Low-disturbance gas blasting rock anchor beam excavation device and control method thereof

Abstract

The invention discloses a low-disturbance gas blasting rock-anchored beam excavation device and a control method thereof. The low-disturbance gas blasting rock-anchored beam excavation device comprises a vehicle-mounted main body, a blasting gas filling device, a gas blasting device and a control system, the blasting gas filling device is connected with the gas blasting device and is used for conveying blasting gas to the gas blasting device; the gas blasting device is lifted to a designated work area through the vehicle-mounted main body and conveyed into a blast hole through the clamping mechanical arm; the control system is used for controlling the blasting gas amount conveyed by the blasting gas filling device according to the designed stage gas detonation amount and controlling the detonation gas detonation device. Gas blasting excavation of the rock-anchored beam is realized by applying blasting gas of liquid oxygen, liquid nitrogen or a mixture of the liquid oxygen and the liquid nitrogen, automatic filling of the blasting gas is realized, the labor intensity is reduced, the gas blasting orientation capability is improved, blasting parameters are optimized, and low-disturbance excavation of the rock-anchored beam is realized.

Description

Technical Field

[0001] This invention relates to the field of gas blasting technology, and in particular to a low-disturbance gas blasting rock anchor beam excavation device and its control method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Rock-anchored beams are cantilevered load-bearing structures that anchor reinforced concrete beams to rock walls using grouted long anchor rods. The reinforced concrete beams are firmly anchored to the rock using grouted long anchor rods of a certain depth, and the loads they bear are transferred to the rock mass through the friction between the long anchor rods and the rock wall. Compared to ordinary cast-in-place beams, no columns are required, making full use of the bearing capacity of the surrounding rock.

[0004] Currently, the main method used in the construction of rock anchor beams is drill-and-blast, which results in serious over- and under-excavation and significant disturbance to the strata. The traditional drill-and-blast method relies primarily on explosives, which have excessive blasting power, lack directional control, and the blasting vibrations can easily damage the reserved rock mass, affecting the bearing capacity of the anchoring end of the rock anchor beam. Summary of the Invention

[0005] To address the problems of traditional explosive blasting methods, this invention proposes a low-disturbance gas blasting rock anchor beam excavation device and its control method. It proposes using liquid oxygen, liquid nitrogen, or a mixture of liquid oxygen and liquid nitrogen as blasting gases to achieve gas blasting excavation of rock anchor beams. This enables automatic filling of the blasting gas, reduces harm to the human body, improves the directional capability of gas blasting, optimizes blasting parameters, and achieves low-disturbance excavation of rock anchor beams.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a low-disturbance gas blasting rock anchor beam excavation device, comprising: a vehicle-mounted main body, a blasting gas filling device, a gas blasting device, and a control system; The blasting gas filling device is connected to the gas blasting device and is used to supply blasting gas to the gas blasting device; The gas blasting device is lifted to the designated work area by the vehicle-mounted main body and then transported into the blast hole; The control system is used to control the amount of blasting gas delivered by the blasting gas filling device according to the designed stage gas ignition amount, and to control the ignition of the gas blasting device; wherein, the gas blasting hole network parameters and stage gas ignition amount are optimized according to the dynamic stress caused by the blasting force and the threshold stress constraint of the surrounding rock disturbance.

[0007] As an alternative implementation, the explosive gas filling device includes an explosive gas storage tank, a booster pump, and a delivery pipe; the explosive gas storage tank is connected to one end of the delivery pipe via the booster pump, and the other end of the delivery pipe is connected to the gas blasting device.

[0008] As an alternative implementation, a clamping robotic arm is provided on the vehicle-mounted main body, and the gas blasting device is delivered to the corresponding blast hole by operating the clamping robotic arm.

[0009] As an alternative implementation, the gas blasting device employs a blast-enhanced fracturing tube or a variable-diameter fracturing tube; wherein, a blast-enhanced fracturing tube is used for vertical drilling and inclined drilling, while a variable-diameter fracturing tube is used when a borehole deviates, collapses, or deforms inside the hole.

[0010] As an alternative implementation, the wire braided reinforcement layer of the blast-enhanced fracturing tube is an asymmetric wire braided layer. The wire braided reinforcement layer has a weakening zone in the predetermined blasting direction, which is achieved by reducing the wire density, using lower strength materials, or reducing the wire size, thereby forming an asymmetric constraint field that forces the detonation wave to diffuse radially.

[0011] As an alternative implementation, a V-shaped fracturing groove is provided on the inner wall of the fracturing tube corresponding to the weakened zone. The V-shaped fracturing groove is arranged radially along the gas fracturing tube body, with the opening of the groove facing the inner side of the gas fracturing tube and the closing part facing the outer side of the gas fracturing tube.

[0012] As an alternative implementation, the variable diameter fracturing tube is equipped with a tube reel. The tube reel is adjusted by a tube reel wrench, which causes the outer shell of the fracturing tube to contract or expand, thereby adjusting the size of the fracturing tube.

[0013] As an alternative implementation, the process of optimizing the gas explosion orifice parameters and the stage gas detonation amount in the control system specifically includes: Design the parameters of the gas blasting hole network and the stage gas detonation amount, and calculate the dynamic stress caused by the blasting force accordingly; Based on the surrounding rock grade, determine whether the dynamic stress caused by the blasting force is greater than the surrounding rock disturbance threshold stress constraint condition; if it is, adjust the gas blasting hole network parameters and the stage gas detonation amount until the dynamic stress meets the surrounding rock disturbance threshold stress constraint condition.

[0014] As an alternative implementation, the gas explosion mesh parameters Including hole spacing Row spacing and Kong Shen ; The amount of gas ignition in the stage for: ;in, For the first Section gas detonation quantity, This is a correction factor; Density of the gas explosion device.

[0015] As an alternative implementation method, the dynamic stress caused by the blasting force for: ;in, The distance to the rock anchor beam slope to be blasted; These are the parameters for stress wave propagation; The stress wave attenuation index; Indicates stress concentration effect; For the first The amount of gas to detonate.

[0016] As an alternative implementation, the threshold stress constraint condition for surrounding rock disturbance that the dynamic stress induced by the blasting force satisfies is: ;in, The dynamic stress caused by the explosive force; The threshold stress for surrounding rock disturbance; To determine the disturbance safety factor, different disturbance safety factors are adopted according to different surrounding rock grades. , Uniaxial compressive strength, This is the shape coefficient of the face.

[0017] In a second aspect, the present invention provides a control method for the low-disturbance gas blasting rock anchor beam excavation device described in the first aspect, comprising: Design the parameters of the gas blasting hole network and the stage gas detonation amount, and calculate the dynamic stress caused by the blasting force accordingly; Based on the surrounding rock grade, determine whether the dynamic stress caused by the blasting force is greater than the surrounding rock disturbance threshold stress constraint condition; if it is, adjust the gas blasting hole network parameters and the stage gas detonation amount until the dynamic stress meets the surrounding rock disturbance threshold stress constraint condition. The gas blasting device is filled with blasting gas according to the adjusted stage gas detonation amount. The gas blasting device is raised to the designated work area by the vehicle body, and the gas blasting device is transported to the corresponding blast hole by the operation of the clamping robotic arm. The gas blasting is executed by the control system.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: To address the problems of traditional explosive blasting methods, this invention proposes a low-disturbance gas blasting rock anchor beam excavation device and its control method. It utilizes liquid oxygen, liquid nitrogen, or a mixture of both to achieve gas blasting excavation of rock anchor beams. An automatic filling device for the gas blasting device is used, displaying pressure and flow rate in real time. The device automatically shuts off once the set pressure and flow rate are reached, reducing manual labor intensity. By employing gas blasting devices such as blast-enhanced gas fracturing tubes or variable-diameter blasting fracturing tubes, the directional capability of the gas blasting is improved. Through optimized blasting parameters, low-disturbance excavation of rock anchor beams is achieved.

[0019] This invention establishes a threshold stress constraint condition for surrounding rock disturbance, which can effectively avoid over-excavation or disturbance expansion caused by stress wave superposition, improve construction efficiency, reduce over-excavation, reduce concrete backfilling, shorten construction period, and reduce overall costs.

[0020] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0022] Figure 1 This is a construction schematic diagram of the low-disturbance gas blasting rock anchor beam excavation device provided in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the low-disturbance gas blasting rock anchor beam excavation device provided in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the structure of the explosive gas filling device provided in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the operation of the explosive gas filling device provided in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the blast-enhanced fracturing tube structure provided in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the V-shaped fracturing groove of the blast-enhanced fracturing tube provided in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the variable diameter fracturing tube structure provided in Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the operation of the variable diameter rupture tube reel provided in Embodiment 1 of the present invention; Figure 9 This is a schematic diagram of the variable diameter rupture tube reel provided in Embodiment 1 of the present invention; Among them, 1. Explosive gas filling device; 1-1. Flow meter; 1-2. Pressure gauge; 1-3. Pilot valve; A. Non-weakened zone; B. Weakened zone; 2. Gas explosion device; 2-1. Inner layer; 2-2. Outer layer; 2-3. Groove; 2-4. Constraint reinforcement layer; 2-5. Inner layer support; 2-6. Fracturing tube shell; 2-7. Tube reel; 2-7-1. First pin hole; 2-7-2. Second pin hole; 2-8. Wrench; 3. Vehicle-mounted main body; 4. Infusion pipe; 5. Explosive gas storage tank; 6. Booster pump; 7. Clamping robotic arm; 8. Blast hole; 9. Rock anchor beam. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0025] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. Furthermore, it should be understood that the terms “comprising” and “including”, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0027] Example 1 like Figures 1-2 As shown, this embodiment provides a low-disturbance gas blasting rock anchor beam excavation device, including: a vehicle-mounted main body 3, a blasting gas filling device 1, a gas blasting device 2, and a control system; The blasting gas filling device 1 is connected to the gas blasting device 2 and is used to supply blasting gas to the gas blasting device 2; The gas blasting device 2 is raised to the designated work area via the vehicle-mounted main body 3 and then transported into the blast hole 8; The control system is used to control the amount of blasting gas delivered by the blasting gas filling device 1 according to the designed stage gas ignition amount, and to control the ignition of the gas blasting device; wherein, the gas blasting hole network parameters and stage gas ignition amount are optimized according to the dynamic stress caused by the blasting force and the threshold stress constraint of the surrounding rock disturbance.

[0028] In this embodiment, as Figure 3 As shown, the explosive gas filling device 1 includes an explosive gas storage tank 5, a booster pump 6, and a delivery pipe 4; the explosive gas storage tank 5 is connected to one end of the delivery pipe 4 via the booster pump 6, and the other end of the delivery pipe 4 is connected to the gas explosive device 2.

[0029] As an alternative implementation, the explosive gas filling device 1 is equipped with a flow meter 1-1, a pressure gauge 1-2, a pilot valve 1-3, etc., on the corresponding pipeline, such as... Figure 4 As shown.

[0030] As an alternative implementation, the infusion tube 4 is connected via a quick-connect plug to achieve rapid connection and prevent leakage of explosive gas.

[0031] As an alternative implementation method, the blasting gas may be liquid oxygen, liquid nitrogen, or a mixture of liquid oxygen and liquid nitrogen.

[0032] In this embodiment, a clamping robotic arm 7 is provided on the vehicle-mounted main body 3, and an observation camera is also provided. Thus, after the gas blasting device 2 is raised to the designated work area by the vehicle-mounted main body 3, the construction personnel can transport the gas blasting device 2 to the corresponding blast hole 8 by operating the clamping robotic arm 7.

[0033] As an alternative implementation, the gas explosion device 2 may be provided with multiple detonation points, and micro-delay explosion may be controlled by an initiation circuit.

[0034] In this embodiment, the gas blasting device 2 can be selected as either a blast-enhanced fracturing tube or a variable-diameter fracturing tube; wherein, during the excavation of the rock anchor beam, a blast-enhanced fracturing tube is used for vertical and inclined drilling, while a variable-diameter fracturing tube is used when a borehole deviates, collapses, or deforms inside the hole.

[0035] Specifically: like Figures 5-6 As shown, the blast-enhanced fracturing tube includes a fracturing tube body and a constraint reinforcement layer 2-4 disposed on its exterior. The fracturing tube body has a two-layer structure, wherein the strength of the material located in the inner layer 2-1 is higher than a set value, and its outer layer 2-2 is a reserved gas generation layer. The constraint reinforcement layer 2-4 is woven from a material with a certain strength, and the weaving density, material strength or material size are different in different areas, so that the constraint force formed by the constraint reinforcement layer 2-4 at the predetermined explosive force concentration area is less than the constraint force in other areas. On the inner wall of the gas fracturing tube, several grooves 2-3 are provided at positions corresponding to the predetermined explosive force concentration area.

[0036] As an alternative implementation, the two walls of the gas fracturing tube are made of alloy tubes with strength higher than a set value, such as aluminum alloy, alloy steel, or precision alloy. The strength of the inner layer material can be less than that of the outer layer material.

[0037] Of course, in other embodiments, other materials can be selected, as long as they can ensure a certain level of strength.

[0038] As an alternative implementation, the braiding material of the constraint reinforcement layer 2-4 is steel wire or alloy wire.

[0039] Similarly, in other embodiments, other materials can be selected, as long as they can have a certain strength, form a binding force, and form a filamentous structure.

[0040] In this embodiment, the wire braided reinforcement layer of the blast-enhanced fracturing tube is an asymmetric wire braided layer. A weakening region B is set in the wire braided reinforcement layer in the predetermined blasting direction. This is achieved by reducing the wire density, using a lower strength material, or reducing the wire size, thus forming an asymmetric constraint field that forces the detonation wave to diffuse radially. For example, the strength of the braided material in the weakened region B is lower than the strength of the braided material in other regions (i.e., the non-weakened region A); or, the thickness or diameter of the material in the weakened region B is smaller than the thickness or diameter of the material in other regions; or, the braid density of the weakened region B is lower than the braid density of other regions.

[0041] like Figure 6 As shown, grooves 2-3 are fracturing guide grooves, which are V-shaped or U-shaped structures. In this embodiment, a V-shaped fracturing guide groove is provided on the inner wall of the fracturing tube corresponding to the weakened zone B. The V-shaped fracturing guide groove is arranged radially along the gas fracturing tube body, with the opening of the groove facing the inside of the gas fracturing tube and the closed end facing the outside of the gas fracturing tube. At the moment of detonation, the liquefied gas instantly vaporizes, and its volume expands several hundred times instantly. Due to the overall constraint of the steel wire, the detonation will concentrate the energy released into the weakened zone B of the steel wire structure. The fracturing tube in the weakened zone B is also equipped with a guide V-shaped groove, which is most easily damaged, inducing the directional release of the detonation force.

[0042] like Figures 7-9 As shown, the variable diameter fracturing tube includes a fracturing tube body and a pipe reel 2-7 installed inside the fracturing tube body. By setting the pipe reel 2-7, the size of the fracturing tube body can be flexibly adjusted according to the site rock conditions, blasting scale and environmental requirements, so as to avoid problems such as insufficient or excessive blasting energy caused by insufficient or excessive fracturing tube size, which may lead to over-excavation or under-excavation.

[0043] The hose reel 2-7 is connected to the wrench 2-8. The hose reel 2-7 is adjusted by the wrench 2-8, which causes the fracture tube outer shell 2-6 to contract or expand. A part of the fracture tube outer shell 2-6 is housed inside the hose reel 2-7, thereby changing the diameter of the fracture tube body. The fracture tube outer shell 2-6 is set on the inner support 2-5 of the fracture tube.

[0044] The diameter adjustment range can be selected from 50mm to 150mm. After the diameter is adjusted, it is fixed by fixing the pin in the first pin hole 2-7-1 and the second pin hole 2-7-2. The first pin hole 2-7-1 is located on the tube reel 2-7, and the second pin hole 2-7-2 is located on the fracturing tube body. In addition, the first pin hole 2-7-1 and the second pin hole 2-7-2 can also be set as bolt holes, so that the diameter can be fixed by bolts.

[0045] Correspondingly, the top cap of the fracturing tube can be prefabricated in multiple models with different diameters to accommodate fracturing tubes with varying diameters.

[0046] In this embodiment, the process of optimizing the gas explosion orifice network parameters and the stage gas ignition amount in the control system specifically includes: S1: Design the gas explosion hole network parameters and the stage gas detonation amount, and calculate the dynamic stress caused by the explosion force accordingly; S2: Based on the surrounding rock grade, determine whether the dynamic stress caused by the blasting force is greater than the surrounding rock disturbance threshold stress constraint condition; if it is greater, adjust the gas blasting hole network parameters and the stage gas detonation amount until the dynamic stress meets the surrounding rock disturbance threshold stress constraint condition. S3: Based on the final blasting parameters (adjusted gas blasting hole network parameters and stage gas detonation amount), the gas blasting device is filled with blasting gas and inserted into the blast hole, the blast hole is sealed, and the control system controls the execution of gas blasting.

[0047] In this embodiment, in step S1, the parameters of the gas explosion hole mesh are... Including hole spacing Row spacing and Kong Shen .

[0048] Stage gas detonation quantity for: ; in, For the first Stage gas detonation quantity; The correction factor is set to 0.6~0.9, suitable for coupled charges, hard rock, and good sealing quality. Take the lower value; Density of the gas explosion device.

[0049] Then, the dynamic stress caused by the blasting force for: ; in, The distance to the slope of the rock anchor beam 9 to be blasted; These are stress wave propagation parameters, related to inherent properties of the rock such as wave impedance. Typically between 0.5 and 1.2, when facing hard, dense rock, A higher value is suitable for dealing with weak, broken rocks. The value is too low. Furthermore, structural planes within the rock mass significantly impede stress wave propagation, especially when facing joints and fractures. It will also take a lower value; The stress wave attenuation index is given when the gas blasting device is close to the rock surface within the rock. Usually 1~2; The dimensions depend on The value of , ( For length, (For time), in practical engineering applications, These are usually empirical coefficients determined by experiments, and their values ​​are related to the unit system used. In this case, the dimensions of the formula are implied in the values, and you can use it directly as long as the units are consistent. Represents the stress concentration effect, and is the correction factor for stress concentration caused by the arrangement of gas blast hole mesh parameters, with hole spacing... The smaller the value, the smaller the row spacing b, and the deeper the hole. The deeper the depth, the greater the stress concentration effect. The larger the value, the more precise the construction of the rock anchor beam, which is a relatively delicate project with a dense mesh, and the value is usually between 1.8 and 2.2. For the first Section gas detonation quantity, This is the explosion sequence number.

[0050] In this embodiment, in step S2, the dynamic stress caused by the blasting force satisfies the surrounding rock disturbance threshold stress constraint condition as follows: ; in, The dynamic stress caused by the explosive force; The threshold stress for surrounding rock disturbance; To determine the disturbance safety factor, different values ​​of K are used depending on the surrounding rock grade. , For uniaxial compressive strength, when the rock is relatively hard Take a high value, T is the face shape coefficient. For standard cross-sections such as horseshoe or circle, T is 1. For large cross-sections, it may lead to stress concentration in the crown and invert, reducing overall stability. T is <1. For small cross-sections, it causes less disturbance to the surrounding rock and is relatively more stable. T is >1.

[0051] In this embodiment, in step S3, after the blasting gas filling device 1 adds blasting gas to the gas blasting device 2, the gas blasting device 2 is raised from the vehicle-mounted main body 3 to the designated work area, and the manually operated clamping robotic arm 7 transports it into the blast hole 8; the control system controls the gas blasting by controlling the detonation circuit.

[0052] Alternatively, as an alternative implementation, step S3 can also consider the impact of the detonation sequence on the disturbance. The detonation sequence is related to the area of ​​each blast. If the area of ​​a single blast is insufficient, blasting is performed in stages, thus extending the detonation sequence and setting a time difference between different stages of detonation. The blasting sequence does not need to be optimized; the excavation of the rock anchor beam mainly involves blasting out the slope, requiring only connection between adjacent blast holes. If calculations show that a single blast is insufficient, two blasts are performed, and if that fails, three blasts are performed.

[0053] In this embodiment, the construction method of the above-mentioned low-disturbance gas blasting rock anchor beam excavation device includes: Based on the final design scheme of the gas blasting hole network parameters, blast holes of corresponding depth, hole spacing, row spacing and angle are drilled on the excavation face of the tunnel rock anchor beam; Based on the final determined design scheme for the stage gas detonation volume, the explosive gas filling device is filled with a set amount of explosive gas, such as liquid oxygen, liquid nitrogen, or a mixture of liquid oxygen and liquid nitrogen, through an explosive gas filling device. The filling machine and gas fracturing tube are manually connected, and the filling machine is turned on. The explosive gas filling device is equipped with flow meters, pressure gauges, pilot valves, etc. on the corresponding pipelines to monitor the gas explosive device in real time. During the filling process, the high-pressure plunger pump is controlled through a feedback mechanism to precisely regulate the filling pressure and volume. The filling machine displays the pressure and flow rate in real time and integrates a pressure adaptive unloading mechanism, which automatically shuts off after the set pressure and flow rate are reached, thereby realizing the automatic filling of the explosive gas in the gas explosive device. Connect the detonation circuit, raise the gas blasting device to the designated work area via the vehicle-mounted main body, transport the gas blasting device to the corresponding borehole by operating the clamping robotic arm, seal the borehole with the plugging device, and control the detonation circuit to detonate the gas blasting device.

[0054] Example 2 This embodiment provides a control method for the low-disturbance gas blasting rock anchor beam excavation device described in Embodiment 1, including: Design the parameters of the gas blasting hole network and the stage gas detonation amount, and calculate the dynamic stress caused by the blasting force accordingly; Based on the surrounding rock grade, determine whether the dynamic stress caused by the blasting force is greater than the surrounding rock disturbance threshold stress constraint condition; if it is, adjust the gas blasting hole network parameters and the stage gas detonation amount until the dynamic stress meets the surrounding rock disturbance threshold stress constraint condition. S3: Based on the adjusted gas blasting hole network parameters and stage gas detonation amount, the gas blasting device is filled with blasting gas through the blasting gas filling device, the detonation circuit is connected, the gas blasting device is raised to the designated work area through the vehicle body, and the gas blasting device is transported to the corresponding blast hole, the blast hole is sealed, and the control system controls the execution of gas blasting.

[0055] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A low-disturbance gas blasting rock anchor beam excavation device, characterized in that, include: Vehicle-mounted main body, explosive gas filling device, gas explosion device and control system; The blasting gas filling device is connected to the gas blasting device and is used to supply blasting gas to the gas blasting device; The gas blasting device is lifted to the designated work area by the vehicle-mounted main body and then transported into the blast hole; The control system is used to control the amount of blasting gas delivered by the blasting gas filling device according to the designed stage gas ignition amount, and to control the ignition of the gas blasting device; wherein, the gas blasting hole network parameters and stage gas ignition amount are optimized according to the dynamic stress caused by the blasting force and the threshold stress constraint of the surrounding rock disturbance.

2. The low-disturbance gas blasting rock anchor beam excavation device as described in claim 1, characterized in that, The explosive gas filling device includes an explosive gas storage tank, a booster pump, and a delivery pipe; the explosive gas storage tank is connected to one end of the delivery pipe via the booster pump, and the other end of the delivery pipe is connected to the gas blasting device. The vehicle-mounted main body is equipped with a clamping robotic arm, which is operated to deliver the gas blasting device to the corresponding blast hole.

3. The low-disturbance gas blasting rock anchor beam excavation device as described in claim 1, characterized in that, The gas blasting device uses either a blast-enhanced fracturing tube or a variable-diameter fracturing tube; blast-enhanced fracturing tubes are used for vertical and inclined drilling, while variable-diameter fracturing tubes are used when a borehole deviates, collapses, or deforms inside the hole.

4. The low-disturbance gas blasting rock anchor beam excavation device as described in claim 3, characterized in that, The steel wire braided reinforcement layer of the blast-enhanced fracturing tube is an asymmetric steel wire braided layer. The steel wire braided reinforcement layer has a weakening zone in the predetermined blasting direction, which is achieved by reducing the steel wire density, using lower strength materials, or reducing the steel wire size, thereby forming an asymmetric constraint field that forces the detonation wave to spread radially. A V-shaped fracturing groove is provided on the inner wall of the fracturing tube corresponding to the weakened zone. The V-shaped fracturing groove is arranged radially along the gas fracturing tube body, with the opening of the groove facing the inside of the gas fracturing tube and the closing facing the outside of the gas fracturing tube.

5. The low-disturbance gas blasting rock anchor beam excavation device as described in claim 3, characterized in that, The variable diameter fracturing tube is equipped with a tube reel. The tube reel is adjusted by a tube reel wrench, which causes the outer shell of the fracturing tube to contract or expand, thereby adjusting the size of the fracturing tube.

6. The low-disturbance gas blasting rock anchor beam excavation device as described in claim 1, characterized in that, In the control system, the process of optimizing the gas explosion orifice parameters and the stage gas ignition amount specifically includes: Design the parameters of the gas blasting hole network and the stage gas detonation amount, and calculate the dynamic stress caused by the blasting force accordingly; Based on the surrounding rock grade, determine whether the dynamic stress caused by the blasting force is greater than the surrounding rock disturbance threshold stress constraint condition; if it is, adjust the gas blasting hole network parameters and the stage gas detonation amount until the dynamic stress meets the surrounding rock disturbance threshold stress constraint condition.

7. The low-disturbance gas blasting rock anchor beam excavation device as described in claim 6, characterized in that, The parameters of the gas blasting mesh Including hole spacing Row spacing and Kong Shen ; The amount of gas ignition in the stage for: ;in, For the first Section gas detonation quantity, This is a correction factor; Density of the gas explosion device.

8. The low-disturbance gas blasting rock anchor beam excavation device as described in claim 6, characterized in that, Dynamic stress caused by blasting force for: ;in, The distance to the rock anchor beam slope to be blasted; These are the parameters for stress wave propagation; The stress wave attenuation index; Indicates stress concentration effect; For the first The amount of gas to detonate.

9. The low-disturbance gas blasting rock anchor beam excavation device as described in claim 6, characterized in that, The threshold stress constraint condition for surrounding rock disturbance that is satisfied by the dynamic stress induced by the blasting force is: ;in, The dynamic stress caused by the explosive force; The threshold stress for surrounding rock disturbance; To determine the disturbance safety factor, different disturbance safety factors are adopted according to different surrounding rock grades. , Uniaxial compressive strength, This is the shape coefficient of the face.

10. A control method for a low-disturbance gas blasting rock anchor beam excavation device according to any one of claims 1-9, characterized in that, include: Design the parameters of the gas blasting hole network and the stage gas detonation amount, and calculate the dynamic stress caused by the blasting force accordingly; Based on the surrounding rock grade, determine whether the dynamic stress caused by the blasting force is greater than the surrounding rock disturbance threshold stress constraint condition; If it is greater than that, adjust the gas blasting hole network parameters and the stage gas detonation amount until the dynamic stress meets the surrounding rock disturbance threshold stress constraint condition. The gas blasting device is filled with blasting gas according to the adjusted stage gas detonation amount. The gas blasting device is raised to the designated work area by the vehicle body, and the gas blasting device is transported to the corresponding blast hole by the operation of the clamping robotic arm. The gas blasting is executed by the control system.

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