A high-pressure foam injection type wheeled high-frequency projectile device

Abstract

The utility model provides a kind of high-pressure foam injection type wheeled high-frequency projectile device, it is related to civil engineering machinery and equipment field, and it includes: tracked chassis, the top of tracked chassis is provided with support pedestal;Hydraulic control unit, is arranged in one end of support pedestal top;Gas pressurizing unit, is arranged in one side of hydraulic control unit;Foam delivery unit, is arranged in one side of gas pressurizing unit;Electric excitation unit, is arranged in one side of foam delivery unit;Six-in-one wheeled reaction chamber array, is arranged in one side of electric excitation unit;Projectile loading unit, is arranged in one side of six-in-one wheeled reaction chamber array;Projectile acceleration gun barrel, is arranged in one side of projectile loading unit.The utility model is through six-in-one wheeled disc type ultrahigh-pressure foam reaction chamber array and automatic reset system, substantially reduce operation cycle, improve firing frequency, reduce artificial intervention interruption, make high-frequency continuous operation ability complete breakthrough.

Description

TECHNICAL FIELD

[0001] The utility model relates to civil engineering mechanical equipment field, concretely, especially relates to a high pressure foam injection type wheeled high frequency projectile device. BACKGROUND

[0002] In hard rock breaking, mining and tunnel engineering, the traditional large-scale rock mass breaking mainly relies on drilling and blasting technology. However, blasting has inherent defects such as strict approval, high safety risk, large vibration noise, serious dust pollution and inability to accurately control the breaking form. To overcome these shortcomings, projectile impact induced cracking technology has been developed as an alternative or supplementary means. This technology uses the impact energy of the projectile or a small amount of charge (ultra-high pressure foam reaction chamber) contained in the hole to produce high pressure locally, causing cracks or breaking of the rock mass.

[0003] However, the current projectile cracking device is implemented in a single shot after loading, that is, the fuel and projectile are manually loaded into the barrel, and then reloaded after firing. The existing projectile rock breaking technology has certain limitations: first, the loading action interrupts the operation flow, making it difficult to achieve high-frequency continuous firing; second, the same cracking device repeatedly withstands high pressure and high temperature, resulting in short service life and frequent maintenance; third, the energy release of ordinary chemical propellant is uncontrollable and poses certain risks and environmental pollution risks.

[0004] In view of the problems in the related art, no effective solution has been proposed so far. INVENTION CONTENTS

[0005] Therefore, the utility model provides a high pressure foam injection type wheeled high frequency projectile device to solve the above-mentioned problems.

[0006] To solve the above problems, the utility model adopts the following specific technical scheme:

[0007] According to one aspect of the utility model, a high pressure foam injection type wheeled high frequency projectile device is provided, comprising: a tracked running chassis, a support base is provided at the top end of the tracked running chassis; a hydraulic control unit is provided at one end of the top end of the support base; a gas pressurizing unit is provided on one side of the hydraulic control unit; a foam delivery unit is provided on one side of the gas pressurizing unit; an electric excitation unit is provided on one side of the foam delivery unit; a six-in-one wheeled reaction chamber array is provided on one side of the electric excitation unit; a projectile loading unit is provided on one side of the six-in-one wheeled reaction chamber array; a projectile accelerating gun barrel is provided on one side of the projectile loading unit; and a control box is embedded in the side wall of one end of the support base to control the output rate of the gas pressurizing unit and the foam delivery unit.

[0008] Furthermore, in order to launch the projectile, a conical flared female head interface is provided at one end of the projectile acceleration gun barrel near the projectile loading unit, and the outer side of the projectile acceleration gun barrel is connected to the support base through several rigid supports. The cone angle of the conical flared female head interface is 15°-20°.

[0009] Furthermore, in order to achieve rapid projectile loading, the projectile loading unit includes a projectile storage compartment located on one side of the six-in-one wheeled reaction chamber array. A projectile receiving plate is located below the projectile storage compartment. Several projectiles are stored inside the projectile storage compartment. A projectile support is located on one side of the projectile. A pusher hydraulic cylinder is located at the top of the projectile storage compartment, and the bottom end of the piston rod of the pusher hydraulic cylinder passes through the top of the interior of the projectile storage compartment and cooperates with the projectile. An arc-shaped limiting groove is opened at the bottom of the projectile storage compartment. The outside of the projectile storage compartment is connected to the outside of the projectile acceleration barrel through a robotic arm.

[0010] Furthermore, to reduce the operation cycle, increase the firing frequency, and minimize manual intervention interruptions, the six-in-one wheeled reaction chamber array includes a support frame mounted on top of the support base and located on one side of the electro-excitation unit. A central rotating shaft runs through the middle of the support frame. A hexagonal prism wheel is mounted on the outer side of one end of the central rotating shaft. Several ultra-high pressure foam reaction chambers are mounted on the outer side of the hexagonal prism wheel, and several linear slide rails arranged in a ring are mounted on the side wall of the hexagonal prism wheel. The ultra-high pressure foam reaction chambers form a sliding pair with the wheel through the linear slide rails. A reduction motor is mounted on the other end of the central rotating shaft. An axial male connector is mounted on one end of the ultra-high pressure foam reaction chamber, and the axial male connector mates with a tapered flared female connector to form a hard seal. A tail hydraulic rod connecting ear plate is mounted in the middle of the other end of the ultra-high pressure foam reaction chamber. An axial electric excitation interface is eccentrically located at one end; an axial biomass foam injection interface is located at the bottom of the other end of the ultra-high pressure foam reaction chamber, and a one-way control valve is installed inside the axial biomass foam injection interface; an axial high pressure gas injection interface is located at the top of the other end of the ultra-high pressure foam reaction chamber, and an integrated one-way valve group is installed inside the axial high pressure gas injection interface; a dynamic pressure sensor is installed on the outer side of one end of the axial high pressure gas injection interface and inside the ultra-high pressure foam reaction chamber; a hydraulic transmission cylinder is located on one side of the bottom of the support frame, and the piston rod of the hydraulic transmission cylinder passes through the side wall of the support frame and cooperates with the connecting ear plate of the tail hydraulic rod; a pre-compression disc spring is located at the bottom of one end of the ultra-high pressure foam reaction chamber, and a spring support is located at one end of the pre-compression disc spring, and the top of the spring support is connected to the bottom of the projectile receiving plate.

[0011] Furthermore, in order to pressurize the foam so that it can generate energy when ignited, thereby providing energy for the projectile's firing, the gas pressurization unit includes a high-pressure gas booster pump located on one side of the hydraulic control unit. The top of the high-pressure gas booster pump is equipped with a high-pressure gas collection chamber, and the top of the high-pressure gas collection chamber is equipped with a high-pressure hose main pipe. One end of the high-pressure hose main pipe is equipped with a rotary distributor, and one end of the rotary distributor is equipped with several branch pipes. An inlet check valve is installed inside one end of the rotary distributor.

[0012] Furthermore, in order to supply foam and thus ensure continuous firing of projectiles, the foam delivery unit includes a foam storage tank located on one side of the high-pressure gas booster pump, a high-pressure delivery pump located on one side of the foam storage tank, a pressure-resistant delivery pipeline located on one side of the high-pressure delivery pump, and one end of the pressure-resistant delivery pipeline connected to the axial biomass foam injection interface.

[0013] Furthermore, in order to ignite the foam, the electro-excitation unit includes an electro-excitation chamber located at the top of the foam storage tank, and a water-cooled coaxial cable that mates with the axial electro-excitation interface is provided on one side of the electro-excitation chamber.

[0014] The beneficial effects of this utility model are as follows:

[0015] 1. This utility model, through a six-in-one disc-type ultra-high pressure foam reaction chamber array and an automatic reset system, significantly reduces the operation cycle, increases the firing frequency, reduces manual intervention interruptions, and achieves a breakthrough in high-frequency continuous operation capability.

[0016] 2. This utility model adopts a distributed energy release mechanism, which greatly reduces the load that each ultra-high pressure foam reaction chamber 704 needs to withstand in a single shot, thus greatly improving the lifespan of each component and upgrading the reliability of the system.

[0017] 3. This utility model uses gas-solid-liquid three-phase foam instead of traditional chemical gunpowder, which improves the controllability of the energy release process and greatly enhances environmental safety. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0019] Figure 1 This is a structural schematic diagram of a high-pressure foam injection type wheeled high-frequency projectile device according to an embodiment of the present utility model;

[0020] Figure 2This is a partial schematic diagram of a high-pressure foam injection type wheeled high-frequency projectile device according to an embodiment of the present utility model;

[0021] Figure 3 This is a front view of the projectile loading unit in a high-pressure foam injection type wheeled high-frequency projectile device according to an embodiment of the present utility model.

[0022] Figure 4 This is a side view of the projectile loading unit in a high-pressure foam injection type wheeled high-frequency projectile device according to an embodiment of the present utility model.

[0023] Figure 5 This is a schematic diagram of the interface between the projectile acceleration barrel and the ultra-high pressure foam reaction chamber in a high-pressure foam injection type wheeled high-frequency projectile device according to an embodiment of the present invention.

[0024] Figure 6 This is a front view of the main body of the six-in-one wheel reaction chamber array in a high-pressure foam injection type wheel-type high-frequency projectile device according to an embodiment of the present utility model;

[0025] Figure 7 This is a side view of the main body of the six-in-one wheel reaction chamber array in a high-pressure foam injection type wheel-type high-frequency projectile device according to an embodiment of the present utility model;

[0026] Figure 8 This is a schematic diagram of the ultra-high pressure foam reaction chamber in a high-pressure foam injection type wheeled high-frequency projectile device according to an embodiment of the present invention;

[0027] Figure 9 This is a side view of the rotary distributor and the distributor rigid pipe in a high-pressure foam injection type wheeled high-frequency projectile device according to an embodiment of the present utility model.

[0028] Figure 10 This is a front view of the rotary distributor and the distributor rigid pipe in a high-pressure foam injection type wheeled high-frequency projectile device according to an embodiment of the present utility model.

[0029] Figure 11 This is a flowchart illustrating the usage method of a high-pressure foam injection type wheeled high-frequency projectile device according to an embodiment of the present invention;

[0030] Figure 12 This is a schematic diagram of the control box in a high-pressure foam injection type wheeled high-frequency projectile device according to an embodiment of the present invention.

[0031] In the picture:

[0032] 1. Tracked chassis; 101. Slewing bearing base; 102. Telescopic hydraulic cylinder; 2. Support base; 3. Hydraulic control unit; 4. Gas booster unit; 401. High-pressure gas booster pump; 402. High-pressure gas collection chamber; 403. High-pressure hose main pipe; 404. Rotary distributor; 405. Diverter rigid pipe; 406. Inlet check valve; 5. Foam delivery unit; 501. Foam storage tank; 502. High-pressure delivery pump; 503. Pressure-resistant delivery pipeline; 6. Electro-excitation unit; 601. Electro-excitation housing; 602. Water-cooled coaxial cable; 7. Six-in-one wheeled reaction chamber array; 701. Support arm frame; 702. Central rotating shaft; 703. Hexagonal prism wheel; 704. Ultra-high pressure foam reaction chamber; 705. Linear slide rail; 706. Gear motor; 707. Axial male connector; 708. Tail hydraulic rod connecting lug; 709, Axial electric arousal interface; 710, Axial biomass foam injection interface; 711, One-way control valve; 712, Axial high-pressure gas injection interface; 713, Integrated one-way valve group; 714, Dynamic pressure sensor; 715, Hydraulic transmission cylinder; 716, Preloaded disc spring; 717, Spring support; 8, Projectile loading unit; 801, Projectile storage compartment; 802, Projectile receiving plate; 803, Projectile; 804, Projectile sabot; 805, Pushing hydraulic cylinder; 806, Arc-shaped limit slot; 807, Robotic arm; 9, Projectile acceleration barrel; 901, Conical flared female head interface; 902, Rigid support; 10, Control box; 1001, Data acquisition module; 1002, Relationship establishment module; 1003, Control demand calculation module; 1004, Control demand allocation module. Detailed Implementation

[0033] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0034] According to an embodiment of the present invention, a high-pressure foam injection type wheel-type high-frequency projectile device is provided.

[0035] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments, such as... Figures 1-12As shown, according to an embodiment of this utility model, a high-pressure foam injection type wheeled high-frequency projectile device is provided, comprising: a tracked chassis 1, with a support base 2 disposed at the top of the tracked chassis 1; a hydraulic control unit 3 disposed at one end of the top of the support base 2; a gas pressurization unit 4 disposed on one side of the hydraulic control unit 3; a foam conveying unit 5 disposed on one side of the gas pressurization unit 4; an electro-excitation unit 6 disposed on one side of the foam conveying unit 5; a six-in-one wheeled reaction chamber array 7 disposed on one side of the electro-excitation unit 6; a projectile loading unit 8 disposed on one side of the six-in-one wheeled reaction chamber array 7; a projectile acceleration barrel 9 disposed on one side of the projectile loading unit 8; and a control box 10 embedded in one side wall of the support base 2 to control the output rate of the gas pressurization unit 4 and the foam conveying unit 5.

[0036] It should be noted that the hydraulic control unit 3 includes a hydraulic oil tank, a hydraulic pump, and a multi-way control valve group. This unit is mainly used to control the hydraulic devices on the high-pressure foam injection type wheeled high-frequency projectile device, including controlling the push hydraulic cylinder 805 in the projectile loading unit 8 to load and position the projectile 803, controlling the hydraulic transmission cylinder 715 in the six-in-one wheeled reaction chamber array 7 to move the ultra-high pressure foam reaction chamber 704 forward and backward, and controlling the tracked hydraulic cylinder on the tracked chassis 1 to adjust the angle of the projectile acceleration barrel 9.

[0037] The tracked chassis 1 includes a dual-track drive system, a slewing bearing base 101, and a hydraulic attitude adjustment mechanism. Each track in the dual-track drive system is independently equipped with a hydraulic motor to adapt to the rugged terrain of the mine. The slewing bearing base 101 is equipped with a three-row roller slewing bearing, enabling 360° continuous rotation. The hydraulic attitude adjustment mechanism is equipped with two symmetrically arranged telescopic hydraulic cylinders 102, which adjust the elevation angle of the projectile-accelerating gun barrel 9 via a multi-way control valve.

[0038] In one embodiment, such as Figures 1-2 As shown, for the aforementioned projectile acceleration barrel 9, a conical flared female head interface 901 is provided at one end of the projectile acceleration barrel 9 near the projectile loading unit 8, and the outer side of the projectile acceleration barrel 9 is connected to the support base 2 through several rigid supports 902. The cone angle of the conical flared female head interface 901 is 15°-20°, thereby realizing the launch of the projectile.

[0039] It should be noted that the aforementioned projectile acceleration barrel 9 is 3-4m long and is a sealed alloy steel straight cylinder with an inner diameter adapted to the outer diameter of the projectile. The aforementioned tapered flared female connector 901 and axial male connector 707 can form a high-temperature, high-pressure, repeatable metal hard seal mechanism.

[0040] In one embodiment, such as Figures 3-4As shown, the projectile loading unit 8 includes a projectile storage chamber 801 located on one side of the six-in-one wheel-type reaction chamber array 7. A projectile receiving plate 802 is located below the projectile storage chamber 801. Several projectiles 803 are disposed inside the projectile storage chamber 801. The projectile receiving plate 802 is vertically and coaxially positioned with the projectile storage chamber 801. A sabot 804 is located on one side of each projectile 803. A thrust fluid is located at the top of the projectile storage chamber 801. The piston rod of the hydraulic cylinder 805 is inserted through the top of the projectile storage chamber 801 and cooperates with the projectile 803. When the hydraulic cylinder 805 presses the projectile 803, the projectile 803 will fall onto the projectile receiving plate 802 after falling. The bottom of the projectile storage chamber 801 is provided with an arc-shaped limiting groove 806. The outside of the projectile storage chamber 801 is connected to the outside of the projectile acceleration barrel 9 through the mechanical arm 807, thereby realizing the rapid loading of the projectile.

[0041] Specifically, the projectile storage compartment 801 can accommodate six projectiles 803. The projectiles 803 can be customized with different warhead materials and aerodynamic configurations according to rock-breaking requirements. The sabot 804 is a customized nylon substrate that covers the tail of the projectile 803 and is used to transfer the gas expansion impulse and seal the gap between the barrel and the projectile.

[0042] The loading process of the projectile loading unit 8 is as follows: the top-pushing hydraulic cylinder 805 drives the projectile 803 to fall to the projectile receiving plate 802, then the ultra-high pressure foam reaction chamber 704 moves forward to push the projectile-cargo assembly into the projectile acceleration barrel 9, and finally the conical flared female head interface 901 and the axial male head interface 707 complete the hard seal.

[0043] In one embodiment, such as Figures 6-8As shown, the six-in-one wheel-type reaction chamber array 7 includes a support frame 701 located at the top of the support base 2 and on one side of the electro-excitation unit 6. In specific applications, the support frame 701 is a welded steel structure rigidly fixed to the support base 2. A central rotating shaft 702 is provided through the middle of the support frame 701. A hexagonal prism rotating wheel 703 is provided on the outer side of one end of the central rotating shaft 702. Several ultra-high pressure foam reaction chambers 704 are provided on the outer side of the hexagonal prism rotating wheel 703, and several annular ring-shaped features are provided on the sidewall of the hexagonal prism rotating wheel 703. The linear slide rails 705 are arranged in a specific manner. Furthermore, in practical applications, the six side planes of the hexagonal prism wheel 703 are evenly distributed with linear slide rails 705. Each linear slide rail 705 has two limiting grooves. The ultra-high pressure foam reaction chamber 704 forms a sliding pair with the wheel through the linear slide rails 705. A reduction motor 706 is installed at the other end of the central rotating shaft 702. One end of the ultra-high pressure foam reaction chamber 704 is provided with an axial male connector 707, which mates with a tapered flared female connector 901 to form a hard seal. A tail is provided at the middle of the other end of the ultra-high pressure foam reaction chamber 704. The hydraulic rod is connected to the lug 708. An axial electric excitation interface 709 is eccentrically located at the other end of the ultra-high pressure foam reaction chamber 704. An axial biomass foam injection interface 710 is located at the bottom of the other end of the ultra-high pressure foam reaction chamber 704, and a one-way control valve 711 is installed inside the axial biomass foam injection interface 710. An axial high-pressure gas injection interface 712 is located at the top of the other end of the ultra-high pressure foam reaction chamber 704, and an integrated one-way valve group 713 is installed inside the axial high-pressure gas injection interface 712. One end of the axial high-pressure gas injection interface 712 is located on the outside of the ultra-high pressure... A dynamic pressure sensor 714 is installed inside the foam reaction chamber 704; a hydraulic transmission cylinder 715 is installed on one side of the bottom of the support frame 701, and the piston rod of the hydraulic transmission cylinder 715 passes through the side wall of the support frame 701 and cooperates with the tail hydraulic rod connecting ear plate 708; a pre-compression disc spring 716 is installed at one end of the ultra-high pressure foam reaction chamber 704 located at the bottom, and a spring support 717 is installed at one end of the pre-compression disc spring 716, and the top of the spring support 717 is connected to the bottom of the projectile receiving plate 802, thereby reducing the operation cycle, increasing the firing frequency, and reducing manual intervention interruptions.

[0044] It should be noted that when the ultra-high pressure foam reaction chamber 704 moves forward, it compresses the preloaded disc spring 716 to store energy. The docking process of the ultra-high pressure foam reaction chamber 704 is as follows: the rotary wheel rotates and positions the ultra-high pressure foam reaction chamber 704 to the position of the projectile acceleration barrel 9. The hydraulic transmission cylinder 715 pushes the ultra-high pressure foam reaction chamber 704 forward to complete the docking with the projectile acceleration barrel 9. After the projectile is launched, the hydraulic system is unloaded, and the preloaded disc spring 716 releases energy to push the ultra-high pressure foam reaction chamber 704 back to the initial position of the linear slide rail 705.

[0045] Furthermore, it should be noted that the aforementioned geared motor 706 consists of multiple components, including an electric motor, a gearbox, a lubrication system, and seals. The gearbox employs multiple meshing gears to convert the high-speed, low-torque output of the electric motor into a low-speed, high-torque output. In practical applications, the central rotating shaft 702 connects to one of the gears in the gearbox, and the high-pressure hose main pipe 403 passes through the center of the gear connected to the central rotating shaft 702 and is embedded in the middle of the central rotating shaft 702. This gear penetrates the side wall of the gearbox, and its rotation does not affect the high-pressure hose main pipe 403. The principles and methods described above are existing technologies and will not be elaborated upon further.

[0046] In one embodiment, such as Figures 9-10 As shown, the gas pressurization unit 4 includes a high-pressure gas pressurization pump 401 located on one side of the hydraulic control unit 3. The top of the high-pressure gas pressurization pump 401 is provided with a high-pressure gas collection chamber 402. The top of the high-pressure gas collection chamber 402 is provided with a high-pressure hose main pipe 403. One end of the high-pressure hose main pipe 403 is provided with a rotary distributor 404. One end of the rotary distributor 404 is provided with several diversion hard pipes 405. An inlet check valve 406 is provided inside one end of the rotary distributor 404, thereby realizing the pressurization of the foam, so that the foam can generate energy when ignited, thereby providing energy for the firing of the projectile.

[0047] It should be noted that the high-pressure gas booster pump 401 has a maximum output pressure of 40 MPa and a flow rate of 3200 NL / min at rated pressure, and is used to output high-pressure gas. The high-pressure gas collection chamber 402 is a stainless steel pressure-stabilizing container used to store high-pressure gas. The aforementioned diversion hard pipes 405 are six high-pressure hard pipes arranged radially, which are respectively connected to the rotary diverter 404 and each ultra-high pressure foam reaction chamber 704. The rotary diverter 404 is respectively connected to the high-pressure hose main pipe 403 and the diversion hard pipes 405, and makes the diversion hard pipes 405 rotate together with the ultra-high pressure foam reaction chamber 704. The dynamic pressure sensor 714 is used to monitor the chamber pressure of the ultra-high pressure foam reaction chamber 704 in real time. The inlet check valve 406 is used to control the gas injection, and the inlet check valve 406 is an electrically controlled check valve.

[0048] The working process of the gas booster unit 4 is as follows: the high-pressure gas booster pump 401 continuously outputs high-pressure gas to the ultra-high-pressure gas collection chamber 402. When the split pipe 405 and the ultra-high-pressure gas collection chamber 402 rotate to the working position together, the inlet check valve 406 on the rotary splitter 404 is opened to allow the high-pressure gas to enter the split pipe 405. The integrated check valve group 713 of the target ultra-high-pressure foam reaction chamber 704 is opened to allow the high-pressure gas to enter the target ultra-high-pressure foam reaction chamber 704.

[0049] In one embodiment, the foam delivery unit 5 includes a foam storage tank 501 located on one side of the high-pressure gas booster pump 401, a high-pressure delivery pump 502 located on one side of the foam storage tank 501, a pressure-resistant delivery pipeline 503 located on one side of the high-pressure delivery pump 502, and one end of the pressure-resistant delivery pipeline 503 connected to the axial biomass foam injection interface 710, thereby realizing the supply of foam and ensuring continuous firing of the projectile.

[0050] It should be noted that the foam storage tank 501 is a constant-pressure tank used to store gas-solid-liquid three-phase foam. The foam storage tank 501 adopts a three-layer gradient pressure-stabilizing structure: the upper layer is a nitrogen-filled constant-pressure chamber to maintain constant pressure; the middle layer uses a spiral guide plate to suppress stratification; and the lower layer uses a piezoelectric micro-vibration plate to prevent sedimentation. The high-pressure delivery pump 502 drives the gas-solid-liquid three-phase foam into the ultra-high-pressure foam reaction chamber 704; the pressure-resistant delivery pipeline 503 is a pressure-resistant reinforced hose with flange connections at both ends. The inner wall of the pressure-resistant delivery pipeline 503 is coated with carbon nanotubes to reduce surface energy and inhibit foam liquid film adsorption. Then, the one-way control valve 711 is set as a pilot-operated hydraulic control valve with a pressure relief function, equipped with a pressure relief port, and its pressure resistance level matches the pipeline, enabling pressure relief of the ultra-high-pressure foam reaction chamber 704.

[0051] In one embodiment, the above-mentioned electric excitation unit 6 includes an electric excitation housing 601 disposed at the top of the foam storage tank 501. A water-cooled coaxial cable 602 that cooperates with the axial electric excitation interface 709 is disposed on one side of the electric excitation housing 601, thereby realizing the ignition of the foam.

[0052] It should be noted that the electro-excitation chamber 601 is connected to the electro-excitation coil in the ultra-high pressure foam reaction chamber 704 via a water-cooled coaxial cable 602. The high-frequency current is transmitted through the water-cooled coaxial cable 602 and then ignites the foam.

[0053] In one embodiment, such as Figure 12 As shown, the control box 10 includes: a data acquisition module 1001, a relationship establishment module 1002, a control demand calculation module 1003, and a control demand allocation module 1004, thereby realizing the automatic control of the high-pressure gas booster pump 401 and the high-pressure delivery pump 502.

[0054] The data acquisition module 1001 is used to acquire pressure data from the dynamic pressure sensor 714, pressure boosting data from the high-pressure gas booster pump 401, and delivery data from the high-pressure delivery pump 502.

[0055] It should be noted that the data from the dynamic pressure sensor 714 reflects the current pressure status, while the data from the high-pressure gas booster pump 401 and the high-pressure delivery pump 502 reflect their respective operating conditions.

[0056] Both the high-pressure gas booster pump 401 and the high-pressure delivery pump 502 are equipped with built-in data acquisition modules, which can collect the equipment's operating parameters in real time, such as the booster pump's pressurization data, and the delivery pump's flow rate, pressure, and speed. These modules typically have high-precision measurement capabilities and fast data processing speeds, enabling them to accurately record the equipment's operating status at various times. This is existing technology and will not be elaborated upon further.

[0057] The relationship establishment module 1002 is used to establish the dynamic relationship between the high-pressure gas booster pump 401 and the high-pressure delivery pump 502 based on the booster data of the high-pressure gas booster pump 401 and the delivery data of the high-pressure delivery pump 502, using the collapse variational Bayesian system identification method.

[0058] The control demand calculation module 1003 is used to estimate the disturbance deviation based on the dynamic relationship through an extended state observer and to calculate the control demand of gas and foam using a neural backstepping fractional-order fast terminal sliding mode control algorithm.

[0059] The control demand allocation module 1004 is used to use a sequential quadratic programming algorithm to generate the optimal control command for the control demand and allocate it to the high-pressure gas booster pump 401 and the high-pressure delivery pump 502.

[0060] In one embodiment, establishing the dynamic relationship between the high-pressure gas booster pump 401 and the high-pressure delivery pump 502 using the collapse variational Bayesian system identification method, based on the boosting data of the high-pressure gas booster pump 401 and the delivery data of the high-pressure delivery pump 502, includes:

[0061] The boosting data of the high-pressure gas booster pump 401 and the delivery data of the high-pressure delivery pump 502 are preprocessed respectively.

[0062] Preprocessing includes methods such as noise reduction, normalization, missing value imputation, and outlier detection.

[0063] Based on the preprocessed booster and delivery data, the hyperparameters and intermediate latent variables of the Bayesian hierarchical model are determined, and the Bayesian hierarchical model is constructed based on the hyperparameters and intermediate latent variables.

[0064] It should be noted that the Bayesian Hierarchical Model is a hierarchical modeling framework for describing uncertainty, typically consisting of three layers: the observation layer (data layer), the latent variable layer, and the hyperparameter layer. The observation layer (data layer) describes the observed distribution of pressurization and delivery data. The latent variable layer describes parameters that are difficult to observe directly, such as the pump's instantaneous response coefficient, delay factor, and coupling coefficient, which are treated as random variables. The hyperparameter layer contains higher-order parameters that control the shape of the latent variable distribution, such as the variance or variance of the mean of the latent variables.

[0065] Specifically, the inputs (such as the booster flow rate and pressure of the high-pressure gas booster pump 401) and outputs (the delivery rate and feedback pressure of the high-pressure delivery pump 502) are extracted from the preprocessed data; then the observed variables and influencing factors that should be included in the modeling are determined; and then the intermediate latent variables and hyperparameters are set.

[0066] The hyperparameters in the Bayesian hierarchical model are subjected to a collapse integral operation, and the marginal probability density function of the intermediate latent variables is solved based on the collapse operation results.

[0067] A collapsed variational Bayesian objective function is constructed based on the marginal probability density, and the parameters of the Bayesian hierarchical model are iteratively updated through a stochastic optimization algorithm.

[0068] It should be noted that, based on the marginal probability density and variational distribution obtained above, a collapsed variational Bayesian objective function can be constructed. This objective function is usually further extended and improved based on the variational lower bound to better adapt to the characteristics and needs of the model. For example, a regularization term can be introduced to prevent overfitting, or the structural information of the model can be considered to improve the accuracy of inference.

[0069] Furthermore, stochastic optimization algorithms (such as stochastic gradient descent and Adam's algorithm) calculate the gradient of the objective function by randomly sampling a portion of the data in each iteration and updating the model parameters based on the gradient direction. Compared to traditional gradient descent, stochastic optimization algorithms have advantages such as high computational efficiency and the ability to handle large-scale data.

[0070] Specifically, in each iteration, a subset of observed data and samples of intermediate latent variables are randomly selected. The gradient of the collapsed variational Bayesian objective function with respect to the model parameters is calculated, and the parameters are updated based on the gradient direction and the set learning rate. This process is repeated until the objective function converges or the preset number of iterations is reached.

[0071] Based on the optimized Bayesian hierarchical model, the dynamic relationship between the high-pressure gas booster pump 401 and the high-pressure delivery pump 502 is established.

[0072] It should be noted that in the Bayesian hierarchical model, the intermediate latent variables include dynamic information such as coupling parameters and response coefficients between the high-pressure gas booster pump 401 and the high-pressure delivery pump 502. Through the preceding parameter optimization process, the posterior distribution information of these latent variables is obtained, thereby establishing the dynamic relationship between the two pumps.

[0073] In one embodiment, performing a collapse integral operation on the hyperparameters in the Bayesian hierarchical model and solving for the marginal probability density function of the intermediate latent variables based on the collapse operation results includes:

[0074] Based on the Bayesian hierarchical model, the hyperparameters of the Bayesian hierarchical model are marginalized, and a variational inference objective function is constructed based on the marginalization result.

[0075] The variational inference objective function is optimized using the expectation-maximization algorithm, and the variational distribution parameters of the latent variables are updated.

[0076] Based on the optimized variational distribution parameters, the variational posterior distribution of the intermediate latent variables is calculated and used as the marginal probability density function.

[0077] It should be noted that in Bayesian modeling, there is a complete joint distribution p(x,z,θ);

[0078] Where: x is the observed data (such as the measurement data of high-pressure gas booster pump 401 and high-pressure delivery pump 502); z is the intermediate latent variable (such as coupling parameters, response coefficients, etc.); θ is the hyperparameter (the prior parameter that controls the distribution of z).

[0079] Marginalization, also known as collapse integral, is the process of integrating hyperparameters away from a joint distribution.

[0080] p(x,z)=∫p(x,z,θ)dθ;

[0081] This allows the model to "collapse" into a form containing only z, reducing computational complexity and avoiding the difficulties of high-dimensional optimization.

[0082] Furthermore, in order to approximate the posterior distribution p(z|x) which is difficult to solve directly, variational inference is used to introduce an approximate distribution q(z), which is then optimized to approximate the true posterior.

[0083] First, define the variational lower bound as the objective function of variational inference:

[0084]

[0085] In the formula, Let represent the variational inference objective function, q(z) represent the variational distribution of the intermediate latent variable z (which can be Gaussian or other forms); p(x,z) represent the joint probability distribution of the observed data and the latent variable (already collapsed by integration over the hyperparameter θ). Let q(z) represent the expected operation, which takes the mean of z under q(z). The first term is the log-likelihood term, and the second term is the KL divergence term.

[0086] Then, the variational inference objective function is optimized using the expectation-maximization algorithm. The expectation-maximization algorithm is performed in two alternating steps using the EM algorithm until the variational inference objective function converges, thus obtaining the optimized variational distribution parameters.

[0087] Based on the optimized variational distribution parameters, the variational posterior distribution of the intermediate latent variables can be determined. Since the variational posterior distribution of the intermediate latent variables is an approximate distribution obtained by optimizing the variational lower bound, it can be used as an approximation of the marginal probability density function of the intermediate latent variables.

[0088] In one embodiment, based on dynamic relationships, the perturbation deviation is estimated using an extended state observer, and the control requirements for gas and foam are calculated using a neural backstepping fractional-order fast terminal sliding mode control algorithm, including:

[0089] Based on dynamic relationships, an extended system model containing unknown perturbation terms is constructed, and the perturbation deviation in the extended system model is estimated in real time through an extended state observer;

[0090] Based on the perturbation deviation in the extended system model, a fast terminal sliding surface containing fractional derivative terms is constructed;

[0091] Based on the fast terminal sliding surface, the neural backstepping fractional fast terminal sliding control law is determined by combining the neural backstepping control concept, and the control requirements of gas and foam are calculated according to the neural backstepping fractional fast terminal sliding control law.

[0092] It should be noted that the dynamics of gas and foam describe the change of state over time. The original kinetic equation can be expressed as:

[0093] x(t) = f(x(t), u(t)) + d(t);

[0094] Where x represents the state of the gas and foam at time t (such as pressure, flow rate, etc.); u represents the control input at time t (pump speed, opening degree); f(·) represents the system dynamics identified and modeled by Bayesian methods; and d(t) represents the unknown disturbance term (external disturbance, unmodeled error).

[0095] An auxiliary system is constructed using an extended state observer:

[0096]

[0097] In the formula, Indicates the estimated state. L1 and L2 represent the extended state observer gain matrices, which are used to adjust the observer's sensitivity to system output errors and response speed to ensure fast convergence. y represents the output of the gas and foam. This represents the estimated output for gas and foam.

[0098] In gas transportation, expansion state observers can estimate disturbances such as pressure fluctuations and gas leaks in pipelines in real time.

[0099] Furthermore, fractional calculus is a generalization of integer calculus, and it can more accurately describe systems with memory and genetic properties. In control systems, introducing fractional derivatives can increase the system's degrees of freedom and improve its dynamic performance. Fast terminal sliding surfaces that include fractional derivative terms can provide smoother control signals and reduce chattering in the control input.

[0100] By introducing a nonlinear term through the terminal sliding surface, the gas and foam states can converge to the equilibrium point within a finite time, rather than only asymptotically converging as with traditional sliding surfaces. The fast terminal sliding surface further optimizes the performance of the terminal sliding surface; by rationally designing the parameters of the nonlinear term, the gas and foam can exhibit faster convergence speeds when far from the equilibrium point and maintain stable convergence when approaching the equilibrium point.

[0101] In addition, backstepping control is a recursive design method that decomposes a complex nonlinear system into multiple subsystems. Starting from the last subsystem, it progressively designs Lyapunov functions and virtual control laws, eventually obtaining a neural backstepping fractional-order fast terminal sliding mode control law.

[0102] Based on the obtained neural backstepping fractional-order fast terminal sliding mode control law, and combined with the specific characteristics of gas and foam, the control law can be converted into actual control requirements. For example, in gas transportation, the control law may correspond to control signals such as pump speed and valve opening; in foam generation, the control law may correspond to parameters such as foaming agent flow rate and air flow rate.

[0103] In one embodiment, employing a sequential quadratic programming algorithm to generate optimal control commands based on control requirements and assign them to the high-pressure gas booster pump 401 and the high-pressure delivery pump 502 includes:

[0104] Based on the dynamic relationship, a multivariate optimization model is established between the control demand and the output, and the objective function and constraints are set.

[0105] The optimal control allocation problem is transformed into a nonlinear programming problem, and a Lagrangian function is constructed.

[0106] The optimal control command is obtained by iteratively solving the sequential quadratic programming algorithm to minimize the objective function and satisfy the constraints. The optimal control command is then sent to the high-pressure gas booster pump 401 and the high-pressure delivery pump 502 for execution.

[0107] It should be noted that the dynamic relationship between the high-pressure gas booster pump 401 and the high-pressure delivery pump 502 describes a complex nonlinear relationship between the pump's input (such as motor speed, valve opening, etc.) and output (such as gas pressure, flow rate, etc.). For example, the booster pump's boosting capacity is proportional to the square of the motor speed, and is also affected by factors such as inlet pressure and temperature; the delivery pump's flow rate is related to its speed and pipeline resistance. Due to the complexity of the dynamic relationship and the nonlinearity of the objective function and constraints, the optimal control allocation problem is usually a nonlinear programming problem.

[0108] The Lagrange multiplier method is a commonly used approach for solving nonlinear programming problems. It incorporates constraints into the objective function by introducing Lagrange multipliers, thus constructing an unconstrained Lagrange function.

[0109] Furthermore, the sequential quadratic programming algorithm is an iterative optimization algorithm that updates decision variables in each iteration by solving a quadratic programming subproblem. The quadratic programming subproblem is obtained by making a quadratic approximation of the original nonlinear programming problem near the current iteration point; its objective function is a quadratic approximation of the original objective function, and its constraints are linear approximations of the original constraints.

[0110] like Figure 11 As shown, the method of using this high-pressure foam injection type wheeled high-frequency projectile device includes the following steps:

[0111] S1. Move the high-pressure foam injection type wheeled high-frequency projectile device to the target position via the tracked chassis 1, and then perform a 360° horizontal turn and adjust the elevation angle of the projectile acceleration barrel 9 to the predetermined angle.

[0112] S2. The top-pushing hydraulic cylinder 805 drives the combination of projectile 803 and sabot 804 in the projectile storage chamber 801 to disengage from the arc-shaped limiting slot 806, so that the combination of projectile 803 and sabot 804 falls vertically into the projectile receiving plate 802.

[0113] S3. The hexagonal prism wheel 703 is driven to rotate by a preset angle by the reduction motor 706, so that the ultra-high pressure foam reaction chamber 704 is aligned with the axis of the projectile acceleration barrel 9. The hydraulic transmission cylinder 715 pushes the ultra-high pressure foam reaction chamber 704 to move axially along the linear slide rail 705, while compressing the pre-compressed disc spring 716 to store energy, so that the axial male interface 707 and the conical flared female interface 901 complete the metal hard seal.

[0114] S4. A fixed-ratio gas-solid-liquid three-phase foam mixture is injected into the foam delivery unit 5. The rotary distributor 404 of the gas pressurization unit 4 rotates to reach the working position, opens the inlet check valve 406 in the rotary distributor 404, and activates the integrated check valve group 713, so that the high-pressure gas is injected from the high-pressure gas collection chamber 402 through the split hard pipe 405 into the ultra-high pressure foam reaction chamber 704.

[0115] S5. The high-frequency current output from the electric excitation chamber 601 is transmitted to the axial electric excitation interface 709 via the water-cooled coaxial cable 602, igniting the foam in the ultra-high pressure foam reaction chamber 704. The high-energy gas is rapidly released from the pressure relief port of the one-way control valve 711 and drives the projectile 803 to accelerate in the projectile acceleration barrel 9, completing one projectile impact operation.

[0116] S6, the hydraulic transmission cylinder 715 performs hydraulic unloading, the pre-compressed disc spring 716 releases energy, and pushes the ultra-high pressure foam reaction chamber 704 back to the initial position of the linear slide rail 705;

[0117] S7. Repeat steps S2 to S6 to complete the cycle.

[0118] In summary, by utilizing the aforementioned technical solutions of this invention, the six-in-one rotary disc-type ultra-high pressure foam reaction chamber array and automatic reset system significantly reduce the operation cycle, increase the firing frequency, and reduce manual intervention interruptions, achieving a breakthrough in high-frequency continuous operation capabilities. This invention employs a distributed energy release mechanism, greatly reducing the load that each ultra-high pressure foam reaction chamber 704 needs to withstand in a single firing, significantly improving the lifespan of each component and upgrading system reliability. This invention uses gas-solid-liquid three-phase foam instead of traditional chemical explosives, improving the controllability of the energy release process and greatly enhancing environmental safety. A collapse variational Bayesian system identification method is used to establish the dynamic relationship between the two pumps; by determining hyperparameters and intermediate hidden variables, a Bayesian hierarchical model is constructed that accurately reflects the complex dynamic characteristics between the two pumps, providing a reliable basis for subsequent control strategies. The fractional-order fast terminal sliding surface constructed by combining neural backstepping control ideas has rapid convergence and strong robustness, accurately calculating gas and foam control requirements, and meeting the requirements for control accuracy and stability under complex working conditions.

[0119] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "setting", "connection", "fixing", "screw connection", etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0120] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above descriptions are merely specific embodiments of this utility model and are not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A high-pressure foam injection type wheeled high-frequency projectile device, characterized in that, include: Tracked chassis (1), with a support base (2) provided at the top of the tracked chassis (1). A hydraulic control unit (3) is located at one end of the top of the support base (2); A gas booster unit (4) is disposed on one side of the hydraulic control unit (3); A foam delivery unit (5) is disposed on one side of the gas pressurization unit (4); An electro-excitation unit (6) is disposed on one side of the foam delivery unit (5); A six-in-one wheel-type reaction chamber array (7) is disposed on one side of the electro-excitation unit (6); The projectile loading unit (8) is located on one side of the six-in-one wheel-type reaction chamber array (7); The projectile acceleration barrel (9) is located on one side of the projectile loading unit (8); The control box (10) is embedded in one end side wall of the support base (2) to control the output rate of the gas pressurization unit (4) and the foam delivery unit (5).

2. The high-pressure foam injection type wheeled high-frequency projectile device according to claim 1, characterized in that, The projectile acceleration gun barrel (9) is provided with a tapered flared female head interface (901) at one end near the projectile loading unit (8), and the outer side of the projectile acceleration gun barrel (9) is connected to the support base (2) through several rigid supports (902). The tapered angle of the tapered flared female head interface (901) is 15°-20°.

3. The high-pressure foam injection type wheeled high-frequency projectile device according to claim 2, characterized in that, The projectile loading unit (8) includes a projectile storage chamber (801) located on one side of the six-in-one wheel-type reaction chamber array (7). A projectile receiving plate (802) is located below the projectile storage chamber (801). Several projectiles (803) are located inside the projectile storage chamber (801). A projectile sabot (804) is located on one side of each projectile (803). A pusher hydraulic cylinder (805) is located at the top of the projectile storage chamber (801). The bottom end of the piston rod of the pusher hydraulic cylinder (805) penetrates the top of the interior of the projectile storage chamber (801) and cooperates with the projectile (803). The bottom of the projectile storage chamber (801) is provided with an arc-shaped limiting slot (806), and the outer side of the projectile storage chamber (801) is connected to the outer side of the projectile acceleration barrel (9) through a mechanical arm (807).

4. The high-pressure foam injection type wheeled high-frequency projectile device according to claim 3, characterized in that, The six-in-one wheel-type reaction chamber array (7) includes a support frame (701) disposed at the top of the support base (2) and located on one side of the electro-excitation unit (6). A central rotating shaft (702) is disposed through the middle of the support frame (701). A hexagonal prism wheel (703) is disposed on the outer side of one end of the central rotating shaft (702). Several ultra-high pressure foam reaction chambers (704) are disposed on the outer side of the hexagonal prism wheel (703). Several linear slide rails (705) arranged in a ring are disposed on the side wall of the hexagonal prism wheel (703). The ultra-high pressure foam reaction chambers (704) form a sliding pair with the wheel through the linear slide rails (705). A geared motor (706) is disposed at the other end of the central rotating shaft (702). One end of the ultra-high pressure foam reaction chamber (704) is provided with an axial male connector (707), and the axial male connector (707) cooperates with the tapered flared female connector (901) to form a hard seal. The middle part of the other end of the ultra-high pressure foam reaction chamber (704) is provided with a tail hydraulic rod connecting ear plate (708), and the other end of the ultra-high pressure foam reaction chamber (704) is eccentrically provided with an axial electric excitation interface (709). An axial biomass foam injection port (710) is provided at the bottom of the other end of the ultra-high pressure foam reaction chamber (704), and a one-way control valve (711) is provided inside the axial biomass foam injection port (710). An axial high pressure gas injection port (712) is provided at the top of the other end of the ultra-high pressure foam reaction chamber (704), and an integrated one-way valve group (713) is provided inside the axial high pressure gas injection port (712). A dynamic pressure sensor (714) is provided on the outside of one end of the axial high pressure gas injection port (712) and inside the ultra-high pressure foam reaction chamber (704). A hydraulic transmission cylinder (715) is provided on one side of the bottom of the support arm frame (701), and the piston rod of the hydraulic transmission cylinder (715) passes through the side wall of the support arm frame (701) and cooperates with the tail hydraulic rod connecting ear plate (708). A pre-compression disc spring (716) is provided at one end of the ultra-high pressure foam reaction chamber (704) located at the bottom, and a spring support (717) is provided at one end of the pre-compression disc spring (716), and the top end of the spring support (717) is connected to the bottom end of the projectile receiving plate (802).

5. The high-pressure foam injection type wheeled high-frequency projectile device according to claim 4, characterized in that, The gas booster unit (4) includes a high-pressure gas booster pump (401) disposed on one side of the hydraulic control unit (3). The top of the high-pressure gas booster pump (401) is provided with a high-pressure gas collecting chamber (402). The top of the high-pressure gas collecting chamber (402) is provided with a high-pressure hose main pipe (403). One end of the high-pressure hose main pipe (403) is provided with a rotary distributor (404). One end of the rotary distributor (404) is provided with a plurality of diversion hard pipes (405). An inlet check valve (406) is provided inside one end of the rotary distributor (404).

6. The high-pressure foam injection type wheeled high-frequency projectile device according to claim 5, characterized in that, The foam delivery unit (5) includes a foam storage tank (501) disposed on one side of the high-pressure gas booster pump (401), a high-pressure delivery pump (502) disposed on one side of the foam storage tank (501), a pressure-resistant delivery pipeline (503) disposed on one side of the high-pressure delivery pump (502), and one end of the pressure-resistant delivery pipeline (503) is connected to the axial biomass foam injection interface (710).

7. A high-pressure foam injection type wheeled high-frequency projectile device according to claim 6, characterized in that, The electro-excitation unit (6) includes an electro-excitation housing (601) disposed at the top of the foam storage tank (501), and a water-cooled coaxial cable (602) that cooperates with the axial electro-excitation interface (709) is disposed on one side of the electro-excitation housing (601).

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