Five-bit drill wedge cooperative in-situ rock splitting device and rock splitting process thereof

Abstract

This invention discloses a five-drill-bit collaborative in-situ expansion and splitting rock-breaking device and its rock-breaking process. By integrating drilling and splitting processes, it achieves in-situ collaborative operation, solving the problem of low hard rock breaking efficiency caused by the separation of drilling and splitting processes and disordered crack propagation in existing rock-breaking equipment. The device includes a tracked vehicle body, a primary robotic arm, a secondary robotic arm, a multi-directional attitude control arm, and a five-drill-bit collaborative operation unit. The five-drill-bit collaborative operation device integrates an impact drilling mechanism, an in-situ expansion and splitting mechanism, and a crack guide. Utilizing the drilling impact force, the expansion sleeve moves forward, and wedge-shaped blocks wedge into the borehole wall, forming cracks by exploiting the weak tensile strength of the rock. The crack guide ensures that the cracks propagate horizontally along the same straight line. Its rock-breaking process achieves high efficiency through rock mass prediction, precise calibration, graded drilling and splitting, and fracture reinforcement. This device and process achieve in-situ collaborative drilling and splitting, significantly improving the breaking efficiency of hard rock with f≥10, reducing energy consumption and losses, and is suitable for hard rock tunneling scenarios.

Description

Technical Field

[0001] This invention relates to the field of hard rock breaking equipment and technology, specifically a five-bit drilling and splitting coordinated in-situ expansion and fracturing rock breaking device and its supporting rock breaking technology that can achieve "in-situ expansion and fracturing after drilling" without the need to withdraw the drill bit. It is suitable for tunneling, mining and other operations in hard rock formations with a hardness f≥10, and is used to solve the problem of low efficiency in hard rock breaking. Background Technology

[0002] Existing hard rock breaking equipment generally suffers from technical defects such as separation of drilling and splitting processes and uncontrolled crack propagation direction. On the one hand, drilling and splitting must be completed by different equipment, resulting in time-consuming process connections and low positioning accuracy, leading to low hard rock breaking efficiency. On the other hand, the lack of effective attitude control mechanisms during multi-drill bit operations results in disordered crack directions generated by expansion, failing to form continuous fracture zones, and still requiring the overcoming of significant grinding resistance, which not only leads to high energy consumption but also exacerbates equipment wear. Especially in hard rock formations with f≥10, the single-cycle operation efficiency of traditional equipment is typically less than 3m. 3 / h, unit energy consumption exceeds 15kW·h / m 2 This approach is insufficient to meet the engineering requirements of efficient hard rock tunneling. Therefore, designing a rock-breaking device and process that enables in-situ coordinated drilling and splitting, and directional crack propagation, is of great significance for improving hard rock breaking efficiency. Summary of the Invention

[0003] This invention aims to provide a five-bit drilling and splitting coordinated in-situ expansion rock breaking device and its rock breaking process. Through integrated structural design, it realizes in-situ coordination of drilling and splitting, and combines the drill bit support to directionally control the crack propagation direction, thus solving the problem of low efficiency caused by the separation of drilling and splitting processes and disordered cracks in existing equipment.

[0004] This invention is achieved through the following technical solution: a five-bit drilling and splitting coordinated in-situ rock breaking device, comprising a tracked vehicle body with a control unit, a primary robotic arm, a secondary robotic arm, a multi-directional attitude adjustment control arm, and a five-bit coordinated operation unit; the tracked vehicle body provides the device with the foundation for movement and power; the primary robotic arm is hinged to the upper part of the tracked vehicle body; the secondary robotic arm is hinged to the end of the primary robotic arm; the multi-directional attitude adjustment control arm is fixedly connected to the end of the secondary robotic arm via a connecting flange; the five-bit coordinated operation unit is installed at the end of the multi-directional attitude adjustment control arm; its control unit is integrated into the tracked vehicle body and electrically connected to the control unit; the control unit integrates a vibration wave monitoring module, a pressure sensor, a fiber optic grating sensor, and an integrated controller, realizing full-process automation of rock mass characteristic prediction, drilling parameter adaptation, crack expansion stress monitoring, and crack propagation tracking;

[0005] The five-drill-bit collaborative operation unit includes a horizontal support frame, an impact drilling mechanism, an in-situ fracturing mechanism, and a drill bit holder, with each component consisting of five sets. The horizontal support frame has a straight working channel along its length. The impact drilling mechanism and the in-situ fracturing mechanism are respectively installed on the working channel of the horizontal support frame. The impact drilling mechanism provides power to the in-situ fracturing mechanism, and the two are one-to-one corresponding and evenly distributed in a straight line along the same horizontal plane. The impact drilling mechanism is used for drilling into the rock mass. The in-situ fracturing mechanism is used to fracture the rock mass after drilling, thereby breaking the rock. The drill bit holder is installed below the in-situ fracturing mechanism, and the two are compatible.

[0006] In the above, the first-level robotic arm is hinged to the upper part of the tracked vehicle body, and the second-level robotic arm is hinged to the end of the first-level robotic arm. Through hydraulic drive, it can achieve a wide range of working space coverage, provide initial position adjustment for the multi-directional attitude control arm and the five-drill-bit collaborative working unit, and meet the needs of hard rock working faces with different elevations and angles.

[0007] Horizontal bearing frame: adopts a long strip alloy steel structure, with a straight working channel opened along the length direction. The center distance between adjacent channels is dynamically adjusted by 200-350mm according to the rock hardness to ensure that expansion cracks can be connected to each other; the frame is reserved with the installation benchmark for the impact drilling mechanism and the drill bit holder to ensure the consistency of the positioning of each component.

[0008] As a preferred embodiment of the five-bit drilling and splitting coordinated in-situ rock breaking device of the present invention: the multi-directional attitude adjustment control arm includes an angle calibration mechanism and a telescopic adjustment mechanism; the angle calibration mechanism includes a main hydraulic rotary table and an auxiliary hydraulic rotary table, the main hydraulic rotary table is installed at the end of the secondary robotic arm, the auxiliary hydraulic rotary table is hinged to the main hydraulic rotary table, and the auxiliary hydraulic rotary table is connected to the main hydraulic rotary table through a hinged hydraulic cylinder;

[0009] The telescopic adjustment mechanism is a hydraulically driven multi-stage telescopic rod installed at the end of the auxiliary hydraulic rotary table. It is used to fine-tune the working position and posture of the five-drill-bit collaborative operation unit and to achieve horizontal posture calibration of the drill bit support.

[0010] As a preferred embodiment of the five-drill-bit drilling and splitting coordinated in-situ expansion rock breaking device of the present invention: the impact drilling mechanism includes a rock drill impactor, a drill rod and a ball-tooth drill bit; the rock drill impactor is connected to the ball-tooth drill bit through the drill rod, the drill rod and the ball-tooth drill bit are connected by threads, and the drilling direction of the ball-tooth drill bit is parallel to the horizontal plane; both the drill rod and the ball-tooth drill bit are provided with guide holes inside;

[0011] It also includes a straightener installed on a horizontal support frame; the straightener is fitted onto the drill pipe to suppress the deviation of the drill pipe during drilling; during drilling, the impact force generated by the rock drill impactor is transmitted through the drill pipe to the drilling sleeve, thereby driving the in-situ expansion and fracturing mechanism to move forward along the borehole axis.

[0012] The aforementioned rock drill impactor can generate a high-frequency impact force of 15-30Hz, which not only enables drilling but also directly transmits the force to the in-situ fracturing mechanism to drive its action, eliminating the need for an additional fracturing power source and achieving synchronous drilling and splitting.

[0013] As a preferred embodiment of the five-bit drilling and splitting coordinated in-situ rock-breaking device of the present invention: the in-situ rock-breaking mechanism includes a rock-breaking sleeve and a wedge block assembly; the rock-breaking sleeve is connected to the drill pipe through a drilling sleeve.

[0014] The expansion sleeve is a hollow cylindrical structure with an outer diameter at its front end that is consistent with the borehole diameter, and can slide along the borehole axis.

[0015] The wedge block group consists of 3-4 wedge blocks evenly distributed around the circumference of the expansion sleeve; the inclined surface of the wedge block faces the front end of the expansion sleeve, and the outer wall of the front end of the wedge block is flush with the outer wall of the front end of the expansion sleeve. The wedge block is fixedly installed on the outside of the expansion sleeve; when the expansion sleeve moves forward under the impact force of the drill bit, the wedge block extends along the drill rod axis under the squeezing action of the hole wall. As the wedge block extends continuously, the inclined surface of the wedge block slides along the axis to achieve radial extension and apply tensile stress to the inner wall of the borehole.

[0016] The aforementioned in-situ expansion and fracturing mechanism utilizes the characteristic that the tensile strength of rock is much lower than its compressive strength to break rock. The diameter of the front end of the expansion sleeve is precisely matched with the borehole diameter, with a tolerance of ≤2mm, ensuring smooth forward movement along the borehole wall during drilling; the wedge block group is distributed around the circumference of the expansion sleeve, with the inclined surface facing the front end, so that the axial impact force is efficiently converted into radial expansion and fracturing force, forcing the rock mass to generate tensile stress cracks.

[0017] As a preferred embodiment of the five-bit drilling and splitting coordinated in-situ rock-breaking device of the present invention: there are five drill bit holders, which are respectively installed in the front section of the working channel of the horizontal support frame. The upper surface of the drill bit holder is a semi-cylindrical plane and is in contact with the side of the wedge block on the outer wall of the rock-breaking sleeve. The semi-cylindrical planes of the five drill bit holders are in the same straight line and parallel to the horizontal plane. By cooperating with the wedge block to restrict the posture of the rock-breaking sleeve, it is ensured that the horizontal planes of the five rock-breaking sleeves are in the same straight line.

[0018] In the above, the five rod holders must be installed with a straightness accuracy of ≤0.3mm for the semi-cylindrical plane.

[0019] A rock-breaking process for a five-bit drilling and splitting coordinated in-situ expansion fracturing rock-breaking device includes the following steps:

[0020] Step 1: Pre-processing and calibration. The tracked vehicle body moves to the work area, and the position of the five-drill-bit collaborative work unit is adjusted by the first-level robotic arm, the second-level robotic arm, and the multi-directional attitude adjustment control arm. The rock mass f value is determined by the vibration wave monitoring module, and the drilling parameters are set according to the f value. When the rock mass f = 10-12, the hole spacing is 300mm and the drilling depth is 1.2 times the single-break depth. When the rock mass f > 12, the hole spacing is 200mm and the drilling depth is 1.5 times the single-break depth. The drill bit is calibrated by the multi-directional attitude adjustment control arm and the laser collimator placed on the top of the rock drill impactor to ensure that the plane collinearity accuracy of the drill bit is ≤0.3mm.

[0021] Step 2: Synchronous drilling and splitting operation. The control unit starts five sets of impact drilling mechanisms. For medium-hard rock with f=10-12, the rock drill impactor adopts an impact frequency of 15-20Hz and a drilling speed of 80-100mm / min. For extremely hard rock with f>12, the rock drill impactor adopts a resonant impact frequency of 25-30Hz and a drilling speed of 60-70mm / min, and applies a fracture force. The pressure sensor monitors a peak stress of ≥60MPa and stops the fracture after 3 seconds.

[0022] Step 3: The device is reset. After drilling to the preset depth, the control unit reverses the drive of the impact drilling mechanism, causing the drill rod and the expansion sleeve to return to their initial positions simultaneously. The wedge block retracts under the action of the rebound force of the borehole wall.

[0023] Step 4: Fracture strengthening and stripping. The tracked vehicle moves half a hole spacing along the propulsion direction and performs shallow drilling to expand the fracture at the midpoint between boreholes to a depth of 1 / 3 of the borehole, so that the fracture zone width is ≥10mm; external equipment strips the rock mass along the fracture zone.

[0024] Step 5: Repeat steps 1-4 to achieve continuous crushing of hard rock.

[0025] As a preferred embodiment of the rock breaking process of the five-bit drilling and splitting coordinated in-situ expansion and fracturing rock breaking device described in this invention: In step 2, a dynamic slag removal strategy is adopted: dry slag removal is suitable for rock masses with f < 12. High-pressure gas is released through the expansion sleeve linkage drill rod and the guide hole inside the ball tooth drill bit to form a negative pressure airflow with a slag removal wind speed of 15 m / s; wet slag removal is suitable for rock masses with f > 12. High-pressure water mist of 2 MPa is sprayed for 3 seconds every 100 mm of drilling, with a slag removal efficiency of ≥ 90%.

[0026] As a preferred embodiment of the rock breaking process of the five-bit drilling and splitting coordinated in-situ expansion rock breaking device described in this invention: a real-time monitoring and adaptive adjustment mechanism is embedded in the rock breaking process: a fiber optic grating sensor is used to monitor the crack propagation rate, and when the rate is <0.5mm / s, the impact frequency of the rock drill is increased by 2Hz; when the positioning deviation of the drill bit holder is >0.5mm, the control unit immediately triggers the multi-directional attitude adjustment control arm for calibration; when the pressure sensor monitors the borehole wall stress to be over 80MPa without crack signal, the drilling depth is increased by 100mm.

[0027] The beneficial technical effects of this invention are as follows: By achieving in-situ synergy between drilling and splitting, and directly driving the expansion fracture using the impact force of the drill bit, the process conversion and additional power source required by traditional equipment are eliminated, increasing the single-cycle operation efficiency to 7.5m. 3 / h or more; the drill bit guide ensures that cracks extend along the same straight line, with a peeling surface flatness error of ≤50mm, solving the problem of disordered cracks in multiple drill bits; relying on the tracked vehicle body and multi-stage robotic arm, it can flexibly adapt to hard rock operations in various scenarios such as mines and tunnels; by dynamically adjusting parameters according to rock hardness, it is adapted to hard rock with f=10-15, reducing equipment wear by 67%; integrating real-time monitoring and adaptive adjustment mechanisms, it can automatically calibrate posture and optimize parameters, greatly reducing the need for manual intervention. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the five-drill-bit drilling and splitting coordinated in-situ rock-breaking device of the present invention;

[0029] Figure 2 This is a structural diagram of the multi-directional attitude control arm of the present invention;

[0030] Figure 3 This is a structural diagram of the five-drill-bit collaborative operation unit of the present invention;

[0031] Figure 4 This is a structural diagram of the in-situ expansion and cracking mechanism of the present invention.

[0032] In the diagram: 1. Tracked vehicle body with control unit; 2. Primary robotic arm; 3. Secondary robotic arm; 4. Multi-directional attitude control arm; 4-1a. Main hydraulic rotary table; 4-1b. Articulated hydraulic cylinder; 4-1c. Auxiliary hydraulic rotary table; 4-2. Telescopic adjustment mechanism; 4-3. Horizontal bearing frame; 5. Five-drill-bit collaborative operation unit; 5-1. Rock drill impactor; 5-2. Drill rod; 5-3. Straightener; 5-4. Drilling sleeve; 5-5. In-situ fracturing mechanism; 5-5-1. Fracturing sleeve; 5-5-2. Fracturing wedge; 5-6. Drill bit holder. Detailed Implementation

[0033] The invention will now be further described with reference to the accompanying drawings.

[0034] like Figure 1 As shown, the five-drill-bit drilling and splitting coordinated in-situ rock-breaking device proposed in this invention comprises a tracked vehicle body 1 with a control unit, a primary robotic arm 2, a secondary robotic arm 3, a multi-directional attitude adjustment control arm 4, and a five-drill-bit coordinated operation unit 5. The tracked vehicle body 1 uses a 320kW diesel-hydraulic hybrid power system, and the tracks are made of wide-base wear-resistant track plates with a ground pressure ≤0.18MPa, suitable for complex terrains such as mines and tunnels; the control unit uses a PLCS7-1500 series controller, integrating 16 analog input / output modules with a sampling frequency of up to 2kHz, enabling real-time acquisition of equipment status and rapid response to control commands.

[0035] like Figure 2 As shown, the multi-directional attitude control arm 4 consists of an angle calibration mechanism, a telescopic adjustment mechanism 4-2, and a horizontal bearing frame 4-3. In the angle calibration mechanism, the main hydraulic rotary table 4-1a adopts an internal meshing gear transmission structure, with a 360° continuously adjustable rotation angle, a positioning accuracy of ±0.5°, and a maximum rotation torque of 8000 N·m. The auxiliary hydraulic rotary table 4-1c is connected to the main hydraulic rotary table 4-1a via a hinged hydraulic cylinder 4-1b. The hinged hydraulic cylinder 4-1b has a stroke of 400 mm, a maximum thrust of 100 kN, and achieves ±25° pitch adjustment. The telescopic adjustment mechanism 4-2 is a three-stage hydraulic telescopic rod with a total telescopic range of 1200 mm, a telescopic speed of 0-180 mm / s, and an end-positioning repeatability ≤±1 mm. The horizontal bearing frame 4-3 is welded from alloy steel, with a cross-sectional dimension of 350×220 mm and a length of 2800 mm. Finite element analysis verifies that under a 100 kN impact load, the maximum deformation is ≤0.2 mm.

[0036] like Figure 3As shown, the five-drill-bit collaborative operation unit 5 includes a rock drill hammer 5-1, drill pipe 5-2, straightener 5-3, drilling sleeve 5-4, in-situ fracturing mechanism 5-5, and drill stringer 5-6. The rock drill hammer 5-1 is a high-frequency hydraulic hammer with an adjustable impact frequency of 15-30Hz, a single impact energy of 75-120J, and a working pressure of 18-25MPa. The drill pipe 5-2 is made of 35CrMnSiA alloy steel, with a diameter of 80mm and a length of 2000mm. After heat treatment, its tensile strength is ≥1600MPa, and its yield strength is ≥1250MPa. The straightener 5-3 has a built-in double-row tapered roller bearing with a guiding accuracy ≤0.3% / m, which can effectively suppress the deviation of the drill pipe during drilling. The drilling sleeve 5-4 uses... Made of ZGMn13 wear-resistant cast iron, with a surface hardening hardness of HRC55-60, the inner diameter is clearance-fitted with drill rod 5-2, and the outer diameter is consistent with the diameter of expansion sleeve 5-5-1, with tolerance controlled within ±0.5mm; the drill bit holder 5-6 is a semi-cylindrical structure, made of QT600-3 ductile iron, with a machining accuracy of IT7 grade for the semi-cylindrical plane of drill bit holder 5-6 and a surface roughness of Ra0.8μm. The five drill bits are calibrated by a multi-directional attitude adjustment control arm and a laser collimator placed on the top of the rock drill impactor, with a collinearity accuracy ≤0.3mm.

[0037] like Figure 4 As shown, the in-situ expansion and cracking mechanism 5-5 consists of an expansion sleeve 5-5-1 and an expansion wedge 5-5-2. The expansion sleeve 5-5-1 is a hollow cylindrical structure made of 40Cr alloy steel with a wall thickness of 15mm, and its front outer diameter is precisely matched with the borehole diameter. The expansion wedge 5-5-2 consists of a pair of wedge-shaped blocks made of WC-Co hard alloy with a wedge angle of 15° and a maximum radial extension of 20mm for a single wedge, which can apply an expansion and cracking stress of ≥60MPa to the borehole wall.

[0038] The specific implementation process of the rock-breaking technology of this invention is as follows:

[0039] Step 1: Pre-processing and calibration: The tracked vehicle body 1 moves to the work area, and the five-drill-bit collaborative operation unit 5 is adjusted to the initial position of 600mm from the rock surface and 1.5m high by the first-level robotic arm 2 and the second-level robotic arm 3; the vibration wave monitoring module is activated to emit a 5kHz pulse sound wave and collect 10s of spectrum data. After FFT transformation analysis, the f value of the rock mass is determined to be 12; the control unit automatically matches the parameters: hole spacing 300mm, drilling depth 800mm, impact frequency 20Hz, and drilling speed 80mm / min; the main hydraulic rotary table 4-1a and articulated hydraulic cylinder 4-1b of the multi-directional attitude adjustment control arm 4 are used in conjunction with the laser collimator to calibrate the collinearity accuracy of the drill bit holder 5-6 to 0.2mm, check that the gap between the drill bit holder and the wedge block is ≤0.1mm, and the no-load frequency of the rock drill impactor 5-1 is stable at 20Hz±1Hz.

[0040] Step 2: Synchronous drilling and splitting operation: The control unit starts five sets of rock drill hammers 5-1, adopts a dry slag removal strategy, and releases high-pressure gas into the guide hole inside the drill rod and ball tooth drill bit through the expansion sleeve 5-5-1 to form a negative pressure airflow with a slag removal wind speed of 15m / s; the drill bit drills synchronously in a straight line, and the straightener 5-3 ensures that the borehole deviation rate is ≤0.3%; when the displacement sensor shows that the drilling depth reaches 800mm, the expansion force is applied, and the pressure sensor detects a peak stress of 65MPa for 3 seconds, after which the expansion operation is stopped. At this time, the fiber optic grating sensor monitors the crack propagation rate as 1.2mm / s.

[0041] Step 3 Device Reset: The control unit drives the impact rock drill 5-1 to run in reverse, causing the drill rod 5-2, the drilling sleeve 5-4 and the expansion sleeve 5-5-1 to return to the initial position at a speed of 50 mm / s. The expansion wedge 5-5-2 retracts under the action of the hole wall rebound force.

[0042] Step 4: Crack Strengthening and Stripping: The tracked vehicle body 1 moves 150mm along the propulsion direction and performs shallow drilling and crack expansion at the midpoint of the original hole to a depth of 250mm. The crack expansion pressure is set to 50MPa, so that the crack width is expanded to 12mm.

[0043] Step 5: Repeat steps 1-4 to complete 6 operation cycles per hour. The crushing efficiency reaches 7.2 m³ / h, and the unit energy consumption is 8.5 kW·h / ㎡, which is 45% lower than the traditional process.

[0044] When operating in extremely hard rock formations with f>12, adjust the hole spacing to 200mm, the drilling depth to 1.5 times the single fracturing depth, the impact frequency to 25-30Hz resonance mode, the drilling speed to 60-70mm / min, and adopt a wet slag removal strategy, spraying 2MPa high-pressure water mist for 3 seconds every 100mm of drilling, with a slag removal efficiency ≥90%; apply fracturing force during the expansion stage, stop fracturing after the pressure sensor detects a peak stress of ≥70MPa and it lasts for 5 seconds, and drill additional fracturing depth to 1 / 3 of the original hole to ensure that the fracture zone width is ≥10mm.

[0045] The working principle of this invention is as follows: After the tracked vehicle moves to the work area, the horizontal calibration and positioning of the five-drill-bit collaborative work unit are completed by the multi-stage robotic arm and the attitude adjustment control arm; the control unit starts the impact drilling mechanism, and the drill bit drills synchronously in a straight line. The impact force is transmitted to the expansion sleeve through the drill rod, pushing it forward along the hole wall; the wedge block extends axially with the expansion sleeve, and under the directional action of the drill bit holder, the inclined surface of the wedge block extends radially to apply tensile stress to the hole wall, forming horizontal cracks in a straight line; after the pressure sensor detects the stress peak, the expansion cracking stops, and the device reverses and resets; after drilling to reinforce the fracture zone, the external equipment peels off the rock mass, completing one rock breaking cycle.

[0046] This invention achieves in-situ synergy between drilling and splitting through integrated structural design, and combines it with a drill bit holder to directionally control crack propagation. This effectively solves the problems of separation of drilling and splitting processes and disordered cracks in existing equipment, significantly improving the efficiency and quality of hard rock crushing, and has broad engineering application value.

Claims

1. A five-drill-bit drilling and splitting coordinated in-situ rock-breaking device, characterized in that: The system comprises a tracked vehicle body with a control unit, a primary robotic arm, a secondary robotic arm, a multi-directional attitude adjustment control arm, and a five-drill-bit collaborative operation unit. The tracked vehicle body provides the foundation for the device's movement and power. The primary robotic arm is hinged to the upper part of the tracked vehicle body. The secondary robotic arm is hinged to the end of the primary robotic arm. The multi-directional attitude adjustment control arm is fixed to the end of the secondary robotic arm via a connecting flange. The five-drill-bit collaborative operation unit is installed at the end of the multi-directional attitude adjustment control arm, and its control unit is integrated into the tracked vehicle body. The control unit integrates a vibration wave monitoring module, a pressure sensor, a fiber optic grating sensor, and an integrated controller, enabling full-process automation of rock mass characteristic prediction, drilling parameter adaptation, crack expansion stress monitoring, and crack propagation tracking. The five-drill-bit collaborative operation unit includes a horizontal support frame, an impact drilling mechanism, an in-situ fracturing mechanism, and a drill bit holder, with each component consisting of five sets. The horizontal support frame has a straight working channel along its length. The impact drilling mechanism and the in-situ fracturing mechanism are respectively installed on the working channel of the horizontal support frame. The impact drilling mechanism provides power to the in-situ fracturing mechanism, and the two are one-to-one corresponding and evenly distributed in a straight line along the same horizontal plane. The impact drilling mechanism is used for drilling into the rock mass. The in-situ fracturing mechanism is used to fracture the rock mass after drilling, thereby breaking the rock. The drill bit holder is installed below the in-situ fracturing mechanism, and the two are compatible.

2. The five-drill-bit drilling and splitting coordinated in-situ rock-breaking device according to claim 1, characterized in that: The multi-directional attitude control arm includes an angle calibration mechanism and a telescopic adjustment mechanism; the angle calibration mechanism includes a main hydraulic rotary table and an auxiliary hydraulic rotary table, the main hydraulic rotary table is installed at the end of the secondary robotic arm, the auxiliary hydraulic rotary table is hinged to the main hydraulic rotary table, and the auxiliary hydraulic rotary table is connected to the main hydraulic rotary table through a hinged hydraulic cylinder; The telescopic adjustment mechanism is a hydraulically driven multi-stage telescopic rod installed at the end of the auxiliary hydraulic rotary table. It is used to fine-tune the working position and posture of the five-drill-bit collaborative operation unit and to achieve horizontal posture calibration of the drill bit support.

3. The five-drill-bit drilling and splitting coordinated in-situ rock-breaking device according to claim 1, characterized in that: The impact drilling mechanism includes a rock drill, a drill rod, and a ball-tooth drill bit; the rock drill is connected to the ball-tooth drill bit via the drill rod, the drill rod and the ball-tooth drill bit are connected by threads, and the drilling direction of the ball-tooth drill bit is parallel to the horizontal plane; both the drill rod and the ball-tooth drill bit are provided with guide holes inside. It also includes a straightener installed on a horizontal support frame; the straightener is fitted onto the drill pipe to suppress the deviation of the drill pipe during drilling; during drilling, the impact force generated by the rock drill impactor is transmitted through the drill pipe to the drilling sleeve, thereby driving the in-situ expansion and fracturing mechanism to move forward along the borehole axis.

4. The five-drill-bit drilling and splitting coordinated in-situ rock-breaking device according to claim 3, characterized in that: The in-situ fracturing mechanism includes a fracturing sleeve and a wedge block assembly; the fracturing sleeve is connected to the drill pipe via a drilling sleeve. The expansion sleeve is a hollow cylindrical structure with an outer diameter at its front end that is consistent with the borehole diameter, and can slide along the borehole axis. The wedge block group consists of 3-4 wedge blocks evenly distributed around the circumference of the expansion sleeve; the inclined surface of the wedge block faces the front end of the expansion sleeve, and the outer wall of the front end of the wedge block is flush with the outer wall of the front end of the expansion sleeve. The wedge block is fixedly installed on the outside of the expansion sleeve; when the expansion sleeve moves forward under the impact force of the drill bit, the wedge block extends along the drill rod axis under the squeezing action of the hole wall. As the wedge block extends continuously, the inclined surface of the wedge block slides along the axis to achieve radial extension and apply tensile stress to the inner wall of the borehole.

5. The five-drill-bit drilling and splitting coordinated in-situ rock-breaking device according to claim 4, characterized in that: There are five support rods, which are respectively installed at the front of the working channel of the horizontal support frame. The upper surface of the support rod is a semi-cylindrical plane and is in contact with the side of the wedge block on the outer wall of the expansion sleeve. The semi-cylindrical planes of the five support rods are in the same straight line and parallel to the horizontal plane. By cooperating with the wedge block, the posture of the expansion sleeve is restricted, ensuring that the horizontal planes of the five expansion sleeves are in the same straight line.

6. A rock-breaking process based on the five-drill-bit drilling and splitting coordinated in-situ expansion and fracturing rock-breaking device as described in claim 5, characterized in that: Includes the following steps: Step 1: Pre-processing and calibration. The tracked vehicle body moves to the work area, and the position of the five-drill-bit collaborative work unit is adjusted by the first-level robotic arm, the second-level robotic arm, and the multi-directional attitude adjustment control arm. The rock mass f value is determined by the vibration wave monitoring module, and the drilling parameters are set according to the f value. When the rock mass f = 10-12, the hole spacing is 300mm and the drilling depth is 1.2 times the single-break depth. When the rock mass f > 12, the hole spacing is 200mm and the drilling depth is 1.5 times the single-break depth. The drill bit is calibrated by the multi-directional attitude adjustment control arm and the laser collimator placed on the top of the rock drill impactor to ensure that the plane collinearity accuracy of the drill bit is ≤0.3mm. Step 2: Synchronous drilling and splitting operation. The control unit starts five sets of impact drilling mechanisms. For medium-hard rock with f=10-12, an impact frequency of 15-20Hz and a drilling speed of 80-100mm / min are used. For extremely hard rock with f>12, a resonant impact frequency of 25-30Hz and a drilling speed of 60-70mm / min are used, and a fracturing force is applied. The pressure sensor monitors a peak stress of ≥60MPa and stops the fracturing after 3 seconds. During the drilling process, a dynamic slag removal strategy is adopted. Step 3: The device is reset. After drilling to the preset depth, the control unit reverses the drive of the impact drilling mechanism, causing the drill rod and the expansion sleeve to return to their initial positions simultaneously. The wedge block retracts under the action of the rebound force of the borehole wall. Step 4: Fracture strengthening and stripping. The tracked vehicle moves half a hole spacing along the propulsion direction and performs shallow drilling to expand the fracture at the midpoint between boreholes to a depth of 1 / 3 of the borehole, so that the fracture zone width is ≥10mm; external equipment strips the rock mass along the fracture zone. Step 5: Repeat steps 1-4 to achieve continuous crushing of hard rock.

7. The rock-breaking process of a five-drill-bit drilling and splitting coordinated in-situ expansion and fracturing rock-breaking device according to claim 6, characterized in that: The dynamic slag removal strategy mentioned in step 2 refers to: dry slag removal is suitable for rock masses with f < 12, where high-pressure gas is released through the guide hole inside the drill rod and ball tooth drill bit via the expansion sleeve to form a negative pressure airflow with a slag removal wind speed of 15 m / s; wet slag removal is suitable for rock masses with f > 12, where 2 MPa high-pressure water mist is sprayed for 3 seconds every 100 mm of drilling, with a slag removal efficiency ≥ 90%.

8. The rock-breaking process of a five-drill-bit drilling and splitting coordinated in-situ expansion and fracturing rock-breaking device according to claim 6, characterized in that: A real-time monitoring and adaptive adjustment mechanism is embedded in the rock breaking process: the crack propagation rate is monitored using a fiber optic grating sensor, and the impact frequency of the rock drill is increased by 2Hz when the rate is <0.5mm / s; when the positioning deviation of the drill bit is >0.5mm, the control unit immediately triggers the multi-directional attitude adjustment control arm for calibration; when the borehole wall stress monitored by the pressure sensor exceeds 80MPa and there is no crack signal, the drilling depth is increased by 100mm.

Images