Hard rock multi-source mutagenesis cutting increase and multi-mode non-explosive mechanical mining equipment and process

Abstract

The invention relates to the technical field of hard rock excavation, in particular to hard rock multi-source mutagenesis cutting increase and multi-mode non-explosive mechanical excavation equipment and a hard rock multi-source mutagenesis cutting increase and multi-mode non-explosive mechanical excavation process. The excavation equipment comprises a walking device, and a cutting device, an excavation device, a recovery device and a cutting increase device which are all mounted on the walking device; a digging head of the digging device comprises a multi-stage cutter head telescopic structure, an impact rock breaking structure is arranged on an inner cutter head, a rolling rock breaking structure is arranged on an outer cutter head, and the multi-stage cutter head telescopic structure stretches out and draws back to achieve alternate protruding of the impact rock breaking structure and the rolling rock breaking structure. The driving mechanism drives the excavating arm to move to achieve three-dimensional movement of the excavating head and rotation around the axis of the excavating arm. According to the cutting device, the pre-cutting groove extending transversely is pre-cut in the bottom of the tunnel face, the overall strength of the tunnel face rock mass is remarkably reduced, pre-cracking weakening is conducted on the tunnel face rock mass through the cutting increasing device, the hard rock cuttable performance is improved, hard rock crushing is achieved through the rolling and impacting combined rock breaking effect, and the cutting strength of the tunnel face rock mass is improved. The device is suitable for hard rock excavation.

Description

Technical Field

[0001] This application relates to the technical field of hard rock excavation, and in particular to a hard rock multi-source mutagenesis cutting and multi-modal non-explosive mechanized excavation equipment and process. Background Technique

[0002] Mining engineering has entered the deep mining stage, and tunnel and underground space engineering has gradually shifted to complex strata. Facing the conditions of "high geothermal temperature, high stress, high water pressure and high mining disturbance" in the deep environment and rock bursts, water inrusions and large deformations in complex strata, the traditional drilling and blasting method can no longer meet the needs of engineering construction due to the disadvantage of large disturbance, while mechanical tunneling equipment has been widely used due to its small disturbance characteristics. However, mechanical equipment still has problems such as low tunneling efficiency and low adaptability to hard rock.

[0003] In the field of hard rock mechanical tunneling, there are mainly three mainstream types of equipment: roadheader, TBM, and raiseborer. Roadheader is mainly used for tunneling in soft rock and medium-hard rock, with the advantages of high flexibility and low cost. TBM is suitable for hard rock tunneling, but its equipment is too complex. Although small-diameter TBMs have been developed in recent years, it is still difficult to overcome the problems of too large turning radius, complex equipment and processes, and high cost. Raiseborer mainly uses roller cutters for rolling rock breaking, and has good adaptability to hard rock. However, the limitations of its structure make it only suitable for shaft construction, and its application scenarios are limited. So far, there is no hard rock tunneling equipment that is flexible and has good adaptability. Summary of the Invention

[0004] This application provides a hard rock multi-source mutagenesis cutting and multi-modal non-explosive mechanized excavation equipment and process, which has the characteristics of being flexible and highly adaptable, is especially suitable for hard rock tunneling, and can significantly improve the current hard rock tunneling efficiency.

[0005] The hard rock multi-source mutagenesis cutting and multi-modal non-explosive mechanized excavation equipment and process provided by this application adopt the following technical solutions: In the first aspect, a hard rock multi-source mutagenesis cutting and multi-modal non-explosive mechanized excavation equipment includes a traveling device, as well as a cutting device, an excavation device, a recovery device, and an increment cutting device all installed on the traveling device. The cutting device is used to cut a laterally extending pre-cut groove on the heading face. The recovery device is used to convey and recover the broken rock slag. The increment cutting device is located above the excavation device and is used for pre-cracking and weakening the rock mass on the heading face to increase the cutability of hard rock. The excavation device includes: An excavation arm, which is movably installed on the traveling device; A cutting head is installed at the movable end of the cutting arm. The cutting head includes a multi-stage cutter head telescopic structure. An impact rock breaking structure is provided on the cutter head located on the inner side, and a rolling rock breaking structure is provided on the cutter head located on the outer side. The multi-stage cutter head telescopic structure expands and contracts to alternately protrude the impact rock breaking structure and the rolling rock breaking structure; and A driving mechanism drives the movement of the cutting arm to achieve three-dimensional movement of the cutting head and rotation around the axis of the cutting arm.

[0006] Optionally, the impact rock breaking structure includes a plurality of stud teeth, and the plurality of stud teeth are provided on the side of the first cutter head facing away from the cutting arm.

[0007] Optionally, the impact rock breaking structure includes an ejection mechanism. The ejection mechanism penetrates through multiple cutter heads and is provided in the middle of the cutting head and the cutting arm, and is used to make bullets shoot from the cutting head to the working face through the cutting arm.

[0008] Optionally, the ejection mechanism includes: An impact cavity penetrates through the cutting head and extends into the cutting arm. A magazine communicating with the impact cavity is provided in the cutting arm, and the magazine is used to load bullets; A plurality of drive coils are arranged at intervals along the length direction of the impact cavity in the impact cavity. The drive coils are energized with alternating current to generate a magnetic field; and A bullet pressing structure is provided on the cutting arm and is configured to be triggered to apply an external force to the bullet, so that the bullet moves to the drive coil and shoots out along the impact cavity under the thrust of the drive coil to impact the working face.

[0009] Optionally, the multi-stage cutter head telescopic structure includes multi-stage telescopic hydraulic cylinders, and an outer cutter head and an inner cutter head are sequentially installed on the telescopic sleeves of the multi-stage telescopic hydraulic cylinders from back to front; A moving groove and the rolling rock breaking structure are provided on the side of the outer cutter head facing away from the cutting arm; The impact rock breaking structure is provided on the side of the inner cutter head facing away from the cutting arm.

[0010] Optionally, a threaded ring plate is provided on the circumferential side of the outer cutter head. A plurality of pick-shaped picks are provided on the outer circumferential surface of the threaded ring plate along its own direction for trimming the sidewall of the working face.

[0011] Optionally, the cutting arm includes: A horizontal swing arm is rotatably installed at the rear end on the traveling device; A horizontal driving mechanism is installed on the traveling device and drives the horizontal swing arm to rotate left and right around the rear end; A vertical swing arm is rotatably installed at the rear end on the front end of the horizontal swing arm; A vertical driving mechanism is installed on the horizontal swing arm to drive the vertical swing arm to rotate up and down around the rear end; and A rotating mechanism, the mining head is rotatably installed at the front end of the vertical swing arm, and the rotating mechanism drives the mining head to rotate around the axis of the vertical swing arm.

[0012] Optionally, the cutting device includes: A base, which is rotatably installed on the traveling device around a vertical axis; A first support arm, the tail end of which is hinged to the base, a telescopic mechanism is hinged between the rear part and the tail end of the second support arm, a telescopic mechanism is hinged between the front part and the base, and the head end is hinged to the rear part of the second support arm; A third support arm, the tail end of which is hinged to the middle part of the second support arm, the rear part is hinged to the head end of the second support arm, the head end is hinged with a hinge seat, and a telescopic mechanism is connected between the hinge seat and the rear part of the third support arm; A cutting head, which is rotatably installed on the hinge seat; and A driving assembly, which is arranged on the third support arm to drive the cutting head to rotate.

[0013] Optionally, the recovery device includes a scraper plate mechanism and a conveying mechanism. The scraper plate mechanism is arranged at the front part of the traveling device and is used for shoveling back the crushed rock slag. The conveying mechanism is installed on the traveling device and is docked with the scraper plate mechanism for conveying the crushed rock slag backward.

[0014] Optionally, it further includes a rear support device installed on the traveling device. The rear support device includes support feet and a support mechanism. The support feet are movably installed at the bottom of the traveling device, and the support mechanism drives the support feet to approach and move away from the traveling device so that the support feet fit and move away from the ground to support the traveling device from the rear side.

[0015] Optionally, the additional cutting device includes a support arm body installed on the top of the traveling device and having multiple degrees of freedom. The auxiliary rock-breaking platform is located above the mining device and is movably connected to the movable end of the support arm body. An activity mechanism is installed on the support arm body to drive the auxiliary rock-breaking platform to move and change its orientation to pre-crack and weaken the rock mass of the heading face.

[0016] In a second aspect, a hard rock multi-source mutagenesis additional cutting and multi-modal non-explosive mechanized mining process includes the following steps: Start the traveling device to travel to a designated position in front of the heading face; Start the cutting device to cut a transversely extending pre-cut groove on the heading face; Start the additional cutting device to perform pre-cracking operations on the heading face to weaken the strength of the rock mass of the heading face; The elongation of the multi-stage cutter head telescopic structure causes the impact rock breaking structure to protrude forward from the rolling rock breaking structure. The driving mechanism is started to drive the mining arm to move, so that the mining head moves forward, and the impact rock breaking structure on the inner cutter head impacts the rock at high speed to break the rock; The shortening of the multi-stage cutter head telescopic structure causes the rolling rock breaking structure to protrude forward from the impact rock breaking structure. The driving mechanism is started to drive the mining arm to move, so that the mining head rotates around the axis of the mining arm, and the rolling rock breaking structure on the outer cutter head rolls to break the rock; Start the recovery device to convey and recover the crushed rock slag.

[0017] In summary, the present application includes at least one of the following beneficial technical effects: 1. During the mining operation, when encountering hard rock formations, the internal structure of the rock mass can be damaged by the high-frequency impact of the impact rock breaking structure; while in relatively soft rock formations, the continuous rolling action of the roller cutters can be used to expand cracks and break rock blocks. This not only improves the adaptability of the mining device to rock formations of different hardnesses, but also can concentrate the rock breaking force, improve the rock breaking efficiency, reduce equipment energy consumption and wear, and extend the service life of the equipment. At the same time, the flexibility of the multi-stage cutter head telescopic structure also enables the mining head to better adapt to the shape and size of the working face, improving the accuracy and flexibility of the mining operation.

[0018] 2. The cutting device pre-cuts a transversely extending pre-cut groove at the bottom of the working face, significantly reducing the overall strength of the rock mass on the working face, creating a weak area for subsequent mining operations, enabling the impact and rolling rock breaking of the mining head to act more concentratedly on the rock mass near the pre-cut groove, greatly reducing the rock breaking resistance and energy consumption, and at the same time avoiding equipment vibration or tool wear caused by rock mass stress concentration, thereby improving the rock breaking efficiency and equipment stability. The mining device adopts a multi-stage cutter head telescopic structure. The impact rock breaking structure (such as column teeth and electromagnetic acceleration bullets) of the inner cutter head destroys the internal structure of the rock mass through high-frequency impact, and the rolling rock breaking structure (such as roller cutters) of the outer cutter head expands cracks and breaks rock blocks in a continuous rolling manner. The two alternately protrude to form a multi-modal combined rock breaking mode, which can not only adapt to rock formations of different hardnesses, but also achieve efficient crushing of hard rocks through the superposition effect of impact and rolling.

[0019] 3. The additional cutting device can carry a variety of auxiliary rock breaking platforms, which play a role in multi-source induced fracture and additional cutting to assist rock breaking, and work in coordination with the cutter head of the mining device, effectively improving the rock breaking efficiency and effect. The device is located above the mining device to ensure that the auxiliary rock breaking platform can accurately act on the rock mass. Physical or chemical mechanism auxiliary means can weaken the rock mass strength in advance, reduce the rock breaking resistance of the cutter head, and improve the overall tunneling efficiency. At the same time, the device cooperates with the cutter head operation, can pre-crack before the cutter head breaks the rock, reduce cutter head wear, and extend the service life. It enhances the adaptability of the mining equipment, enabling it to meet the rock breaking requirements under complex geological conditions.

[0020] 4. The three-dimensional movement and rotation functions of the mining arm, combined with the crawler-type walking device, enable the equipment to flexibly adjust the mining angle and position in narrow roadways, further ensuring the accuracy and continuity of the rock-breaking operation. The synchronous operation of the recovery device and the scraper plate effectively clears the broken rock slag, preventing the accumulation of rock slag from interfering with the mining process. Overall, the pre-weakening of the cutting device and the multi-modal rock-breaking of the mining device form a synergistic closed loop, achieving the high efficiency, stability, and adaptability of hard rock tunneling. Description of the Drawings

[0021] Figure 1 It is a schematic structural diagram of the hard rock multi-source mutagenesis and cutting enhancement and multi-modal non-explosive mechanized mining equipment in an embodiment of the present application; Figure 2 It is a side view of the hard rock multi-source mutagenesis and cutting enhancement and multi-modal non-explosive mechanized mining equipment in an embodiment of the present application; Figure 3 It is a schematic structural diagram of the rear support device in an embodiment of the present application; Figure 4 It is a schematic structural diagram of the cutting device in an embodiment of the present application; Figure 5 It is a schematic structural diagram of the recovery device in an embodiment of the present application; Figure 6 It is a schematic structural diagram of the mining device in an embodiment of the present application; Figure 7 It is a schematic structural diagram of a part of the mining device in an embodiment of the present application; Figure 8 It is a side view of the cutting head in an embodiment of the present application; Figure 9 It is a schematic structural diagram of the cutting enhancement device in an embodiment of the present application.

[0022] Description of the Reference Numerals: 1. Walking device; 11. Base; 12. Walking mechanism; 2. Rear support device; 21. Support foot; 22. Support mechanism; 3. Cutting device; 31. Movable arm; 311. Base; 312. First support arm; 313. Second support arm; 314. Third support arm; 315. Telescopic mechanism; 316. Turntable; 317. Hinge seat; 32. Cutting head; 33. Drive assembly; 331. Biaxial motor; 332. Uniaxial motor; 4. Mining device; 41. Mining arm; 411. Horizontal swing arm; 412. Vertical swing arm; 413. Rotating mechanism; 414. Magazine; 42. Mining head; 421. Multi-stage cutter head telescopic structure; 421a. Outer cutter head; 421b. Inner cutter head; 421c. Multi-stage telescopic hydraulic cylinder; 421d. Threaded ring plate; 421e. Picks; 422. Impact rock breaking structure; 422a. Button bits; 422b. Ejection mechanism; 4221. Impact cavity; 4222. Drive coil; 423. Rolling rock breaking structure; 43. Drive mechanism; 5. Recovery device; 51. Scraper plate mechanism; 511. Scraper plate body; 512. Star wheel; 52. Conveyor mechanism; 521. Driven wheel set; 522. Scraper chain set; 523. Chute; 524. Driving wheel set; 6. Augmentation cutting device; 61. Support arm body; 62. Auxiliary rock breaking platform; 63. Moving mechanism. Specific embodiments

[0023] Next, in conjunction with the attached Figures 1-9 , the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0024] The embodiments of the present application disclose a hard rock multi-source mutagenesis augmentation cutting and multi-modal non-explosive mechanized mining equipment. Referring to Figure 1 and Figure 2 , the hard rock multi-source mutagenesis augmentation cutting and multi-modal non-explosive mechanized mining equipment includes a traveling device 1, and a rear support device 2, a cutting device 3, a mining device 4, a recovery device 5, and an augmentation cutting device 6 all installed on the traveling device 1. The traveling device 1 serves as the mobile platform of the entire equipment, and other devices are all installed thereon. Through the collaborative operation among the devices, efficient mining of hard rock is achieved. The rear support device 2 is used to support the traveling device 1 from the rear side, the cutting device 3 is used to cut a horizontally extending pre-cut groove on the heading face, the mining device 4 is used to break the rock on the heading face, the recovery device 5 is used to convey and recover the broken rock slag backward, and the augmentation cutting device 6 is used to assist in rock breaking.

[0025] The traveling device 1 includes a base 11 and a traveling mechanism 12 installed at the bottom of the base 11. The base 11 is the installation foundation for other devices. The traveling mechanism 12 adopts a crawler-type traveling mechanism, which is prior art and its specific structure will not be elaborated here. Compared with a wheeled traveling mechanism, the crawler has a larger contact area with the ground, can disperse the weight of the equipment, reduce the pressure on the ground, and cause relatively less damage to the roadway ground. Under complex terrain conditions, such as rough, rocky protrusions or pitted ground, the crawler-type traveling mechanism can better adapt, is not easily stuck in soft ground or by obstacles, and ensures the normal traveling and operation of the equipment. The crawler-type traveling device 1 has a lower center of gravity, and the crawlers are distributed on both sides of the equipment, making the equipment have better stability during driving and operation. When breaking rocks at the working face, the equipment may be affected by various external forces, such as the impact force of the rocks and the reaction force of the ground. The crawler-type traveling device 1 can better maintain balance, reduce the risk of the equipment tilting or tipping over, and ensure the safety of the operators and the normal operation of the equipment.

[0026] The rear support device 2 is installed at the bottom of the base 11 and is located behind the traveling mechanism 12, and is used to support the traveling device 1 from the rear after the traveling mechanism 12 travels to a suitable position. Specifically, referring to Figure 3 , there are two rear support devices 2, which are located on the left and right sides at the bottom of the base 11. Each rear support device 2 includes a support foot 21 and a support mechanism 22. The support mechanism 22 is connected to the base 11 and is hinged to the support foot 21. The support mechanism 22 drives the support foot 21 to approach and move away from the base 11. In this embodiment, the support mechanism 22 can be a mechanism with a telescopic function such as a hydraulic cylinder or a pneumatic cylinder, driving the support foot 21 to move up and down so that the support foot 21 fits and moves away from the ground.

[0027] When the traveling device 1 travels to a specified position, the support mechanism 22 is used to drive the support foot 21 to move downward until it fits the ground, jointly forming a stable support structure with the traveling device 1, significantly enhancing the stability of the entire equipment, preventing the equipment from shifting or shaking due to the reaction force generated during rock breaking during the mining operation, and ensuring the smooth progress of the operation. During the mining operation, when the mining device 4 exerts a rock-breaking force on the rock mass, the rear support device 2 is in close contact with the ground, can provide additional reaction force support for the equipment, enhance the overall rigidity of the equipment, make the rock-breaking force more effectively transmitted to the rock mass, and improve the rock-breaking efficiency.

[0028] In a complex roadway environment, such as when there are undulating and uneven ground, the rear support device 2 can adjust the extending position of each support foot 21 according to the terrain, enabling the equipment to better adapt to the complex roadway terrain and ensuring the stability and operation ability of the equipment under different geological conditions.

[0029] The cutting device 3 is used to cut a laterally extending pre-cut groove at the bottom of the working face. Specifically, referring toFigure 4 The cutting device 3 is located at the front of the entire equipment and includes a movable arm 31, a cutting head 32, and a driving assembly 33. The movable arm 31 includes a base 311, a first support arm 312, a second support arm 313, a third support arm 314, and a telescopic mechanism 315. A turntable 316 is installed on the base 11. The base 311 is rotatably installed on the turntable 316 around a vertical axis and is located at the front of the base 11, serving as the support foundation of the entire cutting device 3. The tail end of the first support arm 312 is hinged to the base 311, and a telescopic mechanism 315 is hinged to the rear part of the second support arm 313 at the front part. The telescopic mechanism 315 is hinged to the base 311 at the front part, and the head end is hinged to the rear part of the second support arm 313. The tail end of the third support arm 314 is hinged to the middle part of the second support arm 313, the rear part is hinged to the head end of the second support arm 313, and a hinge seat 317 is hinged at the head end. The cutting head 32 is installed on the hinge seat 317. A telescopic mechanism 315 is connected between the hinge seat 317 and the rear part of the third support arm 314 to adjust the angle of the cutting head 32. The telescopic mechanism 315 can be a mechanism with a telescopic function such as a hydraulic cylinder or a pneumatic cylinder. The driving assembly 33 is arranged on the hinge seat 317 to drive the cutting head 32 to rotate. In this embodiment, there are two cutting heads 32. The two cutting heads 32 are coaxial and are connected to both ends of a double-shaft motor 331. The double-shaft motor 331 is fixed to the output shaft of a single-shaft motor 332 to realize the rotation of the cutting head 32.

[0030] Through the cooperation of each support arm and the telescopic mechanism 315, the cutting device 3 can flexibly adjust the position and angle of the cutting head 32, cut a transversely extending pre-cut groove at the bottom of the heading face, reduce the overall strength of the rock mass of the heading face, and create favorable conditions for subsequent mining operations.

[0031] The recovery device 5 is used for transporting and recovering crushed rock slag. Specifically, referring to Figure 5 , the recovery device 5 includes a scraper plate mechanism 51 and a conveying mechanism 52. The scraper plate mechanism 51 includes a scraper plate body 511, star wheels 512, and a driving structure. The scraper plate body 511 is inclined and arranged at the front of the traveling device 1. The front end of the scraper plate body 511 contacts the ground, and the rear end is docked with the conveying mechanism 52. The two star wheels 512 are symmetrically distributed on the upper side of the scraper plate body 511. The driving structure is connected to the scraper plate body 511 and drives the star wheels 512 to rotate to collect and transport the crushed rock slag to the conveying mechanism 52.

[0032] The conveying mechanism 52 is installed on the traveling device 1 and includes a driven wheel set 521, a scraper chain set 522, a chute 523, a driving wheel set 524 and a rotating mechanism. The driven wheel set 521 is rotatably installed in the shovel plate body 511, the chute 523 is installed on the traveling device 1, the driving wheel set 524 is movably installed on the chute 523, and the installation position of the driving wheel set 524 is adjustable in the up and down direction. Specifically, strip-shaped mounting holes can be provided on the chute 523, and the driving wheel set 524 and the chute 523 are connected by bolts to achieve adjustable up and down positions. The scraper chain set 522 forms a closed loop around the driving wheel set 524 and the driven wheel set 521. The rotating mechanism drives the driving wheel set 524 to rotate and drives the scraper chain set 522 to rotate, so as to convey the crushed rock slag backward to the rear of the equipment and avoid the accumulation of rock slag from interfering with the excavation process.

[0033] Referring to Figure 6 , the excavation device 4 is the core component of the excavation equipment and includes an excavation arm 41, an excavation head 42 and a driving mechanism 43. The rear end of the excavation arm 41 is movably installed on the base 11, and the front end is connected with the excavation head 42. The driving mechanism 43 drives the excavation arm 41 to move to realize the three-dimensional movement of the excavation head 42 and the rotation around the axis of the excavation arm 41.

[0034] The excavation arm 41 includes a horizontal swing arm 411 whose rear end is rotatably installed on the base 11. The horizontal driving mechanism is installed on the base 11 and drives the horizontal swing arm 411 to rotate left and right around the rear end; the vertical swing arm 412 has its rear end rotatably installed at the front end of the horizontal swing arm 411; the vertical driving mechanism is installed on the horizontal swing arm 411 and drives the vertical swing arm 412 to rotate up and down around the rear end; the excavation head 42 is rotatably installed at the front end of the vertical swing arm 412, and the rotating mechanism 413 drives the excavation head 42 to rotate around the axis of the vertical swing arm 412.

[0035] Through the cooperation of the horizontal swing arm 411, the vertical swing arm 412 and the rotating mechanism 413, the excavation device 4 can realize the three-dimensional movement of the excavation head 42 and the rotation around the axis, so that the excavation head 42 can be flexibly adjusted to the target position and angle to adapt to the complex rock mass attitude. In this embodiment, two excavation devices 4 are provided at the front part of the base 11 to improve the operation accuracy and efficiency.

[0036] The excavation head 42 is installed at the movable end of the excavation arm 41. The excavation head 42 includes a multi-stage cutter head telescopic structure 421. An impact rock breaking structure 422 is provided on the inner cutter head 421b, and a rolling rock breaking structure 423 is provided on the outer cutter head 421a. The multi-stage cutter head telescopic structure 421 telescopes to realize the alternating protrusion of the impact rock breaking structure 422 and the rolling rock breaking structure 423.

[0037] By setting it as a multi-stage cutter head telescopic structure 421, the impact rock breaking structure 422 and the rolling rock breaking structure 423 can alternately protrude, effectively combining the high efficiency of impact rock breaking and the continuity of rolling rock breaking. It can quickly break through hard rock masses through the impact rock breaking structure 422 and can also steadily advance in relatively soft rock layers with the help of the rolling rock breaking structure 423, greatly enhancing the adaptability of the equipment to changes in the hardness of different rock layers, effectively improving the tunneling speed and operation continuity, reducing the equipment energy consumption and wear, and being the core guarantee for the efficient and stable operation of the mining equipment.

[0038] Refer to Figure 7 , the multi-stage cutter head telescopic structure 421 includes an outer cutter head 421a, an inner cutter head 421b, and a multi-stage telescopic hydraulic cylinder 421c. The outer cutter head 421a and the inner cutter head 421b are sequentially installed on the telescopic sleeve of the multi-stage telescopic hydraulic cylinder 421c from back to front. On the side of the inner cutter head 421b facing away from the mining arm 41, there is an impact rock breaking structure 422, and on the side of the outer cutter head 421a facing away from the mining arm 41, there is a rolling rock breaking structure 423. The rolling rock breaking structure 423 provided on the outer cutter head 421a can achieve rolling and breaking of the rock mass. The number of outer cutter heads 421a can be multiple. In this embodiment, there are two outer cutter heads 421a. The rolling rock breaking structure 423 includes multiple roller cutters, which can expand cracks and break rock blocks through continuous rolling. The mining head 42 can flexibly adjust the relative positions of the impact rock breaking structure 422 and the rolling rock breaking structure 423 through the telescoping of the multi-stage telescopic hydraulic cylinder 421c to achieve the alternate protrusion of the two.

[0039] Refer to Figure 8 , the impact rock breaking structure 422 includes multiple button bits 422a. When the multi-stage cutter head telescopic structure 421 of the mining head 42 telescopes, the button bits 422a can intermittently protrude forward, performing high-frequency impacts on the rock mass of the working face, damaging the internal structure of the rock mass, forming a local broken area, and thus effectively reducing the overall strength of the rock mass. The intermittent impact action of the button bits 422a can not only reduce the energy consumption and wear during the continuous operation of the equipment but also concentrate force to break when encountering hard rock layers, improving the rock breaking efficiency. At the same time, this arrangement of the button bits 422a enables them to cooperate with the rolling rock breaking structure 423 during the impact process, forming a rock breaking mode combining impact and rolling, further enhancing the adaptability of the equipment to rock layers of different hardnesses and the rock breaking effect.

[0040] Refer to Figure 7 , the impact rock breaking structure 422 includes an ejection mechanism 422b. The ejection mechanism 422b penetrates through the multi-stage telescopic hydraulic cylinder 421c and the multi-stage cutter head, and is located in the middle of the mining head 42 and the mining arm 41, and is used to make bullets shoot from the mining head 42 to the working face through the mining arm 41.

[0041] The ejection mechanism 422b, as a key component of the impact rock-breaking structure 422, penetrates through multiple cutterheads and is located in the middle of the excavation head 42 and the excavation arm 41. It enables the bullet to be ejected from the excavation head 42 to the working face under the action of electromagnetic acceleration, achieving long-distance and high-speed impact rock-breaking. With such a setting, the bullet can impact the rock mass in advance before the excavation head 42 approaches the working face, pre-damaging the surface structure of the rock mass, thereby reducing the rock-breaking resistance of the subsequent button bits 422a and the rolling rock-breaking structure 423 and improving the overall rock-breaking efficiency. At the same time, the intermittent action of the ejection mechanism 422b can reduce the continuous operation time of the equipment, lower energy consumption and equipment wear, and extend the service life of the equipment. In addition, the synergistic effect of the ejection mechanism 422b with the button bits 422a and the rolling rock-breaking structure 423 further enhances the adaptability of the excavation device 4 to rock formations of different hardnesses, enabling it to achieve efficient and stable rock-breaking operations under complex geological conditions.

[0042] Specifically, the ejection mechanism 422b includes an impact cavity 4221, a plurality of drive coils 4222, and a bullet pressing structure.

[0043] The impact cavity 4221 penetrates through the excavation head 42 and extends into the excavation arm 41. The inside is a bullet impact gunhole. A magazine 414 communicating with the bullet impact gunhole is provided in the excavation arm 41. The magazine 414 is used to load bullets. The bullet impact gunhole provides a smooth passage for the bullet from the magazine 414 to the working face. A plurality of drive coils 4222 are arranged at intervals along the length direction of the impact cavity 4221 in the impact cavity 4221. When alternating current is passed through the drive coils 4222, a magnetic field is generated. The bullet pressing structure is arranged in the excavation arm 41 and is configured to be triggered to apply an external force to the bullet, so that the bullet moves to the position of the drive coil 4222 and is ejected along the impact cavity 4221 under the thrust of the drive coil 4222 to impact the working face. The specific structure of the bullet pressing structure can be set with reference to the prior art.

[0044] When the bullet pressing structure is triggered, it can push the bullet from the magazine 414 into the impact cavity 4221 and reach the position of the drive coil 4222 smoothly. A plurality of drive coils 4222 are arranged at intervals along the length direction of the impact cavity 4221. After passing through alternating current, a strong magnetic field is generated, providing a strong thrust for the bullet, so that it is ejected at high speed along the impact cavity 4221, accurately impacting the working face and achieving long-distance and high-energy rock-breaking effects. This electromagnetic acceleration method not only improves the impact speed and energy of the bullet, but also enhances the rock-breaking efficiency and effect. At the same time, the setting of the ejection mechanism 422b makes the firing of the bullet intermittent, capable of quickly responding when needed and performing local high-intensity impacts on the rock mass to pre-damage the rock mass structure.

[0045] In the multi-stage cutter head telescopic structure 421 of the mining device 4, the intermittent action of the stud teeth 422a and the bullets can achieve an efficient rock-breaking effect. Both the stud teeth 422a and the bullets have the characteristic of intermittent action. Driven by the hydraulic cylinder, the stud teeth 422a periodically impact the rock mass through the control of the multi-stage cutter head telescopic structure 421. This intermittent impact can not only generate cracks in the rock mass but also gradually expand these cracks, ultimately achieving the fragmentation of the rock mass. Driven by the ejection mechanism 422b, the bullets impact the rock mass intermittently at high speed through the electromagnetic acceleration of the drive coil 4222, further expanding the cracks and fragmenting the rock blocks. The intermittent actions of the stud teeth 422a and the bullets cooperate with each other, enabling the mining device 4 to flexibly select the impact or rolling method according to the fragmentation situation of the rock mass at different rock-breaking stages, achieving efficient fragmentation of hard rock.

[0046] The intermittent action of the stud teeth 422a and the ejection mechanism 422b on the face not only improves the rock-breaking efficiency but also reduces the continuous operation time of the equipment, lowers the energy consumption and equipment wear, and extends the service life of the equipment. The stud teeth 422a and the bullets of the cutting head 42 can also adopt an alternating rock-breaking method, which can play a key role when encountering extremely hard rock formations or when rapid breakthrough is required. This alternating rock-breaking mode avoids the continuous high-load operation of the equipment caused by a single rock-breaking method, reduces tool wear, lowers equipment vibration and energy loss, and simultaneously improves the tunneling speed and operation flexibility.

[0047] During the mining operation, when encountering hard rock formations, the impact rock-breaking structure 422 can be made to protrude forward to damage the internal structure of the rock mass through the high-frequency impact of the impact rock-breaking structure 422; while in relatively soft rock formations, the rolling rock-breaking structure 423 can be made to protrude forward to expand the cracks and fragment the rock blocks by using the continuous rolling action of the roller cutters. This alternating protrusion mechanism not only improves the adaptability of the mining device 4 to rock formations of different hardnesses but also can concentrate the rock-breaking force, improve the rock-breaking efficiency, reduce equipment energy consumption and wear, and extend the service life of the equipment. At the same time, the flexibility of the multi-stage cutter head telescopic structure 421 also enables the cutting head 42 to better adapt to the shape and size of the face, improving the accuracy and flexibility of the mining operation.

[0048] Refer to Figure 7 and Figure 8, a threaded ring plate 421d is provided on the circumferential side surface of the outer cutter head 421a. A plurality of pick-shaped cutters 421e are provided on the outer circumferential surface of the threaded ring plate 421d along its own direction for trimming the side wall of the heading face. In this embodiment, the pick-shaped cutters 421e are provided on the outer peripheral wall of the rearmost outer cutter head 421a. Through its spiral structure, the threaded ring plate 421d enables the rock slag generated during the excavation operation to be smoothly discharged outwards along the guidance of the thread, effectively avoiding the accumulation of rock slag around the excavation head 42, thereby reducing the obstruction and wear of the rock slag to the excavation device 4 and improving the slag discharge efficiency. At the same time, the pick-shaped cutters 421e on the threaded ring plate 421d can scrape and trim the rock mass on the side wall of the heading face during rotation, ensuring the regularity of the roadway and reducing the occurrence of over-excavation and under-excavation. Such a setting not only improves the forming quality of the roadway, but also helps to reduce the difficulty and cost of the subsequent support project, while enhancing the adaptability of the equipment under complex geological conditions and improving the overall efficiency and safety of the tunneling operation.

[0049] The cutting device 3 significantly reduces the overall strength of the rock mass on the bottom of the heading face by pre-cutting a laterally extending pre-cut groove, creating a weak area for the subsequent excavation operation, enabling the impact and rolling rock breaking of the excavation head 42 to more concentratedly act on the rock mass near the pre-cut groove, greatly reducing the rock breaking resistance and energy consumption, and at the same time avoiding equipment vibration or tool wear caused by rock mass stress concentration, thereby improving the rock breaking efficiency and equipment stability. The excavation device 4 adopts a multi-stage cutter head telescopic structure 421. The impact rock breaking structure 422 (such as column teeth 422a and electromagnetic acceleration bullets) of the inner cutter head 421b destroys the internal structure of the rock mass through high-frequency impact, and the rolling rock breaking structure 423 (such as roller cutters) of the outer cutter head 421a expands the cracks and breaks the rock blocks in a continuous rolling manner. The two alternately protrude to form a multi-modal combined rock breaking mode, which can not only adapt to different hardness rock layers, but also achieve efficient crushing of hard rock through the superposition effect of impact and rolling. In addition, the three-dimensional movement and rotation function of the excavation arm 41 combined with the crawler walking device 1 enable the equipment to flexibly adjust the excavation angle and position in a narrow roadway, further ensuring the accuracy and continuity of the rock breaking operation. The synchronous operation of the recovery device 5 effectively removes the broken rock slag, avoiding the interference of rock slag accumulation to the excavation process. Overall, the pre-weakening of the cutting device 3 and the multi-modal rock breaking of the excavation device 4 form a synergistic closed loop, achieving the high efficiency, stability and adaptability of hard rock tunneling.

[0050] Refer to Figure 9, the additional cutting device 6 includes a support arm body 61, an auxiliary rock breaking platform 62, and a moving mechanism 63. The support arm body 61 can have the same structure as the moving arm 31 of the cutting device 3. One end of the support arm body 61 is installed on the top of the base 11, and the other end is movably connected to the auxiliary rock breaking platform 62. The support arm body 61 is located above the excavation device 4, enabling the auxiliary rock breaking platform 62 to move with six degrees of freedom to ensure sufficient flexibility. The auxiliary rock breaking platform 62 can adopt the following extended structures: a water injection structure (such as a high-pressure / ultra-high-pressure water jet generator, a multi-stage booster pump, etc.), which uses hydraulic fracturing to expand cracks by wedging high-pressure water into rock mass fissures; a high-temperature flame generation structure, a plasma torch, which uses heat to cause the rock mass to expand and contract thermally to generate stress to assist in rock breaking; a chemical corrosion substance spraying structure to dissolve some components of the rock mass (such as a high-pressure acid mist injector, etc.); a liquid nitrogen injector; a laser generator (such as a fiber laser, etc.); a microwave generator (such as a solid-state microwave generator, etc.); a static pressure expansion structure (such as a hydraulic splitter, etc.); a micro-explosive detonator, an electro-explosion impact structure (such as an electronic detonator, etc.), an expansion gas generator, and other auxiliary rock breaking devices, etc. This is the prior art, and the specific structure will not be elaborated. The moving mechanism 63 can be multiple hydraulic cylinders installed on the support arm body 61 to drive the auxiliary rock breaking platform 62 to rotate and change its orientation. It can be understood that the auxiliary rock breaking platform 62 in the drawings only serves as a schematic, and its size and structure are not limited by the drawings.

[0051] The additional cutting device 6 uses a variety of auxiliary rock breaking means to work in coordination with the cutter head of the excavation device 4, effectively improving the rock breaking efficiency and effect. This device is located above the excavation device 4 to ensure that the auxiliary rock breaking platform 62 can accurately act on the rock mass. The physical or chemical mechanism auxiliary means can weaken the rock mass strength in advance, reduce the rock breaking resistance of the cutter head, and improve the overall tunneling efficiency. At the same time, this device cooperates with the cutter head operation, can pre-crack before the cutter head breaks the rock, reduce the wear of the cutter head, and extend its service life. The additional cutting device 6 enhances the adaptability of the excavation equipment, enabling it to meet the rock breaking requirements under complex geological conditions.

[0052] The embodiment of the present application also provides a hard rock multi-source mutagenesis additional cutting and multi-modal non-explosive mechanized excavation process, including the following steps: Start the traveling device 1 and travel to the working face. Use the rear support device 2 to support the traveling device 1 from the rear. The support mechanism 22 drives the support feet 21 to fit the ground to ensure the stability of the equipment.

[0053] Start the cutting device 3. Through the cooperation of each support arm and multiple telescopic mechanisms 315, adjust the position and angle of the cutting head 32 so that the cutting head 32 can accurately cut a pre-cut groove on the working face, thereby reducing the overall strength of the rock mass on the working face and creating a weak area for subsequent excavation operations.

[0054] Start the cutting and augmenting device 6. The support arm body 61 drives the auxiliary rock-breaking platform 62 to move in six degrees of freedom. The moving mechanism 63 drives the auxiliary rock-breaking platform 62 to rotate and change its orientation, performing pre-splitting operations on the tunnel face to weaken the strength of the tunnel face rock mass.

[0055] Start the excavation device 4. The multi-stage cutter head telescopic structure 421 extends to make the impact rock-breaking structure 422 protrude forward from the rolling rock-breaking structure 423. Start the drive mechanism 43 to drive the excavation arm 41 to move, causing the excavation head 42 to move forward, and enabling the impact rock-breaking structure 422 on the inner cutter head 421b to impact and break the rock at high speed. The impact rock-breaking structure 422 on the excavation head 42 includes stud teeth 422a and an ejection mechanism 422b. The stud teeth 422a damage the internal structure of the tunnel face rock mass through high-frequency impacts, and the ejection mechanism 422b accelerates the bullets and shoots them towards the tunnel face to achieve long-distance impact rock-breaking.

[0056] The multi-stage cutter head telescopic structure 421 shortens to make the rolling rock-breaking structure 423 protrude forward from the impact rock-breaking structure 422. Start the drive mechanism 43 to drive the excavation arm 41 to move, enabling the excavation head 42 to rotate around the axis of the excavation arm 41. The rolling rock-breaking structure 423 on the excavation head 42, namely the roller bit, expands the cracks and breaks the rock blocks by continuous rolling, further completing the rock-breaking operation of the rock mass.

[0057] Before or during the rock-breaking process, start the recovery device 5. The star wheel 512 of the scraper plate mechanism 51 rotates to collect and convey the broken rock slag to the conveying mechanism 52. The scraper chain group 522 of the conveying mechanism 52 conveys the rock slag backward to the rear of the equipment, keeping the working face clean and avoiding interference with the excavation operation caused by the accumulation of rock slag.

[0058] The excavation process provided in this application makes full use of the functions of the cutting device 3, the excavation device 4, the recovery device 5, and the cutting and augmenting device 6. Through the close cooperation between the devices, its core highlight lies in the multi-modal combined rock-breaking technology, that is, the synergistic effect of impact rock-breaking and rolling rock-breaking, as well as the orderly connection of each operation step, achieving the high efficiency, stability, and adaptability of hard rock tunneling.

[0059] In the description of this application, it should be noted that unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

[0060] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, the meaning of "a plurality of" is two or more unless otherwise specifically defined.

[0061] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application shall be covered within the protection scope of the present application.

Claims

1. A hard rock multi-source mutagenesis augmentation and multi-modal non-explosive mechanized mining equipment, characterized in that, It includes a traveling device (1), as well as a cutting device (3), a mining device (4), a recovery device (5), and an additional cutting device (6) all installed on the traveling device (1). The cutting device (3) is used to cut a laterally extending pre-cut groove on the working face. The recovery device (5) is used to convey and recover the broken rock slag backward. The additional cutting device (6) is located above the mining device (4) and is used for pre-cracking and weakening the rock mass on the working face to increase the cutability of hard rock. The mining device (4) includes: a mining arm (41), which is movably installed on the traveling device (1); a mining head (42), which is installed at the movable end of the mining arm (41). The mining head (42) includes a multi-stage cutter head telescopic structure (421). An impact rock-breaking structure (422) is provided on the cutter head located inside, and a rolling rock-breaking structure (423) is provided on the cutter head located outside. The multi-stage cutter head telescopic structure (421) telescopes to alternately protrude the impact rock-breaking structure (422) and the rolling rock-breaking structure (423); and a driving mechanism (43), which drives the mining arm (41) to move to realize the three-dimensional movement of the mining head (42) and the rotation around the axis of the mining arm (41).

2. The hard rock multi-source mutagenic increment cutting and multi-modal non-explosive mechanized mining equipment according to claim 1, characterized in that, The impact rock-breaking structure (422) includes a plurality of button bits (422a), and the plurality of button bits (422a) are provided on the side of the cutter head located inside facing away from the mining arm (41).

3. The hard rock multi-source mutagenic cutting and multi-modal non-explosive mechanized mining equipment according to claim 1 or 2, characterized in that, The impact rock-breaking structure (422) includes an ejection mechanism (422b). The ejection mechanism (422b) penetrates through multiple cutter heads and is provided in the middle of the mining head (42) and the mining arm (41) for shooting bullets from the mining head (42) through the mining arm (41) to the working face.

4. The hard rock multi-source mutagenic cutting and multi-modal non-explosive mechanized mining equipment according to claim 3, characterized in that The ejection mechanism (422b) includes: an impact cavity (4221), which penetrates the mining head (42) and extends into the mining arm (41). A cartridge chamber (414) communicating with the impact cavity (4221) is provided in the mining arm (41), and the cartridge chamber (414) is used to load bullets; a plurality of drive coils (4222), which are arranged at intervals along the length direction of the impact cavity (4221) in the impact cavity (4221), and the drive coils (4222) are energized with alternating current to generate a magnetic field; and a bullet pressing structure, which is provided on the mining arm (41) and is configured to be triggered to apply an external force to the bullet, so that the bullet moves to the position of the drive coil (4222) and is ejected along the impact cavity (4221) under the thrust of the drive coil (4222) to impact the working face.

5. The hard rock multi-source mutagenic increment cutting and multi-modal non-explosive mechanized mining equipment according to claim 1, characterized in that, The multi-stage cutter head telescopic structure (421) includes multi-stage telescopic hydraulic cylinders (421c), and an outer cutter head (421a) and an inner cutter head (421b) that are sequentially installed on the telescopic sleeves of the multi-stage telescopic hydraulic cylinders (421c) from back to front; The side of the inner cutter head (421b) facing away from the mining arm (41) is provided with the impact rock-breaking structure (422), and the side of the outer cutter head (421a) facing away from the mining arm (41) is provided with a moving groove and the rolling rock-breaking structure (423).

6. The hard rock multi-source mutagenic cutting and multi-modal non-explosive mechanized mining equipment according to claim 5, characterized in that The circumferential side of the outer cutter head (421a) is provided with a threaded ring plate (421d), and a plurality of pick-shaped picks (421e) are arranged on the outer circumferential surface of the threaded ring plate (421d) along its own direction for trimming the side wall of the working face.

7. The hard rock multi-source mutagenic cutting and multi-modal non-explosive mechanized mining equipment according to claim 1, characterized in that The mining arm (41) includes: A horizontal swing arm (411) whose rear end is rotatably installed on the traveling device (1); A horizontal driving mechanism installed on the traveling device (1) to drive the horizontal swing arm (411) to rotate left and right around the rear end; A vertical swing arm (412) whose rear end is rotatably installed at the front end of the horizontal swing arm (411); A vertical driving mechanism installed on the horizontal swing arm (411) to drive the vertical swing arm (412) to rotate up and down around the rear end; and A rotating mechanism (413), the mining head (42) is rotatably installed at the front end of the vertical swing arm (412), and the rotating mechanism (413) drives the mining head (42) to rotate around the axis of the vertical swing arm (412).

8. The hard rock multi-source mutagenic cutting and multi-modal non-explosive mechanized mining equipment according to claim 1, characterized in that, The cutting device (3) includes: A base (311) rotatably installed on the traveling device (1) around a vertical axis; A first support arm (312) whose tail end is hinged to the base (311), and a telescopic mechanism (315) is hinged between the rear part and the tail end of the second support arm (313), and a telescopic mechanism (315) is hinged between the front part and the base (311), and the head end is hinged to the rear part of the second support arm (313); A third support arm (314) whose tail end is hinged to the middle part of the second support arm (313), the rear part is hinged to the head end of the second support arm (313), and the head end is hinged with a hinge seat (317), and a telescopic mechanism (315) is connected between the hinge seat (317) and the rear part of the third support arm (314); A cutting head (32) rotatably installed on the hinge seat (317); and A driving component (33) arranged on the third support arm (314) to drive the cutting head (32) to rotate.

9. The hard rock multi-source mutagenic cutting and multi-modal non-explosive mechanized mining equipment according to claim 1, characterized in that The recovery device (5) includes a scraper plate mechanism (51) and a conveying mechanism (52). The scraper plate mechanism (51) is arranged at the front part of the traveling device (1) for shoveling back the broken rock slag, and the conveying mechanism (52) is installed on the traveling device (1) and is docked with the scraper plate mechanism (51) for conveying the broken rock slag backward; and / or It further includes a rear support device (2) installed on the traveling device (1). The rear support device (2) includes a support foot (21) and a support mechanism (22). The support foot (21) is movably installed at the bottom of the traveling device (1), and the support mechanism (22) drives the support foot (21) to approach and move away from the traveling device (1) so that the support foot (21) fits and moves away from the ground to support the traveling device (1) from the rear side; and / or The incremental cutting device (6) includes a support arm body (61) installed on the top of the traveling device (1) and having multiple degrees of freedom. The auxiliary rock breaking platform (62) is located above the excavation device (4) and is movably connected to the movable end of the support arm body (61). An actuating mechanism (63) is installed on the support arm body (61) for driving the auxiliary rock breaking platform (62) to move and change its orientation, so as to pre-crack and weaken the rock mass of the working face.

10. A hard rock multi-source mutagenic increment and cutting and multi-modal non-explosive mechanized mining process, characterized in that, Using the hard rock multi-source mutagenesis incremental cutting and multi-modal non-explosive mechanized excavation equipment according to any one of claims 1 to 9, the method includes the following steps: Start the traveling device (1) and travel to a specified position in front of the working face; Start the cutting device (3) to cut a transversely extending pre-cut groove on the working face; Start the incremental cutting device (6) to perform pre-cracking operation on the working face and weaken the strength of the rock mass of the working face; The multi-stage cutter head telescopic structure (421) extends to make the impact rock breaking structure (422) protrude forward from the rolling rock breaking structure (423). Start the driving mechanism (43) to drive the excavation arm (41) to move so that the excavation head (42) moves forward, and the impact rock breaking structure (422) on the cutter head located inside impacts the rock at high speed; The multi-stage cutter head telescopic structure (421) shortens to make the rolling rock breaking structure (423) protrude forward from the impact rock breaking structure (422). Start the driving mechanism (43) to drive the excavation arm (41) to move to realize the rotation of the excavation head (42) around the axis of the excavation arm (41), and the rolling rock breaking structure (423) on the cutter head located outside rolls and breaks the rock; Start the recovery device (5) to convey and recover the crushed rock slag.

Images