A high linear velocity water-power coupling rock breaking test platform and method

Abstract

This application relates to the field of tunnel boring machine (TBM) equipment technology and discloses a high-linear-velocity water-force coupled rock breaking test platform and method. The platform includes a test bench, a horizontal moving mechanism, a nozzle mechanism, a cutter head mechanism, a vertical loading mechanism, a test block clamping mechanism, a high-pressure pump group mechanism, a data acquisition system, a control system, and a power distribution mechanism. The nozzle and cutter head are mounted on a common rail on the horizontal moving mechanism and driven by a horizontal drive component to move synchronously at high speed. The vertical loading mechanism provides penetration power to the cutter head, and the high-pressure pump group mechanism provides high-pressure jets to the nozzle. The control system uses an operating console, PLC, and industrial computer for coordinated control. The data acquisition system synchronously acquires rock breaking mechanics and morphological data through a triaxial force sensor and a vision module. This invention achieves rock breaking reaction force isolation through structural design, effectively protecting the drive system. It can realistically reproduce the high-linear-velocity, heavy-load, water-force coupled rock breaking conditions of the TBM cutterhead and supports feedforward-feedback composite control and multi-level load adaptive protection.

Description

Technical Field

[0001] This application relates to the field of tunnel boring equipment technology, and in particular to a high linear velocity water-force coupled rock breaking test platform and method. Background Technology

[0002] As underground engineering progresses towards deeper, longer distances and extremely hard rock formations, full-face hard rock tunnel boring machines (TBMs) face challenges such as rapid cutter wear, low rock-breaking efficiency, and high energy consumption during the excavation process. Hydraulic-hydraulic coupled rock-breaking technology uses high-pressure water jets to create pre-cracks on the rock surface, significantly reducing mechanical rolling resistance, improving rock-breaking efficiency, and extending cutter life.

[0003] Existing TBM cutter rock-breaking test platforms mostly employ a block-moving, cutter-fixed structure, which is difficult to simulate actual working conditions. The block-fixed, cutter-moving method is prone to generating strong impact loads during high-speed rock breaking, causing the horizontal drive mechanism to bear large vertical impact forces, resulting in transmission system vibration, decreased positioning accuracy, and fatigue damage to drive components. At the same time, traditional control methods cannot balance high-speed stability and load impact suppression capabilities, and cannot achieve stable reproduction of the water jet and cutter-coordinated rock-breaking process. Furthermore, existing platforms generally have weak drive capabilities, large moments of inertia, and poor guiding rigidity, making it impossible to achieve stable operation at high linear speeds and difficult to match the high-speed rock-breaking conditions at the edge of the TBM cutterhead.

[0004] Therefore, developing a test platform that can reproduce high linear speed, heavy load, and hydraulic-coupled rock breaking conditions, and has reaction force isolation, precise control, and multi-level protection functions, is of great engineering value for revealing the coupled rock breaking mechanism and optimizing the cutterhead structure and tunneling process. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a high-linear-velocity water-mechanical coupling rock-breaking test platform and method; it can realistically reproduce the rock-breaking conditions of a TBM cutterhead under high linear velocity, heavy load, and the combined action of water jet and mechanical rolling in extremely hard rock formations, effectively isolating rock-breaking reaction forces and improving test stability, data accuracy, and adaptability to operating conditions.

[0006] The high-linear-velocity water-mechanical coupling rock-breaking test platform and method provided in this application adopts the following technical solution: In a first aspect, the present invention provides a high linear velocity water-force coupled rock breaking test platform, comprising: a test bench; and further comprising: a horizontal moving mechanism, a vertical loading mechanism, a nozzle mechanism, a roller cutter mechanism, a test block clamping mechanism, and a data acquisition system.

[0007] The horizontal moving mechanism is installed above the test bench and has an adjustable preset moving speed, enabling it to perform continuous and stable linear motion.

[0008] The vertical loading mechanism is mounted on the horizontal moving mechanism; a roller cutter mechanism and a nozzle mechanism are synchronously set at the end of the vertical loading mechanism. The nozzle mechanism is fixedly installed on the side of the roller cutter mechanism and is a high-pressure jet nozzle. The horizontal moving mechanism drives the vertical loading mechanism to move horizontally in sync. The vertical loading mechanism independently drives the roller cutter mechanism to feed and load vertically. The nozzle mechanism moves synchronously with the vertical loading mechanism. The two maintain a preset layout and work together to complete the coupled rock breaking operation of water jet pre-cutting and roller cutter mechanical crushing.

[0009] The test block clamping mechanism is correspondingly installed at the bottom of the test stand and is used to fix the rock test block.

[0010] The data acquisition system is used to collect mechanical and morphological data during the rock breaking process, and to provide real-time feedback of relevant signals, providing data support for experimental control and safety protection.

[0011] Furthermore, it also includes a high-pressure pump assembly connected to the nozzle assembly; the high-pressure pump assembly includes a high-pressure water pump, an abrasive sand box, and a flexible pipeline; the outlet of the abrasive sand box is connected to the inlet of the flexible pipeline, the outlet of the flexible pipeline is connected to the abrasive feed inlet of the nozzle assembly, the outlet of the high-pressure water pump is connected to the inlet of another flexible pipeline, and the outlet of the flexible pipeline is connected to the inlet of the nozzle assembly; the flexible pipeline is externally protected by a flexible hose, and the outlet of the high-pressure water pump is connected in parallel to a pulsating buffer accumulator.

[0012] The horizontal moving mechanism includes a support platform, a slide rail, a slider, and a horizontal drive component; the support platform is used to install the nozzle mechanism, the roller mechanism, and the vertical loading mechanism; the slide rail is set inside the portal steel frame; the slider is slidably set along the slide rail; the horizontal drive component provides the driving force required for the slider to move along the slide rail.

[0013] The vertical reaction force generated by the rock breaking mechanism of the roller cutter is transmitted sequentially to the main beam of the test bench through the roller cutter mechanism and the horizontal moving mechanism. The horizontal moving mechanism bears the horizontal traction load and transmits it to the main beam of the test bench, realizing the load transmission step by step. When the horizontal moving mechanism drives the vertical loading mechanism to move horizontally synchronously, it bears the horizontal traction load, ensuring the overall machine is balanced and moves smoothly.

[0014] The nozzle mechanism includes an adjustment component and a nozzle mounted on the adjustment component; the nozzle's target distance and spray angle are adjustable under the action of the adjustment component to adapt to different rock-breaking conditions; the cutter mechanism is a single-edged or multi-edged cutter, which can be flexibly selected according to the test target.

[0015] The data acquisition system includes a triaxial force sensor and a vision measurement module. The triaxial force sensor is installed between the roller cutter mechanism and the vertical loading mechanism to collect data on normal force, tangential force and lateral force in real time during the rock breaking process. The vision measurement module captures the rock cut morphology and the entire process of crack propagation and evolution in real time.

[0016] Secondly, a water-mechanical coupling rock-breaking test method based on the above-mentioned test platform is proposed, including the following steps: Setting the initial state: The rock specimen is placed in the specimen clamping mechanism, and the roller mechanism drives the nozzle mechanism to be positioned at a preset position relative to the area to be cut on the rock specimen.

[0017] Based on the properties of the rock specimens and the test objectives, pre-set rock breaking parameters, including the pressure, flow rate, horizontal movement speed, nozzle-target distance, and angle of the high-pressure abrasive jet or pure water jet.

[0018] The high-pressure pump unit, horizontal movement mechanism, and adjustment components are driven according to the rock-breaking parameters.

[0019] The vertical loading mechanism is activated simultaneously to apply a preset penetration force to the roller cutter mechanism, thereby achieving synchronous coupling of water jet pre-cutting and roller cutter mechanical crushing to break rocks.

[0020] The data acquisition system records triaxial force data, displacement data, and cut morphology in real time during the rock breaking process.

[0021] The horizontal movement mechanism employs a feedforward-feedback composite control algorithm, automatically limiting thrust and compensating for speed changes during rock-breaking impact loads. This includes: establishing a feedforward control model, acquiring triaxial force sensor signals in real time, extracting the horizontal cutting force component as a disturbance feedforward quantity to generate a compensation thrust command; constructing a feedback control loop, using the deviation between the set speed and the actual speed as input, and generating a feedback thrust command through a PID controller; weighted superposition of the feedforward and feedback commands to generate the total thrust, increasing the feedforward weight in the steady-state phase and the feedback weight in the impact phase; real-time monitoring of the hydraulic cylinder thrust, triggering thrust limiting and speed reduction if the limit is exceeded; initiating speed compensation if the speed is too low; and dynamically adjusting PID parameters and feedforward gain to improve anti-disturbance capability.

[0022] Before starting the high-pressure pump unit, the accumulator is pre-charged, and cutting is only performed after the pressure is stable and the pulsation rate meets the standard. The vertical loading mechanism switches from speed control to constant force control the instant the cutter contacts the rock sample. Multiple working condition tests are carried out in sequence, including pure water jet, abrasive jet, pure mechanical rock breaking, and water-mechanical coupled rock breaking. An evaluation report on the coupling effect of specific energy consumption and rock breaking volume generation is based on this. The control system adopts open-loop control of position and speed before the cutter enters the rock breaking area, and switches to closed-loop control of thrust and flow rate after contacting the rock.

[0023] Graded safety protection strategy: Real-time acquisition of rock-breaking mechanical signals of the cutter roller. If the normal force exceeds the limit, it enters the first-level protection, the cutter roller retracts and the speed is reduced; if it still exceeds the limit after a delay, it enters the second-level protection, the cutter roller retraction amplitude is increased and the speed is reduced again; if it returns to the safe range after the second-level protection, it maintains the state and waits for manual adjustment; if it still exceeds the limit, it enters the third-level protection, and the machine is shut down simultaneously and the test is terminated.

[0024] In summary, this application includes the following beneficial technical effects: The horizontal moving mechanism adopts slide rails, sliders, and direct-drive horizontal drive components, which greatly reduces motion friction and inertia, enabling the platform to have high linear speed motion capability, and high-speed operation is stable and vibration-free, meeting the requirements of high-speed coupled rock breaking test.

[0025] The test bench adopts a portal steel structure and a horizontal moving mechanism to install the nozzle and the cutter together and move synchronously, which solves the problems of asynchronous jet and cutter and inaccurate alignment in existing platforms. It can realistically reproduce the high linear velocity water-force coupled rock breaking condition. At the same time, the structure directly transmits the reaction force to the main beam, isolates the impact load, protects the drive system, and improves the stability and service life of the platform.

[0026] It is equipped with a high-pressure pump unit with accumulator and pipeline protection, and an adjustable nozzle and roller mechanism to solve the problems of large jet pulsation, easy pipeline damage and single test posture. It can achieve stable output of high-pressure jet, flexible adjustment of spray angle and roller posture, and adapt to various rock types and working conditions.

[0027] The data acquisition system, which combines a triaxial force sensor and a vision module, along with feedforward-feedback composite control, solves the problems of asynchronous mechanical and morphological data and easy fluctuations during high-speed movement. This enables precise data acquisition and stable high-speed operation throughout the rock breaking process, ensuring that the experimental data are accurate and reliable.

[0028] It integrates multi-level load adaptive protection and multi-condition switching functions, solving the problems of easy overload damage and single function of the platform, realizing safe automatic protection and multi-type comparative test, filling the gap in domestic high-speed heavy load coupled rock breaking test equipment, and greatly improving test efficiency and versatility. Attached Figure Description

[0029] Figure 1 This is a three-dimensional view of a high linear velocity water-force coupled rock-breaking test platform according to the present invention.

[0030] Figure 2 This is a front view of a high linear velocity water-mechanical coupling rock breaking test platform according to the present invention.

[0031] Figure 3 This is a schematic diagram of the high-pressure pump unit mechanism of the present invention.

[0032] Figure 4 This is a front view of the nozzle mechanism of the present invention.

[0033] Figure 5 This is a side view of the nozzle mechanism of the present invention.

[0034] Figure 6 This is a schematic diagram of the hobbing mechanism of the present invention.

[0035] Figure 7This is a schematic diagram of the principle of Embodiment 4 of the present invention.

[0036] Explanation of reference numerals in the attached drawings: 1. Test bench; 2. Nozzle mechanism; 3. Roller mechanism; 4. Horizontal movement mechanism; 5. Vertical loading mechanism; 6. Specimen clamping mechanism; 7. High-pressure pump group mechanism; 8. Power distribution cabinet; 9. Control system; 10. Data acquisition system; 11. Portal steel frame; 12. Wastewater collection tank; 21. Hand-cranked movement mechanism; 22. Nozzle; 31. Roller; 32. Cutter box; 41. Support platform; 42. Slide rail; 43. Slider; 44. Horizontal drive component; 62. Rock specimen; 71. High-pressure water pump; 71. Flexible pipeline; 72. Abrasive sand box; 73. Operating table; 91. PLC; 92. Industrial control computer; 93. Detailed Implementation

[0037] The following is in conjunction with the appendix Figure 1-7 This application will be described in further detail.

[0038] Example 1 This embodiment discloses a high-linear-velocity water-mechanical coupling rock-breaking test platform, such as... Figures 1 to 2 As shown, it includes a test bench 1, a horizontal moving mechanism 4, a nozzle mechanism 2, a roller mechanism 3, a vertical loading mechanism 5, a test block clamping mechanism 6, a high-pressure pump group mechanism 7, a power distribution mechanism, a control system 9, and a data acquisition system 10; the vertical loading mechanism 5 is installed on the horizontal moving mechanism 4, and the roller mechanism 3 and the nozzle mechanism 2 are synchronously set at the end of the vertical loading mechanism 5. The nozzle mechanism 2 is fixedly installed on the side of the roller mechanism 3 and adopts a high-pressure jet nozzle.

[0039] like Figure 1 As shown, the test bench 1 adopts a portal steel frame 11, with an integrated wastewater collection tank 12 at the bottom for collecting test wastewater, abrasive and rock cuttings.

[0040] like Figure 2 As shown, the horizontal moving mechanism 4 includes a slide rail 42, a slider 43, a support platform 41, and a horizontal driving component 44. The slide rail 42 is installed inside the frame, the slider 43 slides with the slide rail 42, the support platform 41 is fixedly connected to the slider 43, and the horizontal driving component 44 drives the support platform 41 to achieve high-speed horizontal linear motion.

[0041] like Figures 2 to 5 As shown, the nozzle mechanism 2 is fixedly installed on the side of the roller mechanism 3. Together, they serve as the end components of the vertical loading mechanism 5, mounted on the support platform 41, and move synchronously with the support platform 41. The nozzle mechanism 2 consists of a nozzle 22 and a hand-cranked moving mechanism 21, which can realize the adjustment of the target distance and angle; the roller mechanism 3 consists of a roller 31 and a cutter box 32, which is used to perform mechanical rock breaking.

[0042] like Figure 1As shown, the vertical loading mechanism 5 uses an electric cylinder or a hydraulic cylinder and is mounted on the support platform 41 to provide vertical loading power for the hob 31.

[0043] like Figure 2 As shown, the test block clamping mechanism 6 is installed at the bottom of the test stand 1 to fix the rock test block 62.

[0044] like Figures 1 to 3 As shown, the high-pressure pump assembly 7 integrates a high-pressure water pump 71, an abrasive sand box 73, and a flexible pipeline 72. The outlet of the abrasive sand box 73 is connected to the flexible pipeline 72, and the outlet of the high-pressure water pump 71 is connected to the flexible pipeline 72. The two flexible pipelines 72 are respectively connected to the water inlet and sand inlet of the nozzle assembly 2. The pipeline is protected by a flexible hose, and the outlet of the high-pressure water pump 71 is connected in parallel to a pulsating buffer accumulator to stabilize the jet pressure and reduce pressure pulsation.

[0045] like Figure 1 As shown, the power distribution mechanism includes a power distribution cabinet 8, which provides a stable power supply for all electrical equipment on the platform.

[0046] like Figure 1 As shown, the control system 9 includes an operator console 91, a PLC 92, and an industrial computer 93, which are respectively connected to the horizontal drive component 44, the vertical loading mechanism 5, and the high-pressure pump group mechanism 7 to realize motion control, load control, and pump group control.

[0047] like Figure 1 As shown, the data acquisition system 10 includes a triaxial force sensor, a vision sensor, and an analysis system; the triaxial force sensor is installed between the roller mechanism 3 and the vertical loading mechanism 5, with a range covering 600kN in the Z direction and 300kN in the X / Y direction; it is used to collect the triaxial force on the roller 31; the vision sensor is used to collect the rock fragmentation morphology and the cut morphology.

[0048] In this embodiment, as Figure 6 As shown, the vertical reaction force generated by the rock breaking of the roller cutter 31 is directly transmitted to the main beam of the test bench 1 through the roller cutter mechanism 3, the triaxial force sensor, the support platform 41, the slider 43, and the slide rail 42. The horizontal drive component 44 only bears the horizontal traction force, thereby isolating the rock breaking reaction force from the drive system and improving the stability and service life of the platform.

[0049] Example 2 This embodiment refines the nozzle mechanism 2 and the roller mechanism 3 based on embodiment 1 to meet the requirements of multi-posture and multi-condition testing.

[0050] Nozzle mechanism 2 is equipped with a target distance adjustment component and an angle adjustment mechanism, which can adjust the spray distance and spray angle within a certain range. The spray angle can be adjusted in stages within the range of -45° to 45° to adapt to different kerf depths and angle requirements. Nozzle 22 adopts a modular and replaceable structure, and can be equipped with gemstone nozzles with different opening diameters as moving parts. The outer surface of the gemstone nozzle is machined into a conical structure, which matches the conical mating surface inside the nozzle. Axial pressure is applied by the threaded clamping part located adjacent to the gemstone nozzle inside the nozzle, which enables tool-less quick disassembly and reliable fixation of the gemstone nozzle. This facilitates the replacement of gemstone nozzles with different orifice diameters according to experimental requirements, thereby realizing water jet cutting tests under different flow parameters. In addition, nozzle 22 is an abrasive water jet nozzle. By controlling the start and stop of the abrasive supply system, pure water jet cutting tests or abrasive water jet cutting tests can be selectively performed to meet the needs of multi-condition coupled rock breaking mechanism research.

[0051] The roller cutter mechanism 3 consists of a roller cutter 31 and a cutter box 32, and adopts a single-edged or multi-edged disc-shaped roller cutter 31. The roller cutter mechanism 3 is equipped with an angle adjustment seat and positioning bolts, which can adjust the installation tilt angle of the roller cutter 31. The rated rock breaking bearing capacity is 350kN. The roller cutter mechanism 3, through the cooperation of the angle adjustment seat and the segmented positioning bolts, realizes the segmented locking and adjustment of the installation tilt angle of the roller cutter 31 within the range of -45° to 45°, so as to simulate the rock breaking conditions under different installation postures of the TBM cutter head.

[0052] In the above embodiments, in actual use, to meet the angle adjustment performance, the nozzle 22 is mounted on the nozzle mounting base, and the mounting base and the angle adjustment base are hinged by a rotating shaft. Loosen the locking bolt, rotate the nozzle mounting base around the rotating shaft to the target angle, align it with the scale, and then tighten the locking bolt to complete the angle setting lock.

[0053] The hand-cranked moving mechanism 21 adopts a screw-slider structure. Rotating the handwheel drives the nozzle mounting seat to move linearly in the vertical direction, adjusting the spray target distance.

[0054] The horizontal drive component 44 is driven by a hydraulic cylinder and guided by the slide rail 42 and the slider 43. The support platform 41 moves smoothly and responds quickly, and can achieve high linear speed linear motion. The maximum linear speed of the support platform 41 can reach 60m / min; which meets the simulation of high-speed rock breaking conditions of the TBM cutterhead edge roller cutter.

[0055] The vertical loading mechanism 5 is driven by an electric cylinder / hydraulic cylinder, with a maximum output thrust of 600kN. It supports closed-loop switching between displacement control and force control modes. The mode switching is manually selected based on the experimental settings variables. After contacting the rock, it automatically switches to constant force control, resulting in stable load output and low impact.

[0056] This embodiment solves the problem of poor adaptability to a single working condition by adjusting the attitude settings, enabling the platform to carry out comparative tests on multiple rock types, multiple processes, and multiple attitudes.

[0057] Example 3 This embodiment discloses a test method based on the test platform of Embodiments 1 and 2 above, including the following steps: S1. Set the initial state: Place the rock specimen in the specimen clamping mechanism, and the nozzle mechanism and the roller mechanism are respectively located at the preset positions relative to the area to be cut of the rock specimen; S2. Preset rock breaking parameters: Based on the properties of the rock sample and the test objectives, set the pressure, flow rate, horizontal moving speed, nozzle-target distance and spray angle of the high-pressure abrasive jet or pure water jet. S3. Start-up system: The high-pressure pump unit first performs pre-charging of the accumulator. After the system pressure stabilizes and the pulsation rate reaches the predetermined threshold, it drives the high-pressure pump unit, the horizontal moving mechanism and the nozzle adjustment assembly. S4. Synchronous Coupling Rock Breaking: The horizontal moving mechanism drives the nozzle mechanism and the roller cutter mechanism to move synchronously at a set speed, and simultaneously starts the vertical loading mechanism to apply a preset penetration force to the roller cutter mechanism, so as to realize the synchronous coupling of water jet pre-cutting and roller cutter mechanical crushing to break rocks. S5. Data Acquisition: The data acquisition system records triaxial force data, displacement data, and cut morphology in real time during the rock breaking process.

[0058] The vertical loading mechanism automatically and smoothly switches from speed control mode to constant force control mode the instant the cutter contacts the rock sample, applying a thrust ranging from 200 to 600 kN.

[0059] The platform can sequentially perform multi-condition tests of pure water jet cutting, abrasive jet cutting, pure mechanical roller cutting, and water-mechanical coupling cutting, and generate a coupling efficiency evaluation report based on specific energy consumption and cutting volume data.

[0060] In the above embodiment, in step S3, the horizontal drive mechanism adopts a feedforward-feedback composite control algorithm to automatically limit thrust and compensate speed when the rock-breaking impact load changes abruptly, maintaining a set linear velocity fluctuation range of 5%. The feedforward-feedback composite control algorithm includes the following steps: S3.1 Establish a feedforward control model, collect the output signals of the triaxial force sensor of the data acquisition system in real time, and extract the horizontal cutting force component. As a disturbance feedforward, the feedforward controller generates a compensation thrust command. ;in The feedforward gain coefficient was obtained based on the interaction mechanism between the cutter and the rock.

[0061] S3.2 Construct a feedback control loop to set the speed. Compared with actual speed deviation As input, a PID controller is used to generate feedback thrust commands. ;in , , These are the proportional, integral, and differential gain coefficients.

[0062] S3.3 Implement feedforward-feedback composite control, and transfer the feedforward thrust command to the feedforward thrust command. With feedback thrust command Generate total thrust command by weighted aggregation ;in , As feedforward weighting coefficients For feedback weighting coefficients; during the steady-state rock breaking stage Automatically adjust to during the sudden change phase of impact load. .

[0063] S3.4 Execute thrust limiting protection and monitor the thrust of the hydraulic cylinder in real time. ,when When the thrust exceeds 1.2 times the rated thrust, the limiting mechanism is triggered, and... Limit it to a safe threshold.

[0064] S3.5 Implement a velocity compensation strategy. When a rock-breaking impact load is detected, causing a velocity deviation... At this time, the speed compensator is activated to increase the hydraulic supply flow.

[0065] S3.6 Dynamically adjust control parameters, adaptively tune PID parameters and feedforward gain according to rock breaking conditions, and increase the feedforward gain proportionally when the variance of cutting force fluctuation increases. and Value, enhancing the system's ability to resist disturbances; when speed deviation consistently less than At that time, reduce Values ​​should be set to avoid overshooting and oscillation.

[0066] Example 4 This embodiment proposes a multi-physics adaptive cooperative control method for Embodiments 1 and 2, thereby solving the problems of easy equipment damage and insufficient safety in high-speed heavy-load tests.

[0067] like Figure 7 As shown, a multi-physics adaptive cooperative control method for experimental platforms is proposed, including the following steps: S1. Real-time acquisition of the force signal of the hob fed back by the triaxial force sensor.

[0068] S2. When the normal force of the hobbing cutter is greater than 120% of the rated thrust, it enters the first-level protection mode, the electric cylinder retracts by 1mm, and the speed of the thrust cylinder is reduced by 10%.

[0069] S3. If the normal force is still greater than 120% of the rated thrust after 500ms, enter the secondary protection mode, the electric cylinder retracts by 3mm, and the thrust cylinder speed is reduced by 20%.

[0070] S4. If the thrust drops back to the rated thrust range after the secondary protection, the secondary state is maintained and manual adjustment is required; otherwise, the tertiary protection mode is entered, the platform is stopped, the test is terminated, and troubleshooting is carried out.

[0071] The control system has a dual-mode seamless switching logic: during the startup phase, it adopts position-velocity open-loop pre-positioning; after entering the rock-breaking contact zone, it switches to thrust-flow closed-loop fine-tuning, with a control signal response delay of less than 100ms throughout the process; when the first-level protection is triggered, if the normal force recovers to the rated thrust range, it automatically exits the protection mode and resumes normal operation.

[0072] Example 5 This embodiment further illustrates the force isolation and protection structure of the platform, solving the technical problem of impact load damaging the drive system.

[0073] The vertical reaction force generated by the rock breaking of the roller cutter mechanism 3 is transmitted sequentially through the roller cutter mechanism 3, the triaxial force sensor, the support platform 41, the slider 43, and the slide rail 42, and finally to the main beam of the test bench 1. During the movement of the horizontal moving mechanism, the horizontal driving component 44 only bears the horizontal traction load and does not bear the vertical impact load, thus isolating the vertical impact load from the drive system.

[0074] This load-transferring structure avoids the vertical impact force from acting directly on the horizontal drive component 44, effectively preventing the drive system from vibrating and fatigued due to impact loads, and significantly improving the platform's operational stability, reliability, and service life. At the same time, the platform can stably reproduce high linear speed and heavy load conditions, ensuring that the transmission system is not affected by rock-breaking impacts, and meeting the requirements of TBM high-speed coupled rock-breaking tests.

Claims

1. A high-linear-velocity water-mechanical coupling rock-breaking test platform, comprising: Test bench; characterized in that it further includes: A horizontal moving mechanism is installed above the test bench; the horizontal moving mechanism has an adjustable preset moving speed and performs continuous and stable linear motion. A vertical loading mechanism is mounted on the horizontal moving mechanism. A roller cutter mechanism and a nozzle mechanism are synchronously provided at the end of the vertical loading mechanism. The nozzle mechanism is fixedly installed on the side of the roller cutter mechanism and is a high-pressure jet nozzle. The horizontal moving mechanism drives the vertical loading mechanism to move horizontally in sync. The vertical loading mechanism independently drives the roller cutter mechanism to move vertically and load. The nozzle mechanism moves vertically and synchronously with the vertical loading mechanism. The two maintain a preset layout and work together to complete the coupled rock breaking operation of water jet pre-cutting and roller cutter mechanical crushing. A test block clamping mechanism is correspondingly installed at the bottom of the test stand; the test block clamping mechanism is used to fix the rock test block; The data acquisition system is used to collect mechanical and morphological data during the rock breaking process, and to provide real-time feedback of relevant signals to support experimental control and safety protection.

2. The high-linear-velocity water-mechanical coupling rock-breaking test platform according to claim 1, characterized in that, Also includes: A high-pressure pump assembly is connected to the nozzle assembly; the high-pressure pump assembly includes: a high-pressure water pump, an abrasive sand box, and flexible pipelines. The outlet of the abrasive sand box is connected to the inlet of the flexible pipeline, the outlet of the flexible pipeline is connected to the abrasive feed port of the nozzle mechanism, the outlet of the high-pressure water pump is connected to the inlet of another flexible pipeline, and the outlet of the flexible pipeline is connected to the water inlet of the nozzle mechanism. The flexible pipeline is protected by a flexible hose, and the outlet of the high-pressure water pump is connected in parallel with a pulsating buffer accumulator.

3. The high-linear-velocity water-mechanical coupling rock-breaking test platform according to claim 1, characterized in that, The horizontal movement mechanism includes: Support platform for mounting nozzle mechanism, cutter mechanism and vertical loading mechanism; The sliding rail is installed inside the portal steel frame; The slider is slidably disposed along the slide rail; A horizontal drive unit provides the drive required for the slider to move along the slide rail.

4. The high-linear-velocity water-mechanical coupling rock-breaking test platform according to claim 1, characterized in that, The vertical reaction force generated by the rock breaking by the roller cutter mechanism is transmitted sequentially to the main beam of the test bench through the roller cutter mechanism and the horizontal moving mechanism. The horizontal moving mechanism bears the horizontal traction load, which is then transmitted to the main beam of the test bench, thus realizing the step-by-step transmission of load. Meanwhile, the horizontal moving mechanism bears the horizontal traction load while driving the vertical loading mechanism to move horizontally in sync, ensuring the overall machine is balanced and moves smoothly.

5. The high-linear-velocity water-mechanical coupling rock-breaking test platform according to claim 1, characterized in that, The nozzle mechanism includes: an adjustment component and a nozzle mounted on the adjustment component; the target distance and spray angle of the nozzle are adjustable under the action of the adjustment component to adapt to different rock breaking conditions. The hobbing mechanism is a single-edged or multi-edged hobbing cutter, which can be flexibly selected according to the test objectives.

6. The high-linear-velocity water-mechanical coupling rock-breaking test platform according to claim 1, characterized in that, The data acquisition system includes a triaxial force sensor and a vision measurement module. The triaxial force sensor is installed between the roller cutter mechanism and the vertical loading mechanism to collect data on the normal force, tangential force and lateral force during the roller cutter rock breaking process in real time. It is also equipped with a visual measurement module, which is used to capture the morphology of rock cuts and the entire process of crack propagation and evolution in real time.

7. A test method for a high-linear-velocity water-mechanical coupling rock-breaking test platform according to any one of claims 1-6, characterized in that, Includes the following steps: Setting the initial state: The rock specimen is placed in the specimen clamping mechanism, and the roller mechanism drives the nozzle mechanism to be located at a preset position relative to the area to be cut on the rock specimen; Based on the properties of the rock specimens and the experimental objectives, rock breaking parameters were preset; The rock-breaking parameters include at least: the pressure, flow rate, horizontal movement speed parameters of the high-pressure abrasive jet or pure water jet, and the target distance and angle of the nozzle. The high-pressure pump unit, horizontal movement mechanism, and adjustment component are driven according to the rock-breaking parameters. The vertical loading mechanism is activated simultaneously to apply a preset penetration force to the roller cutter mechanism, thereby achieving synchronous coupling of water jet pre-cutting and roller cutter mechanical crushing to break rocks. The data acquisition system records triaxial force data, displacement data, and cut morphology in real time during the rock breaking process.

8. The high-linear-velocity water-mechanical coupling rock-breaking test method according to claim 7, characterized in that, The horizontal moving mechanism employs a feedforward and feedback composite control algorithm to automatically limit thrust and compensate for velocity changes when the rock-breaking impact load suddenly changes. The feedforward and feedback composite control algorithm includes the following steps: A feedforward control model is established, and the output signals of the triaxial force sensor of the data acquisition system are collected in real time. The horizontal cutting force component is extracted as the disturbance feedforward quantity. The feedforward controller generates a compensation thrust command, and the feedforward gain coefficient is obtained based on the interaction mechanism between the hob and the rock. A feedback control loop is constructed, using the deviation between the set speed and the actual speed as input, and a PID controller is used to generate feedback thrust commands; The total thrust is generated by weighted superposition of the feedforward compensation thrust command and the feedback thrust command; the feedforward weight is increased in the steady-state rock breaking stage, and the feedback weight is increased in the impact load sudden change stage. Real-time monitoring of hydraulic cylinder output thrust: When the detected thrust exceeds the predetermined threshold of rated thrust, the thrust limiting mechanism is triggered to limit the output signal of the hydraulic control valve and reduce the operating speed of the horizontal moving mechanism. When the actual speed is detected to be lower than the set speed threshold, the speed compensation strategy is activated, which increases the hydraulic cylinder oil supply flow by increasing the opening of the hydraulic servo valve in order to restore the set linear speed. Based on the changes in the amplitude of cutting force fluctuations and speed deviations, the PID control parameters and feedforward gain coefficients are dynamically adjusted to improve the system's stability and response speed under impact load conditions.

9. A high-linear-velocity water-mechanical coupling rock-breaking test method according to claim 7, characterized in that, Before starting, the high-pressure pump unit performs pre-charging of the accumulator. Cutting only begins after the system pressure stabilizes and the pulsation rate reaches a predetermined threshold. The vertical loading mechanism automatically switches from speed control to constant force control the instant the roller contacts the rock sample. It also includes a multi-condition comparison test step, which sequentially executes pure water jet, abrasive jet, pure mechanical rock breaking and water-force coupled rock breaking, and generates a coupling efficiency evaluation report based on specific energy consumption and rock breaking volume. The control system employs open-loop control of position and speed before the cutter enters the rock-breaking zone, and switches to closed-loop control of thrust and flow rate after the cutter contacts the rock.

10. A high-linear-velocity water-mechanical coupling rock-breaking test method according to claim 7, characterized in that, The graded safety protection strategy is as follows: real-time acquisition of the rock-breaking mechanical signal of the cutter from the data acquisition system; when the normal force of the cutter exceeds the rated thrust threshold, the system enters the first-level protection mode, controls the cutter mechanism to perform a retraction action, and reduces the running speed of the horizontal moving mechanism. If the normal force is still in an over-limit state after a delay, the system will enter the secondary protection mode, further increasing the retraction range of the hobbing mechanism and reducing the speed of the horizontal moving mechanism again. If the normal force returns to a safe range after the second-level protection, the current state is maintained, and the test parameters are awaited for manual adjustment. If the normal force continues to exceed the limit, the third-level protection mode is entered, and the high-pressure pump group, horizontal moving mechanism, and vertical loading mechanism are simultaneously shut down to terminate the rock breaking test and avoid equipment damage and test accidents.

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