine tunnel rock wall;

[0136] A2: Control the two crawling arms 31 of the crawling mechanism 3 to rotate and retract, and pull the second support mechanism 2 forward;

[0137] A3: Use the second support mechanism 2 to tightly support the rock wall of the mine cave and relieve the pressing state between the first support mechanism 2 and the rock wall of the mine cave;

[0138] A4: Control the two crawling arms 31 of the crawling mechanism 3 to rotate and unfold. During the unfolding process of the crawling arms 31, the second support mechanism 2 bears the reaction force to push other parts of the flexible mining machine including the first support mechanism 2 forward.

[0139] Compared with the telescopic crawling section 33 in the first embodiment, the crawling arms 31 in this embodiment open and close in a hinged manner, which can make the support mechanisms 2 on both sides of the crawling mechanism 3 approach each other, minimizing the space occupied by the traveling drive device as much as possible.

[0140] The support mechanism 2 in this embodiment includes a telescopable and controllable telescopic support section 21 connected to the crawling mechanism 3 and support members 22 connected to both ends of the telescopic support section 21. The support members 22 are connected to the telescopic support section 21 in a hinged manner. The telescopic support section 21 can be realized by using a structure in which two sections slide relative to each other driven by a hydraulic cylinder, or the telescopic support section 21 can directly be a hydraulic cylinder. The support members 22 are connected to both ends of the telescopic support section 21 in a hinged manner, and the side of the support member 22 facing away from the telescopic support section 21 has a fitting surface that fits and presses against the rock wall of the mine cave, which can adapt to mine cave rock walls with different angles and irregular shapes, ensuring that the support members 22 of the support mechanism 2 can stably abut against the rock wall of the mine cave, and thus firmly support the crushing assembly 5 to carry out mining work. The area of the fitting surface should be greater than 1 square decimeter. When the support member 22 and the telescopic support section 21 are connected by a spherical hinge, it can better adapt to the shape of the mine cave rock wall and closely fit with the mine cave rock wall.

[0141] In this embodiment, the telescopic support section 21 abuts against the top wall and the bottom wall of the mine cave through the support members 22 at both ends. There is a first contact point between the support member 22 at the top of the telescopic support section 21 and the top wall of the mine cave, and a second contact point between the support member 22 at the bottom of the telescopic support section 21 and the bottom wall of the mine cave. The telescopic support section 21 provides support to the top wall of the mine cave through the first contact point and transmits the pressure to the bottom wall of the mine cave, which can relieve the stress concentration caused by the overlying formation pressure.

[0142] For all the above embodiments, when applied to deep formations or easily collapsible formations, a support fluid with a density of 0.8 - 2.4 g / cm3 should be poured into the mine cave and wellbore during the operation of the flexible mining machine. The support fluid supports the mine cave by relying on the liquid column pressure to avoid the collapse of the mine cave. The detection device 6 includes a pressure-resistant housing and can withstand a pressure greater than 3 MPa, which is used to bear the fluid liquid column pressure in the mine cave.

[0143] Considering that the support mechanism 2 needs to support the mine cave rock wall through the first contact point and the second contact point, when the flexible mining machine tunnels horizontally in the mine cave, it is necessary to ensure that the height difference in the vertical direction between the first contact point and the second contact point after the support mechanism 2 is deployed is not less than the vertical height of the excavation working face generated by the excavation of the crushing assembly 5. If the shape of the excavation working face is irregular, then the height difference in the vertical direction between the first contact point and the second contact point should not be less than the minor axis of the cross-section of the excavation working face to ensure that the mine cave rock wall can be supported.

[0144] The flexible mining machine further includes a compensation device for achieving the internal and external pressure balance of the flexible mining machine; the compensation device includes a piston or a bladder. When the inside of the piston or the bladder is filled with a balance liquid, the inside of the cavity of the piston or the bladder is connected to the internal pressure of the flexible mining machine, and the outside of the piston or the bladder is connected to the ambient pressure, and vice versa.

[0145] It should be understood that in the first embodiment, the articulated crawler arm 31 is used as the crawler mechanism 3, and the telescopic support section 21 and the support member 22 constitute the support mechanism 2; in the third embodiment, the telescopic crawler section 33 is used as the crawler mechanism 3, and the support body 23 and the support rod 25 constitute the support mechanism 2. However, the crawler mechanism 3 and the support mechanism 2 in the two embodiments can be replaced with each other and used in different combinations.

[0146] In addition, it should be noted that the opening and closing drive structure 43, the crawler drive structure 32, the retracting and extending drive structure 26, the deflection drive structure 51, the swing drive structure 42, and the rotation drive structure 44 for controlling rotation or swing can be selected as an electric cylinder, a pneumatic cylinder, a hydraulic cylinder, a joint motor, and a rope drive structure to drive the relative rotation or swing of the two structures during specific implementation, and the power source 14 installed at the wellhead 15 is selected as a power source, a gas source, or a hydraulic power source 14 according to needs.

[0147] All the hinges mentioned in this solution include various hinge connection methods such as hinge connection, ball joint, or universal joint connection. The structures connected by ball joints or universal joints can rotate in multiple directions, with stronger applicability.

[0148] In addition, the features described in each embodiment of the present invention are not only applicable to this embodiment. The descriptions of the invention made in each embodiment can also be combined into other embodiments to describe other embodiments.

[0149] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0150] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A deep borehole flexible mining device, It is characterized in that It includes an equipment passage shaft with a major axis diameter of less than 3 meters and a length of more than 100 meters connected to the mining location, a detection device for detecting mining operation information inside the mine cave, and a flexible excavator for excavating ore. The power line of the flexible excavator is arranged in the equipment passage shaft or other process shafts with a diameter smaller than the equipment passage shaft, and the two ends of the power line are respectively connected to the flexible excavator and a power source, and the power source is arranged outside the wellhead. The flexible excavator includes a crushing device for excavating ore and a travel drive device for driving the crushing device to move, wherein: A crushing device, comprising an expansion arm, a crushing assembly mounted on the expansion arm, and a crushing power assembly connected to the crushing assembly in a transmission manner; the expansion arm is longer than twice the maximum diameter of the equipment channel well; and the crushing power assembly is connected to the power line; The travel drive device includes a device body connected to the expansion arm, the device body and the expansion arm are connected by a hinged connection or a rotational connection, and a drive component including at least two degrees of freedom control quantities is also connected between the expansion arm and the device body to control the flexible mining machine as a whole to switch between a folded and unfolded state or to control the flexible mining machine to achieve a larger range of mining operations, that is, to switch between a first state of passing through the equipment channel shaft and a second state of performing mining work.

2. A deep borehole flexible mining device according to claim 1, It is characterized in that A swivel joint is provided between the extension arm and the device body, the swivel joint includes a fixed part connected to the device body and a rotating part connected to the extension arm, the rotating part and the extension arm are opened and closed in a hinged manner, and the driving assembly includes a rotating driving structure for driving the fixed part and the rotating part to rotate relative to each other and an opening and closing driving structure for driving the rotating part and the extension arm to rotate and open and close.

3. A deep borehole flexible mining device as claimed in claim 1, It is characterized in that The deep borehole flexible mining device includes a guide well section and a winch for winding up the power line. The guide well section is a partial well section of an equipment channel well or other process well arranged along the forward direction of mining of the flexible tunneling machine. The power line passes through the guide well section, and the end of the power line is connected to the front of the flexible mining machine. The winch is arranged on the flexible mining machine or outside the wellhead.

4. A deep borehole flexible mining device as claimed in claim 1, It is characterized in that The travel drive device further comprises a pulling mechanism and / or a crawling mechanism connected to the device body, wherein: The device body includes a support mechanism that is movably pressed against the rock wall of the mine cave. When the flexible mining machine is in a first state, the support mechanism is in a retracted / contracted state. When the flexible mining machine is in a second state driven by a driving assembly, the support mechanism is in an unfolded / expanded state. The pulling mechanism includes a towing cable, a towing chain or a towing rod connected to the device body in front of the tunneling direction of the flexible mining machine, and a towing power device for providing towing power; the crawling mechanism is connected to the device body and pushes / pulls the device body to move by means of repeated stretching and contracting motions.

5. A deep-hole type flexible mining device according to claim 4, wherein, at least two support mechanisms are provided along the length direction of the flexible mining machine, and the crawling mechanism is connected between two adjacent support mechanisms. The crawling mechanism is arranged as follows: The crawling mechanism includes at least two crawling arms connected in an articulated manner, and the two crawling arms at both ends are respectively articulated with two adjacent support mechanisms. Crawling drive structures are connected between the mutually articulated crawling arms and the support mechanisms and between the two mutually articulated crawling arms; or The crawling mechanism includes a telescopic crawling section, and both ends of the telescopic crawling section are respectively connected to two adjacent support mechanisms.

6. A deep-hole type flexible mining device according to claim 4, wherein, The plane perpendicular to the length direction of the flexible mining machine where the support mechanism is located is defined as the reference plane. During the rotation of the extension arm, the area of the largest circumscribed circle determined by the extreme positions where the support mechanism unfolds / extends is larger than the projected area of the crushing operation area of the crushing assembly in the reference plane.

7. A deep-hole type flexible mining device according to claim 4, wherein, There is a first contact point for supporting the mine cave rock wall along the direction of the maximum stress of the overlying strata of the mine cave and a second contact point for supporting the support mechanism between the support mechanism and the mine cave rock wall. The height difference in the vertical direction between the first contact point and the second contact point is not less than the minor axis of the cross-section of the excavation face generated by the excavation of the crushing assembly.

8. A deep-hole type flexible mining device according to claim 4, wherein, The support mechanism includes a telescopic support section with support members articulated at both ends. The support member has a fitting surface that fits the rock wall, and the area of the fitting surface is larger than 1 square decimeter.

9. A deep-hole type flexible mining device according to claim 4, wherein, The support mechanism includes a support body and at least two support rods articulated to the support body. The support rods are arranged circumferentially around the support body, and the axes of relative rotation between the support rods and the support body are all perpendicular to the length direction of the flexible mining machine. The support body is also connected with a retracting and extending drive structure for driving the support rods to rotate closer to or away from the support body.

10. A deep-hole type flexible mining device according to claim 9, wherein, A long groove for accommodating the support rod and the retracting and extending drive structure is formed on the side surface of the support body, and the long groove extends along the length direction of the flexible mining machine.

11. A deep-hole type flexible mining device according to claim 9, wherein, The support rod is a rod structure that can be controlled to expand and contract. One end of the support rod is connected to the support body, and the other end is connected with a positioning member, and the positioning member has a conical surface that abuts against the rock wall.

12. A deep-hole type flexible mining device according to claim 1, It is characterized in that the extension arm includes at least two sections of arm structures, the crushing assembly is hinged to one section of the arm structure, and a deflection driving structure for driving the deflection of the crushing assembly is connected between the crushing assembly and the arm structure. Adjacent arm structures are connected by one of the following two connection methods: The adjacent arm structures are in sliding fit with each other, and a telescopic power unit for driving the adjacent arm structures to slide is configured; The adjacent arm structures are hinged to each other, and a swing driving structure for driving the adjacent arm structures to swing relative to each other is connected.

13. A deep underground wellbore flexible mining device according to claim 1, It is characterized in that the deep underground wellbore flexible mining device further includes a control terminal located outside the well and a wireless communication device or a communication line for realizing communication. The communication line passes through the equipment access well or other process wells. The wellhead end of the communication line is communicatively connected to the control terminal, and the mine end of the communication line is communicatively connected to the flexible mining machine and / or the detection device.

14. A deep underground wellbore flexible mining device according to claim 13, It is characterized in that the detection device is installed on the flexible mining machine. The detection device includes a video detection module, a radar, a sonar or a lidar, and the detection device is connected to the control terminal outside the well.

15. A deep underground wellbore flexible mining device according to claim 1, It is characterized in that the power line of the flexible mining machine includes one or more of a cable, a hydraulic pipeline or a pneumatic pipeline. The power line is arranged in front of the flexible drilling machine and is used to supply power to the flexible mining machine from the front and is dragged or wound up as the flexible drilling machine advances.

16. A deep underground wellbore flexible mining device according to claim 13 or 15, It is characterized in that when the power line of the flexible mining machine selects a hydraulic pipeline or a pneumatic pipeline, the flexible mining machine is further configured with an electric control valve connected to each hydraulic pipeline or pneumatic pipeline. The electric control valve is communicatively connected to the control terminal outside the well through a wireless communication device or a communication line.

17. A deep underground wellbore flexible mining device according to claim 1, It is characterized in that the flexible mining machine further includes a circulation system. The circulation system includes a pipeline and a water spraying structure with a water spraying port pointing to the crushing assembly. The water spraying structure is connected to a heat dissipation water pump and / or a water supply facility outside the well through a pipeline. The heat dissipation water pump is installed on the flexible mining machine.

18. A deep underground wellbore flexible mining device according to claim 1, It is characterized in that the deep underground wellbore flexible mining device further includes a rock debris treatment mechanism for collecting rock debris. The rock debris treatment mechanism includes a chip removal pipeline passing through the equipment access well or other process wells. The bottom end of the chip removal pipeline is inserted into the mine interior and is connected to a rock debris pump.

19. A deep underground wellbore flexible mining device according to claim 1, It is characterized in that the crushing assembly includes a driving unit and a drill bit, a reamer, a cutting head or a tunneling head connected to the driving unit. The maximum diameter of the drill bit, the reamer, the cutting head or the tunneling head is 30%-99% of the inner diameter of the equipment access well; the length of the extension arm is greater than 5 times the diameter of the drill bit, the cutting head or the tunneling head.

20. A deep wellbore type flexible mining device as described in claim 1, characterized in that, the inner diameter of the equipment passage well is between 0.2 and 2 meters; the length of the extension arm is more than 3 times the diameter of the equipment passage well; taking the plane perpendicular to the length direction of the flexible mining machine as the reference mining surface, during the rotation of the extension arm, the total projected area of the area that the extension arm can reach on the reference mining surface is more than 10 times the cross-sectional area of the equipment passage well.

21. A deep wellbore type flexible mining device applicable to any one of claims 1 to 20, characterized in that, When the flexible mining machine operates, a support fluid with a density of 0.8 - 2.4 g / cm 3 is poured into the mine cave and wellbore. The support fluid supports the mine cave by means of liquid column pressure to prevent the collapse of the mine cave. The detection device includes a pressure-resistant housing and can withstand a pressure greater than 3 MPa, and is used to bear the fluid column pressure in the mine cave.

22. A method of using a deep wellbore type flexible mining device applicable to any one of claims 1 to 21, characterized in that, comprises the following steps: s1. Construct the equipment passage well; s2. Lower a reamer into the equipment passage well and perform local reaming operation at the mining position; s3. Lower the detection device and the flexible mining machine in the first state from the equipment passage well to the mining position; s4. Expand the flexible mining machine and start the crushing assembly simultaneously to start mining ore.

23. A method of using a deep wellbore type flexible mining device applicable to any one of claims 4, 5, 6, 7, 8, 9, 10, 11 and 21, characterized in that, comprises the following steps: S1. Construct the equipment passage well; S2. Lower a reamer into the equipment passage well and perform local reaming operation at the mining position; S3. Lower the detection device and the flexible mining machine in the first state from the equipment passage well to the mining position; S4. When using the crawling method to push the flexible tunneling machine for operation: S4-1. Expand the flexible mining machine and start the crushing assembly simultaneously to start tunneling; S4-2. After the crushing assembly can no longer contact the rock wall of the mine tunnel, control each of the support mechanisms to close / contract one by one, and during the closing / contracting of each support mechanism, use the crawling mechanism to drive the support mechanism in the closed / contracting state to move in the tunneling direction, and before the next support mechanism closes / contracts, control the current support mechanism to resume pressing against the rock wall of the mine tunnel; S4-3. After all the support mechanisms have moved in the tunneling direction and resumed pressing against the rock wall of the mine tunnel, start the crushing assembly again for tunneling; S4-4. Repeat steps S4-2 to S4-3; S5. When using the pulling method to tow the tunneling machine for operation: S5-1. Expand the extension arm and the support mechanism, and start the crushing assembly simultaneously to start tunneling; S5-2. After the crushing assembly can no longer contact the rock wall of the mine tunnel, then pull the flexible mining machine forward by reeling in the towing cable or towing chain; S5-3. Use the support mechanism to stably support the flexible mining machine again and start the crushing assembly for tunneling: S5-4. Repeat steps S5-2 to S5-3.

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