Mining abrasive water jet assisted rock breaking operation robot

Abstract

The invention relates to the technical field of abrasive jet assisted rock breaking, in particular to a mining abrasive water jet assisted rock breaking operation robot. The robot integrates a crawler walking chassis, a front mixing horizontal double-abrasive-tank device, an auger sand conveying mechanism and a multi-degree-of-freedom cutting arm, a high-pressure hose and a rotary drill rod are communicated through a high-pressure rotary sealing connector, a segmented quick-change drill rod and a high-pressure switching valve are further designed, a full-electric component is a mining explosion-proof component, and the full-electric component is a high-pressure-resistant component. And a composite rock breaking rate and double-tank buffer coefficient calculation model is established. The maneuverability and adaptability of equipment under complex underground working conditions are effectively improved, closed continuous conveying of grinding materials is achieved, the composite rock breaking synergistic effect is exerted, the equipment stability and the operation intrinsic safety are enhanced, the underground long-time continuous accurate rock breaking requirement is met, and reliable equipment support is provided for mine roadway tunneling.

Description

Technical Field

[0001] This invention relates to the field of abrasive jet-assisted rock breaking technology, specifically a mining abrasive water jet-assisted rock breaking robot. Background Technology

[0002] Rock breaking in underground mines is a core process in mine roadway excavation and stope preparation, and its efficiency and safety directly determine the overall production efficiency of the mine. Currently, the mainstream rock breaking methods in mines are mainly divided into three categories: blasting rock breaking, purely mechanical rock breaking, and conventional abrasive water jet rock breaking. All three technologies have significant technical defects and challenges in adapting to different working conditions in actual underground applications: While blasting rock breaking has high efficiency, it poses significant combustion and explosion risks in flammable and explosive environments such as gas and coal dust. Furthermore, blasting operations cause significant disturbance to the rock mass, easily leading to secondary problems such as roof collapse and rock fissure development. Additionally, blasting rock breaking has low precision, making it difficult to meet the requirements of fine rock breaking such as irregular cross-sections and precise trench widening. Purely mechanical rock breaking relies on the mechanical rotation and impact of drill rods and drill bits to achieve rock breaking. In medium-hard and hard rock conditions, it suffers from rapid drill bit wear, low rock breaking efficiency, and high energy consumption. Moreover, the traditional mechanical rock breaking equipment... Arms are mostly fixed or have low degrees of freedom, which limits the adjustment of their working posture in the narrow and undulating underground tunnels, resulting in a large number of blind spots and making them unsuitable for breaking rocks in irregularly shaped strata and inclined veins. Conventional abrasive waterjet rock breaking, as a cold cutting technology, has no sparks and low heat impact, fundamentally avoiding the risk of combustion and explosion, and has low energy consumption for rock breaking. However, existing equipment is mostly fixed or semi-fixed, which is not compatible with the needs of mobile underground operations. At the same time, the abrasive supply system mostly adopts a single abrasive tank design without a dedicated abrasive conveying mechanism. Manual abrasive feeding can easily lead to work interruptions, and spillage and dust problems are prone to occur during abrasive conveying, which not only pollute the underground working environment but also cause uneven abrasive mixing and pipeline blockage, affecting the stability of jet rock breaking.

[0003] Existing technologies have also seen a few composite rock-breaking devices that combine abrasive water jets with mechanical rock breaking, attempting to combine the advantages of both technologies. However, these devices generally suffer from low overall integration: most simply splice the abrasive water jet components with the mechanical rock-breaking components without forming an effective integrated design with the chassis, resulting in poor equipment mobility and difficulty in flexibly deploying them on different working faces downhole; the connection design between the abrasive water jet feeding and mixing components and the rock-breaking actuator arm is unreasonable, lacking a multi-degree-of-freedom cutting arm structure adapted to the complex downhole space, limiting the adjustment of the jet mechanical drill bit's working posture and failing to achieve precise rock breaking in all spaces; at the same time, there is no dedicated closed sand conveying mechanism, and the abrasive conveying process from storage to mixing lacks effective control, making it difficult to guarantee the continuity and stability of abrasive supply and failing to meet the requirements of long-term continuous rock-breaking operations downhole.

[0004] In addition, the abrasive tanks of existing mining abrasive water jet equipment are mostly vertical structures. In the narrow equipment installation space underground, the layout of vertical abrasive tanks can easily lead to the overall center of gravity of the equipment being too high. During operation, the equipment is prone to displacement due to jet backflow and rock vibration. At the same time, vertical abrasive tanks have problems with poor feeding and easy bridging of material at discharge, which further affects the stable output of abrasive water jets.

[0005] To address the shortcomings of existing technologies, there is an urgent need to develop an abrasive waterjet-assisted rock-breaking equipment adapted to complex underground working conditions. This equipment should integrate walking, sand conveying, abrasive mixing, and composite rock breaking into a single unit. This would solve the technical problems of poor adaptability to the working space, discontinuous abrasive supply, low equipment integration, and underutilization of composite rock-breaking efficiency in existing equipment. Simultaneously, it should meet the inherent safety requirements of underground gas and high-dust environments, thereby improving the efficiency, safety, and continuity of underground rock-breaking operations in mines. Summary of the Invention

[0006] To address the technical problem that existing mining abrasive waterjet equipment cannot meet the requirements of long-term, continuous, and precise rock-breaking operations underground, this invention provides a mining abrasive waterjet-assisted rock-breaking robot.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A mining abrasive waterjet-assisted rock-breaking robot includes a tracked chassis and a front-mixing horizontal dual abrasive tank device mounted on the tracked chassis. The tracked chassis also has a fixed auger sand conveying mechanism and a support frame. An abrasive waterjet cutting arm adaptable to the underground space is mounted on the top of the support frame. The front-mixing horizontal dual abrasive tank device is dynamically and sealed to the mechanical drill rod at the end of the abrasive waterjet cutting arm via a high-pressure hose and a high-pressure rotary sealing joint. The mechanical drill rod is equipped with a jet mechanical drill bit at its end, and a through-hole is opened along its axis inside the mechanical drill rod. The jet mechanical drill bit integrates a central guide cavity and circumferential lateral nozzle channels, with the central guide cavity seamlessly connected to the central through-hole of the drill rod. The working posture of the abrasive waterjet cutting arm can be adjusted according to work requirements. The abrasive waterjet from the front-mixing horizontal dual abrasive tank device is ejected at high speed through the central through-hole of the drill rod and the drill bit guide cavity from the lateral nozzle channels.

[0008] As a further embodiment of the present invention: the abrasive waterjet cutting arm includes a load-bearing chassis that can be displaced along the width direction of the tracked chassis. The bottom of the load-bearing chassis is equipped with two parallel double guide rails along the length direction of the tracked chassis, and the top is equipped with a hydraulic tank and a lifting guide rail arranged along the length direction of the tracked chassis. The hydraulic tank is connected to the double guide rails and the lifting guide rail through hydraulic pipes and push rods, and is also connected to a hydraulic motor through hydraulic pipes. The hydraulic motor is connected to the mechanical drill rod through gear transmission. A single guide rail that can control the forward and backward displacement of the jet mechanical drill bit is mounted on the lifting guide rail.

[0009] As a further embodiment of the present invention: the bottom of the support frame is equipped with two parallel mounting bases and four parallel mounting bases, the horizontal sand mixing tank of the front mixing horizontal double abrasive tank device is fixed on the mounting base, and the sand mixing valve is fixed on the mounting base; the side of the support frame is equipped with a bracket for fixing the auger sand conveying mechanism, the upper part is equipped with a flip cover, and the front end is equipped with lighting equipment.

[0010] As a further aspect of the present invention: the working end of the jet mechanical drill bit and the mechanical drill rod are fixedly connected by a standardized threaded connection and a hydraulic locking quick-change structure; the mechanical drill rod is a segmented structure, which can be connected and disassembled section by section through a high-strength coupling joint, and the length can be flexibly adjusted according to drilling requirements.

[0011] As a further embodiment of the present invention: the front part of the auger sand conveying mechanism is provided with a motor and a flip-top material inlet, and the end of the auger sand conveying mechanism is provided with a rotary pouring device that can accurately align with the feed inlet of the pre-mixing horizontal double grinding tank device.

[0012] As a further embodiment of the present invention: the pre-mixing horizontal dual abrasive tank device includes two horizontal sand mixing tanks, each with a sand mixing valve at its inlet and a high-pressure switching valve on its side, the inlet of which is connected to a high-pressure plunger pump; a funnel or a screw cap can be selectively installed above the sand mixing valve, the funnel being connected to the rotary pouring device of the auger sand conveying mechanism; the outlets of both horizontal sand mixing tanks are connected to a high-pressure hose via a stop valve and a confluence block.

[0013] As a further embodiment of the present invention: a one-way valve is installed between the high-pressure switching valve and the horizontal sand mixing tank, wherein the flow direction of the one-way valve is from the high-pressure switching valve to the horizontal sand mixing tank; and a servo motor switch for precisely adjusting the opening degree is provided on the shut-off valve.

[0014] As a further embodiment of the present invention: the tracked chassis is a wide-body tracked structure driven by an explosion-proof motor, and all electric components of the equipment adopt mining explosion-proof motors; the rear of the tracked chassis is provided with a cable inlet and a hose inlet, and the interior is provided with a hose guide groove for combing and protecting the high-pressure hose.

[0015] As a further aspect of the present invention: the drilling speed of the jet mechanical drill bit in combined rock breaking The formula for calculating Vc is as follows, determined by the coupling of jet-assisted rock-breaking power and mechanical rock-breaking power: ; In the formula, This indicates the mechanical rock-breaking power output of the hydraulic motor; Indicates the effective rock-breaking power of the jet; Indicates the uniaxial compressive strength of rock; Indicates the tensile strength of the rock; Indicates the cross-sectional area of ​​the drill bit; Indicates the mechanical rock-breaking efficiency coefficient; This represents the jet rock-breaking efficiency coefficient; Indicates the jet-mechanical synergistic rock-breaking coefficient; Indicates the coupling coefficient of the operating conditions; ; In the formula, Indicates the working pressure of the jet; Indicates the actual flow rate of the jet; Indicates the jet energy transfer efficiency; Indicates the mass flow rate of the abrasive; This indicates the impact velocity of the abrasive particles; Indicates the dynamic viscosity of the abrasive slurry; Indicates the total equivalent length of the high-pressure pipeline; Indicates the inner diameter of the pipe; ; In the formula, Indicates drilling pressure; Indicates the drill bit feed rate; This represents the torque of a purely mechanical drill bit without jet assistance. Indicates the jet torque reduction coefficient; This indicates a reference value for jet power. Indicates the torque decay index; This indicates the drill bit rotation speed.

[0016] As a further aspect of the present invention: the system's continuous operation capability is achieved through the single-tank filling time. Single tank operation time and dual-tank buffer coefficient The coupling determination is calculated using the following formula: ; In the formula, Indicates the effective loading capacity of a single horizontal sand mixing tank; This indicates the fixed auxiliary time for the flip-top opening / closing and material pouring device alignment; Indicates the system switching stabilization time; Indicates the effective abrasive consumption rate; This refers to the actual conveying capacity of the screw conveyor. ; In the formula, Indicates the diameter of the auger rotor blades; Indicates the pitch; Indicates the auger shaft speed; Indicates the abrasive filling factor; Indicates the bulk density of the abrasive; This represents the correction factor for uneven filling. Indicates the material property correction factor. ; Indicates the angle at which the auger is installed; Indicates the median particle size of the abrasive; Indicates the standard median particle size; Indicates the moisture content of the abrasive; Indicates standard moisture content; ; ; In the formula, This refers to the switching time between the two tanks. when At this time, the system can achieve uninterrupted abrasive supply, meeting the requirements of long-term continuous rock breaking operations; when At this time, it is necessary to adjust the abrasive concentration. Screw speed Or optimize the auxiliary time Perform parameter matching.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. The mining abrasive waterjet-assisted rock-breaking robot of this invention, through the collaborative design of "tracked chassis + hydraulic lifting guide rail + multi-degree-of-freedom cutting arm," achieves precise full-space coverage operation in narrow and undulating mine roadways. The hydraulic lifting guide rail provides a large-stroke vertical adjustment capability, directly adapting to the height changes of the roadway roof and floor, completely eliminating the blind spots of traditional fixed-height equipment; the cutting arm integrates lateral displacement, longitudinal feed, vertical lifting, and multi-degree-of-freedom attitude adjustment functions, enabling its end-effector, the jet mechanical drill bit, to have all-dimensional movement capabilities. It can freely position and orient itself in the entire space in front of, behind, left, right, up, and down of the roadway section, always aiming at irregularly shaped rock formations, inclined veins, or complex contour targets at the optimal working angle. For example, when cutting arc-shaped sections, the cutting arm can be adjusted in conjunction to ensure that the jet always remains vertically incident, thereby achieving precise and efficient rock-breaking and cutting operations that are "point-and-shoot," significantly expanding the application scenarios of abrasive waterjet technology in complex underground terrain.

[0018] 2. This invention employs a pre-mixing horizontal dual abrasive tank feeding system with a high-pressure switching valve, fundamentally solving the abrasive supply problem for long-term continuous underground operations. This system deeply adapts pre-mixing abrasive waterjet technology to the mining environment. Through the integrated design of the horizontal dual-tank layout, closed conveying system, and high-pressure switching valve, it overcomes the problems of uneven abrasive mixing and pipeline blockage that easily occur in traditional post-mixing methods. Simultaneously, it avoids the pollution and safety risks of open systems in high-dust underground environments. It can continuously and stably generate high-energy jets in the humid and confined space of a mine, providing reliable power for auxiliary rock breaking. The dual-tank design supports "one in use, one on standby" or alternating feeding. The high-pressure switching valve allows for "hot switching" of the feeding source within 10 seconds, with jet pressure and flow fluctuations controlled within ±5%, ensuring absolute continuity of drilling operations. It is particularly suitable for long-distance tunnel excavation or large-scale rock breaking projects. In addition, the system adopts a 2×20L abrasive tank capacity configuration, which ensures continuous operation for 1-2 hours without the need for feeding, while avoiding the equipment bulkiness and reduced mobility caused by excessively large tanks. It achieves the best balance between continuous operation and overall machine flexibility, effectively ensuring the continuity, efficiency and quality of underground rock breaking operations.

[0019] 3. This invention adopts an integrated design of the auger conveying mechanism and the mounting base, achieving a closed and stable controllable entire process from abrasive storage and transportation to mixing. This mechanism, through the coordinated operation of two augers and a rotary discharge port, seamlessly connects with the twin horizontal abrasive tanks. One set of augers is responsible for quantitatively feeding the spare tank from the external storage silo, while the other serves the working tank, realizing a "use-as-you-go" cyclical feeding mode. The rotary discharge port can precisely align with the tank's inlet, effectively preventing spillage and dust. The entire mechanism has excellent sealing performance, resisting the impact of the high-dust environment underground on the purity of the abrasive. Its rigid connection with the mounting base ensures that the feeding path remains stable when the tracked chassis moves or is subjected to vibration, avoiding unstable jet pressure caused by feeding fluctuations. This innovative design essentially guarantees uninterrupted abrasive supply during continuous rock-breaking operations for several hours, thereby maintaining stable jet parameters, ensuring uniform rock-breaking depth, and completely avoiding the risk of decreased operating efficiency and rock mass temperature changes caused by stopping for feeding.

[0020] 4. Key structural components of this invention, such as the support frame and mounting base, are made of high-strength alloy materials and rigidly connected to the vehicle body with bolts, forming a stable load-bearing system that gives the entire machine excellent impact and vibration resistance. Under the impact loads commonly encountered in underground mining, such as blasting vibrations and rockfalls, this structure can effectively absorb and disperse energy, preventing deformation or misalignment of the upper hydraulic guide rail and precision cutting arm, ensuring that the high-pressure jet can still operate stably along the preset trajectory under harsh working conditions. Simultaneously, the robot body adopts a fully enclosed frame design, completely enclosing the hydraulic system, electrical control unit, and feeding system. This not only resists rockfall impacts and collisions but also effectively isolates high-concentration dust and water spray, providing a clean and dry operating environment for the internal equipment. This integrated structure significantly extends the equipment's service life and reduces the risk of failure due to external interference, while improving the machine's survivability and operational stability in hazardous environments.

[0021] 5. The installation of a one-way valve in the high-pressure water system is a key safety and reliability design feature of this invention. This one-way valve is installed between the high-pressure switching valve and the horizontal mixing tank, strictly limiting the water flow direction to from the pump to the tank. It effectively prevents the residual high-pressure abrasive slurry in the tank from flowing back and impacting the precision components of the high-pressure water pump (such as plungers and seals) in the event of a sudden system shutdown or valve malfunction, thus avoiding catastrophic damage caused by the "water hammer" effect. Given the extreme difficulty and expense of downhole high-pressure water pump maintenance, this design significantly reduces the risk of core component failure and maintenance costs.

[0022] 6. This invention, through its modular quick-change interface and segmented drill rod system design, significantly improves the efficiency of drill rod and drill bit replacement and the adaptability to drilling depth. The drill rod and jet mechanical drill bit adopt a standardized threaded fit and hydraulic locking quick-change structure, allowing for disassembly and assembly within minutes without auxiliary tools. It supports the replacement of different drill bit specifications according to rock type, greatly enhancing the responsiveness to complex geological conditions and reducing downtime caused by drill bit wear or changes in operating conditions. Simultaneously, the drill rod adopts a segmented design, achieving section-by-section connection and disassembly through high-strength coupling joints. The length can be flexibly adjusted according to actual drilling needs, covering the entire range of operations from shallow to deep holes. Without replacing the main equipment, it effectively handles rock breaking and exploration tasks at different depths and stages in the mine, comprehensively enhancing the equipment's process adaptability and continuous operation capability.

[0023] 7. This invention constructs a highly scalable and automated control system, providing a solid foundation for intelligent robot operations in complex underground environments. Key valves in the system, such as the high-pressure switching valve, shut-off valve, and sand-mixing valve, are all driven by servo motors or electromagnetics and integrated with position sensors. This supports precise one-button switching and proportional adjustment from a remote explosion-proof control room, enabling accurate remote control of abrasive flow rate, jet start / stop, and feed path, significantly improving operational safety and consistency. This electrical control architecture can be further linked with pressure, flow, and posture sensors. Through real-time monitoring and feedback of jet pressure, abrasive supply, and robotic arm posture, adaptive rock breaking and cutting control can be achieved in the future. For example, when the rock type of the cutting surface transitions from soft rock to hard rock, the system can automatically adjust the abrasive supply rate and jet pressure to maintain constant rock breaking efficiency, intelligently responding to varying geological conditions underground. This control system is deeply integrated with the robot's own hydraulic guide rails, composite drill bits, and dual-tank feeding system, providing core equipment support for building a less-manned, intelligent continuous tunneling system in mines.

[0024] 8. This invention deeply integrates safety, efficiency, and economy in its overall design, comprehensively improving the overall benefits of mine production. Abrasive waterjet, as a "cold cutting" technology, is spark-free and has low heat impact, fundamentally eliminating the risk of combustion and explosion that may occur in gas and coal dust environments caused by traditional blasting or high-temperature cutting, ensuring inherent safety in underground operations. Through a composite rock-breaking mode of "mechanical drill bit pre-drilling + abrasive waterjet grooving cutting," the hydraulic drill rod provides powerful mechanical penetration, while the jet precisely cuts and propagates cracks on the borehole's free face. The synergy of these two methods significantly reduces the energy consumption of hard rock breaking, solving the bottleneck of low efficiency or difficult penetration of single rock-breaking methods, increasing the overall rock-breaking efficiency by more than 30%, especially suitable for high-strength, highly abrasive ores. The fully hydraulically driven drill rod system features smooth transmission, high torque, and strong overload protection. It not only eliminates the risk of electrical sparks and adapts to high-humidity, dusty environments, but also provides enormous rock-breaking torque within a limited space, ensuring reliable operation in complex rock formations. Tracked mobile platforms enable robots to be flexibly deployed on different work surfaces, achieving multiple uses with a single machine and significantly improving equipment utilization and return on investment.

[0025] 9. This invention employs a wide-body tracked chassis driven by an explosion-proof motor, significantly enhancing the robot's mobility and overall operational stability in complex underground terrain. The wide-body track design effectively reduces ground pressure, enabling stable movement on soft, muddy, or uneven tunnel floors, and providing strong climbing ability. Combined with a low center of gravity layout and rigid body structure, this chassis provides an extremely stable support platform for the upper hydraulic lifting guide rail, the large-scale movement of the cutting arm, and the recoil effect generated by the high-pressure jet, effectively preventing overturning or sliding during operation and ensuring positioning accuracy and operational safety during rock breaking and cutting.

[0026] 10. This invention fully utilizes explosion-proof mining motors in its power system, covering all motor components such as the walking drive and auger conveyor, strictly complying with explosion-proof standards for the explosive environments of gas and coal dust in underground coal mines. This design fundamentally eliminates the risk of ignition from sparks generated by electrical components, achieving inherent safety for the robot in high-risk environments. As a result, the robot can be safely applied in dangerous operating areas such as gas-outburst mines and high-gas mining areas, where traditional electrical equipment was previously strictly limited, significantly expanding its applicability and practical value, and providing reliable safety guarantees for mechanized and continuous operations in high-risk mining environments.

[0027] 11. This invention specifically optimizes the structure of the horizontal abrasive jar to achieve efficient feeding and stable discharge. A mixing valve is installed at the feed inlet, allowing high-pressure water to create controllable local turbulence, effectively breaking up abrasive clumps and preventing bridging blockages, significantly improving feeding speed and reliability. The jar bottom adopts a sloping, low-level funnel-shaped discharge outlet. Relying on gravity and fluid dynamics principles, the abrasive naturally converges towards the outlet, and combined with possible weak stirring within the jar, continuous and uniform sand output is achieved. This coordinated feeding and discharging design fundamentally avoids feed interruptions or concentration fluctuations, ensuring stable jet power output, thereby guaranteeing the consistency and reliability of rock-breaking operations. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the robot of the present invention.

[0029] Figure 2 This is a schematic diagram of the auger structure in this invention.

[0030] Figure 3 This is a schematic diagram of the water jet device in this invention.

[0031] Figure 4 This is a schematic diagram of the water jet cutting arm device in this invention.

[0032] Figure 5 This is a schematic diagram of the internal structure of the tracked chassis in this invention.

[0033] In the diagram: 10. Tracked chassis; 101. Cable inlet; 102. Hose inlet; 103. Hose guide groove; 11. Support frame; 111. Mounting base; 112. Mounting base; 113. Support seat; 114. Bracket; 115. Flip cover; 116. Lighting equipment; 20. Front mixing horizontal double abrasive tank device; 21. High-pressure plunger pump; 22. Horizontal sand mixing tank; 221. Funnel; 222. Screw cap; 223. Sand mixing valve; 224. High-pressure switching valve; 225. Cut-off... 226. Check valve; 227. Servo motor switch; 23. Converging block; 24. High-pressure hose; 25. Jet mechanical drill bit; 30. Abrasive waterjet cutting arm; 31. Support chassis; 311. Double guide rail; 312. Lifting guide rail; 313. Single guide rail; 32. Hydraulic tank; 321. Hydraulic pipe; 322. Hydraulic pipeline; 33. Hydraulic motor; 34. Mechanical drill rod; 40. Screw conveyor sand conveying mechanism; 41. Motor; 42. Rotary material pouring device; 43. Flip-top material inlet. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] like Figures 1-5 As shown, the mining abrasive waterjet assisted rock-breaking robot disclosed in this invention is suitable for harsh working conditions such as underground coal mines with methane, high dust, and narrow, undulating roadways. It enables efficient and continuous rock-breaking operations of different rock types, such as medium-hard rock and hard rock. The core of the robot adopts an integrated design of a tracked chassis, a front-mixing horizontal double abrasive tank device, an abrasive waterjet cutting arm, and a screw conveyor mechanism. Combined with an explosion-proof integrated control system, it realizes integrated operation of abrasive storage, conveying, mixing, mechanical-jet composite rock breaking, full-space attitude adjustment, and seamless switching between the two tanks. It solves the technical problems of large blind spots, abrasive supply interruption, low rock-breaking efficiency, and high safety risks of traditional underground rock-breaking equipment.

[0036] I. Overall Structure of Rock Breaking Robot

[0037] The core functional components of the rock-breaking robot of this invention are all integrated on the tracked chassis 10. A support frame 11 is fixedly connected above the tracked chassis 10, providing a rigid load-bearing foundation for each component. The support frame 11 is equipped with a front-mixing horizontal double abrasive tank device 20 (abrasive mixing and high-pressure jet supply) and an auger sand conveying mechanism 40 (abrasive closed conveying and replenishment) according to functional zones. An abrasive waterjet cutting arm 30 (rock-breaking execution and attitude adjustment) is installed on the top front side of the support frame 11. The pre-mixing horizontal double abrasive tank device 20 is connected to the jet mechanical drill bit 25 at the end of the abrasive waterjet cutting arm 30 via a high-pressure hose 24 and a mechanical drill rod 34. The end of the auger sand conveying mechanism 40 is precisely connected to the feed inlet of the pre-mixing horizontal double abrasive tank device 20. The abrasive waterjet cutting arm 30 can achieve multi-degree-of-freedom attitude adjustment, enabling the jet mechanical drill bit 25 to be precisely positioned in the front, back, left, right, up, and down space of the underground roadway section. All components work together to achieve a continuous operation process of "closed abrasive conveying - high-pressure mixed jet - mechanical - jet composite rock breaking".

[0038] All electric components of the device use explosion-proof motors for mining, and the hydraulic system and electrical control unit are fully enclosed, strictly complying with the explosion-proof standards for explosive environments of gas and coal dust in underground coal mines, achieving inherent safety in high-risk environments.

[0039] II. Specific Components of Rock Breaking Robot

[0040] 1. Tracked chassis

[0041] The tracked chassis 10 adopts a wide-body track design driven by an explosion-proof motor, which effectively reduces the ground pressure and allows it to move stably on soft, muddy, or uneven roadbeds. It has strong climbing ability and a low center of gravity layout, providing stable support for large-scale movements of the upper components and the backlash of high-pressure jets, preventing overturning or sliding during operation. The tracked chassis 10 has a cable inlet 101 and a hose inlet 102 at the rear, which are used to introduce power cables and external water supply pipes, respectively. The internal hose guide groove 103 is provided to straighten and protect the high-pressure hose 24, preventing the pipe from being worn or bent due to chassis movement and vibration.

[0042] 2. Supporting Frame

[0043] The support frame 11 is made of high-strength alloy material and is rigidly connected to the tracked chassis 10 by bolts to form an impact-resistant and vibration-resistant load-bearing system. It can effectively absorb the impact load of underground blasting vibration and rock collapse, and prevent the upper precision components from deforming or mispositioning.

[0044] The structure of the supporting frame 11 is designed according to the functional partitions for installation: Two parallel mounting bases 111 are provided at the bottom for fixing the horizontal sand mixing tank 22 of the pre-mixing horizontal double abrasive tank device 20.

[0045] Four parallel mounting bases 112 are provided at the bottom to provide a mounting foundation for the sand mixing valve 223.

[0046] Side-welded bracket 114 is used to fix the auger sand conveying mechanism 40 to ensure that the material supply path is stable when the equipment moves or vibrates.

[0047] A flip cover 115 is provided on the top to protect the front mixing horizontal double grinding tank device 20 from dust and falling rocks.

[0048] The front end is equipped with lighting equipment 116 to provide visibility for underground working faces without lighting.

[0049] 3. Screw conveyor sand transport mechanism

[0050] The auger conveying mechanism 40 is the core component of the fully enclosed conveying process of abrasives. It is integrated with the support frame 11 to achieve quantitative, spill-free, and dust-free conveying of abrasives from the external storage silo to the horizontal mixing tank 22. Its specific structure is as follows: At the front, there is an explosion-proof motor 41 and a flip-top material inlet 43. The flip-top material inlet 43 allows for docking with an external storage bin. The flip-top material inlet 43 is designed to prevent underground dust from entering the conveying channel inside the auger sand conveying mechanism 40. The explosion-proof motor 41 provides power to the auger shaft and drives the spiral blades to rotate to achieve abrasive conveying.

[0051] At the end, a rotary pouring device 42 is provided, which can rotate 360° to precisely align with the feed inlet of the horizontal sand mixing tank 22 and seamlessly connect with the funnel 221 of the feed inlet, effectively preventing abrasive spillage. The whole structure is a sealed structure to resist the influence of the high dust environment underground on the purity of the abrasive.

[0052] Core parameter: Propeller blade diameter D =0.22m, pitch S =0.18m, installation tilt angle θ =30°, operating speed n =105r / min, fill factor =0.42. The actual conveying capacity of the auger sand conveying mechanism 40 is adjusted by incorporating material characteristics and installation inclination angle, using a filling unevenness correction coefficient. Material property correction factor Tilt angle influence function The theoretical delivery rate is adjusted to adapt to changes in the median particle size and moisture content of the abrasive, ensuring a precise match between the delivery rate and the abrasive consumption rate.

[0053] 4. Pre-mixing horizontal double grinding tank device

[0054] The pre-mixing horizontal dual abrasive tank device 20 is the core of high-pressure abrasive water jet generation. It adopts a dual-tank design with one tank in use and one in standby, solving the problem of abrasive supply during long-term continuous downhole operations. Its specific structure is as follows: Two identical horizontal sand mixing jars, each with an effective volume of 20L, and an abrasive bulk density of 1.6g / cm³. 3 Calculate the effective loading capacity of a single tank. m c =32kg. The bottom of the tank adopts a sloping, low-level funnel-shaped discharge port, which relies on gravity and fluid dynamics principles to allow the abrasive to naturally converge towards the outlet, ensuring continuous and uniform sand output.

[0055] Each horizontal sand mixing tank 22 is equipped with a sand mixing valve 223 at its inlet. The side of the sand mixing valve 223 is connected to a high-pressure switching valve 224. The inlet of the high-pressure switching valve 224 is connected to a high-pressure plunger pump 21, which provides high-pressure clean water to the system. A funnel 221 or a screw cap 222 can be installed above the sand mixing valve 223 depending on the working conditions. The funnel 221 is connected to the rotary pouring device 42 of the screw conveyor sand conveying mechanism 40 to realize abrasive replenishment. The screw cap 222 is used for tank sealing.

[0056] The sand mixing valve 223 is a key component for jet mixing. After high-pressure water is introduced, it can form controllable local turbulence, effectively dispersing abrasive clumps, preventing abrasive "bridging" and blockage, and improving feeding speed and reliability. The high-pressure switching valve 224 is hydraulically driven and can achieve "hot switching" of the material source within 10 seconds. The jet pressure and flow fluctuation are controlled within ±5%, ensuring the continuity of rock breaking operations.

[0057] Each horizontal sand mixing tank 22 has a shut-off valve 225 installed at its bottom outlet. A servo motor switch 227 is mounted on the shut-off valve 225 to achieve precise electronic control adjustment of the abrasive output. Both shut-off valves 225 are connected to a high-pressure switching valve 224, and a one-way valve 226 is installed between the high-pressure switching valve 224 and the horizontal sand mixing tank 22. The flow direction of the one-way valve 226 is strictly limited to the high-pressure switching valve 224 pointing towards the horizontal sand mixing tank 22. This effectively prevents the residual high-pressure abrasive slurry in the tank from flowing back and impacting the precision components of the high-pressure plunger pump 21 in the event of a sudden system shutdown or valve malfunction, thus avoiding catastrophic damage caused by the "water hammer" effect.

[0058] The outlets of the two horizontal sand mixing tanks 22 converge through the confluence block 23 supported on the support block 113, and then connect to the jet mechanical drill bit 25 through the high-pressure hose 24, so that the abrasive water jet passes through the inner hole of the mechanical drill rod 34 and directly reaches the nozzle of the jet mechanical drill bit 25, thereby achieving a stable supply of high-pressure jet.

[0059] 5. Abrasive waterjet cutting arm

[0060] The abrasive waterjet cutting arm 30 is the core actuator of the device, installed on the top front side of the support frame 11. It has lateral displacement, longitudinal feed, vertical lifting and lowering, and multi-degree-of-freedom attitude adjustment functions, enabling the jet mechanical drill bit 25 to achieve precise positioning in the entire underground roadway. Its specific structure is as follows: The bottom is a support chassis 31, which can move horizontally along the width direction of the tracked chassis 10. Two double guide rails 311 are installed at the bottom of the support chassis 31, which are parallel along the length direction of the tracked chassis, to provide guidance for the lateral displacement of the support chassis 31.

[0061] A hydraulic tank 32 and a lifting guide rail 312 are mounted on the top of the support chassis 31, both of which are arranged along the length of the tracked chassis 10. The hydraulic tank 32 is the power source for the entire cutting arm, and is connected to the double guide rail 311 and the lifting guide rail 312 through hydraulic pipes 321 and push rods. It drives the double guide rail 311 to achieve lateral displacement and the lifting guide rail 312 to achieve vertical lifting. A single guide rail 313 is mounted on the lifting guide rail 312, which can control the forward and backward feed displacement of the jet mechanical drill bit 25.

[0062] The hydraulic tank 32 is connected to the hydraulic motor 33 via hydraulic lines 322. The hydraulic motor 33 is connected to the mechanical drill rod 34 via gears, driving the mechanical drill rod 34 to rotate and providing the mechanical rock-breaking torque and speed to the jet mechanical drill bit 25. The mechanical drill rod 34 adopts a segmented design, and can be connected / disassembled section by section through high-strength coupling joints. The length can be flexibly adjusted according to drilling requirements to adapt to the operation requirements of shallow to deep holes.

[0063] The end of the mechanical drill rod 34 is fitted with a jet mechanical drill bit 25, which is the core component for composite rock breaking. The drill bit has a diameter of 60mm and a nozzle equivalent diameter of [missing information]. The drill bit adopts a modular quick-change interface and hydraulic locking structure, which can be disassembled and assembled in minutes without auxiliary tools. It supports the replacement of different specifications of drill bits according to rock type and is suitable for complex geological conditions.

[0064] The high-pressure hose 24 and the rotating mechanical drill rod 34 are dynamically sealed together via a high-pressure rotary sealing joint. This joint is adapted to the high-pressure conditions of the abrasive water jet and the rotational motion requirements of the drill rod. Its fixed end is connected to the end of the high-pressure hose 24 with a clamp seal, and its rotating end is rigidly connected to the non-working end (rear end) of the mechanical drill rod 34. A high-pressure wear-resistant sealing ring is embedded inside the joint, which can effectively resist the erosion and wear of the abrasive slurry, and maintain the sealing performance during the high-speed rotation of the drill rod, preventing pressure leakage and slurry spillage. A through-hole is opened along the axis inside the mechanical drill rod 34. This through-hole is the delivery channel for the abrasive water jet. Its diameter is precisely matched with the outlet end of the high-pressure rotary sealing joint. After passing through the high-pressure rotary sealing joint, the abrasive water jet is delivered forward along the central through-hole of the drill rod, unaffected by the rotational motion of the drill rod, and continuously delivered to the end of the jet mechanical drill bit 25.

[0065] The working end (front end) of the jet mechanical drill bit 25 and the mechanical drill rod 34 are fixedly connected by a standardized threaded and hydraulically locking quick-change structure. The drill bit integrates a central guide cavity and circumferential lateral nozzle channels. High-pressure wear-resistant nozzles are sealed and inserted in the circumferential lateral nozzle channels. The central guide cavity is seamlessly connected to the central through hole of the drill rod. After the abrasive water jet enters the central guide cavity, it is diverted through the flow channels of the guide cavity and evenly guided into the circumferentially arranged lateral nozzle channels of the drill bit. Finally, it is ejected at high speed from the high-pressure wear-resistant nozzles on the side wall of the drill bit. The jet direction is at a preset angle with the borehole axis, accurately impacting the free face rock mass formed by mechanical drilling. This achieves simultaneous composite rock breaking operation of "mechanical drilling rotation excavation + jet lateral expansion and crushing". The nozzles are made of wear-resistant alloy material, which can adapt to the high-speed impact conditions of abrasive water jets and extend the service life of the drill bit.

[0066] III. Analysis of Composite Rock-Breaking Parameters of Rock-Breaking Robots

[0067] When the abrasive waterjet system is working, the output pressure of the high-pressure plunger pump 21 is... It needs to be based on the nozzle diameter of the jet mechanical drill bit 25 Target distance of jet and rock compressive strength The theoretical control model for dynamic adjustment is as follows: (1) In the formula, This is the pressure adjustment coefficient, with a value ranging from 0.15 to 0.25, and is related to the rock drillability. The equivalent diameter of the jet nozzle (mm); The distance between the jet target and the target is (mm). It represents the uniaxial compressive strength of the rock (MPa).

[0068] This theoretical model only considers the jet geometry parameters and the basic strength properties of the rock; actual working force... The following corrections are required: (2) In the formula, This is a pressure loss correction factor, with a value ranging from 0.85 to 0.95, taking into account pipeline friction losses; This represents the pressure loss term due to fluid viscous dissipation (MPa). This is the pressure compensation term for the effect of abrasive concentration (MPa).

[0069] Viscous dissipation loss of jet in high-pressure pipeline and drill pipe bore It can be represented as: (3) In the formula, The dynamic viscosity of the abrasive slurry is (Pa·s). The total equivalent length of the pipeline (m); The actual jet flow rate (L / min); The inner radius of the drill pipe (mm); The density of water is (kg / m³). Darcy's coefficient of friction; The length of the high-pressure hose is in meters. The average velocity of the jet (m / s); The inner diameter of the hose is (mm).

[0070] The relationship between the viscosity of the abrasive slurry and its concentration is as follows: (4) In the formula, The viscosity of pure water is (Pa·s). This represents the volume fraction of the abrasive, in contrast to its mass concentration. The relationship is ; The abrasive particle density is expressed in kg / m³.

[0071] After the jet leaves the nozzle, it propagates in the air. Its diameter diffusion is affected not only by geometric diffusion, but also by the coupling effect of multiple factors such as turbulent pulsation, air entrainment and abrasive particle inertia.

[0072] Introducing Reynolds number and Stokes number (in (Assuming the average abrasive particle size), a refined model is established to show the variation of the jet diameter with the target distance: (5) Effective rock-breaking power of abrasive water jet It depends not only on the jet pressure but also on the energy transfer efficiency of the abrasive particles. A coupled power model considering abrasive acceleration, particle breakage, and energy dissipation is established: (6) In the formula, The jet energy transfer efficiency is defined as a value ranging from 0.75 to 0.88. The mass flow rate of the abrasive is (kg / s). The impact velocity of the abrasive particles (m / s); Power consumption for abrasive-fluid friction (kW); The power consumption for abrasive particle crushing (kW).

[0073] The relationship between abrasive impact velocity and jet velocity is as follows: (7) In the formula, This is the velocity coupling coefficient, with a value ranging from 0.65 to 0.85. The abrasive particle resistance coefficient; The length of the abrasive acceleration section is (m).

[0074] Mechanical rock-breaking power of jet mechanical drill bit (25) Powered by a hydraulic motor (33), which is related to drilling pressure Rotation speed and torque The relationship is: (8) In the formula: Drilling pressure (kN); The drill bit feed rate is (m / s). The drill bit torque is (N·m). The drill bit rotation speed (r / min).

[0075] For combined rock breaking conditions, the required torque of the drill bit is reduced due to the pre-damage of the jet: (9) In the formula: The torque of the purely mechanical drill bit without jet assistance (N·m); The jet torque reduction coefficient ranges from 0.15 to 0.35. The torque attenuation index ranges from 0.6 to 0.8. This is a reference value for jet power (kW).

[0076] With the assistance of abrasive waterjet, the drill bit wear rate is reduced. A wear coefficient is introduced. Adjust drill bit life: (10) In the formula: Drill bit wear rate (mm / h); This is the reference wear coefficient when there is no jet; The friction reduction coefficient for jetting is 0.25 to 0.45. The abrasive concentration is taken as a reference value, which is 30%.

[0077] Actual sand conveying capacity of auger sand conveying mechanism 40 It is not only related to geometric parameters, but also affected by characteristics such as abrasive grain size distribution, water content, and internal friction angle: (11) In the formula, The fill unevenness correction coefficient has a value range of 0.85 to 0.95. This is a correction factor for material properties. ; The tilt angle influence function, ; The median particle size of the abrasive is (mm). The standard median particle size is taken as 0.3 mm; Moisture content of the abrasive (%); The standard moisture content is taken as 1%; Install the tilt angle (°) for the auger.

[0078] Optimal operating speed of auger Conveying efficiency, abrasive breakage rate, and energy consumption need to be considered comprehensively: (12) The rock-breaking effects of jet drilling and mechanical drill bits are not a simple linear superposition, but rather exhibit a significant synergistic effect. A composite rock-breaking rate model considering interaction factors is established: (13) In the formula: This is the mechanical rock-breaking efficiency coefficient; This is the jet rock-breaking efficiency coefficient; The synergistic effect coefficient represents the inverse flow-mechanical interaction strength, with a value ranging from 0.15 to 0.30. The tensile strength of the rock (MPa); This is the operating condition coupling coefficient.

[0079] The relative spatial position of the jet nozzle and the mechanical drill teeth has a significant impact on rock-breaking efficiency. Define spatial matching degree. : (14) In the formula: The distance (mm) between the jet nozzle and the leading edge of the drill bit; For the characteristic dimensions of the drill teeth (mm); The optimal distance scaling factor has a value range of 0.8 to 1.2. The jet angle is (°). The rake angle of the drill tooth (°); This is the distance tolerance parameter (mm).

[0080] Incorporating spatial matching degree into composite rock breaking rate: (15) In the formula: This is the matching sensitivity coefficient, with a value ranging from 0.3 to 0.6; The baseline matching degree is set to 0.8.

[0081] For a working condition with a volume of 20L and an abrasive concentration of 25%, the effective loading capacity of a single tank is... (Assuming the abrasive bulk density is 1.6 g / cm³).

[0082] Single tank operation time for: (16) In the formula: Abrasive consumption rate (kg / min); The water jet flow rate is (L / min). The true density of the abrasive is taken as 2.65 g / cm³.

[0083] Single tank filling time Actual sand transport volume needs to be considered. And auxiliary operation time: (17) In the formula: For auxiliary time (min) such as flip opening and closing, alignment, etc. The system switching stabilization time (min).

[0084] To ensure continuous operation, the following must be met: (18) In the formula This refers to the switching time between the two tanks.

[0085] Introducing a dual-tank buffer coefficient : (19) when The system can operate continuously; when It may be necessary to optimize sand conveying parameters or adjust operating parameters.

[0086] The depth of damage formed in rock mass by jet-mechanical combined rock breaking It can be predicted that: (20) In the formula: The duration of action is measured in seconds. It is the dynamic tensile strength (MPa) of rock, which is usually 1.2 to 1.5 times the static value.

[0087] Establish a comprehensive evaluation index that includes efficiency, energy consumption, and continuity. : (twenty one) In the formula: The baseline rock-breaking rate is (mm / min). Reference power consumption (kW); Power of the high-pressure water pump (kW); Adjust the time ratio for equipment maintenance.

[0088] In underground coal mine roadway excavation faces, auxiliary rock-breaking drilling operations are performed on medium-hard sandstone strata. The mining abrasive waterjet-assisted rock-breaking robot described in this invention is used to drill holes with a diameter of 60mm and a depth of 1.2m. Key system parameters are designed and matched based on the coupling model established in this patent to ensure the efficiency and continuity of the operation.

[0089] The specific parameters for the working process are as follows: Medium-hard sandstone, uniaxial compressive strength ,tensile strength .

[0090] Jet system parameters: working pressure Equivalent diameter of jet nozzle Target distance .

[0091] Abrasive mass concentration The abrasive is 80-mesh garnet, with a true density of... Bulk density .

[0092] Mechanical drilling system parameters: Drill bit diameter Cross-sectional area Drilling pressure Drill bit rotation speed .

[0093] Screw conveyor parameters: Helical blade diameter pitch Installation tilt angle Operating speed Fill factor .

[0094] Abrasive jar parameters: single jar effective volume 20L, effective loading capacity (bulk density according to) (Calculation). Dual-tank switching time. .

[0095] Values ​​of various empirical coefficients: Pressure loss correction coefficient Viscous dissipation pressure loss .

[0096] Abrasive concentration affects pressure compensation Jet energy transfer efficiency .

[0097] Mechanical rock breaking efficiency coefficient Jet rock-breaking efficiency coefficient .

[0098] Synergistic effect coefficient Operating condition coupling coefficient .

[0099] IV. Working Principle of the Device

[0100] The core of this rock-breaking robot is the closed quantitative conveying of abrasive material, high-pressure pre-mixed jet generation, mechanical-jet composite rock breaking, and seamless switching between two tanks for continuous operation. It is equipped with an integrated control system based on an explosion-proof industrial computer and PLC to achieve remote control, real-time parameter monitoring and adaptive adjustment. The overall working principle is divided into four parts: the working principle of the feeding system, the working principle of composite rock breaking, the working principle of continuous operation guarantee, and the working principle of the control system.

[0101] (I) Working principle of the material feeding system

[0102] The feeding system consists of a screw conveyor 40 and a pre-mixing horizontal double abrasive tank device 20, realizing a closed, continuous, and controllable supply of abrasive from conveying to high-pressure jet generation. The specific process is as follows: Abrasive conveying: The operator remotely starts the explosion-proof motor 41 of the auger sand conveying mechanism 40, opens the flip-top material inlet 43 to connect with the external storage bin, and the rotating spiral blades drive the abrasive to be conveyed along the auger channel. It is then accurately fed into the funnel 221 of the horizontal sand mixing tank 22 which is in standby state through the end rotary pouring device 42. The abrasive enters the tank body through the sand mixing valve 223. The PLC controls the conveying process in a closed loop according to the material level sensor signal and the preset conveying formula to ensure that the abrasive in the tank is filled evenly and to avoid overflow.

[0103] High-pressure abrasive water jet generation: The high-pressure plunger pump 21 is started to pressurize clean water to the set pressure. The high-pressure clean water enters the horizontal mixing tank 22, which is in operation, through the high-pressure switching valve 224. It mixes with the abrasive in the tank at the mixing valve 223. The turbulence of the high-pressure water disperses the abrasive clumps, forming a uniform abrasive slurry. The abrasive slurry flows out through the bottom shut-off valve 225, and after being collected by the confluence block 23, it passes through the high-pressure hose 24 and the inner hole of the mechanical drill rod 34 to reach the nozzle of the jet mechanical drill bit 25, forming a high-energy abrasive water jet. The servo motor switch 227 of the shut-off valve 225 can adjust the opening degree in real time according to the working conditions to precisely control the flow rate of the abrasive slurry.

[0104] Backflow prevention protection: The one-way valve 226 between the high-pressure switching valve 224 and the horizontal sand mixing tank 22 strictly limits the fluid direction, allowing only high-pressure clean water to flow from the high-pressure plunger pump 21 to the horizontal sand mixing tank 22, preventing the high-pressure abrasive slurry in the tank from flowing back when the system stops / misoperates, avoiding damage to the plunger, seals and other precision components of the high-pressure plunger pump 21, and reducing the risk of core component failure.

[0105] (II) Working principle of composite rock breaking

[0106] This device employs a combined rock-breaking mode of "mechanical drilling + abrasive water jet channel expansion." The mechanical rock-breaking and jet rock-breaking work synergistically, increasing efficiency by over 30% compared to a single rock-breaking method. Furthermore, the jet uses "cold cutting" technology, eliminating sparks and minimizing heat impact, fundamentally preventing the risk of gas and coal dust explosions. The specific principle is as follows: Mechanical drilling: After the abrasive waterjet cutting arm 30 accurately positions the jet mechanical drill bit 25, the hydraulic tank 32 drives the hydraulic motor 33 to operate. The hydraulic motor 33 drives the mechanical drill rod 34 to rotate through the gearbox. The jet mechanical drill bit 25 mechanically penetrates the rock, completing the pre-drilling operation. With jet assistance, the drill bit torque is reduced by the jet torque reduction correction formula, effectively reducing the energy consumption of mechanical rock breaking and drill bit wear.

[0107] Jet Grooving: High-pressure abrasive water jet is ejected from the side nozzle of the jet mechanical drill bit 25, impacting the rock mass on the borehole free face. The high-speed impact energy of the jet causes tensile failure and radial cracks in the rock mass, achieving precise groove widening and crushing of the rock mass. The effective rock-breaking power of the jet is corrected by abrasive kinetic energy transfer and pipeline viscosity dissipation. The impact energy of abrasive particles and pipeline friction loss are taken into account to accurately calculate the actual rock-breaking power.

[0108] Synergistic rock breaking: Mechanical rock breaking and jet rock breaking are not simply linearly superimposed, but rather form a significant synergistic effect, resulting in a combined rock breaking rate. Determined by the coupling of the mechanical rock-breaking power term, the effective rock-breaking power term of the jet, and the jet-mechanical synergistic power term, and through the synergistic effect coefficient. The interaction strength between the two is quantified. Simultaneously, the spatial matching degree between the jet nozzle and the mechanical drill teeth is considered. It is incorporated into the composite rock-breaking rate calculation, and the rock-breaking efficiency is further improved by optimizing the relative position of the nozzle and drill teeth and the incident angle.

[0109] Drill bit wear protection: The cooling and impact effects of the abrasive water jet can effectively reduce the drill bit wear rate, through the jet wear reduction coefficient. (0.25 ~ 0.45) Corrects the reference wear coefficient of the drill bit, significantly extending the downhole service life of the drill bit and reducing downtime caused by drill bit replacement.

[0110] (III) Principle of Continuous Operation Guarantee

[0111] By employing a dual-tank alternating feeding system combined with synchronous auger replenishment, uninterrupted abrasive supply is achieved. The core of this system lies in the buffer coefficient of the dual-tank system. The principle for determining the continuous operation capability of a system is as follows: Dual-tank alternating feeding: The pre-mixing horizontal dual abrasive tank device 20 adopts a "one-in-use, one-out-of-use" mode. When the abrasive level in the working tank is lower than the set threshold, the control system automatically triggers the high-pressure switching valve 224 to switch the liquid supply path to the standby tank within 1-2 seconds, achieving seamless connection of jet feeding.

[0112] Screw synchronous feeding: While the working tank is operating, the screw conveyor 40 synchronously feeds the emptied standby tank, increasing the actual sand conveying capacity of the screw conveyor. Slightly higher than the abrasive consumption rate Ensure sufficient feeding rate.

[0113] Continuous operation determination: The system defines the single tank filling time. (Including refueling time, auxiliary operation time, and system switching stabilization time), single tank operation time Through the dual-tank buffer coefficient Determine continuous operation capability; when When the system can achieve uninterrupted connection; when At this time, the abrasive concentration can be adjusted. C Screw speed n Or optimize the auxiliary time t a Complete parameter matching.

[0114] Actual operation verification: In this embodiment, the single tank operation time Single tank filling time ,theory However, in practice, the dual-tank parallel operation mode is adopted. During the 6.15 minutes of operation of the working tank, the amount of material replenished to the standby tank by the auger reaches 5.95×6.15≈36.6kg, which exceeds the effective loading capacity of 32kg of a single tank. The standby tank is in a full standby state. Therefore, the system can achieve instantaneous switching and fully meet the continuous operation requirements of long-distance tunnel excavation.

[0115] (iv) Working principle of the control system

[0116] This device is equipped with an integrated control system based on an explosion-proof industrial computer and a programmable logic controller (PLC). It integrates multi-channel sensor feedback and hydraulic proportional adjustment technology, supports remote control and automatic program execution, and achieves precise control and adaptive parameter matching throughout the entire operation process. The specific principle is as follows: Remote control: Operators can control the robot's movement, positioning, sand conveying, rock breaking, and auxiliary operations throughout the entire process via an industrial touch screen and joystick in an explosion-proof control room. All actions of the equipment can be performed remotely, eliminating the need for personnel to enter high-risk work areas and improving operational safety.

[0117] Precise positioning: The tracked chassis 10 adopts dual-motor independent servo control, combined with attitude sensors and laser ranging modules, which can stably walk and accurately stop in tunnels with slopes ≤15° and undulating floor plates; the abrasive waterjet cutting arm 30 supports two input methods: Cartesian coordinates and joint coordinates. The PLC can automatically calculate the stroke of each hydraulic cylinder according to the tunnel cross-section shape and drilling inclination angle requirements, so as to achieve precise alignment and orientation of the jet mechanical drill bit 25 in three-dimensional space.

[0118] Real-time parameter monitoring and adaptive adjustment: During operation, the system collects jet pressure, abrasive flow rate, drill rod torque, advance speed and rock vibration signals in real time. The PLC dynamically adjusts parameters such as hydraulic motor speed, drilling pressure, high-pressure water flow rate and abrasive supply rate based on the built-in rock breaking rate model, jet power formula and composite rock breaking model, so as to achieve adaptive matching of rock breaking parameters under different rock conditions and always maintain the best advance efficiency.

[0119] Automatic process control: The system has a pre-set standardized operating procedure, which can automatically complete the entire process of "chassis positioning → screw conveyor sand conveying → cutting arm alignment → high pressure pump start-up → composite rock breaking → dual tank switching → operation depressurization", reducing manual intervention; at the same time, the system has a built-in one-button emergency stop function, which can instantly cut off all power and lock the hydraulic system in an emergency to ensure the safety of downhole operations.

[0120] Intelligent expansion: The electronic control architecture of the control system is highly scalable and can be further linked with pressure, flow, position and rock type sensors to achieve adaptive rock breaking and cutting control; for example, when the rock type of the cutting surface transitions from soft rock to hard rock, the system can automatically increase the jet pressure and abrasive supply rate to maintain constant rock breaking efficiency and intelligently cope with the changing geological conditions downhole.

[0121] V. Specific Operation Examples

[0122] This device was used in the excavation face of an underground coal mine roadway to conduct auxiliary rock-breaking drilling operations on medium-hard sandstone strata, drilling holes with a diameter of 60mm and a depth of 1.2m. The rock parameters were: uniaxial compressive strength ,tensile strength The specific work process and results are as follows: Operation preparation: The remotely driven tracked chassis 10 moves to the target work surface and achieves precise docking through laser rangefinding and attitude sensors; the auger sand conveying mechanism 40 is started to fill the standby horizontal sand mixing tank 22 to full (32kg); the abrasive waterjet cutting arm 30 is operated to precisely align the jet mechanical drill bit 25 with the designed drilling position and target distance. .

[0123] Parameter settings: Set the jet working pressure abrasive mass concentration Drilling pressure Drill bit rotation speed The PLC automatically adjusts the actual jet working pressure based on rock parameters. .

[0124] Composite rock breaking: The high-pressure plunger pump 21 and hydraulic motor 33 are activated sequentially to form a composite rock breaking mode of abrasive water jet + mechanical drilling. The system collects parameters in real time and adjusts adaptively; the composite rock breaking rate is calculated. Pure working time for drilling a 1.2m deep hole .

[0125] Continuous operation verification: Abrasive consumption rate of the working jar during operation Single tank operation time The abrasive supply is much longer than that of a single drilling operation, and the screw conveyor simultaneously replenishes the spare tank to ensure the supply of abrasive for subsequent continuous drilling operations; the jet forms sufficient radial cracks around the borehole wall, and the crack propagation depth meets the requirements for pre-splitting and widening, resulting in good rock breaking effect.

[0126] Work completion: After drilling is completed, the PLC automatically executes the pipeline depressurization program, shuts down the high-pressure plunger pump 21 and hydraulic motor 33, the abrasive waterjet cutting arm 30 retracts to the driving posture, and the tracked chassis 10 carries the robot away from the work surface, completing a single drilling operation.

[0127] The crack propagation depth formed by the jet around the borehole wall was evaluated according to formula (20). Calculations showed that within the operating time, the jet could induce sufficient radial cracks on the borehole free face, and the crack propagation depth was sufficient to achieve efficient groove widening and meet the pre-fracture requirements. In this embodiment, the composite rock breaking rate reached... The efficiency is significantly higher than that of a single mechanical rock breaking method, verifying the high efficiency of the "mechanical-jet" coupling.

[0128] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A mine abrasive water jet assisted rock breaking operation robot, comprising a crawler walking chassis (10) and a front mixed horizontal double abrasive tank device (20) installed on the crawler walking chassis (10), characterized in that, The tracked chassis (10) is also equipped with a screw conveyor (40) and a support frame (11). The top of the support frame (11) is equipped with an abrasive waterjet cutting arm (30) that can adapt to the downhole space. The front mixing horizontal double abrasive tank device (20) is dynamically sealed to the mechanical drill rod (34) at the end of the abrasive waterjet cutting arm (30) through a high-pressure hose (24) and a high-pressure rotary sealing joint. The end of the mechanical drill rod (34) is equipped with a jet mechanical drill bit (2). 5), and the mechanical drill rod (34) has a through-hole along the axis inside, and the jet mechanical drill bit (25) integrates the central guide cavity and the circumferential lateral nozzle flow channel inside. The central guide cavity is seamlessly connected with the central through hole of the drill rod; the abrasive water jet cutting arm (30) can adjust the working posture of the jet mechanical drill bit (25) according to the working requirements. The abrasive water jet of the pre-mixing horizontal double abrasive tank device (20) is ejected at high speed from the lateral nozzle flow channel through the central through hole of the drill rod and the drill guide cavity.

2. The mining abrasive waterjet assisted rock-breaking robot according to claim 1, characterized in that, The abrasive waterjet cutting arm (30) includes a load-bearing chassis (31) that can be displaced along the width direction of the tracked chassis. The bottom of the load-bearing chassis (31) is equipped with two parallel double guide rails (311) along the length direction of the tracked chassis. The top is equipped with a hydraulic tank (32) and a lifting guide rail (312) arranged along the length direction of the tracked chassis. The hydraulic tank (32) is connected to the double guide rails (311) and the lifting guide rail (312) through hydraulic pipes (321) and push rods. It is also connected to the hydraulic motor (33) through hydraulic pipes (322). The hydraulic motor (33) is connected to the mechanical drill rod (34) through gears. The lifting guide rail (312) is equipped with a single guide rail (313) that can control the forward and backward displacement of the jet mechanical drill bit (25).

3. The mining abrasive waterjet assisted rock-breaking robot according to claim 1, characterized in that, The bottom of the support frame (11) is equipped with two parallel mounting bases (111) and four parallel mounting bases (112). The horizontal sand mixing tank (22) of the front mixing horizontal double grinding tank device (20) is fixed on the mounting base (111), and the sand mixing valve (223) is fixed on the mounting base (112). The side of the support frame (11) is equipped with a bracket (114) for fixing the auger sand conveying mechanism (40), the top is equipped with a flip cover (115), and the front end is equipped with a lighting device (116).

4. The mining abrasive waterjet assisted rock-breaking robot according to claim 1, characterized in that, The working ends of the jet mechanical drill bit (25) and the mechanical drill rod (34) are fixedly connected by a standardized threaded fit and a hydraulic locking quick-change structure; the mechanical drill rod (34) is a segmented structure, which can be connected and disassembled section by section through a high-strength coupling joint, and the length can be flexibly adjusted according to the drilling requirements.

5. A mining abrasive waterjet-assisted rock-breaking robot according to claim 1, characterized in that, The front of the auger sand conveying mechanism (40) is equipped with a motor (41) and a flip-top material inlet (43), and the end of the auger sand conveying mechanism (40) is equipped with a rotary pouring device (42) that can accurately align with the feed inlet of the pre-mixing horizontal double grinding tank device (20).

6. A mining abrasive waterjet-assisted rock-breaking robot according to claim 1, characterized in that, The pre-mixing horizontal double grinding tank device (20) includes two horizontal sand mixing tanks (22). The inlet of each horizontal sand mixing tank (22) is equipped with a sand mixing valve (223). The side of the sand mixing valve (223) is equipped with a high-pressure switching valve (224). The inlet of the high-pressure switching valve (224) is connected to a high-pressure plunger pump (21). A funnel (221) or a screw cap (222) can be selectively installed above the sand mixing valve (223). The funnel (221) can be connected to the rotary pouring device (42) of the auger sand conveying mechanism (40). The outlets of the two horizontal sand mixing tanks (22) are connected to the high-pressure hose (24) through a stop valve (225) and a confluence block (23).

7. A mining abrasive waterjet-assisted rock-breaking robot according to claim 6, characterized in that, A check valve (226) is installed between the high-pressure switching valve (224) and the horizontal sand mixing tank (22). The flow direction of the check valve (226) is from the high-pressure switching valve (224) to the horizontal sand mixing tank (22). A servo motor switch (227) for precise adjustment of the opening degree is provided on the shut-off valve (225).

8. A mining abrasive waterjet-assisted rock-breaking robot according to claim 1, characterized in that, The tracked chassis (10) is a wide-body tracked structure driven by an explosion-proof motor. All electric components of the equipment are equipped with mine explosion-proof motors. The tracked chassis (10) is provided with a cable inlet (101) and a hose inlet (102) at the rear. The interior is provided with a hose guide groove (103) for combing and protecting the high-pressure hose (24).

9. A mining abrasive waterjet-assisted rock-breaking robot according to claim 1, characterized in that, The feed rate of jet mechanical drill bit (25) in combined rock breaking The formula for calculating Vc is as follows, determined by the coupling of jet-assisted rock-breaking power and mechanical rock-breaking power: ； In the formula, This indicates the mechanical rock-breaking power output of the hydraulic motor; Indicates the effective rock-breaking power of the jet; Indicates the uniaxial compressive strength of rock; Indicates the tensile strength of the rock; Indicates the cross-sectional area of ​​the drill bit; Indicates the mechanical rock-breaking efficiency coefficient; This represents the jet rock-breaking efficiency coefficient; Indicates the jet-mechanical synergistic rock-breaking coefficient; Indicates the coupling coefficient of the operating conditions; ； In the formula, Indicates the working pressure of the jet; Indicates the actual flow rate of the jet; Indicates the jet energy transfer efficiency; Indicates the mass flow rate of the abrasive; This indicates the impact velocity of the abrasive particles; Indicates the dynamic viscosity of the abrasive slurry; Indicates the total equivalent length of the high-pressure pipeline; Indicates the inner diameter of the pipe; In the formula, Indicates drilling pressure; Indicates the drill bit feed rate; This represents the torque of a purely mechanical drill bit without jet assistance. Indicates the jet torque reduction coefficient; This indicates a reference value for jet power. Indicates the torque decay index; This indicates the drill bit rotation speed.

10. A mining abrasive waterjet-assisted rock-breaking robot according to claim 1, characterized in that, The system's continuous operation capability is measured by the single tank filling time. Single tank operation time and dual-tank buffer coefficient The coupling determination is calculated using the following formula: ； In the formula, Indicates the effective loading capacity of a single horizontal sand mixing tank; This indicates the fixed auxiliary time for the flip-top opening / closing and material pouring device alignment; Indicates the system switching stabilization time; Indicates the effective abrasive consumption rate; The actual conveying capacity of the screw conveyor (40); ； In the formula, Indicates the diameter of the auger rotor blades; Indicates the pitch; Indicates the auger shaft speed; Indicates the abrasive filling factor; Indicates the bulk density of the abrasive; This represents the correction factor for uneven filling. Indicates the material property correction factor. ; Indicates the angle at which the auger is installed; Indicates the median particle size of the abrasive; Indicates the standard median particle size; Indicates the moisture content of the abrasive; Indicates standard moisture content; ； ； In the formula, This refers to the switching time between the two tanks. when At this time, the system can achieve uninterrupted abrasive supply, meeting the requirements of long-term continuous rock breaking operations; when At this time, it is necessary to adjust the abrasive concentration. Screw speed Or optimize the auxiliary time Perform parameter matching.

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