Laser-assisted blasthole slotting device

Abstract

The utility model provides a laser-assisted blasthole slotting device, which belongs to the technical field of rock engineering and comprises a case, an optical fiber laser, an air compressor, a hydraulic mechanical arm and a laser reaming component. An optical fiber of the optical fiber laser extends to the working end of the laser reaming assembly; high-pressure gas compressed by the air compressor is conveyed to the working end of the laser reaming assembly; the hydraulic mechanical arm is connected with the case and the laser reaming assembly; the laser reaming assembly comprises a laser reaming arm and a laser transmitter; the high-pressure air pipe and the optical fiber are installed in the laser reaming arm in a penetrating mode and extend out of the laser reaming arm. The optical fiber is connected with the laser emitter, the laser emitter emits laser, and an air spraying hole is formed in the position, close to the laser emitter, of the high-pressure air pipe. The hydraulic mechanical arm is arranged to control the laser reaming assembly to swing on the basis of stretching out and drawing back, so that the laser reaming assembly can be kept parallel to a blast hole all the time in the working process, and the grooving precision requirement is met.

Description

Technical Field

[0001] The utility model belongs to the technical field of rock engineering and relates to a laser-assisted hole slotting device for blast holes. Background Technique

[0002] The phenomenon of overbreak and underbreak is one of the common problems in current highway tunnel construction. In addition to increasing the amount of rock waste generated by tunnel excavation, it also increases the materials required for support and filling, resulting in poor construction efficiency of tunnel excavation.

[0003] In traditional smooth or presplitting blasting techniques, mainly by adopting a charge structure with a radial or axial decoupling coefficient, the magnitude of the impact load directly acting on the hole wall is reduced, and the size of the crushed area near the hole wall is reduced. When multiple blast holes are detonated simultaneously, an air hole effect is formed between the blast holes, and a stress wave superposition effect is generated in the direction of the blast hole connection line, generating tension to promote the mutual penetration of cracks between the blast holes, thereby achieving the effect of directional fracture control blasting of rocks and realizing the integrity and flatness of the excavation surface. However, since the explosion energy generated by conventional cylindrical explosives is random in all directions, it cannot guarantee the generation of some long and deep cracks in the direction other than the blast hole connection line, which is not conducive to the stability of the remaining rock mass. Especially in the problem of surrounding rock stability in tunnel blasting excavation, overbreak and underbreak problems often occur.

[0004] Therefore, rock directional fracture control blasting is proposed on the basis of the poor effect of conventional smooth or presplitting blasting, increasing the construction period and cost. At present, rock directional fracture control blasting technology has been widely applied in fields such as smooth blasting and presplitting blasting in tunnel engineering. Currently, the main rock directional fracture control blasting technologies mainly include three categories: cut blasting, slit blasting, and shaped charge blasting, especially shaped charge pipe blasting is particularly prominent. However, the installation of shaped charge pipes is relatively complex, which affects the construction progress. Moreover, as blasting consumables, shaped charge pipes increase the on-site blasting consumable costs, and the blasting pipe segments are basically made of materials such as PVC, which is easy to cause environmental pollution.

[0005] With the gradual maturity of laser rock breaking technology, in view of the good results achieved by laser technology in the fields of mining engineering and drilling engineering, etc., the present invention proposes to use laser technology to create a shaped charge groove, so that the single blasting energy is concentrated in a certain direction, making the blast cracks of adjacent blast holes connected. And because only the shaped charge groove is created, the rock breaking speed is greatly improved, while automated construction is realized, the construction efficiency is improved, the overbreak and underbreak of the tunnel are reduced, and the waste of blasting consumables and support consumables is avoided. Content of the Utility Model

[0006] The utility model provides a laser-assisted hole slotting device for blast holes, which includes a chassis, a fiber laser, an air compressor, a hydraulic manipulator, and a laser hole expanding assembly;

[0007] The fiber laser is disposed inside the chassis, and the optical fiber of the fiber laser extends to the working end of the laser hole expanding assembly;

[0008] The air compressor is disposed inside the chassis, and a high-pressure air pipe is installed on the output end of the air compressor. The other end of the high-pressure air pipe extends to the working end of the laser hole expanding assembly;

[0009] One end of the hydraulic robotic arm is hinged to the chassis, and the other end of the hydraulic robotic arm is connected to one end of the laser hole expanding assembly;

[0010] The laser hole expanding assembly includes a laser hole expanding arm and a laser emitter disposed on the laser hole expanding arm; the high-pressure air pipe and the optical fiber are installed through the laser hole expanding arm and extend outside the laser hole expanding arm; the optical fiber is connected to the laser emitter, the laser emitter emits laser, and an air jet hole is provided at a position where the high-pressure air pipe is close to the laser emitter.

[0011] Optionally, the laser hole expanding assembly further includes a pressure trigger assembly. The pressure trigger assembly includes a universal wheel and a pressure sensor. The universal wheel is installed on one end of the high-pressure air pipe extending outside the laser hole expanding arm, and a pressure sensor is further installed on the universal wheel.

[0012] Optionally, the hydraulic robotic arm includes a fixed arm, a telescopic arm, and a hydraulic driving member; one end of the fixed arm is hinged to the chassis, one end of the telescopic arm is sleeved with the other end of the fixed arm, one end of the hydraulic driving member is connected to the fixed arm, and the other end of the hydraulic driving member is connected to the telescopic arm.

[0013] Optionally, the telescopic arm is provided as one piece or multiple pieces sleeved with each other, and the hydraulic driving member is provided with one piece or multiple pieces corresponding to the telescopic arm one by one.

[0014] Optionally, both the fixed arm and the telescopic arm are provided as hollow structures, and the laser hole expanding arm is provided as a hollow structure;

[0015] The high-pressure air pipe sequentially passes through the fixed arm, the telescopic arm, and the laser hole expanding arm and extends to the position of the laser emitter;

[0016] The optical fiber sequentially passes through the fixed arm, the telescopic arm, and the laser hole expanding arm and extends outside the laser hole expanding arm.

[0017] Optionally, the laser hole expanding assembly further includes a laser ranging sensor. The laser ranging sensor is disposed on one end of the laser hole expanding arm close to the universal wheel, and multiple pieces of the laser ranging sensor are provided in a circumferential array.

[0018] Optionally, four Mecanum wheels are further installed on the lower end surface of the chassis.

[0019] Optionally, a control module and a display screen connected to the control module are further provided inside the chassis. The display screen is placed on the chassis and connected to the control module to display the data of the control module.

[0020] Optionally, it further includes a first fixed-focus camera and a second fixed-focus camera;

[0021] The first fixed-focus camera is installed on the chassis and set at the position where the hydraulic robotic arm is connected to the chassis, and is used to collect images of the tunnel face;

[0022] The second fixed-focus camera is set at the working end of the laser hole enlarging assembly and is used to collect images of the blast holes.

[0023] Compared with the prior art, the present utility model has the following beneficial effects:

[0024] (1) For a laser-assisted blast hole slotting device provided by the present utility model, by using a fiber laser and a laser hole enlarging assembly in cooperation, laser-assisted energy concentration is achieved; by using an air compressor to compress and transmit air to the position of the laser emitter in the laser hole enlarging assembly to cool the laser emitter by air cooling; by setting a hydraulic robotic arm to control the swinging position of the laser hole enlarging assembly on the basis of telescoping, so that the laser hole enlarging assembly can always be parallel to the blast hole during the working process, thereby ensuring the slotting accuracy requirements.

[0025] (2) In the present utility model, a pressure trigger assembly (a universal wheel provided at the extended end of the high-pressure air pipe and a pressure sensor provided on the universal wheel) is further provided in the laser hole enlarging assembly, and it is judged whether the laser hole enlarging assembly is parallel to the blast hole by whether the pressure trigger assembly contacts the blast hole wall.

[0026] In addition to the purposes, features and advantages described above, the present utility model has other purposes, features and advantages. The following will refer to the drawings to further elaborate on the present utility model in detail. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings constituting a part of this application are used to provide a further understanding of the present utility model. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and do not constitute an improper limitation to the present utility model. In the drawings:

[0028] Figure 1 is the overall structural schematic diagram of a laser-assisted blast hole slotting device of the present utility model;

[0029] Figure 2 is Figure 1 the structural schematic diagram of the laser hole enlarging assembly in

[0030] Wherein:

[0031] 001, Tunnel face; 002, Blasthole

[0032] 1, Chassis; 2, Fiber laser; 3, Air compressor; 4, Hydraulic manipulator; 5, Laser hole-expanding arm; 6, First fixed-focus camera; 7, Second fixed-focus camera; 8, Control module; 9, Display screen; 10, High-pressure air pipe; 11, Mecanum wheel; 12, Laser emitter; 13, Universal wheel; 14, Laser distance sensor Detailed implementation manner

[0033] To make the above objects, features, and advantages of the present utility model more clearly understandable, the following provides a detailed description of the specific implementation manner of the present utility model in conjunction with the accompanying drawings. It should be noted that the accompanying drawings of the present utility model are all in simplified forms and use non-precise scales, only for conveniently and clearly assisting in the description of the implementation of the present utility model; the several mentioned in the present utility model are not limited to the specific quantities in the attached drawing examples; the orientation or positional relationships indicated by 'front','middle', 'back', 'left', 'right', 'upper', 'lower', 'top', 'bottom','middle', etc. in the present utility model are all based on the orientation or positional relationships shown in the accompanying drawings of the present utility model, and do not indicate or imply that the devices or components referred to must have a specific orientation, nor can it be understood as a limitation to the present utility model

[0034] See Figure 1 and Figure 2 As shown in

[0035] A laser-assisted blasthole grooving device provided by the present utility model is used for grooving blastholes after tunnel drilling and blasting; specifically, the laser-assisted blasthole 002 energy-gathering grooving device includes a chassis 1, a fiber laser 2, an air compressor 3, a hydraulic manipulator 4, a first fixed-focus camera 6, a laser hole-expanding assembly, a second fixed-focus camera 7, and a control module 8

[0036] The first fixed-focus camera 6 is installed on the chassis 1 and is arranged at the position where the hydraulic manipulator 4 is connected to the chassis 1, and is used for collecting and shooting images of the tunnel face 001, and transmitting the collected images into the control module 8

[0037] One end of the hydraulic manipulator 4 is hinged to the chassis 1, and the other end of the hydraulic manipulator 4 is connected to one end of the laser hole-expanding assembly, and is used for extending the laser hole-expanding assembly to the corresponding drilling and blasting bench plane position

[0038] The fiber laser 2 is disposed within the chassis 1, and the optical fiber of the fiber laser 2 extends to the working end of the laser hole expanding assembly;

[0039] The air compressor 3 is disposed within the chassis 1, and the high-pressure gas compressed by the air compressor 3 is delivered to the working end of the laser hole expanding assembly through the high-pressure air pipe 10.

[0040] Further, the hydraulic robotic arm 4 includes a fixed arm, a telescopic arm, and a hydraulic driving member; one end of the fixed arm is hinged to the chassis 1, one end of the telescopic arm is sleeved with the other end of the fixed arm, one end of the hydraulic driving member is connected to the fixed arm, and the other end of the hydraulic driving member is connected to the telescopic arm for driving the telescopic arm to expand and contract relative to the fixed arm.

[0041] Preferably, the telescopic arm may be provided with multiple pieces sleeved with each other according to actual needs, the hydraulic driving member is provided with multiple pieces corresponding to the multiple telescopic arms one by one, and the hydraulic driving member is preferably arranged as an oil cylinder structure.

[0042] Preferably, a swing driving member for driving the telescopic arm to swing relative to the fixed arm is further provided on the hydraulic robotic arm 4. The swing driving member is preferably arranged as an oil cylinder structure or a cylinder structure.

[0043] Preferably, both the fixed arm and the telescopic arm are preferably arranged as hollow structures, and the high-pressure air pipe 10 and the optical fiber pass through the fixed arm and the telescopic arm in sequence and then extend into the laser hole expanding assembly.

[0044] Further, the laser hole expanding assembly includes a laser hole expanding arm 5 and a laser emitter 12, a laser ranging sensor 14, a universal wheel 13, and a pressure sensor provided on the laser hole expanding arm 5;

[0045] The laser hole expanding arm 5 is preferably arranged as a hollow structure, and the high-pressure air pipe 10 and the optical fiber are installed through the laser hole expanding arm 5 and extend outside the laser hole expanding arm 5; the optical fiber is connected to the laser emitter 12, and the laser emitter 12 emits laser. A gas jet hole is provided at a position of the high-pressure air pipe 10 close to the laser emitter 12, and the high-pressure gas is ejected through the gas jet hole;

[0046] The universal wheel 13 is installed on the high-pressure air pipe 10, and a pressure sensor is further installed on the universal wheel 13. When the universal wheel 13 touches the hole wall of the blast hole 002, the pressure sensor is triggered to detect its pressure, and the detected pressure signal is transmitted into the control module 8 so that the control module 8 adjusts the hydraulic robotic arm 4 to ensure that the laser hole expanding assembly and the blast hole 002 always remain parallel;

[0047] At one end of the laser hole expanding arm 5 far from the hydraulic robotic arm 4, a laser emitter 12, a laser distance measuring sensor 14, and a second fixed-focus camera 7 are installed. Preferably, multiple pieces of the laser distance measuring sensor 14 are preferably arranged in a circumferential array.

[0048] Furthermore, the first fixed-focus camera 6, the second fixed-focus camera 7, the laser distance measuring sensor 14, and the pressure sensor are all connected to the control module 8 through wireless signals. The control module 8 receives the images collected by the first fixed-focus camera 6 and the second fixed-focus camera 7, and receives the signals collected by the laser distance measuring sensor 14 and the pressure sensor, so as to control the extension or retraction of the hydraulic robotic arm 4 according to the received image information and sensor signals. It should be noted that since the processing of the received image information and sensor signals by the control module 8 is not the innovation point of this application, and the processing of the received image information and sensor signals by the control module 8 is the prior art in this field, therefore, it will not be described in detail in this application.

[0049] Furthermore, four Mecanum wheels 11 are also installed on the lower end face of the chassis 1 to ensure that the entire chassis 1 can move freely in the four directions of front, back, left, and right.

[0050] Furthermore, a control module 8 and a display screen 9 connected to the control module 8 are also provided in the chassis 1. The display screen 9 is placed on the chassis 1 and connected to the control module 8 to display the data of the control module 8.

[0051] The specific process of grooving the blast hole by applying the above-mentioned laser-assisted blast hole grooving device is as follows:

[0052] Step 1: Install the laser-assisted blast hole grooving device behind the tunnel drilling and blasting bench.

[0053] Step 2: The first fixed-focus camera takes pictures of the image of the tunnel face, and the taken image is transmitted to the control module to obtain the grooving area of each laser hole expanding component.

[0054] Step 3: Drive the hydraulic robotic arm to drive the laser hole expanding component to extend, and make the working end (i.e., the end far from the hydraulic robotic arm) of the laser hole expanding component extend to the corresponding drilling and blasting bench plane position. The second fixed-focus camera takes pictures of the face drilling image of the current bench layer area, and the taken image is transmitted to the control module to obtain each blast hole in the current bench layer area.

[0055] Step 4: The laser distance measuring sensor detects the distance between the laser hole expanding component and the face, and transmits the detected signal to the control module.

[0056] Step 5: The control module drives the hydraulic robotic arm to extend or retract, so that the laser hole expanding assembly extends to the front end of the blast hole, and inserts the high-pressure air pipe at the front end of the laser hole expanding assembly into the blast hole;

[0057] Step 6: Utilize the force state of the universal wheels at the front end of the high-pressure air pipe measured by the universal wheels and pressure sensors during the insertion process of the high-pressure air pipe to adjust the rotation of the laser hole expanding assembly towards the opposite side until the universal wheels are no longer stressed, so as to ensure that the central axis of the laser hole expanding assembly is consistent with the central axis of the blast hole (to avoid the laser hole expanding direction being different from the blast hole direction);

[0058] Step 7: Use the laser distance sensor on the upper part of the high-pressure air pipe to measure the bottom depth of the blast hole, and calculate the drilling depth of the blast hole in combination with the length of the high-pressure air pipe;

[0059] Step 8: Turn on the laser emitters on both sides of the laser hole expanding assembly, start irradiating the rocks on both sides of the blast hole, causing the rocks on both sides to melt and form V-shaped grooves. Synchronously turn on the air compressor, and use the high-pressure gas ejected from the high-pressure air pipe to blow away the molten rocks;

[0060] Step 9: When the distance measured by the laser distance sensor above the laser emitter is the same as the depth of the blast hole measured by the laser distance sensor on the upper part of the high-pressure air pipe, it can be regarded as the completion of the excavation of the shaped charge groove, and then turn to the next blast hole for the excavation of the shaped charge groove.

[0061] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A laser-assisted blasthole slotting device, characterized in that: Includes chassis, fiber laser, air compressor, hydraulic manipulator and laser hole expansion assembly; The fiber laser is arranged in the chassis, and the optical fiber of the fiber laser extends to the working end of the laser hole expansion assembly; The air compressor is arranged in the chassis, and a high-pressure air pipe is installed on the output end of the air compressor, and the other end of the high-pressure air pipe extends to the working end of the laser hole expansion assembly; One end of the hydraulic mechanical arm is hinged to the chassis, and the other end of the hydraulic mechanical arm is interconnected with one end of the laser hole expansion assembly; The laser hole expanding assembly includes a laser hole expanding arm and a laser emitter arranged on the laser hole expanding arm; the high-pressure air pipe and the optical fiber are installed through the laser hole expanding arm and extend outside the laser hole expanding arm; the optical fiber is connected to the laser emitter, the laser emitter emits laser, and an air jet hole is provided at a position of the high-pressure air pipe close to the laser emitter.

2. The laser-assisted blasthole slotting device according to claim 1, characterized in that: The laser hole expansion assembly also includes a pressure trigger assembly, which includes a universal wheel and a pressure sensor. The universal wheel is installed on one end of the high-pressure air pipe extending outside the laser hole expansion arm, and a pressure sensor is also installed on the universal wheel.

3. The laser-assisted blasthole slotting device according to claim 1, characterized in that: The hydraulic mechanical arm includes a fixed arm, a telescopic arm and a hydraulic drive component; one end of the fixed arm is hinged to the chassis, one end of the telescopic arm is sleeved with the other end of the fixed arm, one end of the hydraulic drive component is connected to the fixed arm, and the other end of the hydraulic drive component is connected to the telescopic arm.

4. The laser-assisted blasthole slotting device according to claim 3, characterized in that: The telescopic arm is provided as one piece or a plurality of pieces which are mutually sleeved, and the hydraulic driving component is provided as one piece or a plurality of pieces which are provided in a one-to-one correspondence with the telescopic arm.

5. The laser-assisted blasthole slotting device according to claim 4, characterized in that: The fixed arm and the telescopic arm are both configured as hollow structures, and the laser hole-expanding arm is configured as a hollow structure; The high-pressure gas pipe passes through the fixed arm, the telescopic arm and the laser expansion arm in sequence, and extends to the position of the laser transmitter; The optical fiber passes through the fixed arm, the telescopic arm and the laser hole expanding arm in sequence, and extends to the outside of the laser hole expanding arm.

6. The laser-assisted blasthole slotting device according to any one of claims 1 to 5, characterized in that: The laser hole expansion assembly also includes a laser distance measuring sensor, which is arranged on one end of the laser hole expansion arm close to the universal wheel, and the laser distance measuring sensor is provided with a plurality of pieces arranged in a circular array.

7. The laser-assisted blasthole slotting device according to claim 6, characterized in that: Four Mecanum wheels are also installed on the lower end surface of the chassis.

8. The laser-assisted blasthole slotting device according to claim 6, characterized in that: A control module and a display screen connected to the control module are also arranged in the chassis. The display screen is placed on the chassis and connected to the control module to display the control module data.

9. The laser-assisted blasthole slotting device according to claim 7 or 8, characterized in that: Also includes a first fixed-focus camera and a second fixed-focus camera; The first fixed-focus camera is installed on the chassis and is arranged at a position where the hydraulic mechanical arm is connected to the chassis, and is used to collect images of the tunnel face; The second fixed-focus camera is arranged on the working end of the laser hole expansion assembly and is used to collect images of the blasthole.

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