Rock breaking method and system suitable for pipe roof support steel pipe lock catch under extremely hard rock stratum

Abstract

The invention relates to the technical field of rock breaking, and discloses a rock breaking method and system suitable for a pipe roof support steel pipe lock catch under an extremely hard rock stratum, and a lateral rock breaking device installed on the side face of a pipe jacking machine is used for continuously impacting and cutting lateral hard rock, so that the lock catch is convenient to advance. The lateral rock breaking device can complete multiple times of rock breaking through the cutter head, the secondary rock breaking device and the tertiary rock breaking device. In the rock crushing process, unbalanced resultant force and overturning moment of a cutter head and a secondary rock crushing device, and parameters such as specific surface area and rock crushing specific energy of rock slag after each time of rock crushing are calculated, and parameters such as cutting speed, cutter penetration and pushing speed of a tube push bench are regulated and controlled by using the parameters. Particularly, multi-round regulation and control optimization is carried out on the cutting speed. Thus, a set of multi-parameter dynamic feedback intelligent speed regulation control scheme in the multi-time rock breaking process facing the extremely-hard rock stratum is established, dynamic regulation and control over the cutting speed of the cutter head are achieved, and the optimal rock breaking effect and safe and efficient operation of the system are guaranteed.

Description

Technical Field

[0001] This application relates to the field of rock breaking technology, such as a rock breaking method and system applicable to steel pipe locking for pipe curtain support in extremely hard rock formations. Background Technology

[0002] Pipe jacking is a commonly used pre-support method for shallow-buried underground engineering projects. It boasts advantages such as high strength, minimal environmental impact, and strong adaptability, demonstrating broad application prospects in underground structures with complex geological conditions and large project volumes. The construction principle of this method involves using a pipe jacking machine to insert steel pipes along the outer contour of the excavation face from the starting shaft to the receiving shaft. The pipes are then connected using locking mechanisms. Concrete is poured into the steel pipes according to construction requirements, thus forming a closed or semi-closed transverse support structure.

[0003] In pipe jacking structures, the interlocking connections between pipes have a significant impact on the support effectiveness. Individual steel pipes, connected by interlocking couplers, form the initial support curtain, ensuring the load-bearing capacity and rigidity of the support structure. Simultaneously, the couplers also act as guides during pipe jacking, improving the accuracy of pipe placement and preventing imbalances in the support strength of different parts of the structure. Therefore, ensuring a stable connection between the interlocking couplers of the steel pipes is a necessary prerequisite for forming a reliable pipe jacking support structure and guaranteeing its support effectiveness.

[0004] However, when constructing in extremely hard rock formations, the main cutterhead of the pipe jacking machine can mostly only cut a circular cross-section suitable for steel pipe jacking. This makes the locking mechanism highly susceptible to obstruction by the surrounding rock mass during the jacking process, resulting in deformation and angular misalignment. It can also lead to lock breakage or expulsion, preventing effective connection between steel pipes and thus affecting the support effect of the pipe curtain structure. Furthermore, existing lateral rock breaking devices mostly use only a single tearing blade for rock breaking, which is insufficient in extremely hard rock formations, easily leading to unevenness on the end rock surface and affecting the advancement of the locking mechanism. Additionally, existing devices typically directly guide raw rock debris into the soil collection box after the cutterhead breaks the rock. Untreated rock debris can easily clog the soil discharge pipes during the excavation process and even damage the equipment.

[0005] It should be noted that the information disclosed by the aforementioned technical institutions is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0007] This disclosure provides a rock-breaking method and system for using steel pipe locking in pipe curtain support under extremely hard rock formations to improve rock-breaking efficiency.

[0008] In some embodiments, the rock-breaking method applicable to pipe-jacking support steel pipes in extremely hard rock formations includes: assembling a lateral cutterhead, a secondary rock-breaking device, a tertiary rock-breaking device, and a drive device to form a lateral rock-breaking device, and installing the lateral rock-breaking device on the side of the pipe jacking machine in front of the steel pipe lock; controlling the pipe jacking machine to start advancing from the starting well, and after the machine head of the pipe jacking machine enters the rock formation at a preset length, controlling the lateral rock-breaking device to start and the lateral cutterhead to run at an initial cutting speed; calculating the first unbalanced resultant force and the first overturning moment of the lateral cutterhead, as well as the primary specific surface area and primary rock-breaking specific energy of the rock debris after the lateral cutterhead's primary rock-breaking, and the second unbalanced resultant force and the second overturning force of the secondary rock-breaking device. The cutting speed and tool penetration are adjusted according to the first unbalanced resultant force and the first overturning moment, or in combination with the first specific surface area and the first rock-breaking specific energy; the cutting speed and the advance speed of the pipe jacking machine are further adjusted according to the second unbalanced resultant force and the second overturning moment, or in combination with the second specific surface area and the second rock-breaking specific energy; the cutting speed is further adjusted according to the third specific surface area, the third rock-breaking specific energy and the rock-breaking specific energy.

[0009] In some embodiments, the rock-breaking system suitable for pipe jacking support steel pipe locking in extremely hard rock formations includes: a pipe jacking machine, including: a casing; a lateral rock-breaking device disposed on the side of the casing; the lateral rock-breaking device includes: a lateral cutterhead with an outlet for primary rock breaking; a secondary rock-breaking device including: a first rotating mechanism and a first fixing mechanism, the first rotating mechanism being connected to the lateral cutterhead, and the first fixing mechanism being connected to the casing; and the interior of the secondary rock-breaking device is connected to the outlet; the rock fragments crushed in the primary rock break enter the secondary rock-breaking device through the outlet. The secondary rock crushing device is located inside the machine housing and is subjected to secondary rock crushing under the grinding action of the first rotating mechanism and the first fixing mechanism; a drive device is located inside the machine housing and is connected to the rotating shaft for transmission; a transmission mechanism is connected between the rotating shaft and the lateral cutter head; the tertiary rock crushing device includes: a second rotating mechanism and a second fixing mechanism, the second rotating mechanism being located on the rotating shaft and the second fixing mechanism being fixedly connected to the inner wall of the machine housing; the rock fragments after secondary crushing enter the interior of the tertiary rock crushing device and are subjected to tertiary rock crushing under the grinding action of the second rotating mechanism and the second fixing mechanism.

[0010] The rock-breaking method and system for steel pipe locking under pipe curtain support in extremely hard rock formations provided in this disclosure can achieve the following technical effects: A lateral rock-breaking device installed on the side of the pipe jacking machine continuously impacts and cuts lateral hard rock, facilitating the advancement of the locking mechanism. The lateral rock-breaking device can perform multiple rock-breaking operations via a cutterhead, a secondary rock-breaking device, and a tertiary rock-breaking device. During the rock-breaking process, the unbalanced resultant force and overturning moment of the cutterhead and the secondary rock-breaking device, as well as parameters such as the specific surface area and rock-breaking specific energy of the rock fragments after each rock-breaking operation, are calculated. These parameters are then used to regulate parameters such as cutting speed, cutter penetration, and the advance speed of the pipe jacking machine, especially optimizing the cutting speed through multiple rounds of regulation. This establishes a multi-parameter dynamic feedback intelligent speed control scheme for multiple rock-breaking processes in extremely hard rock formations, achieving dynamic regulation of the cutterhead cutting speed to ensure optimal rock-breaking performance and safe and efficient system operation.

[0011] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0012] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein: Figure 1 This is a front view of the lateral rock-breaking device provided in this embodiment of the present disclosure installed on a pipe jacking machine; Figure 2 This is a side view of the lateral rock breaking device provided in this embodiment of the present disclosure installed on a pipe jacking machine; Figure 3 This is a schematic diagram of the lateral rock-breaking device provided in this embodiment within the housing; Figure 4 This is a schematic diagram of the structure of the side cutterhead and secondary rock crushing device provided in the embodiments of this disclosure; Figure 5 This is a partially exploded schematic diagram of the lateral rock-breaking device provided in the embodiments of this disclosure; Figure 6 This is a schematic diagram of the structure of the three-stage rock-breaking device provided in the embodiments of this disclosure; Figure 7 This is a schematic diagram of shearing and fragmentation provided in an embodiment of this disclosure; Figure 8 This is a schematic diagram of grinding and crushing provided in an embodiment of this disclosure; Figure 9 This is a schematic diagram of a rock-breaking method for steel pipe locking under pipe curtain support in extremely hard rock formations, provided by an embodiment of this disclosure. Figure 10This is a schematic diagram of the parameters of the lateral cutterhead provided in the embodiments of this disclosure; Figure 11 This is a schematic diagram of the forces acting on the lateral cutterhead provided in an embodiment of this disclosure.

[0013] Figure label: 10. Pipe jacking machine; 11. Machine casing; 12. Main cutterhead; 13. Grouting port; 20. Side cutterhead; 21. Ball tooth hob; 22. Side tearing cutter; 23. Front tearing cutter; 24. Excavation port; 30. Secondary rock-breaking device; 31. First rotating mechanism; 311. Second annular connector; 312. Active shearing block; 32. First fixing mechanism; 321. Cylindrical connector; 322. Passive shearing block; 40. Transmission mechanism; 41. First annular connecting member; 42. Cutter head shaft; 50. Three-stage rock-breaking device; 51. Second rotating mechanism; 511. Excavation thread; 512. Active rotating blade; 52. Second fixing mechanism; 521. Rock-breaking chamber; 522. Passive rotating blade; 523. Chamber door; 524. Rock chamber connector; 60. Drive unit; 70. Turntable; 80. Rotating shaft; 90. Soil collection box; 91. Box body; 92. Electric cover plate; 93. Support rod; 94. Soil discharge port; 100. Grouting device; 101. Agitator blades; 102. Agitator tank; 103. Liquid pump; 104. Electronic valve; 105. Liquid inlet; 106. Liquid outlet pipe; 107. Grouting conduit; 108. Cleaning plate. Detailed Implementation

[0014] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0015] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0016] Unless otherwise stated, the term "multiple" means two or more.

[0017] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0018] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0019] The term "correspondence" can refer to an association or binding relationship. The correspondence between A and B means that there is an association or binding relationship between A and B.

[0020] Combination Figure 1 and Figure 2 As shown, this disclosure provides a rock-breaking system suitable for pipe jacking support steel pipe locking in extremely hard rock formations, including: a pipe jacking machine 10 and a lateral rock-breaking device. The pipe jacking machine 10 includes: a housing 11 and a main cutterhead 12. The lateral rock-breaking device is located on the side of the housing 11 and adopts a built-in drive design.

[0021] Combination Figure 3 As shown, the lateral rock-breaking device includes: a lateral cutterhead 20, a secondary rock-breaking device 30, a drive device 60, a transmission mechanism 40, and a tertiary rock-breaking device 50.

[0022] Combination Figure 4 As shown, the lateral cutterhead 20 is equipped with a ball-tooth roller cutter 21, a side tearing cutter 22, and a front tearing cutter 23. During rock breaking operations, the ball-tooth roller cutter 21 first crushes the hard rock at the end face, forming an initial crushing zone. Then, the front tearing cutter 23 performs auxiliary cutting to further loosen the rock mass. Subsequently, the side tearing cutter 22 continuously impacts and cuts the lateral hard rock, ultimately completing the overall rock breaking process. The lateral cutterhead 20 efficiently breaks the rock and soil in front of the locking mechanism through the cooperation of the three types of cutters. The ball-tooth roller cutter 21, due to its rock breaking method of pressing the ball teeth into the rock and then rotating and crushing it, can leave relatively smooth cutting marks on the rock surface, facilitating the advancement of the locking mechanism. An outlet 24 is provided at the center of the lateral cutterhead 20. The rock fragments crushed by the lateral cutterhead 20 in the first stage enter the secondary rock breaking device 30 through the outlet 24.

[0023] Combination Figure 3 and Figure 5As shown, the secondary rock crushing device 30 includes a first rotating mechanism 31 and a first fixing mechanism 32. The first rotating mechanism 31 is connected to the side of the lateral cutter head 20 facing inwards from the housing 11 and rotates under the drive of the lateral cutter head 20. The first fixing mechanism 32 is located inside the housing 11 and connected to the housing 11. A first rock crushing space is formed between the first rotating mechanism 31 and the first fixing mechanism 32. The interior of the secondary rock crushing device 30, i.e., the first rock crushing space, is connected to the outlet 24. The rock fragments crushed in the first stage enter the interior of the secondary rock crushing device 30 through the outlet 24 and undergo secondary rock crushing under the grinding action of the first rotating mechanism 31 and the first fixing mechanism 32.

[0024] The drive unit 60 is installed inside the housing 11 and is connected to the rotating shaft 80 via the turntable 70. The power output shaft of the drive unit 60, the turntable 70, and the rotating shaft 80 are coaxially connected. The transmission mechanism 40 is connected between the rotating shaft 80 and the side cutter head 20, thereby causing the side cutter head 20 to rotate synchronously under the drive of the rotating shaft 80.

[0025] Combination Figure 3 and Figure 5 As shown, the three-stage rock crushing device 50 includes a second rotating mechanism 51 and a second fixing mechanism 52. The second rotating mechanism 51 is connected to the rotating shaft 80 and rotates synchronously with the rotating shaft 80. The second fixing mechanism 52 is fixedly connected to the inner wall of the housing 11. A second rock crushing space is formed between the second rotating mechanism 51 and the second fixing mechanism 52. The rock fragments after secondary crushing enter the interior of the three-stage rock crushing device 50, i.e., the second rock crushing space, and undergo three-stage rock crushing under the grinding action of the second rotating mechanism 51 and the second fixing mechanism 52.

[0026] Turntable 70 is sealed at the tail of the three-stage rock-breaking device 50. Figure 3 (As shown on the right), this ensures that most of the rock fragments are concentrated in the tertiary rock breaking device 50 before entering the excavation box, avoiding the rock fragments from being dispersed throughout the rock breaking system due to the opening of the tail of the tertiary rock breaking device 50.

[0027] The rock-breaking system for pipe jacking support steel pipe couplings under extremely hard rock formations, as provided in this embodiment, employs a lateral rock-breaking device positioned laterally to the pipe jacking machine 10. While the main cutterhead 12 advances and breaks the rock, it also breaks the surrounding rock on both sides of the advancing section, thereby providing advancement space for the couplings of the pipe jacking steel pipes and reducing obstruction encountered by the couplings during pipe jacking. The lateral rock-breaking device includes a lateral cutterhead 20, a secondary rock-breaking device 30, and a tertiary rock-breaking device 50. The lateral cutterhead 20 simultaneously crushes and cuts the extremely hard rock formation using a tearing blade and a ball-tooth roller cutter 21, ensuring both effective rock-breaking and maintaining a smooth soil surface on the cutterhead end. This reduces obstruction during the jacking of the steel pipe couplings, provides advancement space, and ensures the support effect and construction efficiency of the pipe jacking method. The secondary rock crushing device 30 and the tertiary rock crushing device 50 perform secondary and tertiary crushing of the large rock fragments after being cut by the lateral cutterhead 20 through the rotation between the rotating mechanism and the fixed mechanism. This effectively prevents the rock fragments from damaging the device during the excavation process, ensuring the efficiency and safety of the excavation process.

[0028] Optionally, see again Figure 3 and Figure 5 The transmission mechanism 40 includes a first annular connector 41 and cutter head shafts 42. The first annular connector 41 is coaxially sleeved and connected to the outer wall of the rotating shaft 80. One end of the plurality of cutter head shafts 42 is rigidly connected to the end face of the first annular connector 41 facing the lateral cutter head 20, and the other end is rigidly connected to the lateral cutter head 20. In this way, the rotating shaft 80 is fixed on the lateral cutter head 20 through the cutter head shafts 42. The drive device 60 drives the turntable 70 and the rotating shaft 80 to rotate, thereby driving the lateral cutter head 20 to rotate for rock breaking.

[0029] Optionally, the first rotating mechanism 31 includes a second annular connector 311 and an active shearing block 312. The second annular connector 311 has two end faces, one end face being connected to the side of the lateral cutter head 20 facing the interior of the housing 11. The other end face is a free end face and has a through hole through which the rotating shaft 80 passes. The active shearing block 312 is evenly arranged in multiple rings on the outer annular surface of the second annular connector 311 in a 360° surround manner. The first fixing mechanism 32 includes a cylindrical connector 321 and a passive shearing block 322. The cylindrical connector 321 is coaxially arranged with the rotating shaft 80 and fixedly connected to the housing 11. The passive shearing block 322 is arranged in multiple rings on the inner annular surface of the cylindrical connector 321 in a 360° surround manner. At the same time, the passive shearing block 322 is located around the active shearing block 312, offset from the active shearing block 312 and arranged at intervals, forming a first rock-breaking space for secondary rock-breaking between them. After the rock fragments enter the secondary rock crushing device 30, under the influence of gravity, larger rock fragments will settle downwards. At this time, the rotation of the lateral cutter head 20 drives the second annular connector 311 to rotate at high speed, forming a crushing space with the cylindrical connector 321. Within this space, the active shear block 312 drives the rock fragments to rotate along the inner wall of the cylindrical connector 321. Through the shearing and grinding of the active shear block 312, the passive shear block 322, and the inner wall of the cylindrical connector 321, secondary crushing of larger rock fragments is achieved. The principle of rock fragment crushing by the shear block is explained in [reference needed]. Figure 7 and Figure 8 .

[0030] Optionally, see again Figure 3 , Figure 5 and Figure 6 The second rotating mechanism 51 includes a soil-exiting thread 511 and an active rotating blade 512. The soil-exiting thread 511 is located on the outer wall of the rotating shaft 80. The active rotating blade 512 is located downstream (behind) of the soil-exiting thread 511 and has multiple turns on the outer wall of the rotating shaft 80. The second fixing mechanism 52 includes a rock-breaking chamber 521 and a passive rotating blade 522. The rock-breaking chamber 521 is cylindrical, sleeved on the outside of the rotating shaft 80, and coaxially arranged with the rotating shaft 80. The bottom of the rock-breaking chamber 521 is also provided with an openable and closable hatch 523, and the top is fixed to the inner wall of the casing 11 through a rock chamber connector 524. The passive rotating blade 522 is arranged along the axial direction of the rotating shaft 80 on the inner wall of the rock-breaking layer and corresponds to the active rotating blade 512. A second rock-breaking space for tertiary rock breaking is formed between the active rotating blade 512 and the passive rotating blade 522.

[0031] Driven by the drive unit 60, the rotating shaft 80 is rotated, extending its end to the outlet 24 and inserting it into the rock stratum. The high-speed rotation of the outlet thread 511 on the front half of the rotating shaft 80 guides the secondary-crushed rock fragments radially into the rock-breaking chamber 521. Simultaneously, the active rotating blades 512 on the rear half of the rotating shaft 80 generate a pressure difference through high-speed rotation, producing significant suction and increasing the propulsion rate of the secondary-crushed rock fragments. The cooperation between the active and passive rotating blades 512 further crushes the rock fragments for easier discharge. For the principle of rock fragment crushing by the rotating blades, please refer to [link to relevant documentation]. Figure 7 and Figure 8 .

[0032] Optionally, the rock-breaking chamber 521 and the first annular connector 41 have the same diameter, the turntable 70 has a larger diameter than the rock-breaking chamber 521, and the head of the rock-breaking chamber 521 ( Figure 3 The rock-breaking chamber 521 (shown on the left) is connected to the annular surface of the first annular connector 41, and the tail of the rock-breaking chamber 521 is connected to the disk surface of the turntable 70. The rock-breaking chamber 521, the first annular connector 41, and the turntable 70 are coaxially connected. In this way, the rock fragments after three stages of rock breaking are very small, and the turntable 70 can collect the fine rock fragments in the rock-breaking chamber 521.

[0033] Optionally, see again Figure 3 It is a rock-breaking system suitable for steel pipe locking for pipe curtain support under extremely hard rock formations, and also includes: soil collection box 90 and grouting device 100.

[0034] The soil collection box 90 includes a box body 91 and a retractable electric cover 92. A support rod 93 is installed on the inner bottom wall of the housing 11, and the box body 91 is located inside the housing 11 and fixed to the top of the support rod 93. The top of the box body 91 is open and corresponds to the tertiary rock crushing device 50, serving as a soil inlet. A soil discharge port 94 is provided on the side wall of the box body 91 near its bottom. The retractable electric cover 92 is located at the soil inlet. When the rock debris filling rate in the rock crushing chamber 521 reaches a specified value, the control door 523 opens, dumping the rock debris into the soil collection box 90. The electric cover 92 prevents the rock debris in the soil collection box 90 from overflowing, and the rock debris in the box body 91 is discharged through the soil discharge port 94.

[0035] The grouting device 100 includes: stirring blades 101, a stirring tank 102, a grouting pump 103, and an electronic valve 104. Multiple rings of stirring blades 101 are installed on the outer wall of the rear half of the rotating shaft 80, serving as stirring rods. The stirring tank 102 is fitted around the rotating shaft 80 and contains grout. A sealing structure is provided at the position of the stirring tank 102 relative to the rotating shaft 80 to prevent grout leakage. The stirring tank 102 is provided with an inlet 105, through which grout is supplied to the stirring tank 102. The inlet of the grouting pump 103 is connected to the stirring tank 102 via an outlet pipe 106, and the outlet of the grouting pump 103 is connected to the grouting port 13 located on the housing 11 via a grouting conduit 107. The electronic valve 104 is located on the outlet pipe 106. After the slurry enters the mixing tank 102 through the inlet 105, the drive device 60 drives the rotating shaft 80 to rotate, and the mixing blades 101 stir the slurry in the mixing tank 102, realizing simultaneous stirring and grouting to enhance the grouting effect. Electronic valves 104 are installed at both the inlet 105 and the end of the outlet pipe 106 to close during slurry stirring, ensuring the sealing of the mixing tank 102 and preventing losses due to slurry splashing.

[0036] A cleaning plate 108 is installed at the end of the stirring blade 101. When the stirring blade 101 rotates, it drives the cleaning plate 108 to clean the inner wall of the mixing tank 102, preventing slurry from adhering to the inner wall of the mixing tank 102 and reducing slurry loss. At the same time, the slurry in the mixing tank 102 is extracted by the pump 103 and then injected through the grouting pipe 107 to reinforce the surrounding soil and rock and ensure the stability of the stratum. The slurry is stirred in real time during grouting to achieve simultaneous stirring and grouting, ensuring the reinforcement effect of the slurry.

[0037] In addition, by connecting the lateral cutterhead 20, the secondary rock crushing device 30, the tertiary rock crushing device 50 and the grouting device 100 in series via the rotating shaft 80, the various structural components are integrated into a single unit, realizing the three-in-one operation of rock breaking, multiple rock crushing and grouting. Moreover, the various parts of the device do not interfere with each other, combining integrity and independence, and can improve construction efficiency while ensuring the engineering effect.

[0038] Based on the aforementioned rock-breaking system suitable for steel pipe locking in pipe curtain support under extremely hard rock formations, combined with Figure 9 As shown, this disclosure provides a rock-breaking method for steel pipe locking in pipe curtain support under extremely hard rock formations, including: S101, the lateral cutterhead, secondary rock breaking device, tertiary rock breaking device and drive device are assembled to form a lateral rock breaking device, and the lateral rock breaking device is installed on the side of the pipe jacking machine in front of the steel pipe lock. S102, control the pipe jacking machine to start advancing from the starting well, and after the pipe jacking machine head enters the rock formation at the preset length, control the lateral rock breaking device to start and the lateral cutter head to run at the initial cutting speed; S103, calculate the first unbalanced resultant force and the first overturning moment of the lateral cutterhead, as well as the first specific surface area and the first rock breaking energy of the rock debris after the first rock crushing by the lateral cutterhead, the second unbalanced resultant force and the second overturning moment of the secondary rock crushing device, as well as the second specific surface area and the second rock breaking energy of the rock debris after the second rock crushing by the secondary rock crushing device, and the third specific surface area, the third rock breaking energy and the rock debris filling rate of the rock debris after the third rock crushing by the tertiary rock crushing device; S104, based on the first unbalanced resultant force and the first overturning moment, or combined with the first specific surface area and the first rock-breaking specific energy, adjust at least one of the cutting speed and the tool penetration. S105, based on the second unbalanced resultant force and the second overturning moment, or combined with the secondary specific surface area and the secondary rock breaking energy, continue to adjust at least one of the cutting speed and the advance speed of the pipe jacking machine; S106, the cutting speed is further adjusted based on the three specific surface areas, the three rock-breaking energy, and the rock debris filling rate.

[0039] The lateral rock-breaking device is assembled from components such as the lateral cutterhead, secondary rock-breaking device, tertiary rock-breaking device, drive unit, and rotating shaft. This lateral rock-breaking device is installed on the side of the pipe jacking machine, directly in front of the steel pipe locking mechanism. The pipe jacking machine is controlled to advance from the starting well. Once at least half of the machine head has entered the rock formation, the lateral rock-breaking device is activated, and the lateral cutterhead operates at an initial cutting speed. As the pipe jacking machine advances, the state of the lateral cutterhead and the rock-breaking effect will change. This rock-breaking system can achieve tertiary rock-breaking. To ensure the normal operation of the rock-breaking system and maximize its effectiveness, the cutting speed of the lateral cutterhead needs to be dynamically adjusted based on the state of the rock-breaking device during each rock-breaking action and the effect of each rock-breaking operation.

[0040] For the first rock crushing operation, calculate the first unbalanced resultant force and the first overturning moment of the lateral cutterhead, as well as the first specific surface area and the first rock-breaking specific energy of the rock fragments after the first rock crushing operation. For the second rock crushing operation, calculate the second unbalanced resultant force and the second overturning moment of the secondary rock crushing device, as well as the second specific surface area and the second rock-breaking specific energy of the rock fragments after the second rock crushing operation. For the third rock crushing operation, calculate the third specific surface area, the third rock-breaking specific energy, and the rock fragment filling rate of the rock fragments after the third rock crushing operation.

[0041] Based on the first unbalanced resultant force and the first overturning moment, or by combining the first unbalanced resultant force, the first overturning moment, the primary specific surface area, and the primary rock-breaking specific energy, at least one parameter of the cutting speed and the tool penetration is adjusted. Based on the second unbalanced resultant force and the second overturning moment, or by combining the second unbalanced resultant force, the second overturning moment, the secondary specific surface area, and the secondary rock-breaking specific energy, at least one parameter of the cutting speed and the advance speed of the pipe jacking machine is further adjusted. The tertiary rock-breaking device uses rotating blades to break rock in the rock-breaking chamber, and the cutting speed is further adjusted based on the tertiary specific surface area, the tertiary rock-breaking specific energy, and the rock debris filling rate.

[0042] The lateral cutterhead continuously cuts and crushes the rock strata within the locking range of the steel pipe. The cut rock fragments enter the lateral rock-breaking device from the discharge port, and after multiple crushing processes, accumulate in the soil collection box. The collection box is opened and emptied periodically according to the soil content. Simultaneously with the lateral rock-breaking device breaking rock and removing soil, a grouting device injects mixed grout into the rock strata being cut to ensure the stability of the rock strata during construction and prevent collapse and surface subsidence. The rock-breaking, soil removal, and grouting operations of the lateral rock-breaking device are carried out simultaneously in a unified manner.

[0043] With the assistance of the pipe jacking machine and lateral rock breaking device, the steel pipe and its locking mechanism are continuously advanced until they reach the receiving shaft. The pipe jacking construction then continues according to the above procedure, ensuring the stable connection of the locking mechanisms between the steel pipes and the precise arrangement of the pipe positions to complete the construction of the pipe curtain support structure.

[0044] The rock-breaking method for steel pipe locking in pipe jacking under pipe curtain formations, as provided in this disclosure, utilizes a lateral rock-breaking device installed on the side of the pipe jacking machine to continuously impact and cut the lateral hard rock, facilitating the advancement of the locking mechanism. The lateral rock-breaking device can perform multiple rock-breaking operations via a cutterhead, a secondary rock-breaking device, and a tertiary rock-breaking device. During the rock-breaking process, the unbalanced resultant force and overturning moment of the cutterhead and the secondary rock-breaking device, as well as parameters such as the specific surface area and rock-breaking specific energy of the rock fragments after each rock-breaking operation, are calculated. These parameters are then used to regulate parameters such as cutting speed, cutter penetration, and the advance speed of the pipe jacking machine, especially optimizing the cutting speed through multiple rounds of regulation. This establishes a multi-parameter dynamic feedback intelligent speed control scheme for multiple rock-breaking operations in extremely hard rock formations, achieving dynamic regulation of the cutterhead cutting speed to ensure optimal rock-breaking performance and safe and efficient system operation.

[0045] Optionally, combined Figure 10 and Figure 11 A calculation model of the rock-breaking force of the lateral cutterhead is constructed to dynamically optimize the torque and rotational speed of the lateral cutterhead, ensuring efficient rock breaking. Simultaneously, this model can be used for cutterhead design optimization, providing theoretical basis and data support for determining key dimensional parameters and the layout scheme of ball-tooth hobs and tearing cutters.

[0046] ① Rock-breaking force of lateral ball-tooth hobbing cutter: (1) (2) (3) (4) (5) (6) (7) In the formula, R ( y bi ) represents the tool radius function; y bi Indicates the first i Height of the ball tooth portion of each cutting tool; R 1bi Indicates the first i The bottom radius of each tool; θ Indicates the inclination angle of the ball hob; h bi Indicates the first i Each tool penetration depth; a bi This represents the contact angle between the i-th cutting tool and the rock; G ( x ci , y ci, zci ) indicates the first i The centroid coordinates of each tool; n Indicates the number of cutting tools on a ball hob; m ti Indicates the first i The mass of the tool holder for each tool; m b Indicates the mass of the ball tooth; z ti Indicates the first i The coordinates of the center of gravity of each tool holder; z bi No. i The centroid coordinates of the ball teeth of each cutting tool; S bi Indicates the first i The spacing between the cutting tools; C Take 2.12; σ t Indicates the tensile strength of the rock; σ c Indicates the compressive strength of the rock; BThis represents the pressure distribution coefficient at the edge of the tool, with a value range of [-0.2, 0.2]. T Indicates the diameter of the ball tooth; p bi Indicates the first i Compressive stress in the fracture zone of the tool; F bvj Indicates the first j The tangential rolling force of a ball hob; F bnj Indicates the first j Normal rock-breaking force of a single-tooth hob.

[0047] ② Rock-breaking force of the tearing cutter on the front of the side cutterhead: (8) (9) (10) (11) In the formula, E Indicates the elastic modulus of rock; h fk Indicates the first k The penetration depth of a frontal tearing blade; R fk Indicates the radius of the front tear blade; S fk Indicates the spacing of the front tear blades; r fk Indicates the first k The distance from the front tearing blade to the center of the blade disc; a fk Indicates the first i The contact angle between the frontal tearing blade and the rock; F fnk Indicates the first k The normal rock-breaking force of a frontal tearing blade; F fvk Indicates the first k The tangential rolling force of a frontal tearing blade.

[0048] ③ Rock-breaking force of the side tearing cutter of the side cutterhead: (12) (13) (14) (15) (16) In the formula, r le Indicates the firste The distance from the side tearing blade to the center of the blade disc; R le Indicates the radius of the side tearing blade; h le Indicates the first e The penetration depth of the side tearing blade; Indicates the first e The contact angle between the side tearing blade and the rock; γ Indicates the angle between the lateral tear blades; S le Indicates the spacing of the side tear blades; T 1 indicates the width of the side tear blade; p le Indicates the first e Compressive stress in the fracture zone of the side tearing blade; F lne Indicates the first e The normal rolling force of the side tearing blade; F lve Indicates the first e The tangential rock-breaking force of a side tearing blade.

[0049] ④ Rock-breaking force and moment of the lateral rock-breaking cutterhead: (17) (18) (19) (20) (twenty one) (twenty two) In the formula, F x , F y , F z This represents the resultant force of the lateral cutter head along each coordinate axis. r bj Indicates the first j The distance from the ball hob to the center of the side cutter head; M x , M y , Mz This represents the resultant torque of the lateral tool head around each coordinate axis. ω Indicates the lateral angular velocity of the cutter head; t Indicates the rotation time of the lateral cutter head; α j , χ k , Indicates the installation angle of the ball tooth hob, front tearing cutter, and side tearing cutter; H le This indicates the distance from the side tearing blade to the surface of the side cutter head; n 1. n 2. n 3 indicates the number of ball tooth hobs, front tear cutters, and side tear cutters.

[0050] Based on the aforementioned calculation model of the rock-breaking force of the lateral cutterhead, a multi-parameter dynamic feedback intelligent speed control scheme is established for a single rock-breaking process in extremely hard rock formations. First, the characteristics of the surrounding rock at the tunnel face are analyzed to determine an initial cutting speed for the lateral cutterhead. ω The rock-breaking force of the lateral cutterhead is calculated based on this force. The cutting speed is dynamically adjusted based on the magnitude of the rock-breaking force to determine the initial cutting speed that achieves the best rock-breaking effect.

[0051] Using the above formula, calculate the first unbalanced resultant force of the lateral cutterhead. and the first overturning moment The volume of rock fragments after a single crushing operation by the lateral cutterhead was recorded using a built-in optical measuring instrument. V Parameters such as particle size were analyzed, and the specific surface area of ​​the rock fragments was calculated. , , Indicates the surface area of ​​the rock fragments. Indicates the density of the rock fragments. This represents the volume of rock debris. Based on the formula... Calculate rock breaking energy. This indicates the tangential load on the lateral cutterhead. Indicates the distance of rock breaking.

[0052] Optionally, S104, based on the first unbalanced resultant force and the first overturning moment, or in combination with the primary specific surface area and the primary rock-breaking specific energy, at least one of the cutting speed and the tool penetration is adjusted, including: Based on the obtained lateral cutterhead and rock-breaking parameters, the cutting speed is controlled in a closed-loop manner by real-time monitoring the dynamic coupling relationship of the first unbalanced resultant force of the lateral cutterhead, the first overturning moment, the primary specific surface area, the primary rock-breaking specific energy, and the rock debris volume V (the volume of rock debris after one rock-breaking operation by the lateral cutterhead). The specific speed control scheme is as follows: (1) When either or both of the first unbalanced resultant force and the first overturning moment exceed their respective preset upper limits, it indicates that the lateral cutterhead is under unbalanced force and a serious off-center load has occurred. Under this state, the primary rock breaking specific energy and primary specific surface area will increase rapidly, resulting in a large amount of energy wastage. At this time, the control strategy of "reducing the speed - increasing the tool penetration - increasing the speed" should be implemented: first control the cutting speed to decrease, then increase the tool penetration, and then increase the cutting speed after the tool has effectively penetrated the rock layer; (2) When both the first unbalanced resultant force and the first overturning moment are less than their respective preset lower limits: (2.1) If the system exhibits a rock-breaking specific energy and a specific surface area both less than their respective preset lower limits, and the rock debris volume is greater than the first preset volume, then the rock-breaking process is in a highly efficient energy utilization state. In this case, the current cutting speed of the lateral cutterhead should be maintained to ensure the best rock-breaking effect. If the rock debris volume is less than the second preset volume, then the rock-breaking process is in a "pseudo-efficient" state, where the cutter only produces some small cracks on the rock surface and fails to cause effective rock stripping. In this case, the drilling pressure should be checked to see if it is within a reasonable range. If the drilling pressure is qualified, the cutting speed should be increased. If the drilling pressure is unqualified, the cutting speed should be reduced first, and then the lateral cutterhead posture should be adjusted to increase the cutter penetration. After the cutter effectively penetrates the rock layer, the cutterhead rotation speed should be gradually increased to establish a "cutting-fracture" balance. The first preset volume is greater than the second preset volume.

[0053] (2.2) If the system exhibits a rock-breaking specific energy and a specific surface area exceeding their respective preset upper limits, and the rock debris volume exceeds the first preset volume, then the rock-breaking process is in an "over-crushing" state. The high rock-breaking efficiency resulting from excessive energy output should be addressed by reducing the cutting speed while ensuring a higher rock debris volume, in order to optimize the rock-breaking specific energy and specific surface area. If the rock debris volume is less than the second preset volume, then the rock-breaking process is in a "surface grinding" state. Because the tool has not penetrated the rock layer, the drilling pressure is low, and most of the energy is dissipated as heat and vibration. In this case, a control strategy of "reducing the rotation speed - increasing the tool penetration - increasing the rotation speed" should be implemented. That is, first reduce the cutting speed and increase the actual tool penetration, and then gradually increase the cutting speed after the tool has stably penetrated the rock layer, in order to establish an efficient rock-breaking mechanism.

[0054] (2.3) If the system exhibits a single-time specific surface area greater than its own preset upper limit and a single-time rock breaking specific energy less than its own preset lower limit, and if the rock cutting volume is less than the second preset volume, then the rock breaking process is in a "pseudo-efficient" state. At this time, the control scheme should be selected according to the drilling pressure: ① If the drilling pressure is qualified, increase the cutting speed; ② If the drilling pressure is insufficient, implement the control strategy of "reducing the rotation speed - increasing the tool penetration - increasing the rotation speed".

[0055] (2.4) If the system exhibits a single-stage specific surface area less than its preset lower limit and a single-stage rock-breaking specific energy greater than its preset upper limit, and the volume of rock fragments is less than the second preset volume, then the rock-breaking process is in an "ineffective" state, outputting energy but failing to achieve effective rock breaking. In this case, a control strategy of "reducing rotation speed - increasing cutter penetration - increasing rotation speed" should be adopted. If the volume of rock fragments is greater than the first preset volume, then the rock-breaking process is in a "costly high-efficiency" state, achieving rock breaking with high energy output, and the volume of broken rock is relatively large. This indicates that the current combination of drilling pressure and lateral cutterhead rotation speed is at the critical point for achieving hard rock breaking. In this case, while maintaining stable drilling pressure, the cutting speed should be appropriately increased to enhance the breaking frequency per unit time and optimize energy efficiency conversion.

[0056] Optionally, S105, based on the second unbalanced resultant force and the second overturning moment, or in combination with the secondary specific surface area and the secondary rock-breaking specific energy, at least one of the cutting speed and the advance speed of the pipe jacking machine is further adjusted, including: Based on the actual rock-breaking effect of the secondary rock-breaking device, a multi-parameter dynamic feedback intelligent speed control scheme is established for the secondary rock-breaking process. The cutting speed of the lateral cutterhead is corrected secondaryly, and the second unbalanced resultant force of the second annular connector, the second overturning moment, the secondary rock-breaking specific energy, and the secondary specific surface area are used as control indicators. Furthermore, based on the construction idea of ​​the lateral cutterhead rock-breaking force calculation model, the lateral force of the active shear block is introduced. The second unbalanced resultant force and the second overturning moment acting on the second annular connector are calculated, where, ; In the formula, Indicates the shear strength of the rock; Indicates the height of the active shear block; This represents the contact angle between the m-th active shear block and the rock, determined based on the distance from the active shear block to the inner wall of the cylindrical connector; This represents the distance from the m-th active shear block to the center of the annular cutter head it resides in. Where, from... Figure 5 As can be seen, the active shearing block 312 is arranged in multiple rings on the outside of the second annular connector 311, so the collection of each ring of active shearing blocks 312 can be equivalent to an annular cutter head.

[0057] Meanwhile, since the secondary rock-breaking device does not directly contact the rock strata, the penetration depth of its shear blocks into the rock mass is entirely determined by the device's structural dimensions. Therefore, the drilling pressure is reasonable and constant during this process, requiring only adjustment of the cutting speed of the side cutterhead. The specific speed adjustment scheme is as follows: (1) When either the second unbalanced resultant force or the second overturning moment, or both of them, exceed their respective preset upper limits, it indicates that the lateral rock-breaking device is overloaded, and the secondary specific energy will rise rapidly. At this time, even if the secondary specific surface area is large, the overall rock-breaking effect of the lateral rock-breaking device will be severely deteriorated. At this time, the cutting speed and the pipe jacking machine's advance speed should be reduced immediately to reduce the load on the shear blocks. Then, the lateral cutterhead should be rotated in both directions until the second unbalanced resultant force or the second overturning moment falls back to a reasonable range before the cutting speed can be increased again to restore efficient rock-breaking.

[0058] (2) When the second unbalanced resultant force and the second overturning moment are less than their respective preset lower limits: (2.1) When the secondary rock-breaking energy is less than its preset lower limit: (2.1.1) If the secondary specific surface area is greater than its own preset upper limit value, the rock breaking process is in a state of efficient energy utilization, and the current cutting speed of the lateral cutterhead should be maintained. (2.1.2) If the secondary specific surface area is less than its own preset lower limit, the rock breaking process is in a "pseudo-efficient" state, with less energy consumed, but the rock debris is not further broken. At this time, the cutting speed needs to be increased to increase the impact frequency and improve the rock breaking effect.

[0059] (2.2) When the secondary rock-breaking energy is greater than its preset upper limit: (2.2.1) If the secondary specific surface area is greater than its preset upper limit, the rock-breaking process is in a state of "costly high efficiency," with low rock-breaking efficiency of the lateral cutterhead but good secondary crushing effect. In this case, if there is a lot of residual rock debris in the device, adjustments can be temporarily postponed. After the secondary crushing is completed, the cutting speed of the lateral cutterhead should be increased immediately to compensate for the insufficient rock-breaking efficiency of the cutterhead. (2.2.2) If the secondary specific surface area is less than its own preset lower limit, the rock breaking process is in an "invalid" state, outputting high energy and failing to further break the rock debris. At this time, it is necessary to reduce the cutting speed of the side cutter head and the advance speed of the pipe jacking machine, and then repeatedly rotate the side cutter head in both directions to disperse the position of the rock debris. Once the secondary specific energy is reduced to a reasonable range, the cutting speed is increased again.

[0060] Optionally, S106, based on the three specific surface areas and the three rock-breaking specific energy, the cutting speed is further adjusted, including: Based on the actual rock-breaking effect of the tertiary rock-breaking device, a multi-parameter dynamic feedback intelligent speed control scheme was established for the tertiary rock-breaking process, and the cutterhead cutting speed was corrected for the third time. Since this part is located in a semi-enclosed rock-breaking chamber and uses rotating blades for rock breaking, the tertiary rock-breaking specific energy, tertiary specific surface area, and rock debris filling rate were used. As a control indicator. , This indicates the loose volume of rock fragments within the rock-breaking chamber. This indicates the effective total volume of the rock-breaking chamber. Furthermore, the drilling pressure of this device is the same as that of the secondary rock-breaking device; the penetration depth is determined by the structural dimensions; and the rock-breaking effect is mainly affected by the cutting speed of the lateral cutterhead. The specific speed control scheme is as follows: (1) When the rock breaking specific energy of the three times is less than its own preset lower limit and the specific surface area of ​​the three times is greater than its own preset upper limit, if the rock debris filling rate η is less than the first filling rate (i.e., the rock debris filling rate is low), it means that the rock breaking process is in a state of efficient energy utilization, and the rock breaking chamber can continue to accommodate rock fragments. The amount of rock fragments has little impact on the rock breaking effect, and the current cutting speed can be maintained. If the rock debris filling rate η is greater than the second filling rate (i.e., the rock debris filling rate is high), it means that the rock breaking chamber volume is insufficient. The high amount of rock fragments in the chamber will increase the rock breaking specific energy and reduce the rock breaking efficiency. At this time, the cutting speed should be appropriately reduced and the chamber door should be opened to discharge the rock fragments. When the rock debris filling rate η is reduced to a reasonable range, the cutting speed should be increased again. (2) When the specific energy and specific surface area of ​​the three rock breaking processes are less than their respective preset lower limits, it indicates that the rock breaking process is in a "pseudo-efficient" state. Due to insufficient energy output, the energy utilization rate seems high, but the overall crushing amount is extremely small. At this time, the cutting speed should be increased to increase the energy output and thus ensure the rock breaking effect. (3) When the specific energy and specific surface area of ​​the three rock-breaking processes are greater than their respective preset upper limits, it indicates that the rock-breaking process is in a state of "costly high efficiency". The efficiency of the lateral cutter head is low, but the three-stage crushing effect is good. At this time, if the rock debris filling rate η is less than the first filling rate, the cutting speed is increased to improve the rock-breaking effect of the lateral cutter head. If the rock debris filling rate η is greater than the second filling rate, the adjustment of the rock-breaking effect of the lateral cutter head is temporarily suspended, and the control strategy of "reducing the speed - opening the hatch - increasing the speed" is adopted: first, the cutting speed is reduced and the hatch is opened to discharge the crushed rock. When the rock debris filling rate is reduced to a reasonable range, the cutting speed is increased. (4) When the specific energy of the three rock-breaking stages exceeds its preset upper limit and the specific surface area of ​​the three rock-breaking stages is less than its preset lower limit, it indicates that the lateral rock-breaking device is overloaded and the rock-breaking effect is severely deteriorated. At this time, the cutting speed should be reduced immediately to prevent the device from being damaged due to excessive load, and then the hatch should be opened to discharge slag. After the specific energy of the three rock-breaking stages and the specific surface area of ​​the three rock-breaking stages have recovered to a reasonable range, the cutting speed can be appropriately increased.

[0061] Thus, when the lateral rock-breaking device is performing rock-breaking operations, combined with the speed control scheme of the above-mentioned multiple rock-breaking processes, the system can continuously optimize itself based on multi-parameter feedback, dynamically determine and maintain the cutting speed when the rock-breaking effect is optimal.

[0062] Optionally, the grouting speed setting needs to be dynamically linked to the cutter penetration and rock breaking energy. When the energy is high, it indicates the cutterhead is in an inefficient state such as "surface grinding," "over-crushing," or "ineffectiveness," with energy dissipated as heat and vibration. The resulting high temperature will lead to rock mass strength deterioration. Furthermore, excessive penetration will cause excessive compression of the surrounding rock, triggering the propagation of microcracks outside the design contour line and expanding the loosened zone of the surrounding rock. Therefore, the grouting speed should be dynamically adjusted according to the primary rock breaking energy and the cutter penetration: if the primary rock breaking energy is lower than its preset lower limit, indicating a good rock breaking efficiency stage, the grouting speed can be maintained; if the primary rock breaking energy is higher than its preset upper limit, indicating poor rock breaking efficiency, the grouting speed needs to be increased accordingly to strengthen timely support for the damaged surrounding rock. In addition, when increasing the advance speed to increase the cutter penetration, the grouting speed should also be increased simultaneously to ensure that the support capacity matches the level of tunneling disturbance and effectively control surrounding rock deformation.

[0063] The technical solutions of this disclosure can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in this disclosure. The aforementioned storage medium can be a non-transitory storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc., and other media capable of storing program code.

[0064] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. The mechanisms and features of some embodiments may be included in or replace the mechanisms and features of other embodiments. Moreover, the terminology used herein is for descriptive purposes only and is not intended to limit the claims. Without further limitations, an element defined by the phrase "comprising a…" does not exclude the presence of additional identical elements in the process, method, or apparatus that includes said element. Throughout this document, each embodiment may emphasize differences from other embodiments, and similar mechanisms between embodiments may be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the mechanism of the disclosed method, the relevant details may be referred to the description of the mechanism.

[0065] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0066] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or code unit containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description; sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be performed substantially in parallel, and they may sometimes be performed in reverse order, depending on the functionality involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A rock-breaking method suitable for steel pipe locking in pipe curtain support under extremely hard rock formations, characterized in that, include: The lateral cutterhead, secondary rock breaking device, tertiary rock breaking device and drive device are assembled to form a lateral rock breaking device, and the lateral rock breaking device is installed on the side of the pipe jacking machine in front of the steel pipe lock. The pipe jacking machine is controlled to start advancing from the starting well, and after the pipe jacking machine head enters the rock formation at a preset length, the lateral rock breaking device is controlled to start and the lateral cutter head runs at the initial cutting speed. Calculate the first unbalanced resultant force and the first overturning moment of the lateral cutterhead, as well as the first specific surface area and first rock-breaking specific energy of the rock debris after the first rock crushing by the lateral cutterhead; calculate the second unbalanced resultant force and the second overturning moment of the secondary rock crushing device, as well as the second specific surface area and second rock-breaking specific energy of the rock debris after the second rock crushing by the secondary rock crushing device; calculate the third specific surface area, third rock-breaking specific energy and rock debris filling rate of the rock debris after the third rock crushing by the tertiary rock crushing device. Based on the first unbalanced resultant force and the first overturning moment, or in combination with the first specific surface area and the first rock-breaking specific energy, at least one of the cutting speed and the tool penetration is adjusted; Based on the second unbalanced resultant force and the second overturning moment, or in combination with the secondary specific surface area and the secondary rock-breaking specific energy, continue to adjust at least one of the cutting speed and the advance speed of the pipe jacking machine; The cutting speed is further adjusted based on the three specific surface areas, the three rock-breaking specific energy, and the rock debris filling rate.

2. The rock-breaking method for steel pipe locking under pipe curtain support in extremely hard rock formations according to claim 1, characterized in that, The step of adjusting at least one of the cutting speed and tool penetration based on the first unbalanced resultant force and the first overturning moment, or in combination with the first specific surface area and the first rock-breaking specific energy, includes: When the first unbalanced resultant force and / or the first overturning moment are greater than their respective preset upper limits, the cutting speed is first reduced, then the penetration of the tool is increased, and the cutting speed is increased after the tool has effectively penetrated the rock layer. When the first unbalanced resultant force and the first overturning moment are less than their respective preset lower limits, the primary specific surface area and the primary rock breaking specific energy are determined. When the primary surface area and the primary rock-breaking energy are less than their respective preset lower limits: if the volume of rock debris is greater than the first preset volume, the cutting speed is kept constant; if the volume of rock debris is less than the second preset volume, the drilling pressure is checked; if the drilling pressure is qualified, the cutting speed is increased; if the drilling pressure is unqualified, the cutting speed is first reduced, then the penetration of the tool is increased, and the cutting speed is increased after the tool has effectively penetrated the rock layer. When the primary surface area and the primary rock breaking energy are greater than their respective preset upper limits: if the volume of rock fragments is greater than the first preset volume, the cutting speed is reduced; if the volume of rock fragments is less than the second preset volume, the cutting speed is reduced first, then the penetration of the tool is increased, and the cutting speed is increased again after the tool has stably penetrated the rock layer. When the first specific surface area is greater than its own preset upper limit and the first rock breaking specific energy is less than its own preset lower limit: if the rock debris volume is less than the second preset volume, then the drilling pressure is detected; if the drilling pressure is qualified, then the cutting speed is controlled to increase; if the drilling pressure is unqualified, then the cutting speed is first controlled to decrease, then the penetration of the tool is increased, and the cutting speed is increased again after the tool has stably penetrated the rock layer. When the primary surface area is less than its own preset lower limit and the primary rock breaking energy is greater than its own preset upper limit: if the volume of rock fragments is less than the second preset volume, the cutting speed is reduced first, and then the penetration of the tool is increased. After the tool effectively penetrates the rock layer, the cutting speed is increased. If the volume of rock fragments is greater than the first preset volume, the cutting speed is increased while ensuring stable drilling pressure.

3. The rock-breaking method for steel pipe locking under pipe curtain support in extremely hard rock formations according to claim 1, characterized in that, The step of further adjusting at least one of the cutting speed and the tunnel boring machine's advance speed based on the second unbalanced resultant force and the second overturning moment, or in combination with the secondary specific surface area and the secondary rock-breaking specific energy, includes: When the second unbalanced resultant force and / or the second overturning moment exceed their respective preset upper limits, the cutting speed and the advance speed of the pipe jacking machine are reduced, and the side cutter head is rotated in both directions. After the second unbalanced resultant force and / or the second overturning moment fall back to a reasonable range, the cutting speed is increased again. When the second unbalanced resultant force and the second overturning moment are less than their respective preset lower limits, the secondary specific surface area and the secondary rock breaking specific energy are determined. When the secondary rock-breaking specific energy is less than its own preset lower limit: if the secondary specific surface area is greater than its own preset upper limit, the cutting speed is controlled to remain unchanged; if the secondary specific surface area is less than its own preset lower limit, the cutting speed is controlled to increase. When the secondary rock-breaking specific energy is greater than its preset upper limit: if the secondary specific surface area is greater than its preset upper limit, the cutting speed is increased after the secondary rock breaking is completed; if the secondary specific surface area is less than its preset lower limit, the cutting speed and the advance speed of the pipe jacking machine are reduced, and the lateral cutterhead is rotated repeatedly in both directions until the secondary rock-breaking specific energy is reduced to a reasonable range, and the cutting speed is increased again.

4. The rock-breaking method for steel pipe locking under pipe curtain support in extremely hard rock formations according to claim 1, characterized in that, The step of further adjusting the cutting speed based on the three specific surface areas, the three rock-breaking specific energy, and the rock debris filling rate includes: When the specific energy of the three rock breaking operations is less than its own preset lower limit and the specific surface area of ​​the three operations is greater than its own preset upper limit: if the rock debris filling rate is less than the first filling rate, the cutting speed is controlled to remain unchanged; if the rock debris filling rate is greater than the second filling rate, the cutting speed is controlled to decrease and the hatch is opened to discharge the broken rock. When the rock debris filling rate decreases to a reasonable range, the cutting speed is controlled to increase. When the specific rock-breaking energy and the specific surface area of ​​the three rock breaking processes are less than their respective preset lower limits, the cutting speed is controlled to increase. When the specific energy of the three rock breaking operations and the specific surface area of ​​the three operations are greater than their respective preset upper limits: if the rock debris filling rate is less than the first filling rate, the cutting speed is increased; if the rock debris filling rate is greater than the second filling rate, the cutting speed is decreased, and the hatch is opened to discharge the broken rock. When the rock debris filling rate is reduced to a reasonable range, the cutting speed is increased. When the three rock-breaking specific energy is greater than its preset upper limit and the three specific surface area is less than its preset lower limit, the cutting speed is controlled to decrease; after the three rock-breaking specific energy and the three specific surface area recover to a reasonable range, the cutting speed is controlled to increase.

5. The rock-breaking method for steel pipe locking under pipe curtain support in extremely hard rock formations according to claim 1, characterized in that, The method further includes: The grouting speed is adjusted based on the penetration depth of the cutting tool and the specific rock-breaking energy of the first pass. If the rock breaking ratio is lower than its own preset lower limit, the grouting speed is controlled to remain unchanged; If the rock breaking ratio in a single step is greater than its preset upper limit, the grouting speed is increased. When increasing the feed rate to increase the penetration of the cutter, the grouting speed is simultaneously increased.

6. The rock-breaking method for steel pipe locking under pipe curtain support in extremely hard rock formations according to any one of claims 1 to 5, characterized in that, , The first unbalanced resultant force of the lateral cutterhead, , This represents the resultant force of the lateral cutter head in each coordinate axis direction; , The first overturning moment of the lateral cutterhead. , This represents the resultant torque of the lateral tool head around each coordinate axis; , is the specific surface area of ​​the rock fragment. The surface area of ​​the rock fragment. The density of the rock fragments. The volume of the rock debris; , For rock breaking specific energy, This indicates the tangential load on the lateral cutterhead. Indicates the distance of rock breaking.

7. A rock-breaking system suitable for steel pipe locking in pipe curtain support under extremely hard rock formations, characterized in that, include: Pipe jacking machine, including: machine casing; A lateral rock-breaking device is disposed on the side of the housing; The lateral rock-breaking device includes: The side cutterhead is equipped with a soil outlet for the first stage of rock breaking; A secondary rock crushing device includes: a first rotating mechanism and a first fixing mechanism, wherein the first rotating mechanism is connected to the lateral cutter head and the first fixing mechanism is connected to the housing; and the interior of the secondary rock crushing device is connected to the outlet; the rock fragments crushed in the primary stage enter the interior of the secondary rock crushing device through the outlet and are subjected to secondary rock crushing under the grinding of the first rotating mechanism and the first fixing mechanism; A drive unit is disposed inside the housing and is connected to the rotating shaft for transmission. A transmission mechanism is connected between the rotating shaft and the lateral cutter head; The three-stage rock crushing device includes: a second rotating mechanism and a second fixing mechanism. The second rotating mechanism is disposed on the rotating shaft, and the second fixing mechanism is fixedly connected to the inner wall of the housing. The rock fragments after secondary crushing enter the interior of the three-stage rock crushing device and are crushed three times under the grinding of the second rotating mechanism and the second fixing mechanism.

8. The rock-breaking system for steel pipe locking under pipe curtain support in extremely hard rock formations according to claim 7, characterized in that, The first rotating mechanism includes: The second annular connector has one end face connected to the side of the lateral cutter head facing the housing; An active shearing block is disposed on the outer annular surface of the second annular connector; The first fixing mechanism includes: A cylindrical connector is fixedly connected inside the housing; A passive shearing block is disposed on the inner annular surface of the cylindrical connector and located outside the active shearing block; An annular rock-breaking space for secondary rock breaking is formed between the active shear block and the passive shear block.

9. The rock-breaking system for steel pipe locking under pipe curtain support in extremely hard rock formations according to claim 7, characterized in that, The second rotating mechanism includes: The excavation thread is located on the outer wall of the rotating shaft; The active rotating blades are arranged in multiple rings on the outer wall of the rotating shaft; The second fixing mechanism includes: The rock-breaking chamber is cylindrical and fitted outside the rotating shaft, and is equipped with an openable and closable door. It is fixed to the inner wall of the casing through a rock-breaking chamber connector. A passive rotating blade is disposed along the axial direction of the rotation axis on the inner wall of the rock-breaking layer and corresponds to the active rotating blade; The active rotating blade and the passive rotating blade form an annular rock-breaking space for three-stage rock breaking.

10. The rock-breaking system for steel pipe locking under pipe curtain support in extremely hard rock formations according to claim 7, characterized in that, Also includes: Soil collection box, including: The box body is fixed to the machine housing at the bottom by a support rod, and a soil inlet is provided at the top, which corresponds to the three-stage rock crushing device; A retractable, electrically operated cover is installed at the soil inlet to collect rock debris that has undergone three crushing processes. Grouting device, including: A stirring blade is installed on the outer wall of the rotating shaft; A mixing tank is fitted outside the rotating shaft and filled with slurry, with an inlet located therein; A liquid pump is connected to the mixing tank via a liquid outlet pipe and to the grouting port located on the machine casing via a grouting conduit. An electronic valve is installed in the liquid outlet pipe.

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