A high-pressure water rock breaking platform truck and surrounding rock cutting method based on geological prediction

Abstract

This invention discloses a high-pressure water rock-breaking trolley based on geological prediction and a method for cutting surrounding rock, belonging to the field of hydropower and water conservancy engineering construction technology. It includes: a trolley body, a water mixing device, a guide frame, and a first geological probe and a second geological probe; the trolley body includes a driver's cab, a robotic arm, and a rock-breaking nozzle mounted on the guide frame; the water mixing device is located on the trolley body and behind the driver's cab, used to deliver high-pressure water to the rock-breaking nozzle; the guide frame is located on the upper part of the robotic arm and is movably connected to the robotic arm; the first geological probe is located on the top of the driver's cab, used to detect the first geological information of the surrounding rock and transmit the first geological information to the central control room of the driver's cab; the second geological probe is located on the guide frame, used to detect the second geological information of the working face area and transmit the second geological information to the central control room of the driver's cab. This invention can solve the problem that high-pressure water rock-breaking trolleys cannot detect the geological conditions ahead in advance.

Description

Technical Field

[0001] This invention relates to a high-pressure water rock-breaking trolley and surrounding rock cutting method based on geological prediction, belonging to the field of hydropower and water conservancy engineering construction technology. Background Technology

[0002] In underground engineering construction such as hydropower, rock breaking and advanced geological forecasting are key processes to ensure construction safety and efficiency. High-pressure water jet rock breaking has been widely used due to its advantages such as low vibration and no open flame, but existing rock breaking equipment does not yet have geological forecasting capabilities, and the two are still separate operational steps.

[0003] In existing technologies, rock-breaking equipment and geological prediction equipment are typically configured as independent systems. High-pressure water rock-breaking rigs mainly consist of a chassis, a high-pressure water pump system, a multi-degree-of-freedom robotic arm, and rock-breaking nozzles. Their function is focused on breaking the rock mass at the tunnel face and they lack the ability to detect the physical properties of the undisturbed rock mass ahead. Advanced geological prediction, on the other hand, generally uses portable instruments or dedicated platforms. Common equipment includes TSP (Tunnel Seismic Detection) systems and ground-penetrating radar. These devices need to maintain a specific distance and angle from the tunnel face during operation, and professional operators independently set up survey lines and complete data collection based on site conditions. In conventional construction processes, prediction operations are often scheduled between drilling or rock-breaking processes. The detection equipment is transported to the vicinity of the tunnel face manually or by auxiliary vehicles, operating in a time-sharing and location-separated manner with the rock-breaking rig.

[0004] However, the aforementioned separate configuration mode has obvious defects: the high-pressure water rock-breaking trolley lacks forward-looking perception of the geology ahead and cannot predict sudden changes in the rock mass, which can easily lead to accidents such as collapse when approaching faults, karst caves and weak interlayers; the geological prediction equipment needs to be repeatedly disassembled, transported and repositioned, resulting in long working intervals and seriously prolonging the construction time; although there are a few integrated devices, most of them are rigidly mounted and have not been matched with the degrees of freedom for the multi-joint motion characteristics of the high-pressure water rock-breaking arm. Under complex cross-sections such as variable cross sections, curved sections and intersecting caverns, the probe head and the rock-breaking nozzle are prone to spatial interference, and the positioning accuracy is difficult to guarantee. Summary of the Invention

[0005] This invention provides a high-pressure water jet breaking rig based on geological prediction, which solves the problems of high-pressure water jet breaking rigs being unable to detect geological conditions ahead in advance, the low construction efficiency of traditional advanced geological prediction equipment, and the susceptibility to spatial interference and difficulty in guaranteeing positioning accuracy in some integrated devices. It includes:

[0006] The trolley body and the water mixing equipment, guide frame, first geological probe and second geological probe installed on the trolley body;

[0007] The trolley body includes a track assembly, a frame plate, a cab, a robotic arm, and a rock-breaking nozzle mounted on the guide frame; the track assembly is located below the frame plate, the cab is located on the frame plate, and the robotic arm is located at the end of the frame plate;

[0008] The water mixing device is mounted on the chassis plate and located behind the cab, and is used to deliver high-pressure water to the rock-breaking nozzle;

[0009] The guide frame is disposed on the upper part of the robotic arm and is movably connected to the robotic arm;

[0010] The first geological probe is installed on the top of the cab to detect the first geological information of the surrounding rock and transmit the first geological information to the central control room of the cab;

[0011] The second geological probe is mounted on the guide frame to detect second geological information in the tunnel face area and transmit the second geological information to the central control room of the driver's cab.

[0012] Specifically, the guide frame includes an upper guide frame and a lower guide frame that are vertically connected;

[0013] The upper guide frame includes a guide rail and a trolley mounted on the guide rail; a second geological probe is mounted above the trolley.

[0014] The lower guide frame includes a slide groove and a hollow screw rod rotatably connected inside the slide groove; the rock-breaking nozzle is disposed inside the slide groove and is connected to the hollow screw rod.

[0015] Specifically, the second geological probe includes a horizontal adjustment frame, a connecting block, and a second probe;

[0016] The lateral adjustment bracket is connected to the lower part of the connecting block;

[0017] The second probe is fixedly connected to the top of the connecting block;

[0018] The second probe can move left and right along the transverse adjustment frame via the connecting block.

[0019] Specifically, the slide is covered with a metal shell.

[0020] Furthermore, it also includes the supporting structure;

[0021] The support structure is located below the frame plate, and the support structure includes a mounting base, a hydraulic cylinder, and a support plate;

[0022] The mounting base is fixedly installed inside the vehicle frame and located at the four corners of the vehicle frame plate;

[0023] The hydraulic cylinder is mounted on the lower end of the mounting base;

[0024] The support plate is fixedly installed at the lower part of the hydraulic cylinder.

[0025] Another aspect of the present invention provides a method for cutting surrounding rock using a high-pressure water rock-breaking trolley based on geological prediction, comprising:

[0026] Obtain the first geological information of the surrounding rock detected by the first geological probe;

[0027] Based on the first geological information, the second geological probe is used to detect the second geological information of the preset working face of the surrounding rock;

[0028] Based on the second geological information, determine whether to cut the surrounding rock. If so, extend the rock-breaking nozzle to pre-cut the surrounding rock and determine the cutting parameters based on the surrounding rock mechanical parameters.

[0029] The surrounding rock is cut according to the aforementioned surrounding rock cutting parameters.

[0030] The beneficial effects of this invention include: The high-pressure water rock-breaking trolley based on geological prediction proposed in this invention integrates geological prediction on the same high-pressure water rock-breaking trolley by placing a first geological probe on the top of the cab and a second geological probe on the guide frame, and transmitting the geological information detected by both to the central control room. This allows operators to obtain geological information about the working face and surrounding rock before rock-breaking operations without the need for external detection equipment, solving the problem that high-pressure water rock-breaking trolleys cannot detect the geological conditions ahead in advance. Furthermore, by setting the guide frame as a vertically connected upper and lower guide frame, and placing the second geological probe above the trolley of the upper guide frame, the rock-breaking nozzle... The slide groove, located inside the lower guide frame, allows geological exploration and rock breaking cutting to share the same guide frame and the same end of the robotic arm. This achieves integrated installation of exploration and rock breaking in terms of mechanical structure, shortening the switching time between the two processes and reducing operational gaps. Another aspect of this invention provides a method for cutting surrounding rock using a high-pressure water rock breaking trolley based on geological prediction. First, first geological information is acquired for macroscopic judgment, and then second geological information is acquired for local fine judgment. The results of the two levels of exploration are used as the basis for whether to cut and to determine the cutting parameters. This avoids blind cutting, reduces the risk of collapse accidents in adverse geological areas such as faults, karst caves, and weak interlayers, and improves exploration accuracy. Attached Figure Description

[0031] Figure 1 A schematic diagram of a high-pressure water rock-breaking trolley based on geological prediction provided for an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of a water mixing device provided in an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of a guide frame provided in an embodiment of the present invention;

[0034] Figure 4 A schematic diagram of the second geological probe provided in an embodiment of the present invention;

[0035] Figure 5 A schematic diagram of the driver's cab provided for an embodiment of the present invention;

[0036] Figure 6 A schematic diagram of a robotic arm provided in an embodiment of the present invention;

[0037] Figure 7 A schematic diagram of the support structure provided in an embodiment of the present invention;

[0038] Figure 8 A schematic flowchart of a method for cutting surrounding rock using a high-pressure water rock-breaking trolley based on geological prediction, provided for an embodiment of the present invention;

[0039] In the diagram: 1. Water mixing equipment; 101. Emery box; 102. Air compressor; 103. Water tank; 104. Transmission pipeline; 105. First mixing box; 106. Second mixing box; 107. Pressurization box; 108. High-pressure pipeline; 2. Guide frame; 201. Upper guide frame; 202. Lower guide frame; 211. Guide rail; 212. Trolley; 221. Slide groove; 222. Hollow screw; 3. First geological probe; 4. Second geological probe; 401. Lateral adjustment frame; 402. Connecting block; 403. Second probe; 5. Track assembly; 6. Chassis plate; 7. Cab; 701. Seat; 702. Control panel; 8. Robotic arm; 801. Fixed base; 802. Chassis; 803. First-stage robotic arm; 804. Second-stage robotic arm; 805. Third-stage robotic arm; 9. Rock-breaking nozzle; 10. Support structure; 1001. Mounting base; 1002. Hydraulic cylinder; 1003. Support plate. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0041] This invention first provides a high-pressure water rock-breaking jumbo based on geological prediction, such as... Figures 1-7 As shown, it includes:

[0042] The main body of the trolley and the water mixing device 1, guide frame 2, first geological probe 3 and second geological probe 4 installed on the main body of the trolley;

[0043] The main body of the trolley includes a track assembly 5, a frame plate 6, a cab 7, a robotic arm 8, and a rock-breaking nozzle 9 mounted on the guide frame 2; the track assembly 5 is located below the frame plate 6 and is used to realize the forward, backward and turning of the trolley; the cab 7 is located on the frame plate 6, and the robotic arm 8 is located at the end of the frame plate 6.

[0044] Specifically, the frame plate 6 is a flat plate structure on which various equipment required by the trolley are installed, and corresponding pipelines are embedded inside to transport the high-pressure water flow that is evenly mixed by the water mixing device 1 to the front.

[0045] The water mixing device 1 is installed on the chassis plate 6 and located behind the cab 7, and is used to deliver high-pressure water to the rock-breaking nozzle 9;

[0046] Specifically, the water mixing device 1 is fixedly installed at the rear of the frame plate 6, such as... Figure 2 As shown, the water mixing device 1 includes a diamond abrasive box 101, an air compressor 102, a water tank 103, a transmission pipeline 104, a first mixing box 105, a second mixing box 106, and a pressurizing box 107. The diamond abrasive box 101 and the air compressor 102 are respectively connected to the first mixing box 105 through the transmission pipeline 104. The first mixing box 105 and the water tank 103 are respectively connected to the second mixing box 106 through the transmission pipeline 104. The second mixing box 106 is connected to the pressurizing box 107 through the transmission pipeline 104. The pressurizing box 107 is connected to the starting end of the high-pressure pipeline 108.

[0047] In this embodiment of the invention, a screw drive device is used to transport corundum to the corresponding pipeline, where it is thoroughly mixed with high-pressure air discharged from the air compressor 102 in the first mixing tank 105 before being discharged. Clean water is pressurized in the water tank 103 and transported to the second mixing tank 106, where it is mixed evenly with the "sand-air mixture" discharged from the first mixing tank 105 before being discharged, forming a high-pressure water flow with corundum exhibiting cavitation erosion effect. This high-pressure water flow with corundum exhibiting cavitation erosion effect is pressurized to 10 MPa in the pressurization tank 107 and then finally transported along the high-pressure pipeline 108 to the rock-breaking nozzle 9.

[0048] The guide frame 2 is located on the upper part of the robotic arm 8 and is movably connected to the robotic arm 8;

[0049] Specifically, the guide frame 2 includes an upper guide frame 201 and a lower guide frame 202 that are vertically connected, such as... Figure 3 As shown;

[0050] The upper guide frame 201 includes a guide rail 211 and a trolley 212 mounted on the guide rail; the trolley 212 can move back and forth along the guide rail 211, and a second geological probe 4 is mounted above the trolley 212; the second geological probe 4 can move back and forth with the trolley 212.

[0051] The lower guide frame 202 includes a slide 221 and a hollow screw 222 rotatably connected inside the slide 221; a rock-breaking nozzle 9 is provided inside the slide 221 and is connected to the hollow screw 222.

[0052] Specifically, the slide 221 is covered with a lightweight metal shell, such as aluminum alloy, magnesium alloy, or titanium alloy. These lightweight metals can significantly reduce the overall weight of the guide frame 2, which is beneficial to the flexible operation of the robotic arm 8.

[0053] The hollow screw 222, which is rotatably connected inside the chute, is used to control the extension and retraction of the rock-breaking nozzle 9. The rock-breaking nozzle 9 is located inside the chute 221. The tail of the rock-breaking nozzle 9 is connected to the hollow screw 222 and is also connected to the high-pressure pipeline 108. When rock-breaking work is required, the rock-breaking nozzle 9 extends. When rock-breaking work is not required, the rock-breaking nozzle 9 retracts to avoid damage to the nozzle.

[0054] The first geological probe 3 is installed on the top of the cab 7 to detect the first geological information of the surrounding rock and transmit the first geological information to the central control room of the cab 7;

[0055] The second geological probe 4 is installed on the guide frame 2 to detect the second geological information of the tunnel face area and transmit the second geological information to the central control room of the driver's cab 7.

[0056] The central control room (not shown in the diagram) is located to the side of cab 7 and is coaxially arranged with cab 7. It houses the hydraulic system, batteries, and a small computer. It is used to control the operation of instruments and process geological information.

[0057] Specifically, the second geological probe 4 mainly achieves precise detection of local areas of the tunnel face, such as... Figure 4 As shown, the second geological probe 4 includes a horizontal adjustment frame 401, a connecting block 402, and a second probe 403;

[0058] The horizontal adjustment frame 401 is connected to the lower part of the connecting block 402; the second probe 403 is fixedly connected to the upper part of the connecting block 402; the second probe 403 can move left and right along the horizontal adjustment frame 401 through the connecting block 402.

[0059] Specifically, the driver's cab 7 is equipped with a seat 701 and an operating console 702, such as Figure 5As shown, the entire rock-breaking trolley is operated by staff inside the cab. The top of the cab 7 is equipped with a first geological probe 3, which can extend, retract, and rotate to conduct preliminary detection of the surrounding rock conditions at the working face. The detected image information is transmitted to the central control room, where it undergoes preliminary noise reduction processing and is projected onto the screen of the control panel 702 inside the cab 7, facilitating decision-making by the operator.

[0060] Robotic arm 8 is made of high-rigidity alloy material. The main body of robotic arm 8 has a three-section structure, such as... Figure 6 As shown. A fixed base 801 is connected to the bottom of the robotic arm 8. The fixed base 801 is fixed to the frame plate 6 of the rock-breaking trolley, serving to support the upper robotic arm. A 360° rotatable chassis 802 is connected above the fixed base 801. The chassis has protrusions on both sides, hinged to the first-stage robotic arm 803, which can rotate around the hinge axis. The second-stage robotic arm 804 and the third-stage robotic arm 805 are also hinged to the first-stage and second-stage robotic arms 803 respectively, and can rotate independently around the hinge axis. Each stage of the robotic arm is connected to a first-stage, second-stage, and third-stage hydraulic rod. These three hydraulic rods serve to increase the rigidity of the robotic arm and, through their extension and retraction, enable the movement of the robotic arm.

[0061] In practical applications, to support the vehicle body, increase its rigidity, and maintain its stability, a support structure 10 is also included. The support structure 10 includes mounting seats 1001 fixedly installed at the four corners of the frame plate 6, hydraulic cylinders 1002, and support plates 1003, such as... Figure 7 As shown, the mounting base 1001 is installed inside the frame plate 6, and a hydraulic cylinder 1002 is installed at the lower end of the mounting base 1001. A support plate 1003 is fixedly installed at the lower part of the hydraulic cylinder 1002. In this embodiment of the invention, the support structure 10 is a telescopic jack.

[0062] Another aspect of the present invention provides a method for cutting surrounding rock using a high-pressure water rock-breaking trolley based on geological prediction, such as... Figure 8 As shown, it includes:

[0063] Obtain the first geological information of the surrounding rock detected by the first geological probe 3;

[0064] In practical applications, after the high-pressure water rock-breaking trolley is debugged and inspected outside the tunnel, it is driven to the working face. Then, the first geological probe 3 above the cab is turned on to conduct a preliminary exploration of the surrounding rock conditions and transmit the first geological information detected to the cab display screen and the central control room.

[0065] Based on the first geological information, the second geological probe 4 is used to detect the second geological information of the pre-set working face of the surrounding rock;

[0066] After the initial cutting range is determined based on the first geological information, the surrounding rock of the key area of ​​the tunnel face is explored in a second detailed exploration using the second geological probe 4. During the exploration, the robotic arm 8 can be operated to move the second geological probe 4 to the corresponding area. The exploration position is adjusted by the upper guide frame 201, and then the exploration is carried out. The second geological information is transmitted to the cab display screen and the central control room. Then the second geological probe 4 is retracted.

[0067] Determine whether to cut the surrounding rock based on the second geological information. If so, extend the rock-breaking nozzle 9 to pre-cut the surrounding rock and determine the cutting parameters based on the mechanical parameters of the surrounding rock.

[0068] If the second geological information meets the cutting conditions, extend the rock-breaking nozzle 9 to perform pre-cutting of the surrounding rock. During pre-cutting, determine the cutting parameters such as the high-pressure water pressure, effective cutting range, and effective cutting depth required for cutting / rinsing based on the mechanical parameters of the surrounding rock. At the same time, pay attention to any abnormal phenomena of the trolley during the trial cutting process.

[0069] The surrounding rock is cut according to the surrounding rock cutting parameters.

[0070] After the trial operation is completed and the trolley is running safely, the formal cutting operation will be carried out. The high-pressure water flow rate and water pressure at the outlet will be adjusted to flush the blocks at the working face until the blocks fall off. For blocks that cannot fall off, the water flow can be increased appropriately or the cutting can be repeated.

[0071] This invention proposes a high-pressure water rock-breaking trolley based on geological prediction. By placing a first geological probe on the top of the cab and a second geological probe on the guide frame, and transmitting the geological information detected by both probes to the central control room, geological prediction is integrated on the same high-pressure water rock-breaking trolley. This allows operators to obtain geological information about the working face and the surrounding rock ahead before rock-breaking operations without the need for external detection equipment, solving the problem that high-pressure water rock-breaking trolleys cannot detect the geological conditions ahead in advance. Furthermore, by setting the guide frame as a vertically connected upper and lower guide frame, with the second geological probe positioned above the trolley on the upper guide frame and the rock-breaking nozzle positioned on the lower guide frame, the invention achieves integrated geological prediction on the same high-pressure water rock-breaking trolley. The chute allows geological exploration and rock breaking to share the same guide frame and the same robotic arm end, achieving integrated installation of exploration and rock breaking in terms of mechanical structure. This shortens the switching time between the two processes and reduces operational gaps. Another aspect of this invention provides a method for cutting surrounding rock using a high-pressure water rock breaking trolley based on geological prediction. First, first geological information is acquired for macroscopic judgment, and then second geological information is acquired for local fine judgment. The results of the two levels of exploration are used as the basis for whether to cut and to determine the cutting parameters. This avoids blind cutting, reduces the risk of collapse accidents in adverse geological areas such as faults, karst caves, and weak interlayers, and improves exploration accuracy.

[0072] The above description is merely a few embodiments of this application and is not intended to limit this application in any way. Although this application discloses preferred embodiments as described above, it is not intended to limit this application. Any changes or modifications made by those skilled in the art without departing from the scope of the technical solution of this application using the disclosed technical content are equivalent to equivalent implementation cases and fall within the scope of the technical solution.

Claims

1. A high-pressure water rock-breaking trolley based on geological prediction, characterized in that, include: The trolley body and the water mixing equipment, guide frame, first geological probe and second geological probe installed on the trolley body; The trolley body includes a track assembly, a frame plate, a cab, a robotic arm, and a rock-breaking nozzle mounted on the guide frame; the track assembly is located below the frame plate, the cab is located on the frame plate, and the robotic arm is located at the end of the frame plate; The water mixing device is mounted on the chassis plate and located behind the cab, and is used to deliver high-pressure water to the rock-breaking nozzle; The guide frame is disposed on the upper part of the robotic arm and is movably connected to the robotic arm; The first geological probe is installed on the top of the cab to detect the first geological information of the surrounding rock and transmit the first geological information to the central control room of the cab; The second geological probe is mounted on the guide frame to detect second geological information in the tunnel face area and transmit the second geological information to the central control room of the driver's cab.

2. The high-pressure water rock-breaking trolley according to claim 1, characterized in that, The guide frame includes an upper guide frame and a lower guide frame that are vertically connected; The upper guide frame includes a guide rail and a trolley mounted on the guide rail; a second geological probe is mounted above the trolley. The lower guide frame includes a slide groove and a hollow screw rod rotatably connected inside the slide groove; the rock-breaking nozzle is disposed inside the slide groove and is connected to the hollow screw rod.

3. The high-pressure water rock-breaking trolley according to claim 1, characterized in that, The second geological probe includes a horizontal adjustment frame, a connecting block, and a second probe; The lateral adjustment bracket is connected to the lower part of the connecting block; The second probe is fixedly connected to the top of the connecting block; The second probe can move left and right along the transverse adjustment frame via the connecting block.

4. The high-pressure water rock-breaking trolley according to claim 2, characterized in that, The groove is covered with a metal shell.

5. The high-pressure water rock-breaking trolley according to claim 1, characterized in that, It also includes a support structure; the support structure is located below the frame plate, and the support structure includes a mounting base, a hydraulic cylinder, and a support plate; The mounting base is fixedly installed inside the vehicle frame and located at the four corners of the vehicle frame plate; The hydraulic cylinder is mounted on the lower end of the mounting base; The support plate is fixedly installed at the lower part of the hydraulic cylinder.

6. A method for cutting surrounding rock using a high-pressure water rock-breaking trolley as described in any one of claims 1-5, characterized in that, include: Obtain the first geological information of the surrounding rock detected by the first geological probe; Based on the first geological information, the second geological probe is used to detect the second geological information of the preset working face of the surrounding rock; Based on the second geological information, determine whether to cut the surrounding rock. If so, extend the rock-breaking nozzle to pre-cut the surrounding rock and determine the cutting parameters based on the surrounding rock mechanical parameters. The surrounding rock is cut according to the aforementioned surrounding rock cutting parameters.

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