Abrasive jet auxiliary forcible entry device based on monorail crane inspection robot

Abstract

The invention relates to the technical field of mine underground operation equipment, in particular to an abrasive jet auxiliary forcible entry device based on a monorail crane inspection robot, which comprises a machine frame, a top suspension walking mechanism, a forcible entry executing mechanism, a control box, a power mechanism, a water tank and an abrasive jet mechanism. The device further comprises a vibration feedback module, the module comprises an explosion-proof vibration frequency sensor attached to the outer wall of the high-pressure pipeline or the tail end of the forcible entry execution mechanism, and the sensor is electrically connected with the control box. A standard forcible entry characteristic curve is preset in the control box, and the control box is configured to receive forcible entry vibration signals collected by the sensor in real time and compare the real-time vibration signals with the preset curve so as to recognize the material type of a current cut object. And the action speed of the forcible entry executing mechanism and the abrasive supply amount of the abrasive jet mechanism are adjusted in real time according to the recognized material type. According to the method, the real-time self-adaptive adjustment of the forcible entry parameters is realized, and the forcible entry efficiency and the operation safety are improved.

Description

Technical Field

[0001] This invention relates to the field of underground mining equipment technology, and in particular to an abrasive jet-assisted demolition device based on a monorail inspection robot. Background Technology

[0002] In underground operations of coal and non-metallic mines, as mining depth increases, obstacles such as high-hardness rock strata, locally protruding rocks, and deformed metal support netting are frequently encountered during tunnel excavation. Currently, the industry typically uses abrasive jet devices mounted on a monorail inspection robot platform for assisted demolition operations. These devices use a high-speed jet formed by mixing high-pressure water and abrasive to cut hard rock or obstacles, reducing the difficulty of subsequent mechanical demolition and tool wear. In practical applications, operators remotely control the robot arm's posture and, based on experience, set parameters such as the working pressure of the abrasive jet, the robot arm's swing speed, and the abrasive supply to complete the cutting of the target object.

[0003] However, the existing abrasive jet-assisted demolition devices have a significant technical problem in actual operation: due to the complex downhole working environment, the material of the object being cut, such as hard rock, soft rock, and metal support mesh, is unpredictable and changes frequently. Operators cannot accurately identify the material type of the object in real time based solely on visual observation and experience, resulting in preset operating parameters that cannot match the physical characteristics of the object being cut. For example, if the parameters are set biased towards soft rock when cutting hard rock, low cutting efficiency and abrasive waste will occur; if the parameters are set biased towards hard rock when cutting soft rock, unnecessary energy loss may occur due to excess energy. Especially when accidentally cutting metal support mesh, failure to adjust parameters in time can easily lead to safety accidents. This problem directly restricts the adaptability and demolition efficiency of existing devices under complex working conditions. Summary of the Invention

[0004] To overcome the above shortcomings, this invention provides an abrasive jet-assisted demolition device based on a monorail inspection robot. It aims to improve the existing abrasive jet demolition device's inability to adaptively adjust working parameters according to real-time changes in the material type of the object being cut in complex downhole environments, resulting in low demolition efficiency, abrasive waste, and the safety hazard of accidentally cutting metal support mesh.

[0005] This invention provides the following technical solution: an abrasive jet-assisted demolition device based on a monorail inspection robot, comprising a frame, a top-suspended walking mechanism, a demolition execution mechanism, a control box, a power mechanism, a water tank, and an abrasive jet mechanism; The device further includes: The vibration feedback module includes an explosion-proof vibration frequency sensor attached to the outer wall of the high-pressure pipeline of the abrasive jet mechanism or the end of the demolition actuator, and the vibration frequency sensor is electrically connected to the control box. The control box is pre-set with standard breaching characteristic curves, and the control box is configured as follows: Receives demolition vibration signals collected in real time by a vibration frequency sensor; The real-time collected demolition vibration signal is compared with a preset standard demolition characteristic curve to identify the material type of the object being cut. Based on the identified material type, the output parameters of the power mechanism are adjusted in real time to change the action speed of the demolition actuator, and the abrasive supply of the abrasive jet mechanism is adjusted at the same time.

[0006] Preferably, the frame is a semi-enclosed protective shell, constituting the load-bearing base of the device; The top-suspended traveling mechanism is symmetrically arranged on the top of the machine frame, used to connect with the monorail track, and drive the machine frame to move and position along the track; The demolition actuator is located on one side of the machine frame. The demolition actuator is a multi-degree-of-freedom robotic arm with an actuator nozzle at its end. The control box is fixedly installed inside the frame and is used to control the coordinated operation of various mechanisms. The power mechanism is fixedly installed on the inner side of the frame and is used to provide power to the entire device; The water tank is fixedly installed inside the machine frame and is used to store the working medium; The abrasive jet mechanism is located inside the machine frame and is connected to the water tank and the execution nozzle of the demolition execution mechanism.

[0007] Preferably, the explosion-proof vibration frequency sensor is attached to the outer wall of the high-pressure pipeline of the abrasive jet mechanism, and the explosion-proof vibration frequency sensor is connected to the input terminal of the programmable logic controller in the control box through an explosion-proof cable.

[0008] Preferably, the water tank is connected to the abrasive jet mechanism and an auxiliary nozzle located on one side of the demolition execution mechanism via pipelines. The auxiliary nozzle is used for equipment cooling and dust suppression during operation.

[0009] Preferably, the standard demolition characteristic curves pre-stored in the control box include hard rock cutting characteristic curves, soft rock cutting characteristic curves, and metal support mesh cutting characteristic curves.

[0010] Preferably, the control box is configured to reduce the oscillation speed of the breaking actuator and increase the abrasive supply of the abrasive jet mechanism when it is identified that the object being cut is hard rock.

[0011] Preferably, the control box is configured to increase the swing speed of the breaking actuator and reduce the abrasive supply of the abrasive jet mechanism when it is identified that the object being cut is soft rock.

[0012] Preferably, the control box is also configured to issue an audible and visual alarm signal and limit the feed depth of the demolition actuator when it is identified that the object being cut is a metal support mesh.

[0013] Preferably, the control box is also configured to associate and store the real-time vibration signal, the identified material type and the corresponding adjustment parameters during each demolition operation to form a demolition efficiency log.

[0014] Preferably, the multi-degree-of-freedom robotic arm of the demolition actuator is provided with a pipeline guide frame, which is used to guide the high-pressure hose connecting the abrasive jet mechanism and the actuator nozzle as the robotic arm moves.

[0015] The present invention has the following beneficial effects: 1. In this invention, by adding a vibration feedback module, an explosion-proof vibration frequency sensor attached to the high-pressure pipeline or the end of the robotic arm is used to collect vibration signals in real time during the demolition process. The control box compares these signals with a preset standard demolition characteristic curve to accurately identify the material type of the object being cut. Based on this, the control system adjusts the output parameters of the power mechanism in real time to change the action speed of the demolition execution mechanism and simultaneously adjusts the abrasive supply of the abrasive jet mechanism, ensuring that the device always operates with optimal parameters that match the material characteristics, significantly improving demolition efficiency and cutting quality.

[0016] 2. In this invention, when hard rock is identified, the robotic arm swing speed is automatically reduced and the abrasive supply is increased to ensure cutting effectiveness while avoiding ineffective impact; when soft rock is identified, the robotic arm swing speed is automatically increased and the abrasive supply is reduced to avoid excessive waste of abrasive and over-cutting of soft rock. This precise control effectively reduces unnecessary abrasive consumption, while also reducing the impact load on mechanical components under suboptimal operating conditions, extending the service life of the demolition actuator and high-pressure pipelines.

[0017] 3. In this invention, when the vibration feedback module identifies the object being cut as a metal support mesh, the control box not only issues an audible and visual alarm signal but also automatically limits the feed depth of the demolition actuator. This mechanism effectively prevents accidental damage to critical support structures in the well by the high-pressure abrasive jet, avoids safety accidents such as roof collapse caused by mistakenly cutting the metal mesh, and improves the overall safety of the well demolition operation. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of an abrasive jet-assisted demolition device based on a monorail inspection robot proposed in this invention. Figure 2 This is a side view of the abrasive jet-assisted demolition device based on a monorail inspection robot proposed in this invention. Figure 3 This is a schematic diagram of the operation process of an abrasive jet-assisted demolition device based on a monorail inspection robot proposed in this invention.

[0019] The components include: 1. machine frame; 2. top-mounted traveling mechanism; 3. demolition execution mechanism; 4. control box; 5. power mechanism; 6. water tank; and 7. abrasive jetting mechanism. Detailed Implementation

[0020] The technical solutions in 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.

[0021] This invention provides an abrasive jet-assisted demolition device based on a monorail inspection robot, such as... Figures 1-3 As shown, it includes: frame 1, top-suspended traveling mechanism 2, demolition execution mechanism 3, control box 4, power mechanism 5, water tank 6, and abrasive jet mechanism 7. The device also includes: The vibration feedback module includes an explosion-proof vibration frequency sensor attached to the outer wall of the high-pressure pipeline of the abrasive jet mechanism 7 or the end of the demolition actuator 3. The vibration frequency sensor is electrically connected to the control box 4. The control box 4 is pre-set with a standard breaching characteristic curve, and the control box 4 is configured as follows: Receives demolition vibration signals collected in real time by a vibration frequency sensor; The real-time collected demolition vibration signal is compared with the preset standard demolition characteristic curve to identify the material type of the object being cut. Based on the identified material type, the output parameters of the power mechanism 5 are adjusted in real time to change the action speed of the demolition execution mechanism 3, and the abrasive supply of the abrasive jet mechanism 7 is adjusted at the same time.

[0022] Specifically, the frame 1 is a semi-enclosed protective shell, forming the load-bearing base of the device. The top-suspended traveling mechanism 2 is symmetrically arranged on the top of the frame 1, connected to a monorail track, and drives the frame 1 to move and position along the track. The demolition execution mechanism 3 is located on one side of the frame 1, and is a multi-degree-of-freedom robotic arm with an execution nozzle at its end. The control box 4, power mechanism 5, water tank 6, and abrasive jet mechanism 7 are all fixedly installed inside the frame 1. The control box 4 is used for coordinated control of the various mechanisms; the power mechanism 5 provides power to the device; the water tank 6 stores the working medium; and the abrasive jet mechanism 7 is connected to the water tank 6 via pipelines and to the execution nozzle via a high-pressure hose.

[0023] This embodiment also includes a vibration feedback module. This module includes an explosion-proof vibration frequency sensor attached to the outer wall of the high-pressure pipeline of the abrasive jet mechanism 7 or the end of the demolition actuator 3. The sensor is electrically connected to the input terminal of the programmable logic controller (PLC) inside the control box 4 via an explosion-proof cable. The control box 4 has a preset standard demolition characteristic curve. The PLC inside the control box 4 is configured to: receive the demolition vibration signal collected in real time by the sensor; compare the real-time vibration signal with the preset standard curve to identify the material type of the object being cut; and, based on the identified material type, adjust the output parameters of the power mechanism 5 in real time to change the operating speed of the demolition actuator 3, and simultaneously adjust the abrasive supply of the abrasive jet mechanism 7.

[0024] Specifically, the preset standard demolition characteristic curves in control box 4 include hard rock cutting characteristic curves, soft rock cutting characteristic curves, and metal support mesh cutting characteristic curves. These characteristic curves are established through a standard database built by collecting and extracting characteristic parameters of vibration signals, such as dominant frequency, amplitude, and waveform envelope, from pre-tested cutting experiments on different materials. During real-time operation, the programmable logic controller in control box 4 uses the following formula to calculate the similarity between the real-time vibration signal and each preset characteristic curve: ; Among them, This represents the similarity between the real-time vibration signal and the i-th preset characteristic curve, with a value ranging from 0 to 1. This represents the amplitude of the vibration signal acquired in real time at time t; This represents the standard amplitude of the i-th preset characteristic curve at time t; n represents the total number of sampling points. The programmable logic controller calculates the similarity value between the real-time vibration signal and the hard rock cutting characteristic curve, soft rock cutting characteristic curve, and metal support mesh cutting characteristic curve, and determines the material category corresponding to the maximum similarity value as the material category of the object being cut.

[0025] Based on the identified material type, the programmable logic controller (PLC) in control box 4 executes corresponding control strategies: when hard rock is identified, the swing speed of the demolition actuator 3 is reduced, while the abrasive supply of the abrasive jet mechanism 7 is increased, allowing the jet to remain on the hard rock surface for a longer time and enhancing cutting ability; when soft rock is identified, the swing speed is increased and the abrasive supply is reduced to speed up the operation and reduce abrasive waste; when metal support mesh is identified, an audible and visual alarm is issued and the feed depth of the demolition actuator 3 is limited to avoid damaging the support structure and causing safety risks. Furthermore, control box 4 is configured to associate and store the real-time vibration signal of each operation, the identified material type, and the corresponding adjustment parameters to form a demolition efficiency log. This log is stored in control box 4 and can be read and analyzed by a host computer, providing data support for process optimization and equipment maintenance. Preferably, the robotic arm of the demolition actuator 3 is equipped with a pipe guide frame to guide the high-pressure hose connecting the abrasive jet mechanism 7 and the actuator nozzle as the robotic arm moves, preventing the hose from tangling or excessively bending. In another preferred embodiment, the water tank 6 is connected to the abrasive jet mechanism 7 and an auxiliary nozzle located on one side of the demolition execution mechanism 3 via pipelines. The auxiliary nozzle is turned on during operation to achieve equipment cooling and dust suppression on site, thus realizing multiple uses of water.

[0026] Furthermore, the frame 1 is a semi-enclosed protective shell, constituting the load-bearing base of the device; The top-suspended traveling mechanism 2 is symmetrically arranged on the top of the frame 1, and is used to connect with the monorail track and drive the frame 1 to move and position along the track; The demolition actuator 3 is located on one side of the frame 1. The demolition actuator 3 is a multi-degree-of-freedom robotic arm, and its end is equipped with an execution nozzle. The control box 4 is fixedly installed inside the frame 1 and is used to control the coordinated operation of each mechanism; The power mechanism 5 is fixedly installed on the inner side of the frame 1 and is used to provide power to the entire device; The water tank 6 is fixedly installed inside the frame 1 and is used to store the working medium; The abrasive jet mechanism 7 is located inside the frame 1 and is connected to the water tank 6 and the execution nozzle of the demolition execution mechanism 3.

[0027] Specifically, the frame 1 has an internal space for housing the control box 4, power mechanism 5, water tank 6, and abrasive jet mechanism 7. The frame 1 is a semi-enclosed structure with protective plates on all sides and top, and maintenance openings on the bottom or sides, protecting the internal components from falling rocks, dust, and water corrosion, while also facilitating routine maintenance. The top of the frame 1 has symmetrical mounting bases to secure the top-suspended traveling mechanism 2, and the front or side has a robotic arm mounting interface to connect the demolition execution mechanism 3.

[0028] The top-suspended traveling mechanism 2 includes two symmetrically arranged traveling units. Each traveling unit consists of a drive motor, a reducer, traveling wheels, and guide wheels. The traveling wheels contact the lower flange of the monorail, and the guide wheels contact the two sides of the rail, achieving suspension and guidance of the device. The drive motor drives the traveling wheels to rotate through the reducer, causing the frame 1 to move along the rail. The top-suspended traveling mechanism 2 is also equipped with a braking unit for reliable positioning of the device after it reaches its destination. The drive motor is electrically connected to the control box 4, receiving traveling commands to achieve forward, backward, acceleration / deceleration, and precise stopping.

[0029] The demolition actuator 3 is a multi-degree-of-freedom robotic arm, mounted on the front or side of the frame 1. This robotic arm includes at least three rotary joints and one telescopic joint. Each joint is driven by a servo motor and equipped with an angle sensor and limit switches. An actuator nozzle is fixedly connected to the end of the robotic arm. The actuator nozzle is connected to the abrasive jet mechanism 7 via a high-pressure hose. It contains nozzles for spraying high-pressure abrasive jets at a set angle and speed onto the target object. The servo motors of each joint are electrically connected to the control box 4. The control box 4 drives the joints to move in tandem, enabling the actuator nozzle to reach any position within the workspace in any posture.

[0030] The control box 4 is fixedly installed inside the frame 1 and is an explosion-proof electrical enclosure. It integrates a programmable logic controller (PLC), a power module, a communication module, and a storage module. The PLC serves as the control core, coordinating the control of the top-suspended traveling mechanism 2, the demolition execution mechanism 3, the power mechanism 5, and the abrasive jet mechanism 7 through preset programs. The control box 4 communicates with the host computer at the ground control center via an explosion-proof cable, receiving remote commands and uploading operational status data. The storage module stores preset standard demolition characteristic curves and demolition efficiency logs generated from each operation.

[0031] The power mechanism 5 is fixedly installed inside the frame 1 and includes an explosion-proof motor and a hydraulic pump station or high-pressure water pump. The explosion-proof motor is electrically connected to the control box 4, and the output power is adjusted by controlling the motor speed and starting / stopping. The output shaft of the power mechanism 5 is mechanically connected to the pump body of the abrasive jet mechanism 7, providing it with rotational power; at the same time, it is connected to the drive elements of each joint of the demolition actuator 3 through hydraulic pipelines or cables, providing a power source for the robotic arm. The housing of the power mechanism 5 is equipped with heat dissipation fins and can be forcibly cooled by auxiliary nozzles.

[0032] The water tank 6 is fixedly installed inside the frame 1, made of rust-resistant material, and contains a liquid level sensor and a filter. The top of the water tank 6 has an inlet, and the bottom has an outlet. The outlet is connected to the inlet of the abrasive jet mechanism 7 via a pipeline equipped with a solenoid valve and a flow meter. The solenoid valve is electrically connected to the control box 4, which controls the amount of water entering the abrasive jet mechanism 7 by adjusting the opening of the solenoid valve. The flow meter monitors the flow rate in real time and sends feedback to the control box 4. The water tank 6 also has an auxiliary outlet on its side or bottom, connected via a pipeline to an auxiliary nozzle located on one side of the demolition actuator 3, for providing cooling and dust suppression water.

[0033] The abrasive jet mechanism 7 is fixedly installed inside the frame 1 and includes a high-pressure water pump, an abrasive tank, a mixing chamber, and a valve assembly. The inlet of the high-pressure water pump is connected to the outlet of the water tank 6 via a pipeline, and the outlet is connected to the inlet of the mixing chamber via a high-pressure pipeline. An abrasive supply valve is located at the bottom of the abrasive tank, and its outlet is connected to the inlet of the mixing chamber via a pipeline. The outlet of the mixing chamber is connected to the actuator nozzle via a high-pressure hose. The high-pressure water pump is driven by the power mechanism 5, which pressurizes the water and delivers it to the mixing chamber. The abrasive supply valve is electrically connected to the control box 4, which controls the amount of abrasive entering the mixing chamber by adjusting its opening. The high-pressure water and abrasive are fully mixed in the mixing chamber to form a high-pressure abrasive jet, which is delivered to the actuator nozzle via the high-pressure hose and ejected at high speed by the nozzle to achieve demolition.

[0034] In a preferred embodiment, the robotic arm of the demolition actuator 3 is equipped with a pipeline guide frame, which consists of multiple movably connected annular supports arranged along the joints of the robotic arm. High-pressure hoses pass through the guide frame, which swings with the rotation of the robotic arm, ensuring the high-pressure hoses remain within a set bending radius, preventing excessive bending or interference, and ensuring stable jet delivery and pipeline lifespan. In another preferred embodiment, the auxiliary water outlet of the water tank 6 is connected to multiple auxiliary nozzles, respectively located near the joints of the demolition actuator 3 and at the bottom of the frame 1. Each auxiliary nozzle has an independent control valve on its pipeline, electrically connected to the control box 4. The control box 4 selectively activates the auxiliary nozzles according to the robotic arm's operating status and the dust concentration at the site, spraying water mist to cool the drive motor and joints, while simultaneously reducing dust at the work site and improving the downhole environment.

[0035] Furthermore, the explosion-proof vibration frequency sensor is attached to the outer wall of the high-pressure pipeline of the abrasive jet mechanism 7, and the explosion-proof vibration frequency sensor is connected to the input terminal of the programmable logic controller in the control box 4 through an explosion-proof cable.

[0036] Specifically, the vibration feedback module includes an explosion-proof vibration frequency sensor, which is attached to the outer wall of the high-pressure pipeline of the abrasive jet mechanism 7. The high-pressure pipeline of the abrasive jet mechanism 7 is made of high-strength seamless steel pipe, and a mixture of high-pressure water and abrasive flows inside. During the jet impact process, the high-pressure pipeline will generate mechanical vibrations related to the material properties of the object being cut, and the sensor attached to the outer wall of the pipeline will collect the frequency and amplitude signals of the vibrations in real time.

[0037] The selected sensor meets downhole explosion-proof requirements, with an explosion-proof rating no lower than Exd I or Exib I. The sensor internally employs piezoelectric ceramic or microelectromechanical system (MEMS) sensing elements to convert mechanical vibration into an electrical signal output. The housing is made of stainless steel, providing waterproof, dustproof, and impact-resistant properties. The sensor is fixed to the outer wall of the high-pressure pipeline using metal adhesive or mechanical clamps, ensuring a tight fit for attenuated vibration signal acquisition. To guarantee accurate acquisition, the pipeline outer wall at the attachment location must be cleaned and decontaminated, and a special coupling agent must be applied to the contact surface to reduce contact resistance.

[0038] The explosion-proof vibration frequency sensor is connected to the input terminal of the programmable logic controller (PLC) inside control box 4 via an explosion-proof cable. The explosion-proof cable is a mining-grade flame-retardant shielded cable with explosion-proof connectors at both ends. One end connects to the sensor output interface, and the other end passes through the explosion-proof cable entry device in frame 1 into control box 4, where it connects to the analog input module of the PLC. This module has a built-in analog-to-digital converter that converts the continuous analog signals acquired by the sensor into discrete digital signals for subsequent processing.

[0039] In another embodiment, the sensor is attached to the end of the demolition actuator 3. The end of the robotic arm of the demolition actuator 3 is equipped with an actuator nozzle mounting base, on which the sensor is fixedly mounted. Because the actuator nozzle directly contacts the spray target, the vibration signal collected at this location is more direct and can reflect material changes earlier. The sensor and mounting base are bonded with metal adhesive or mechanically fixed to ensure reliable signal acquisition, and are connected to the input terminal of the programmable logic controller inside the control box 4 via an explosion-proof cable.

[0040] The sampling frequency setting of the explosion-proof vibration frequency sensor should meet the requirements of vibration signal acquisition. Based on the characteristics of abrasive jet demolition operations, the vibration frequency generated by the object being cut is mainly concentrated in the range of 50Hz to 5000Hz. To ensure the integrity of signal acquisition and the accuracy of subsequent analysis, the programmable logic controller (PLC) is set to a sampling frequency of no less than 10kHz for the explosion-proof vibration frequency sensor. The PLC continuously reads the sensor's output value according to the set sampling frequency, forming a real-time vibration signal sequence. After receiving the real-time vibration signal, the PLC first performs preprocessing. Preprocessing includes DC component removal, filtering, and normalization. The DC component removal is calculated using the following formula: ; in, This represents the amplitude of the vibration signal at time t after DC removal; The amplitude of the original vibration signal at time t is represented by N; N represents the number of sampling points used to calculate the DC component, which is usually all sampling points within a complete sampling period.

[0041] The filtering process employs a bandpass filter to retain effective signals within the frequency range of 50Hz to 5000Hz, while filtering out low-frequency interference and high-frequency noise. The transfer function of the bandpass filter is implemented using a second-order Butterworth filter, with its specific parameters set according to the sampling frequency and cutoff frequency. Normalization is calculated using the following formula: ; in, This represents the amplitude of the normalized vibration signal at time t; This represents the amplitude of the vibration signal at time t after DC removal; This represents the maximum absolute value of the vibration signal after DC removal within the entire sampling period. Normalization eliminates the absolute differences in signal amplitude under different operating conditions, allowing subsequent waveform comparisons to focus more on the shape characteristics of the signal rather than its absolute amplitude.

[0042] The preprocessed real-time vibration signal sequence is stored in the data buffer of the programmable logic controller, awaiting comparison with a preset standard breaking characteristic curve. The length of the data buffer is set to contain at least one complete cutting cycle of sampling points, typically 1024 or 2048 points, to ensure the accuracy of waveform comparison.

[0043] Furthermore, the water tank 6 is connected to the abrasive jet mechanism 7 and the auxiliary nozzle located on one side of the demolition execution mechanism 3 via pipelines. The auxiliary nozzle is used for equipment cooling and dust suppression during operation.

[0044] Specifically, water tank 6 is connected to abrasive jet mechanism 7 and auxiliary nozzle via pipelines. Water tank 6 has a main outlet and an auxiliary outlet on its bottom or side. The main outlet is connected to the high-pressure water pump inlet of abrasive jet mechanism 7 via a main water supply pipeline, providing the working medium for abrasive jet cutting. The auxiliary outlet is connected to the auxiliary nozzle located on one side of demolition execution mechanism 3 via an auxiliary water supply pipeline. An auxiliary control valve, either a solenoid valve or an electric ball valve, is installed on the auxiliary water supply pipeline, and its control terminal is electrically connected to control box 4. Control box 4 controls the opening and closing of the auxiliary control valve by outputting a switching signal, thereby controlling the working state of the auxiliary nozzle. The diameter of the auxiliary water supply pipeline is smaller than that of the main water supply pipeline to accommodate the smaller flow requirements of the auxiliary nozzle. The auxiliary nozzle is fixedly installed near the end of the multi-degree-of-freedom robotic arm of demolition execution mechanism 3, or near the joints of the robotic arm. The auxiliary nozzle is an atomizing nozzle, and its structure includes a nozzle body, a filter screen, and an atomizing core. High-pressure water enters the auxiliary nozzle through the auxiliary water supply pipeline and forms fine water mist particles through the special flow channel of the atomizing core, which are then sprayed out at a certain cone angle. The spray direction of the auxiliary nozzle is adjustable. By adjusting the installation angle of the nozzle body, the water mist can cover the robotic arm joints that need cooling, the drive motor, and the dust area generated by the demolition operation.

[0045] During the demolition operation, control box 4 activates auxiliary nozzles in a timely manner to cool the equipment and reduce dust, based on a preset program or received remote commands. Specifically, when control box 4 detects that the joint drive motor temperature of the demolition actuator 3 exceeds a set threshold, or when the dust concentration at the work site exceeds a set threshold, control box 4 outputs an opening signal to the auxiliary control valve. The auxiliary control valve opens, and water in water tank 6 is transported to the auxiliary nozzles via the auxiliary water supply pipeline, spraying out in a mist form. To achieve precise flow control, an auxiliary flow meter and an auxiliary pressure sensor can also be installed on the auxiliary water supply pipeline. The auxiliary flow meter is used to monitor the instantaneous flow rate of the auxiliary nozzles in real time, and the auxiliary pressure sensor is used to monitor the working pressure of the auxiliary nozzles. Both the auxiliary flow meter and the auxiliary pressure sensor are electrically connected to control box 4, feeding back real-time monitoring data to control box 4. Based on the feedback data, control box 4 calculates the deviation between the actual flow rate and the set flow rate of the auxiliary nozzles using the following formula: ; in, This represents the flow rate deviation at time t, expressed in liters per minute. This indicates the set target flow rate, expressed in liters per minute. This represents the actual flow rate at time t, as fed back by the auxiliary flow meter, in liters per minute.

[0046] Based on the flow deviation value, control box 4 uses a proportional-integral control algorithm to calculate the adjustment amount of the auxiliary control valve. The calculation formula is as follows: ; in, This represents the control quantity output at time t, used to adjust the opening of the auxiliary control valve; Indicates the proportionality coefficient; Indicates the integral coefficient; This indicates the control cycle, measured in seconds. This closed-loop control ensures the actual flow rate of the auxiliary nozzles remains near the set value, guaranteeing cooling and dust suppression while preventing water waste.

[0047] In a preferred embodiment, multiple auxiliary nozzles are respectively installed at different positions of the demolition actuator 3 and at the bottom of the frame 1. These auxiliary nozzles are connected to the auxiliary water supply pipeline in parallel, and each auxiliary nozzle has an independent branch control valve. The control box 4 can selectively activate one or more auxiliary nozzles according to actual needs. For example, when the demolition actuator 3 operates at high speed, the auxiliary nozzle near the joint motor is activated for localized cooling; when a large amount of dust is generated during demolition operations, multiple auxiliary nozzles are activated to form a water curtain for comprehensive dust suppression. In another preferred embodiment, a level sensor is installed in the water tank 6, which is electrically connected to the control box 4. The level sensor monitors the water level in the water tank 6 in real time. When the water level is lower than a set lower limit, the control box 4 issues a water shortage alarm signal and automatically closes the auxiliary control valve, prioritizing the main cutting water supply to the abrasive jet mechanism 7 and preventing insufficient water supply to the main cutting system due to excessive auxiliary water.

[0048] Furthermore, the standard demolition characteristic curves pre-stored in the control box 4 include hard rock cutting characteristic curves, soft rock cutting characteristic curves, and metal support mesh cutting characteristic curves.

[0049] Specifically, the storage module inside control box 4 pre-stores standard demolition characteristic curves, including hard rock cutting characteristic curves, soft rock cutting characteristic curves, and metal support mesh cutting characteristic curves. These standard demolition characteristic curves are reference data established and stored in control box 4 through specialized calibration tests before the device is put into use. The process of establishing standard demolition characteristic curves is as follows: Select representative hard rock samples, soft rock samples, and metal support mesh samples as calibration objects. Place the device on the calibration test bench and control the demolition actuator 3 to perform abrasive jet cutting operations on the above three types of calibration objects respectively. During the cutting process, the explosion-proof vibration frequency sensor collects the vibration signal from the outer wall of the high-pressure pipeline of the abrasive jet mechanism 7 or the end of the demolition actuator 3 in real time. For each type of calibration object, the cutting test is repeated multiple times to collect multiple sets of vibration signal data. The collected vibration signal data is preprocessed, including DC component removal, bandpass filtering, and normalization processing. The processing method is the same as the preprocessing method described in the aforementioned specific embodiment. The preprocessed vibration signal data is divided into sample segments of fixed length. The length of each sample segment corresponds to a complete cutting cycle, and 1024 sampling points are usually taken.

[0050] Feature extraction is performed on each sample segment, including time-domain and frequency-domain features. Time-domain features include the signal's mean, variance, peak value, peak-to-peak value, and root mean square (RMS). Frequency-domain features are obtained through a Fast Fourier Transform (FFT) of the signal, including the dominant frequency, centroid frequency, frequency variance, and frequency band energy distribution. For hard rock cutting, the dominant frequency of the vibration signal is typically concentrated in the 800Hz to 2000Hz range, with abundant high-frequency components. For soft rock cutting, the dominant frequency is typically concentrated in the 200Hz to 600Hz range, with energy concentrated in the low-frequency band. For metal mesh cutting, the vibration signal exhibits significant resonance characteristics, with multiple harmonic components in the spectrum, and the dominant frequency is related to the natural frequency of the metal mesh. The extracted features are analyzed and screened, selecting feature parameters that effectively distinguish the three types of cutting objects to form a feature vector. For each type of calibration object, the feature vectors of all sample segments are statistically averaged to obtain the baseline feature vector for that type of object. The baseline feature vector is used as the standard breaching feature curve for this type of object and stored digitally in the storage module of control box 4. During actual operation, the programmable logic controller (PLC) inside control box 4 uses a pattern recognition algorithm to compare the real-time acquired vibration signals with the preset standard breaching feature curves. Specifically, the PLC first performs the same preprocessing and feature extraction on the real-time acquired vibration signals as in the calibration test to obtain the real-time feature vector. Then, it calculates the Euclidean distance between the real-time feature vector and various standard breaching feature curves, using the following formula: ; in, The distance between the real-time feature vector and the standard demolition feature curve of the kth type is represented by , where k takes the values ​​1, 2, and 3, representing hard rock, soft rock, and metal support mesh, respectively; m represents the dimension of the feature vector, i.e., the number of selected feature parameters. This represents the j-th feature component of the real-time feature vector; This represents the j-th characteristic component of the k-th type of standard demolition characteristic curve.

[0051] The programmable logic controller calculates three Euclidean distance values. , , These correspond to the degree of matching between the real-time signal and the characteristic curves for hard rock cutting, soft rock cutting, and metal support mesh cutting, respectively. The smaller the Euclidean distance, the higher the similarity between the real-time signal and this type of standard characteristic curve. The programmable logic controller (PLC) determines the material category corresponding to the minimum Euclidean distance as the material category of the object being cut, i.e.: ; in, Indicates the identified material category; Indicates taking The smallest k value.

[0052] In another implementation, to improve the accuracy and robustness of identification, weighted Euclidean distance or Mahalanobis distance can be used instead of Euclidean distance for similarity calculation. The formula for calculating weighted Euclidean distance is: ; in, Indicates the weighted Euclidean distance; This represents the weight coefficient of the j-th feature component. This weight coefficient is preset based on the contribution of each feature component to the classification. The feature component with a greater contribution has a greater weight.

[0053] The programmable logic controller (PLC) inside control box 4 repeatedly executes the above identification process at fixed time intervals to achieve real-time dynamic identification of the material type of the object being cut. Each identified material type serves as the basis for subsequent parameter adjustments, driving the power mechanism 5 and the abrasive jet mechanism 7 to execute corresponding control strategies.

[0054] Furthermore, the control box 4 is configured to reduce the swing speed of the demolition actuator 3 and increase the abrasive supply of the abrasive jet mechanism 7 when it is identified that the object being cut is hard rock.

[0055] Furthermore, the control box 4 is configured to increase the swing speed of the demolition actuator 3 and reduce the abrasive supply of the abrasive jet mechanism 7 when the object being cut is identified as soft rock.

[0056] Furthermore, the control box 4 is also configured to issue an audible and visual alarm signal and limit the feed depth of the demolition actuator 3 when it is identified that the object being cut is a metal support mesh.

[0057] Specifically, when the object being cut is identified as hard rock, control box 4 executes the first control strategy. The programmable logic controller (PLC) outputs a first speed adjustment signal to the power mechanism 5. This signal is either an analog signal or a pulse width modulation signal, used to reduce the rotational speed of the servo motors driving each joint of the demolition actuator 3, thereby reducing the swing speed of the robotic arm. The reduction in swing speed is determined based on the hardness grade of the hard rock, typically reducing the swing speed to 60% to 80% of the normal cutting speed. Simultaneously, the PLC outputs a first opening adjustment signal to the abrasive supply valve of the abrasive jet mechanism 7. This signal is an analog signal, used to increase the opening of the abrasive supply valve, thereby increasing the amount of abrasive entering the mixing chamber. The increase in abrasive supply is also determined based on the hardness grade of the hard rock, typically increasing the abrasive supply to 120% to 150% of the normal supply. To achieve precise speed and flow control, control box 4 calculates the target swing speed during hard rock cutting using the following formula: ; in, This indicates the target oscillation speed during hard rock cutting, measured in degrees per second or millimeters per second. This represents the base swing speed, which is a preset standard swing speed. This represents the hard rock velocity adjustment coefficient, with a value ranging from 0.6 to 0.8. The specific value is determined based on the hardness grade of the hard rock and the abrasive jet pressure.

[0058] Control box 4 simultaneously calculates the target abrasive supply rate for hard rock cutting using the following formula: ; in, This indicates the target abrasive feed rate during hard rock cutting, expressed in kilograms per minute. This indicates the base abrasive supply, which is a pre-set standard abrasive supply. This represents the hard rock abrasive adjustment coefficient, with a value ranging from 1.2 to 1.5. The specific value is determined based on the hardness grade of the hard rock and the required cutting depth.

[0059] When the target material is identified as soft rock, control box 4 executes the second control strategy. The programmable logic controller (PLC) outputs a second speed adjustment signal to the power mechanism 5 to increase the swing speed of the breaking actuator 3, typically increasing it to 120% to 150% of the normal cutting speed. Simultaneously, the PLC outputs a second opening adjustment signal to the abrasive supply valve of the abrasive jet mechanism 7 to reduce the valve's opening, thereby reducing the abrasive supply amount, typically reducing it to 60% to 80% of the normal supply amount. Control box 4 calculates the target swing speed for soft rock cutting using the following formula: ; in, This indicates the target oscillation speed during soft rock cutting, measured in degrees per second or millimeters per second. Indicates the basic oscillation velocity; This represents the soft rock velocity adjustment coefficient, with a value ranging from 1.2 to 1.5.

[0060] Control box 4 simultaneously calculates the target abrasive supply during soft rock cutting using the following formula: ; in, This indicates the target abrasive feed rate during soft rock cutting, expressed in kilograms per minute. Indicates the basic abrasive supply; This represents the adjustment coefficient for soft rock abrasives, with a value ranging from 0.6 to 0.8.

[0061] When the object being cut is identified as a metal support mesh, control box 4 executes the third control strategy. This strategy prioritizes safety. The programmable logic controller (PLC) first outputs an alarm trigger signal to the alarm module. The alarm module includes an audible and visual alarm, which is located on the outside of the frame 1 or on the panel of control box 4. Upon receiving the alarm trigger signal, the alarm module emits an intermittent beeping sound and a flashing red light to alert on-site operators and surrounding workers that metal support mesh is being cut. Simultaneously, the PLC outputs a limit control signal to the power mechanism 5, which limits the feed depth of the demolition actuator 3. Specifically, the PLC modifies the range of motion parameters of the robotic arm joints to limit the feed depth of the robotic arm along the current cutting direction to within a safe threshold. This safe threshold is preset based on the thickness and position of the metal support mesh, typically set to a depth that just contacts the surface of the mesh but does not penetrate it, for example, 2 mm to 5 mm. When the feed depth of the robotic arm reaches this safe threshold, the PLC immediately stops the feed movement in that direction and issues a command to retract the robotic arm to a safe position. In a preferred embodiment, when the object being cut is identified as a metal support mesh, the control box 4 simultaneously executes a parameter adjustment strategy. The programmable logic controller (PLC) outputs a speed reduction signal to the power mechanism 5, reducing the swing speed of the demolition actuator 3 to 20% to 40% of the normal cutting speed, allowing the operator sufficient time to observe and make judgments. Simultaneously, the PLC outputs a shut-off signal to the abrasive supply valve of the abrasive jet mechanism 7, temporarily stopping the abrasive supply so that the actuator nozzle only sprays pure water, reducing the cutting capability against the metal support mesh.

[0062] In another preferred embodiment, the control box 4 is pre-set with a multi-level safety response mechanism. When a metal support mesh is first detected, a first-level response is executed, which involves issuing an audible and visual alarm and limiting the feed depth. If, after limiting the feed depth, the vibration signal continues to show characteristics of a metal support mesh, indicating that the robotic arm may be contacting or cutting the metal mesh, a second-level response is executed. The control box 4 automatically stops the demolition operation and resets the robotic arm to its initial position, awaiting manual intervention and confirmation from the operator.

[0063] Furthermore, the control box 4 is also configured to associate and store the real-time vibration signals, identified material types, and corresponding adjustment parameters during each demolition operation to form a demolition efficiency log.

[0064] Specifically, the programmable logic controller (PLC) within control box 4 is also configured for data logging, storing key data from each demolition operation to form a demolition efficiency log. This log is stored in a built-in storage module within control box 4, employing industrial-grade solid-state storage or a pluggable memory card, providing sufficient storage capacity and shockproof, dustproof, and explosion-proof characteristics. The PLC records operational data at fixed time intervals or event-triggered intervals. The recording interval can be set from 100 milliseconds to 1000 milliseconds, with shorter intervals used during critical operational phases to improve data resolution. Each recorded data segment includes a timestamp, real-time vibration signal, identified material type, and corresponding adjustment parameters. The real-time vibration signal records a pre-processed sequence of vibration signal amplitudes or its characteristic values; the identified material type is stored in encoded form, for example, 1 for hard rock, 2 for soft rock, and 3 for metal support mesh; the corresponding adjustment parameters include the actual swing speed of demolition actuator 3, the actual abrasive supply of abrasive jet mechanism 7, and the output power of power mechanism 5.

[0065] The demolition efficiency log is stored in a tabular format, with each record corresponding to a complete data set at a specific time point. After each complete demolition operation, the programmable logic controller (PLC) automatically packages all recorded data into a single log file, using the operation start time as the filename. To facilitate subsequent data analysis and process optimization, the PLC also performs preliminary statistical analysis on the raw data. For each complete demolition operation, the PLC calculates the following statistical indicators: ; in, This indicates the total duration of a single operation, in seconds. Indicates the timestamp of when the task started; The timestamp indicating the end of the task.

[0066] ; in, The total moving path length of the robotic arm in a single operation is represented in meters; v(t) represents the swing speed of the dismantling actuator 3 at time t, in meters per second; the integral operation is approximated by accumulating discrete velocity sample values.

[0067] ; in, q(t) represents the total abrasive consumption in a single operation, in kilograms; q(t) represents the abrasive supply of the abrasive jet mechanism 7 at time t, in kilograms per second.

[0068] ; in, P(t) represents the total energy consumption of a single operation, in kilowatt-hours; P(t) represents the instantaneous power of the power mechanism 5 at time t, in kilowatts.

[0069] The programmable logic controller (PLC) associates and stores the aforementioned statistical indicators with the corresponding operational data to form operational summary information. This summary information, along with the complete demolition efficiency log, is stored in the storage module. Control box 4 also has a communication interface, which connects to the host computer at the ground control center via a mining communication cable or wireless communication module. The host computer can periodically or in real-time read the demolition efficiency log stored in control box 4. Operators can view trend curves, statistical reports, and detailed information of historical operational data through the host computer's human-machine interface. To facilitate the analysis and mining of large amounts of historical data, the host computer is equipped with data analysis software. This software has the following functions: First, a data playback function, which can reproduce the changes in various parameters during any demolition operation; second, a comparative analysis function, which can compare the demolition efficiency under different materials and parameter settings, and calculate efficiency indicators such as demolition volume per unit time and demolition volume per unit abrasive; third, a trend prediction function, which predicts the wear and tear and maintenance cycle of equipment components based on the changing trends of historical data.

[0070] In a preferred embodiment, the programmable logic controller (PLC) within the control box 4 also possesses a self-learning function. The PLC periodically analyzes the stored historical breaking efficiency logs to extract the optimal parameter combinations for different material types. For example, for hard rock cutting, it analyzes the oscillation speed and abrasive supply corresponding to the highest breaking efficiency in historical data, using this parameter combination as a new baseline parameter to update the basic oscillation speed. and basic abrasive supply The value of , or used to optimize the adjustment coefficient. and The range of values ​​is defined. Through this self-learning mechanism, the device's parameter settings can be continuously optimized to adapt to changes in the rock strata characteristics of a specific mine. In another preferred embodiment, the demolition efficiency log also records equipment fault information and alarm information. When the programmable logic controller detects equipment abnormalities, such as motor overload, pressure exceeding limits, or sensor failure, it automatically records the fault code and real-time data at the time of the fault. This information provides important basis for equipment fault diagnosis and preventive maintenance. Maintenance personnel can analyze data changes before and after the fault to identify potential problems in advance and take corresponding measures.

[0071] Furthermore, the multi-degree-of-freedom robotic arm of the demolition execution mechanism 3 is equipped with a pipeline guide frame, which is used to guide the high-pressure hose connecting the abrasive jet mechanism 7 and the execution nozzle as the robotic arm moves.

[0072] Specifically, the pipeline guide frame includes multiple guide units, which are spaced apart along the length of the robotic arm. Each guide unit includes a fixed seat and a guide ring. The fixed seat is made of metal and is fixed to the outside of each section of the robotic arm by bolts or clamps. The installation position of the fixed seat avoids the joint movement range of the robotic arm and the heat dissipation area of ​​the drive motor, ensuring that it does not affect the normal operation and heat dissipation performance of the robotic arm. The guide ring is a circular or elliptical ring structure made of wear-resistant material, such as polytetrafluoroethylene or nylon. The inner diameter of the guide ring is larger than the outer diameter of the high-pressure hose, usually 5 mm to 10 mm larger, allowing the high-pressure hose to slide freely axially within the guide ring. The guide ring is connected to the fixed seat through a rotating joint, allowing the guide ring to rotate freely relative to the fixed seat within a certain angle range. The rotation axis of the guide ring is parallel or perpendicular to the rotation axis of the robotic arm joint; the specific arrangement is determined according to the structure and motion characteristics of the robotic arm. After exiting the mixing chamber outlet of the abrasive jet mechanism 7, the high-pressure hose passes through the guide rings of each guide unit in sequence, and finally connects to the execution nozzle at the end of the demolition execution mechanism 3. The high-pressure hose is in a relaxed state within the guide ring, with sufficient length allowance to accommodate length changes during robotic arm movement. The spacing between each guide unit is determined based on the size and range of motion of the robotic arm, typically ranging from 300 mm to 500 mm, ensuring that the high-pressure hose does not sag excessively or interfere with other components in any orientation.

[0073] When the multi-degree-of-freedom robotic arm of the demolition actuator 3 adjusts its posture in various ways, the pipeline guide frame moves along with the robotic arm. The guide rings of each guide unit automatically adjust their angles according to the direction of force on the high-pressure hose, maintaining consistent guidance. Under the constraint of the guide rings, the high-pressure hose moves along a predetermined path with the robotic arm, preventing entanglement, twisting, or friction and collision with the robotic arm body or surrounding equipment. To achieve precise control of the high-pressure hose's bending radius, the pipeline guide frame is also equipped with a bending radius limiting structure. This limiting structure includes an arc-shaped guide plate or limiting rod positioned between adjacent guide units. The curvature radius of the arc-shaped guide plate is set according to the minimum allowable bending radius of the high-pressure hose. When the robotic arm joint rotation angle is too large, the high-pressure hose contacts the arc-shaped guide plate, which forces the high-pressure hose to bend with a curvature not less than the minimum allowable bending radius, preventing damage to the high-pressure hose due to excessive bending.

[0074] In a preferred embodiment, the pipeline guide frame further includes a tension detection unit. The tension detection unit is mounted on one of the guide units and includes a pressure sensor and a guide wheel. After the high-pressure hose passes over the guide wheel, it continues to extend. The pressure sensor detects the pressure on the guide wheel, which is proportional to the tension of the high-pressure hose. The tension detection unit is electrically connected to the control box 4 and feeds back the real-time detected tension value to the control box 4. The programmable logic controller (PLC) inside the control box 4 determines the working status of the high-pressure hose based on the tension value fed back by the tension detection unit. When the detected tension value exceeds a preset upper limit threshold, it indicates that the high-pressure hose may be overstretched and at risk of breakage. At this time, the PLC issues an alarm signal and automatically limits the movement amplitude and speed of the dismantling actuator 3 to prevent further stress on the hose. The formula for calculating the upper limit threshold tension is as follows: ; in, This indicates the upper limit threshold of tension, expressed in Newtons. The rated tensile load of the high-pressure hose is expressed in Newtons and is provided by the hose manufacturer; S represents the safety factor, which ranges from 2.0 to 3.0.

[0075] When the detected tension value is lower than the preset lower threshold, it indicates that the high-pressure hose may be too loose and poses a risk of tangling. At this time, the programmable logic controller (PLC) issues a warning message, reminding the operator to check the installation status of the pipeline guide bracket or adjust the length allowance of the high-pressure hose. The formula for calculating the lower tension threshold is as follows: ; in, This represents the lower limit threshold of tension, expressed in Newtons. This indicates the static tension value of the high-pressure hose under natural suspension, expressed in Newtons. This represents the relaxation coefficient, which ranges from 0.3 to 0.5.

[0076] In another preferred embodiment, the pipeline guide frame is also equipped with a lubrication unit. The lubrication unit includes a lubricating oil tank, a miniature oil pump, and an oil drip nozzle. The miniature oil pump is electrically connected to the control box 4 and starts periodically according to a preset program or received instructions, delivering the lubricating oil in the lubricating oil tank to the oil drip nozzle. The oil drip nozzle drips the lubricating oil onto the contact surface between the guide ring and the high-pressure hose, reducing frictional resistance and extending the service life of the high-pressure hose.

[0077] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A monorail inspection robot-based abrasive jet-assisted demolition device, comprising a frame (1), a top-suspended walking mechanism (2), a demolition execution mechanism (3), a control box (4), a power mechanism (5), a water tank (6), and an abrasive jet mechanism (7); characterized in that: The device further includes: Vibration feedback module, the vibration feedback module includes an explosion-proof vibration frequency sensor attached to the outer wall of the high-pressure pipeline of the abrasive jet mechanism (7) or the end of the demolition execution mechanism (3), the vibration frequency sensor being electrically connected to the control box (4); The control box (4) is pre-set with a standard demolition characteristic curve, and the control box (4) is configured as follows: Receives demolition vibration signals collected in real time by a vibration frequency sensor; The real-time collected demolition vibration signal is compared with a preset standard demolition characteristic curve to identify the material type of the object being cut. Based on the identified material type, the output parameters of the power mechanism (5) are adjusted in real time to change the action speed of the demolition execution mechanism (3), and the abrasive supply of the abrasive jet mechanism (7) is adjusted at the same time.

2. The abrasive jet-assisted demolition device based on a monorail inspection robot according to claim 1, characterized in that: The frame (1) is a semi-enclosed protective shell, which constitutes the load-bearing base of the device; The top-suspended walking mechanism (2) is symmetrically arranged on the top of the frame (1) for connecting with the monorail track and driving the frame (1) to move and position along the track; The demolition execution mechanism (3) is located on one side of the frame (1). The demolition execution mechanism (3) is a multi-degree-of-freedom robotic arm with an execution nozzle at its end. The control box (4) is fixedly installed on the inner side of the frame (1) and is used to control the coordinated operation of each mechanism; The power mechanism (5) is fixedly installed on the inner side of the frame (1) to provide power to the entire device; The water tank (6) is fixedly installed on the inside of the frame (1) and is used to store the working medium; The abrasive jet mechanism (7) is located inside the frame (1) and is connected to the water tank (6) and the execution nozzle of the demolition execution mechanism (3).

3. The abrasive jet-assisted demolition device based on a monorail inspection robot according to claim 2, characterized in that: The explosion-proof vibration frequency sensor is attached to the outer wall of the high-pressure pipeline of the abrasive jet mechanism (7), and the explosion-proof vibration frequency sensor is connected to the input terminal of the programmable logic controller in the control box (4) through an explosion-proof cable.

4. The abrasive jet-assisted demolition device based on a monorail inspection robot according to claim 2, characterized in that: The water tank (6) is connected to the abrasive jet mechanism (7) and the auxiliary nozzle located on one side of the demolition execution mechanism (3) via pipelines. The auxiliary nozzle is used for equipment cooling and dust suppression during operation.

5. The abrasive jet-assisted demolition device based on a monorail inspection robot according to claim 1, characterized in that: The standard demolition characteristic curves pre-stored in the control box (4) include hard rock cutting characteristic curves, soft rock cutting characteristic curves and metal support mesh cutting characteristic curves.

6. The abrasive jet-assisted demolition device based on a monorail inspection robot according to claim 5, characterized in that: The control box (4) is configured to reduce the swing speed of the demolition actuator (3) and increase the abrasive supply of the abrasive jet mechanism (7) when it is identified that the object being cut is hard rock.

7. The abrasive jet-assisted demolition device based on a monorail inspection robot according to claim 5, characterized in that: The control box (4) is configured to increase the swing speed of the breaking actuator (3) and reduce the abrasive supply of the abrasive jet mechanism (7) when it is identified that the object being cut is soft rock.

8. The abrasive jet-assisted demolition device based on a monorail inspection robot according to claim 5, characterized in that: The control box (4) is also configured to issue an audible and visual alarm signal and limit the feed depth of the demolition actuator (3) when it is identified that the object being cut is a metal support mesh.

9. The abrasive jet-assisted demolition device based on a monorail inspection robot according to claim 1, characterized in that: The control box (4) is also configured to associate and store the real-time vibration signal, the identified material type and the corresponding adjustment parameters during each demolition operation to form a demolition efficiency log.

10. The abrasive jet-assisted demolition device based on a monorail inspection robot according to claim 1, characterized in that: The multi-degree-of-freedom robotic arm of the demolition execution mechanism (3) is equipped with a pipeline guide frame, which is used to guide the high-pressure hose connecting the abrasive jet mechanism (7) and the execution nozzle as the robotic arm moves.

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