Rock breaking judgment method and system for small-digging-depth rock digging component based on rock

Abstract

The invention relates to a rock breaking judgment method and system for a small-digging-depth rock digging component based on rocks. The method comprises the following steps that firstly, the ground angle, the horizontal precession distance and the vertical rock digging thickness of a rotating shaft of a rock digging machine are obtained; 2, three-dimensional coordinates and three-direction plane angles of the rock digging component on the rock digging machine tool are obtained; 3, obtaining a uniform sequence of rock digging members on the rock digging machine; 4, calculating the included angle between the adjacent rock digging members in the homogenized sequence and the rotating shaft of the rock digging machine; 5, determining the position of the rock digging component located on the rock digging boundary in the included angle sequence, and judging the rock breaking state of the rock digging component within the horizontal footage; and 6, the rock breaking state of the rock digging component outside the horizontal footage is judged. The method has the advantages of being simple, accurate and efficient in positioning, low in cost, economical, practical, wide in application range and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of rock excavation tools, and particularly relates to a method and system for determining rock breaking of a small and deep rock excavation component based on rock. Background Art

[0002] When the rock excavation component on the rock excavation tool contacts the rock, due to the high strength and hard texture of the rock, the rock excavation component bears a huge load, resulting in serious wear and frequent replacement. Moreover, the excavation depth is small, and basically only part of the rock excavation component contacts the rock during excavation. For a rotary rock excavation tool, its rock excavation component breaks the rock in a rotary cutting manner under the action of a driving device, and at the same time, it is accompanied by the movement of the rock excavation tool. The rock excavation component presents a combined motion form of rotation and movement. When performing underwater rock excavation operations represented by dredging projects, the rock excavation tool performs rotary excavation at a certain rotational speed, and at the same time, the rock excavation tool swings around a positioning pile. The swing radius is much larger than the rock excavation tool itself, and it can be considered that the rock excavation component breaks the rock in a rotary and transverse movement manner. After excavating one layer of rock, the rock excavation tool moves down by one layer thickness for construction. After each lateral swing, it also needs to advance by one penetration. The force on each rock excavation component reaches tens of thousands of Newtons. Therefore, the position and number of the stressed rock excavation components are very crucial for the use of the rock excavation tool. For example, if the layer thickness is too large, the rock excavation tool will reduce its rotation speed due to excessive torque, and at the same time, the difficulty of lateral movement increases, and the lateral movement speed cannot be guaranteed. Similarly, if the penetration is too large, the rock excavation tool will also show the phenomena of excessive torque and excessive lateral movement tension, and the output cannot be guaranteed.

[0003] The movement mode of the rock excavation component of the rock excavation tool is complex, and the rock excavation tool is in different states at any moment. To determine the rock breaking state of a specified rock excavation component at a certain moment, it is necessary to obtain the position information of the rock excavation component at the previous moment, and at the same time, it is also necessary to know the rock breaking state of the previous layer and the excavation information at the previous penetration, because the rock boundaries at the previous moment, the previous layer, and the previous penetration are the construction boundaries of the rock excavation tool at this moment. In the article "Dynamic Load Analysis of Cutter of Ultra-Large Trailing Suction Hopper Dredger Based on Rock Cutting Theory", the rotation angle is used to judge the rock breaking state of the cutter teeth, and the depth angle is used to consider the excavation thickness, but it is considered that the depth angle is a fixed value. However, the depth angle is not a fixed value. First, for cutter teeth at different positions, although the excavation layer thickness is the same, the radii are different, so the depth angles should also be different. Second, the article does not consider the cutter penetration factor. For example, a penetration of half a meter and a penetration of one meter obviously belong to different excavation postures, and their depth angles should also be different. Thus, it can be seen that the depth angle does not really solve the problem of determining the rock breaking state of the rock excavation component. Summary of the Invention

[0004] The present invention provides a rock-breaking determination method and system for small-scale and deep rock-digging components based on rocks, which solves the technical problems existing in the known technology, has the characteristics of simple method, accurate and efficient positioning, saving a large amount of labor costs, improving the design efficiency, being economical and practical, and having a wide range of applications.

[0005] The technical solution adopted by the present invention is: a rock-breaking determination method for small-scale and deep rock-digging components based on rocks. The rock-digging tool has a fixed ring and a plurality of support parts. One end of each support part is connected to the driving part of the rock-digging tool, and the other end is connected to the fixed ring. The driving part is a cylindrical structure with internal threads for driving. The fixed ring is a circular ring structure, which is coaxial with the driving part and maintains a fixed distance. Each support part has a plurality of rock-digging components. During rock-breaking, the rock-digging components rotate around the rotation axis of the rock-digging tool and perform rock-breaking. The rock-breaking determination method for rock-digging components includes the following steps: First step: Obtain the angle A of the rotation axis of the rock-digging tool with respect to the ground, the horizontal precession distance L, and the vertical rock-digging thickness H. Second step: Obtain the three-dimensional coordinates and three-direction plane angles of the rock-digging components on the rock-digging tool. Third step: Obtain the normalized sequence of the rock-digging components on the rock-digging tool. Fourth step: Calculate the angle between adjacent rock-digging components in the normalized sequence and the rotation axis of the rock-digging tool ; Fifth step: Determine the positions of the rock-digging components located on the rock-digging boundary in the angle sequence, and judge the rock-breaking states of the rock-digging components within the horizontal advance. Sixth step: Judge the rock-breaking states of the rock-digging components outside the horizontal advance.

[0006] Preferably, in the first step, the angle with respect to the ground refers to the angle between the rotation axis and the horizontal plane, the horizontal precession distance refers to the distance that the rock-digging tool moves forward, and the vertical rock-digging thickness refers to the distance that the rock-digging tool moves vertically downward.

[0007] Preferably, in the second step, obtain the three-dimensional coordinates and three-direction plane angles of the rock-digging components on the rock-digging tool. The three-dimensional coordinate system takes the upper surface of the fixed ring as the XOY plane, the XOY plane is perpendicular to the rotation axis, the Z axis of the coordinate system is along the rotation axis, and the positive direction of the Z axis points to the driving part. The three-dimensional coordinates are the coordinates of the effective positioning points of the rock-digging components, and the three-direction plane angles are the angles between the rock-breaking action surfaces of the rock-digging components and the X axis, Y axis, and Z axis respectively.

[0008] Preferably, in the third step, the process of obtaining the normalized sequence of the rock-digging components on the rock-digging tool is as follows: Each rock-digging component takes the rotation axis of the rock-digging tool as the Q axis, the upper surface of the fixed ring as the plane where the P axis is located, the coordinate origin O is the intersection of the upper surface of the fixed ring and the rotation axis, and for any rock-digging component The coordinate is the distance from the effective positioning point on the rock-digging member to the rotation axis of the rock-digging tool, and for any rock-digging member, the coordinate is the distance from the effective positioning point on the rock-digging member to the upper surface of the fixed ring of the rock-digging tool, as shown in Equation (1); the normalization sequence is sorted according to the coordinate values, in ascending order; (1) When the rock-digging tool has an angle A with the ground, the vertical position of the th rock-digging member is expressed as (2) The penetration factor is defined as

[0009] (3) The digging depth factor is defined as

[0010] (4) where N is the total number of rock-digging members on the rock-digging tool.

[0011] Preferably, in the fourth step, the is expressed as (5) The included angle sequence is defined as , where N is the total number of rock-digging members on the rock-digging tool, and the characteristics of the included angle sequence are .

[0012] Preferably, in the fifth step, to determine the position of the rock-digging member located on the rock-digging boundary in the included angle sequence, there is a th rock-digging member that satisfies , then the th rock-digging member is the first characteristic member; To determine the rock-breaking state of the rock-digging members within the horizontal penetration, there is a th rock-digging member that satisfies: (6) Then the th rock-digging member is the second characteristic member. For any rock-digging member, if the normalization sequence satisfies the following formula, it is in the rock-breaking state; (7) where, is the t coordinate of the th rock-digging member at time, which can be expressed as (8) Wherein, is the included angle between the th rock excavation member and the P axis.

[0013] Preferably, in the sixth step, the rock breaking state of the rock excavation members other than the horizontal advance is judged, and the serial number of the third characteristic member is determined. The serial number of the third characteristic member is the serial number of the rock excavation member at the intersection of the current normalization sequence and the previous advance normalization sequence. Starting from the second characteristic member number , the intersection test between the normalization sequence of the rock excavation members and the normalization sequence of the rock excavation members in the previous advance is carried out. There is the th rock excavation member that satisfies: (9) (10) (11) Wherein, is the direction vector between the rock excavation member to be judged in the current member sequence and the adjacent rock excavation member; is the direction vector between the rock excavation member to be judged in the current member sequence and the rock excavation member in the previous advance member sequence; is the direction vector between the rock excavation member to be judged in the current member sequence and the adjacent rock excavation member in the previous advance member sequence; is the unit vector in the direction of the P axis; is the unit vector in the direction of the Q axis; The intersection coordinates of the intersection are (12) Wherein (13) (14) (15) (16) If the normalization sequence of any rock excavation member satisfies the following formula, it is in the rock breaking state (17) Wherein, is the rock excavation spacing from the th rock excavation member to the th rock excavation member and the th rock excavation member in the previous advance sequence, and can be expressed as (18) Wherein, the th rock excavation member and the Two adjacent rock-digging members are considered as the rock-digging members, and .

[0014] Preferably, the rock-digging member has one or more effective positioning points.

[0015] Preferably, the three-dimensional coordinates adopt a right-hand coordinate system.

[0016] A rock-breaking determination system for the rock-digging members of a rock-digging machine tool, the rock-breaking determination system includes a construction parameter module, a member information module, a sequential member module, an inclination angle determination module, a cutting thickness determination module, and a penetration determination module; The construction parameter module is used to obtain the angle of the rotation axis of the rock-digging machine tool with respect to the ground, the horizontal precession distance, the vertical rock-digging thickness, the rotation speed, and the moving speed. The angle with respect to the ground refers to the angle between the rotation axis and the horizontal plane, the horizontal precession distance refers to the distance that the rock-digging machine tool moves forward, and the vertical rock-digging thickness refers to the distance that the rock-digging machine tool moves vertically downward; The member information module is used to obtain the three-dimensional coordinates and three-direction plane angles of the rock-digging members on the rock-digging machine tool. The three-dimensional coordinate system takes the upper surface of the fixed ring as the XOY plane, the XOY plane is perpendicular to the rotation axis, the Z axis of the coordinate system is along the rotation axis, and the positive direction of the Z axis points to the driving part. The three-dimensional coordinates are the coordinates of the effective positioning points of the rock-digging members, and the three-direction plane angles are the angles between the rock-breaking action surfaces of the rock-digging members and the X axis, Y axis, and Z axis respectively; The sequential member module is used to obtain the normalized sequence of the rock-digging members on the rock-digging machine tool. Each rock-digging member takes the rotation axis of the rock-digging machine tool as the Q axis, the upper surface of the fixed ring as the plane where the P axis is located, and the coordinate origin O is the intersection of the upper surface of the fixed ring and the rotation axis. The coordinate is the distance from the effective positioning point on this rock-digging member to the rotation axis of the rock-digging machine tool, and the coordinate is the distance from the effective positioning point on this rock-digging member to the upper surface of the fixed ring of the rock-digging machine tool. The normalized sequence is sorted according to the coordinate values, and the arrangement order is from small to large; The inclination angle determination module is used to calculate the angles between adjacent rock-digging members in the normalized sequence and the rotation axis of the rock-digging machine tool to form an angle sequence, and determine the position number of the rotation axis inclination angle in the angle sequence. The rock-digging member with this number is defined as the first characteristic member; The cutting thickness determination module is used to determine the penetration factor and the digging depth factor of the rock-digging members according to the normalized sequence in the sequential member module, calculate the position of the rock-digging members at any moment, determine the second characteristic member, and combine the digging depth to determine the rock-breaking state of the rock-digging members within the penetration range; The footage determination module is used to determine the rock-breaking state of the rock-breaking components other than the horizontal footage, determine the intersection point between the normalization sequence of the current rock-breaking tool state and the normalization sequence of the previous footage, and determine the sequence number at the intersection point, which is defined as the third characteristic component. Calculate the position of the rock-breaking component at any moment, and calculate the rock-breaking state of the rock-breaking components between the sequence number of the third characteristic component and the sequence number of the second characteristic component.

[0017] The advantages and positive effects of the present invention are as follows: 1. The present invention can accurately obtain the position and attitude of the rock-breaking components of the rock-breaking tool in the space under the rock-breaking state, and is used for accurately determining the rock-breaking state of the rock-breaking components at different footages and different rock-breaking depths, providing accurate data for the construction and design of the rock-breaking tool.

[0018] 2. The determination method of the present invention includes the first determination, the second determination and the third determination, and can obtain the information of the first characteristic component, the second characteristic component and the third characteristic component. The first characteristic component is the component at the deepest excavation, and the determination is simple and direct. The second determination obtains the position of the second characteristic component, and the rock-breaking components above the second characteristic component are all involved in rock-breaking. The third determination uses the front and back step information to obtain the position of the third characteristic component, and the rock-breaking components from the third characteristic component to the second characteristic component are semi-involved in rock-breaking. The determination method is accurate and efficient, and can be drawn into a database to provide guidance for on-site construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic flow chart of the rock-breaking determination system for the rock-breaking components of the rock-breaking tool of the present invention; Figure 2 is a schematic structural diagram of the rock-breaking tool of the present invention; Figure 3 is a schematic diagram of the three-dimensional coordinate system of the rock-breaking components of the rock-breaking tool of the present invention; Figure 4 is a schematic diagram of the inclination angle, rock-breaking thickness and step of the rock-breaking tool of the present invention; Figure 5 is a schematic diagram of the rock-breaking components at the intersection of the current normalization sequence and the normalization sequence of the previous footage of the present invention; Figure 6 is a schematic diagram of the previous footage coordinate system translated to the current coordinate system of the present invention.

[0020] In the figure: 1. Rock-breaking tool; 2. Support part; 3. Driving part; 4. Fixed ring; 5. Rock-breaking component; 6. Rotating shaft; 7. Positioning point; 8. Cavity. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] In order to further understand the content, features and effects of the present invention, the following embodiments are exemplified and described in detail in conjunction with the accompanying drawings.

[0022] Embodiment Refer to Figures 1 to 6 。This embodiment provides a method for determining rock breaking of a small digging and deep digging rock component based on rock. The rock digging tool 1 has a fixed ring 4 and a plurality of support parts 2. A fixed distance is maintained between the support parts 2. One end of each support part 2 is connected to the driving part 3 of the rock digging tool 1, and the other end is connected to the fixed ring 4. The support parts 2 enclose each other to form a cavity 8; the driving part 3 is a cylindrical structure with driving threads inside it. The fixed ring 4 is a circular ring structure. The fixed ring 4 is coaxial with the driving part 3 and maintains a fixed distance; each support part 2 has a plurality of rock digging components 5. The rock digging components 5 are located on the side of the support part 2 and point to the outside of the cavity 8. A distance is maintained between adjacent rock digging components 5. During rock breaking, the rock digging components 5 rotate around the rotation axis 6 of the rock digging tool 1 and perform rock breaking.

[0023] Before rock breaking, place the rock digging tool 1 on the rock surface. At this time, the rotation axis 6 of the rock digging tool 1 forms a certain angle A with the horizontal plane. The angle A is generally greater than 0°. In other words, the rock digging tool 1 is placed obliquely downward on the rock surface. Under the action of gravity, the rock digging tool 1 enters the rock surface layer. Control the penetration depth of the rock digging tool 1. The penetration depth generally does not exceed the characteristic size of the rock digging tool 1. The characteristic size refers to the length, width, and height of the rock digging tool 1. When the rock digging tool 1 rotates around the rotation axis 6, the rock digging components 5 also rotate around the rotation axis 6 and perform rock breaking. Obviously, only the rock digging components 5 located in the rock will participate in rock breaking and will also bear the resistance of the rock.

[0024] If the rock digging tool 1 rotates around the X-axis, its transformation matrix can be expressed as (19) If the rock digging tool 1 rotates around the Y-axis, its transformation matrix can be expressed as (20) If the rock digging tool 1 rotates around the Z-axis, its transformation matrix can be expressed as (21) The accurate positions of the rock digging components 5 on the rock digging tool 1 can be obtained according to formulas (19) to (21). As Figure 2 shown, the arrangement of the rock digging components 5 on the rock digging tool 1 is very complex. The spatial positions of the rock digging components 5 also determine their rock breaking determination.

[0025] The method for determining rock breaking of the rock digging component 5 includes the following steps: Step 1: Obtain the ground angle A, the horizontal precession distance L, and the vertical rock-digging thickness H of the rotating shaft 6 of the rock-digging tool 1; the ground angle refers to the angle between the rotating shaft 6 and the horizontal plane, the horizontal precession distance refers to the distance that the rock-digging tool 1 moves forward, also known as the horizontal advance, and the vertical rock-digging thickness refers to the distance that the rock-digging tool 1 moves downward vertically. The forward movement direction of the rock-digging tool 1 refers to the direction from the fixed ring to the driving part of the rotating shaft when the ground angle A is 0. The forward movement of the rock-digging tool 1 is relative to the construction. While the rock-digging tool 1 rotates on its own, it also swings around a specific axis perpendicular to the horizontal plane. Obviously, the swinging arc is in the same horizontal plane.

[0026] At any moment, the rock-digging components 5 of the rock-digging tool 1 are in different states, including position, attitude, and rock-breaking state. During the construction process, the rock-digging components 5 swing around the specific axis. The distance between the rock-digging tool 1 and the specific axis is much greater than the characteristic dimension of the rock-digging tool 1, and the rotation speed of the rock-digging tool 1 around its own axis is much greater than the angular velocity of the rock-digging tool 1 swinging around the specific axis. The movement mode of the rock-digging tool 1 can be simplified to horizontal movement and self-rotation.

[0027] Step 2: Obtain the three-dimensional coordinates and three-direction plane angles of the rock-digging component 5 on the rock-digging tool 1; the coordinate system takes the upper surface of the fixed ring 4 as the XOY plane, the XOY plane is perpendicular to the rotating shaft 6, the Z-axis of the coordinate system is along the rotating shaft 6, and the positive direction of the Z-axis points to the driving part 3. The three-dimensional coordinates are the coordinates of the effective positioning point 7 of the rock-digging component 5, and the three-direction plane angles are the angles between the rock-breaking action surface of the rock-digging component 5 and the X-axis, Y-axis, and Z-axis respectively.

[0028] In a preferred example, the coordinate system is a Cartesian rectangular coordinate system. Taking the upper surface of the fixed ring 4 as the XOY plane and the positive direction of the Z-axis pointing to the driving part 3, for any rock-digging component 5 on a support part 2, compared with the rock-digging component 5 at the end of the fixed ring 4, the rock-digging component 5 at the end of the driving part 3 is closer to the rotating shaft 6. Of course, a cylindrical coordinate system can also be used to obtain the three-dimensional coordinates of the rock-digging component 5 on the rock-digging tool 1.

[0029] Step 3: Obtain the normalization sequence of the rock-digging components 5 on the rock-digging tool; each rock-digging component 5 takes the rotating shaft 6 of the rock-digging tool as the Q-axis, the upper surface of the fixed ring as the plane where the P-axis is located, and the coordinate origin O is the intersection of the upper surface of the fixed ring 4 and the rotating shaft 6. When the rock-digging tool 1 has a ground angle A, the Q-axis also has a ground angle A, and the P-axis and the Q-axis are perpendicular to each other. The coordinate of any rock-digging component 5 is the distance from the effective positioning point 7 on this rock-digging component 5 to the rotating shaft 6 of the rock-digging tool 1, and the coordinate of any rock-digging component 5 is the distance from the effective positioning point 7 on this rock-digging component 5 to the upper surface of the fixed ring 4 of the rock-digging tool 1, as shown in the following formula: (22) The normalized sequence is sorted according to coordinate values, and the sorting order can be from small to large or from large to small. In this embodiment, the normalized sequence is sorted in ascending order according to coordinate values. Obviously, for any rock-digging member 5 on the support portion 2, the rock-digging member 5 located at the driving portion 3 end is more forward in the normalized sequence than the rock-digging member 5 at the fixed ring 4 end.

[0030] When the rock-digging tool 1 has a ground angle A, the vertical position of the th rock-digging member is expressed as (23) Define the penetration factor as

[0031] (24) Define the digging depth factor as

[0032] (25) where N is the total number of rock-digging members on the rock-digging tool.

[0033] Step 4: Calculate the angle between adjacent rock-digging members 5 and the rotation axis 6 of the rock-digging tool 1 in the normalized sequence ; the is expressed as (26) Define the angle sequence as , where N is the total number of rock-digging members 5 on the rock-digging tool 1, and the characteristics of the angle sequence are .

[0034] Step 5: Determine the position of the rock-digging member located on the rock-digging boundary in the angle sequence. If there is a th rock-digging member that satisfies , then the th rock-digging member is the first characteristic member.

[0035] Judge the rock-breaking state of the rock-digging members within the horizontal penetration. If there is a th rock-digging member that satisfies: (27) then the th rock-digging member is the second characteristic member. For any normalized sequence of rock-digging members, if the following formula is satisfied, it is in the rock-breaking state; (28) where, At the t moment, the coordinates of the th rock-digging member can be expressed as (29) wherein, is the included angle between the th rock-digging member and the P axis.

[0036] Step 6: Refer to Figure 5 , and determine the rock-breaking state of the rock-digging members other than the horizontal advance, and determine the serial number of the third characteristic member. The serial number of the third characteristic member is the serial number of the rock-digging member at the intersection of the current normalized sequence and the normalized sequence of the previous advance. Starting from the second characteristic member number , perform an intersection test on the normalized sequence of the rock-digging members and the normalized sequence of the rock-digging members of the previous advance. There is a th rock-digging member that satisfies formulas (30) to (32), and this rock-digging member is defined as the third characteristic member; (30) (31) (32) wherein, is the direction vector between the rock-digging member to be determined in the current member sequence and the adjacent rock-digging member; is the direction vector between the rock-digging member to be determined in the current member sequence and the rock-digging member of the previous advance member sequence; is the direction vector between the rock-digging member to be determined in the current member sequence and the adjacent rock-digging member of the previous advance member sequence; is the unit vector in the P-axis direction; is the unit vector in the Q-axis direction; ( , ) is the coordinate of the m th rock-digging member in the normalized sequence of the previous advance rock-digging members in the current coordinate system. The previous advance coordinate system coincides with the current coordinate system after translation ( , ), and thus the coordinate of the previous advance rock-digging member in the current coordinate system is obtained, that is, the coordinate of the rock-digging member in the previous advance coordinate system minus , coordinate plus to obtain the coordinate of the previous advance rock-digging member in the current coordinate system, as shown in Figure 6 .

[0037] It can be seen from formula (30) that the The line segment of the th rock excavation component and the th rock excavation component and the th rock excavation component has an intersection point. The th rock excavation component is relative to the previous footage, and the th rock excavation component is also relative to the previous footage. The intersection coordinates at the intersection of the two line segments are (33) where (34) (35) (36) (37) If the normalization sequence of any rock excavation component satisfies the following formula, it is in the rock breaking state (38) where is the rock excavation spacing from the th rock excavation component to the th and th rock excavation components in the previous footage sequence, and can be expressed as (39) where the th and th rock excavation components are two adjacent rock excavation components, and .

[0038] A rock excavation tool component rock breaking determination system, including a construction parameter module, a component information module, a sequence component module, an inclination angle determination module, a cutting thickness determination module, and a footage determination module, as shown in Figure 1 .

[0039] The construction parameter module obtains the ground angle of the rotating shaft 6 of the rock excavation tool 1, the horizontal precession distance, the vertical rock excavation thickness, the rotation speed, and the moving speed. The ground angle refers to the angle between the rotating shaft 6 and the horizontal plane, the horizontal precession distance refers to the distance that the rock excavation tool 1 moves forward, and the vertical rock excavation thickness refers to the distance that the rock excavation tool 1 moves vertically downward, as shown in Figure 4 .

[0040] The component information module obtains the three-dimensional coordinates and three-dimensional plane angles of the rock-digging component 5 on the rock-digging machine 2. The three-dimensional coordinate system takes the upper surface of the fixed ring 4 as the XOY plane, the XOY plane is perpendicular to the rotation axis 6, the Z-axis of the coordinate system is along the rotation axis 6, and the positive direction of the Z-axis points to the driving part 3. The three-dimensional coordinates are the coordinates of the effective positioning point 7 of the rock-digging component 5, and the three-dimensional plane angles are the angles between the rock-breaking surface of the rock-digging component 5 and the X-axis, Y-axis, and Z-axis respectively.

[0041] The sequential component module obtains the normalized sequence of the rock-digging components on the rock-digging machine. Each rock-digging component 5 takes the rotation axis 6 of the rock-digging machine as the Q-axis, the upper surface of the fixed ring 4 as the plane where the P-axis is located, and the coordinate origin O is the intersection of the upper surface of the fixed ring 4 and the rotation axis 6. The coordinate is the distance from the effective positioning point 7 on the rock-digging component 5 to the rotation axis 6 of the rock-digging machine 1, and the coordinate is the distance from the effective positioning point 7 on the rock-digging component 5 to the upper surface of the fixed ring 4 of the rock-digging machine 1. The normalized sequence is sorted according to the coordinate values, and the sorting order is from small to large.

[0042] The inclination angle determination module calculates the angles between adjacent rock-digging components 5 in the normalized sequence and the rotation axis 6 of the rock-digging machine 1 to form an angle sequence, and determines the position number of the rotation axis 6 inclination angle in the angle sequence. The rock-digging component 5 with this number is defined as the first characteristic component.

[0043] The cutting thickness determination module determines the penetration factor and digging depth factor of the rock-digging component 5 according to the normalized sequence in the sequential component module, calculates the position of the rock-digging component 5 at any moment, determines the second characteristic component, and combines the digging depth to determine the rock-digging state of the rock-digging component within the penetration range.

[0044] The penetration determination module determines the rock-digging state of the rock-digging component other than the horizontal penetration, determines the intersection point of the normalized sequence of the rock-digging machine state in this digging and the normalized sequence of the previous penetration, and determines the sequence number at the intersection point, which is defined as the third characteristic component. It calculates the position of the rock-digging component 5 at any moment, and calculates the rock-digging state of the rock-digging components from the sequence number of the third characteristic component to the sequence number of the second characteristic component.

[0045] Among them, the rock-digging component 5 has one or more effective positioning points, and the positions of each effective positioning point are also different. The position of the effective positioning point 7 should be determined in advance before determining the coordinate system, and each rock-digging component 5 should determine the effective positioning point at the same position.

[0046] The present invention has carried out rigorous derivations and can accurately obtain the position and attitude of the rock-digging component 5 of the rock-digging machine 1 in the space under the rock-digging state, which is used for accurately determining the rock-digging state of the rock-digging component 5 at different penetration depths and different rock-digging depths, and providing accurate data for the construction and design of the rock-digging machine 1.

[0047] The determination method of the present invention includes the first determination, the second determination and the third determination, and can obtain the information of the first characteristic component, the second characteristic component and the third characteristic component. The first characteristic component is the component at the deepest excavation position, and the determination is simple and direct. The second determination obtains the position of the second characteristic component, and the rock-digging components above the second characteristic component are all involved in rock breaking. The third determination uses the front and back stepping information to obtain the position of the third characteristic component, and the rock-digging components from the third characteristic component to the position of the second characteristic component are semi-involved in rock breaking. The determination method is accurate and efficient, and can be drawn into a database to provide guidance for on-site construction.

[0048] This embodiment has the advantages of simple method, accurate and efficient positioning, saving a large amount of labor costs, improving the design efficiency, and having positive effects such as economic practicality and wide application range.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features, and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining rock breaking of a small and deep rock excavation component based on rock, characterized in that The rock-digging tool has a fixed ring and a plurality of support parts. One end of each support part is connected to the driving part of the rock-digging tool, and the other end is connected to the fixed ring. The driving part is of a cylindrical structure and has threads for driving inside. The fixed ring is of an annular structure. The fixed ring is coaxial with the driving part and maintains a fixed distance. Each support part has a plurality of rock-digging members. When breaking rocks, the rock-digging members rotate around the rotation axis of the rock-digging tool and break rocks. The method for determining the rock-breaking state of the rock-digging member includes the following steps: First step: Obtain the angle A of the rotation axis of the rock-digging tool with respect to the ground, the horizontal precession distance L, and the vertical rock-digging thickness H. Second step: Obtain the three-dimensional coordinates and three-direction plane angles of the rock-digging members on the rock-digging tool. Third step: Obtain the normalization sequence of the rock-digging members on the rock-digging tool. Step 4: Calculate the angle between the adjacent rock-digging members and the rotation axis of the rock-digging tool in the normalized sequence ; Fifth step: Determine the positions of the rock-digging members located on the rock-digging boundary in the included angle sequence, and judge the rock-breaking states of the rock-digging members within the horizontal advance. Sixth step: Judge the rock-breaking states of the rock-digging members outside the horizontal advance.

2. The rock-breaking determination method for small and deep rock-digging components based on rock according to claim 1, characterized in that, In the first step, the angle with respect to the ground refers to the angle between the rotation axis and the horizontal plane. The horizontal precession distance refers to the distance that the rock-digging tool moves forward. The vertical rock-digging thickness refers to the distance that the rock-digging tool moves vertically downward.

3. The rock-breaking determination method for small and deep rock excavation components based on rocks according to claim 1, characterized in that, In the second step, the three-dimensional coordinate system takes the upper surface of the fixed ring as the XOY plane. The XOY plane is perpendicular to the rotation axis. The Z-axis of the coordinate system is along the rotation axis, and the positive direction of the Z-axis points to the driving part. The three-dimensional coordinates are the coordinates of the effective positioning points of the rock-digging members, and the three-direction plane angles are the angles between the rock-breaking action surfaces of the rock-digging members and the X-axis, Y-axis, and Z-axis respectively.

4. The rock-breaking determination method for small and deep rock-digging components based on rocks according to claim 1, characterized in that, In the third step, the process of obtaining the normalization sequence of the rock-digging members on the rock-digging tool is as follows: Each rock-digging component takes the rotation axis of the rock-digging tool as the Q axis, the upper surface of the fixed ring as the plane where the P axis is located, and the coordinate origin O as the intersection point of the upper surface of the fixed ring and the rotation axis. The coordinate of any rock-digging component is the distance from the effective positioning point on this rock-digging component to the rotation axis of the rock-digging tool, and the coordinate of any rock-digging component is the distance from the effective positioning point on this rock-digging component to the upper surface of the fixed ring of the rock-digging tool, as shown in Equation (1); the normalization sequence is sorted according to the coordinate values, and the arrangement order is from small to large; （1） When the rock-digging tool has an angle A with respect to the ground, the vertical position of the nth rock-digging component is expressed as （2） Define the footage factor as （3） Define the excavation depth factor as （4） Where N is the total number of rock-digging members on the rock-digging tool.

5. The rock-breaking determination method for small-scale and deep rock excavation components based on rocks according to claim 4, characterized in that, In the fourth step, the is represented as （5） Define the included angle sequence as , and the feature of the included angle sequence is .

6. The rock-breaking determination method of the rock-based small and deep rock-breaking component according to claim 5, characterized in that, In the fifth step, to determine the position of the rock excavation member located on the rock excavation boundary in the included angle sequence, there is the th rock excavation member that satisfies , then the th rock excavation member is the first characteristic member; Determine the rock-breaking state of the rock-digging components within the horizontal advance. There is a th rock-digging component that meets the requirements: （6） Then the th rock-digging member is the second characteristic member. If the normalization sequence of any rock-digging member satisfies the following formula, it is in the rock-breaking state; （7） At t the moment, the coordinates of the nth rock excavation component can be expressed as （8） Among them, is the included angle between the th rock-digging component and the P axis.

7. The rock-breaking determination method for small and deep rock-digging components based on rocks according to claim 6, characterized in that, In the sixth step, determine the rock-breaking state of the rock-digging components other than the horizontal advance, and determine the serial number of the third characteristic component , where the serial number of the third characteristic component is the serial number of the rock-digging component at the intersection of the current normalization sequence and the previous advance normalization sequence, numbered by the second characteristic component Starting from, conduct an intersection test of the normalization sequence of the rock-digging components and the normalization sequence of the rock-digging components in the previous advance. There is a rock-digging component that satisfies: （9） （10） （11） Among them, is the direction vector between the rock excavation component to be determined and the adjacent rock excavation component in the current component sequence; is the direction vector between the rock excavation component to be determined and the rock excavation component in the previous footage component sequence; is the direction vector between the rock excavation component to be determined and the adjacent rock excavation component in the previous footage component sequence; is the unit vector in the direction of the P axis; is the unit vector in the direction of the Q axis; The intersection coordinates at the intersection are （12） Where （13） （14） （15） （16） If the normalization sequence of any rock-digging member satisfies the following formula, it is in the rock-breaking state （17） Among them, is the distance between the th rock excavation component and the th rock excavation component in the previous footage sequence, which can be expressed as （18） Among them, the th rock excavation member and the th rock excavation member are two adjacent rock excavation members, and .

8. The rock-breaking determination method for small and deep rock excavation components based on rocks according to claim 1, characterized in that The rock-digging member has one or more effective positioning points.

9. The rock-breaking determination method for small-scale rock excavation and deep rock excavation components based on rocks according to claim 1, characterized in that The three-dimensional coordinates adopt a right-hand coordinate system.

10. A rock-based small and deep rock-breaking component rock-breaking determination system, which is used to implement the rock-based small and deep rock-breaking component rock-breaking determination method described in any one of claims 1 to 9, and is characterized in that The rock-breaking determination system includes a construction parameter module, a component information module, a sequence component module, an inclination angle determination module, a cutting thickness determination module, and an advance determination module. The construction parameter module is used to obtain the angle of the rotation axis of the rock-digging tool with respect to the ground, the horizontal precession distance, the vertical rock-digging thickness, the rotation speed, and the moving speed. The angle with respect to the ground refers to the angle between the rotation axis and the horizontal plane. The horizontal precession distance refers to the distance that the rock-digging tool moves forward. The vertical rock-digging thickness refers to the distance that the rock-digging tool moves vertically downward. The component information module is used to obtain the three-dimensional coordinates and three-direction plane angles of the rock-digging members on the rock-digging tool. The three-dimensional coordinate system takes the upper surface of the fixed ring as the XOY plane. The XOY plane is perpendicular to the rotation axis. The Z-axis of the coordinate system is along the rotation axis, and the positive direction of the Z-axis points to the driving part. The three-dimensional coordinates are the coordinates of the effective positioning points of the rock-digging members, and the three-direction plane angles are the angles between the rock-breaking action surfaces of the rock-digging members and the X-axis, Y-axis, and Z-axis respectively. The sequence component module is used to obtain the homogenized sequence of the rock-digging components on the rock-digging machine. Each rock-digging component takes the rotation axis of the rock-digging machine as the Q axis, the upper surface of the fixed ring as the plane where the P axis is located, and the coordinate origin O as the intersection of the upper surface of the fixed ring and the rotation axis. The coordinate is the distance from the effective positioning point on this rock-digging component to the rotation axis of the rock-digging machine. The coordinate is the distance from the effective positioning point on this rock-digging component to the upper surface of the fixed ring of the rock-digging machine. The homogenized sequence is sorted according to the coordinate values, and the sorting order is from small to large; The dip angle determination module is used to calculate the angles between adjacent rock-digging members and the rotation axis of the rock-digging tool in the normalized sequence, form an angle sequence, and determine the position number of the rotation axis dip angle in the angle sequence. The rock-digging member with this number is defined as the first characteristic member; The cutting thickness determination module is used to determine the penetration factor and the digging depth factor of the rock-digging member according to the normalized sequence in the sequence member module, calculate the position of the rock-digging member at any time, determine the second characteristic member, and combine the digging depth to determine the rock-digging state of the rock-digging member within the penetration range; The penetration determination module is used to determine the rock-breaking state of the rock-digging member other than the horizontal penetration, determine the intersection point of the normalized sequence of the rock-digging tool state in this rock-digging and the normalized sequence of the previous penetration, and determine the sequence number at the intersection point, which is defined as the third characteristic member. Calculate the position of the rock-digging member at any time, and calculate the rock-breaking state of the rock-digging members between the serial number of the third characteristic member and the serial number of the second characteristic member.

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