Morphologically controllable liquid-filled shaft and chamber expanded mining system

Abstract

A three-dimensional expanded mining system for an access shaft and chamber, comprising an access shaft communicated with a mining position, a supporting fluid filled in the access shaft, a three-dimensional expanded mining device used for mining on the basis of the access shaft, and a shaft ore conveying device (3) responsible for conveying ores, wherein the access shaft comprises an access well (1) and a plurality of branch wells (12) communicated with the access well; the three-dimensional expanded mining device comprises an expanded mining mechanism (23) inserted into the branch wells for mining operations and a three-dimensional extension mechanism configured to drive the expanded mining mechanism to move; and the three-dimensional extension mechanism comprises a device body (21) located in the access well and a lateral extension section (22a) or a radial extension module connected between the device body and the expanded mining mechanism. According to the present invention, chamber construction and underground mining are achieved by means of a three-dimensional mining device, no worker is required to go down a shaft, and the supporting fluid in an access shaft network is used for providing supporting for a shaft wall, damage to strata can be reduced, and it is guaranteed that deep minerals and minerals in the strata below the ocean are smoothly mined.

Description

A controllable shape liquid-filled shaft expansion mining system Technical Field

[0001] The present invention relates to the field of shaft mining, and in particular to a controllable form liquid-filled shaft expansion mining system. Background Art

[0002] Since the beginning of the 21st century, human society has experienced rapid development, with an ever-increasing pursuit of science, technology, and economics. The various tools and equipment required for human production and daily life consume vast quantities of mineral resources. Remarkable achievements in cutting-edge technologies such as deep space and deep sea exploration, basic scientific research, fusion devices, supercomputing power, and high-speed transportation have led to an increasingly urgent demand for precious metals and other rare elements. The vast reserves of valuable mineral resources deep within the Earth's crust are crucial for future human survival and development, and a crucial support for humanity's technological dreams. Therefore, the field of geology and mining must keep pace with the times and advance deeper into the Earth. However, developing mineral resources deep within the Earth presents a more complex, demanding, and unpredictable engineering and geological environment. With increasing depth, traditional mining techniques face exponentially increasing major accidents and development costs, and significant casualties are inevitable, making large-scale deep-earth mineral development an impossible challenge. To sum up, there is an urgent need to create a new technological system that can effectively develop mineral resources in deep strata and undersea strata. It will not only become an important tool to promote scientific and technological dreams and ensure production and life, but also an important means to explore the human home in depth.

[0003] Existing technology utilizes the shaft-and-tunnel method for underground solid mineral deposits. This involves transporting mining equipment down through vertical shafts, inclined tunnels, and horizontal tunnels. Mining takes place underground, and the ore is transported out using trucks or bucket trucks. However, as mining progresses deeper, more and more strata become unminable due to rock bursts, rockbursts, outbursts, roof collapses, collapses, and water seepage. Shaft-and-tunnel mining creates vast underground voids, necessitating the use of complex support equipment to support the caverns. However, collapses can still occur when mining deep or soft strata, disrupting mining operations.

[0004] Extracting minerals from deep strata has long been a key focus of human industry. Existing technologies include underground gasification and other methods for surface coal extraction, as well as high-pressure water jets to fluidize hydrates and transport them to the surface through wellbores. However, these methods are unable to directly exploit deep solid mineral deposits. The present invention aims to address this need.

[0005] In addition, when mining minerals in the strata below the water, the existing technology mainly adopts the coastal development method, drilling vertical shafts on the shore and then digging tunnels into the strata below the water. In essence, ore mining and transportation are also achieved through the vertical shaft tunnel method, but this method cannot be extended to a long distance into the ocean. Therefore, the industry urgently needs to develop a technology for mining deep minerals and minerals in the strata below the ocean.

[0006] Summary of the Invention

[0007] The present invention solves the problem that when deep strata and minerals under water areas are currently developed by the vertical shaft tunnel method, as the depth increases, more and more strata cannot be mined due to rock burst, rock burst, protrusion, roof fall, collapse, water seepage and other problems. A controllable liquid-filled shaft mining system based on a wellbore is provided. Based on deep measurement and control technology, electronic and electrical technology, and deep sensing technology, a controllable three-dimensional extended mining arm is used to smoothly mine deep minerals and minerals in strata under the ocean, avoiding the problem of being unable to mine due to rock burst, rock burst, protrusion, roof fall, collapse, water seepage and other problems when developing deep strata and minerals under water areas.

[0008] In order to solve the above technical problems, the technical solutions of the present invention are as follows:

[0009] A controllable-shape liquid-filled well expansion mining system, including a controllable-shape liquid-filled well expansion mining system, characterized by comprising a traffic well connected to a mining location, a supporting fluid filled in the traffic well, a three-dimensional expansion mining device that performs mining operations based on the traffic well, and a shaft ore conveying device responsible for conveying ore, wherein the traffic well includes a passage well having a diameter of less than 2 meters and a depth of more than 100 meters, and a plurality of branch wells connected to the passage well;

[0010] The three-dimensional expansion mining device includes an expansion mining mechanism inserted into a branch shaft for mining operations and a three-dimensional extension mechanism that drives the expansion mining mechanism to move. The three-dimensional extension mechanism includes an equipment body located in the passage shaft and a lateral extension section or radial extension module connected between the equipment body and the expansion mining mechanism. The equipment body includes a travel module that can drive the three-dimensional expansion mining device to move along the traffic shaft.

[0011] When the branch well is an ultra-short radius branch well with a turning radius of less than 30 meters, the equipment body is connected to the extended mining mechanism through a lateral extension section, and the lateral extension section includes a flexible pipe string or a plurality of articulated short sections hinged in sequence; when the branch well is a well connected to the channel well at an angle of 20° to 90°, the equipment body is connected to the extended mining mechanism through a radial extension module, and the radial extension module includes a bearing body connected to the equipment body and a radial extension arm for installing the extended mining mechanism, the radial extension arm is rotatably connected to the bearing body, and the radial extension arm is controlled to rotate relative to the bearing body as a whole to drive the extended mining mechanism to rotate and align in the direction of the branch well, and the radial extension arm is also controlled to extend and retract along its own long axis to drive the extended mining mechanism to enter and exit the branch well;

[0012] The extended mining mechanism is configured as follows:

[0013] The expansion excavation mechanism includes a reaming drill bit and a power assembly, the power assembly is in transmission connection with the reaming drill bit, the reaming drill bit includes a drill bit body that rotates under the drive of the power assembly, at least two blades that are swingably connected to the drill bit body, and a diameter-changing drive mechanism that drives the blades to open and retract, one end of the blade is connected to the drill bit body, and the other end approaches or moves away from the rotation axis of the drill bit body during the opening and retraction process; and / or

[0014] The extended mining mechanism includes a crushing assembly for crushing rocks along the branch well, a power assembly, an expansion arm connected between the lateral extension section and the crushing assembly, and an expansion drive assembly that drives the expansion arm to move, the power assembly provides power to the crushing assembly, and the two ends of the expansion arm move relative to each other in a direction away from the axis of the branch well under the action of the expansion drive assembly, thereby achieving extended mining by reaming; and / or

[0015] The extended mining mechanism includes a rock splitting assembly, which is a static pressure rock splitting assembly, a pressure fracturing rock splitting assembly, a jet rock splitting assembly, a mechanical rock splitting assembly or an electric rock splitting assembly, and the three-dimensional extension mechanism is further provided with a power line for transmitting pressure energy, chemical energy or electrical energy to the rock splitting assembly; and / or

[0016] The extended mining mechanism includes a collection assembly for dredging, shoveling or grabbing ore and a collection drive mechanism for driving the collection assembly to move, wherein the collection drive mechanism is used to drive the collection assembly to move in the branch wellbore;

[0017] The cavity formed after the branch well undergoes three-dimensional expansion mining operations is defined as a cavern, and the shaft ore transportation device transports the mined ore to the outside of the wellhead through the passage well, or the traffic well also includes a discharge well connected to the cavern, passage well or branch well, and the shaft ore transportation device transports the mined ore to the outside of the wellhead through the discharge well.

[0018] Preferably, the layout distance between some or all of the adjacent branch wells is less than 10 times the length of the branch well, the caverns include caverns and tunnels formed by expansion, the average cross-sectional area of ​​the tunnels is more than 5 times the cross-sectional area of ​​the branch wellbore, and the maximum cross-sectional area of ​​the caverns is more than 10 times the cross-sectional area of ​​the branch wellbore.

[0019] Preferably, when the equipment body is connected to the extended mining mechanism through a lateral extension section, an inclined structure is also provided in the channel well to guide the extended mining mechanism to deviate from the channel well toward any branch well, and the inclined structure is connected to a traveling component that drives the inclined structure to move axially along the channel well and a rotating component that drives the inclined structure to rotate around the axis of the channel well, or the inclined structure is driven by a drill pipe to achieve positioning and rotation underground.

[0020] Preferably, the oblique structure is further connected to a posture sensor and / or a position sensor, and the posture sensor and the position sensor transmit data to a control terminal outside the well in a wireless communication or communication line communication manner.

[0021] Preferably, when the working parts of the extended mining mechanism are used for mining in a rotating manner, a rotatable transmission shaft is provided in the lateral extension section or the radial extension arm, and the power assembly drives the working parts of the extended mining mechanism to operate by driving the transmission shaft to rotate, or

[0022] In a case where the equipment body is connected to the extended mining mechanism via the lateral extension section, the power assembly drives the lateral extension section to rotate so as to drive the working components of the extended mining mechanism to rotate.

[0023] Preferably, when the lateral extension section comprises a plurality of hinged short sections hinged in sequence, the rotatable angle range between adjacent hinged short sections is limited to within 30 degrees.

[0024] Preferably, when the extended mining mechanism includes a rock splitting assembly, the extended mining device also includes a drilling assembly for drilling holes in the branch well wall, and the rock splitting assembly performs a crushing operation on the branch well wall based on the hole drilled by the drilling assembly.

[0025] Preferably, an expansion arm and an expansion drive assembly for driving the expansion arm to move are provided between the rock splitting assembly and the lateral extension section. Under the action of the expansion drive assembly, the two ends of the expansion arm move relative to each other in a direction perpendicular to the axis of the branch well to drive the rock splitting assembly to accurately crush the ore around the branch well.

[0026] Preferably, the extended mining mechanism is also provided with a gyroscope, attitude sensor and / or position sensor for detecting the attitude of the extended mining mechanism, and the gyroscope, attitude sensor and / or position sensor transmits data to a control terminal outside the well by wireless communication or communication line communication.

[0027] Preferably, the static pressure rock splitting assembly comprises a rock splitter body, a rock splitting hydraulic cylinder connected to the rock splitter body, and a rock splitting thrust piece is connected to the piston structure of the rock splitting hydraulic cylinder;

[0028] The mechanical rock splitting assembly includes a crushing jaw or a crushing clamp; or the mechanical rock splitting assembly includes a rock splitter body and a rock splitting hydraulic cylinder connected to the rock splitter body.

[0029] Preferably, when the rock splitting assembly is a jet rock splitting assembly, the jet crushing assembly includes a plurality of high-pressure nozzles and a high-pressure through-flow channel connected to the high-pressure nozzles, and the high-pressure through-flow channel is a high-pressure hose passing through the inside of the lateral extension section or a through-flow channel inside the lateral extension section;

[0030] Preferably, the traveling module is a winch and a traction rope, the traction rope is passed through the channel shaft and connected to the equipment body, and the winch is fixedly arranged in the channel shaft or outside the wellhead for towing the three-dimensional expansion mining device.

[0031] Preferably, a pipe string for guiding the movement of the three-dimensional extension mechanism is provided in the channel well, and the three-dimensional expansion mining device moves to each branch well through the through hole of the pipe string.

[0032] Preferably, when the equipment body is connected to the extended mining mechanism through a lateral extension section, the three-dimensional extension mechanism also includes a fixing device that cooperates with the equipment body to prevent the three-dimensional extension mechanism from tipping over or rolling. The equipment body includes a first equipment segment and a second equipment segment that move relative to each other along the length direction of the channel well. The first equipment segment cooperates with the fixing device, and the second equipment segment is connected between the first equipment segment and the lateral extension section. A drilling mechanism is also provided between the first equipment segment and the second equipment segment of the equipment body to drive the two to move relative to each other along the length direction of the channel well, so as to drive the extended mining mechanism to move along the well axis.

[0033] A controllable fluid-filled well expansion mining system includes a channel shaft connected to a mining location, having a major axis diameter of less than 3 meters and a length of more than 100 meters, a detection device for detecting mining operation information inside the cavern, and a flexible mining machine for mining ore; the cavern and the wellbore are filled with a support fluid to support the cavern with the support fluid; the power circuit of the flexible mining machine is arranged through the channel shaft or other process wells with a diameter smaller than the channel shaft, and the two ends of the power circuit are respectively connected to the flexible mining machine and a power source, the power source being arranged outside the wellhead; the flexible mining machine includes a crushing device for excavating ore and a travel drive device for driving the crushing device to move, wherein:

[0034] A crushing device, comprising an expansion arm, a crushing assembly mounted on the expansion arm, and a crushing power assembly in transmission connection with the crushing assembly; the expansion arm is longer than twice the maximum diameter of the passage shaft; and the crushing power assembly is connected to the power circuit;

[0035] The travel drive device includes a device body connected to the expansion arm, and the device body and the expansion arm are connected by a hinged connection or a rotational connection. A drive component including at least two degrees of freedom control quantities is also connected between the expansion arm and the device body to control the flexible mining machine as a whole to switch between the folded and unfolded states or control the flexible mining machine to achieve a larger range of mining operations, that is, to switch between a first state of passing through the channel shaft and a second state of performing mining work.

[0036] Preferably, the device body of the flexible mining machine comprises a plurality of segments hingedly connected in sequence, adjacent segments of the device body are connected via a first hinge structure having at least one degree of rotational freedom, and a first body bending drive assembly is provided for driving the first hinge structure to rotate in a controlled manner;

[0037] The maximum bending curvature between adjacent sections of the device body and the maximum bending curvature between the end section of the device body and the expansion arm are both greater than 20° / 30m, so that it can deviate from the main channel well for mining and form a branch channel well, or enter and exit the branch channel well for mining.

[0038] Preferably, a swivel joint is provided between the extension arm and the device body, the swivel joint includes a fixed part connected to the device body and a rotating part connected to the extension arm, the rotating part and the extension arm are opened and closed in a hinged manner, and the driving assembly includes a rotation driving structure for driving the fixed part and the rotating part to rotate relative to each other and an opening and closing driving structure for driving the rotating part and the extension arm to rotate and open.

[0039] Preferably, the device body includes a support mechanism that is movably pressed against the rock wall of the cave. When the flexible mining machine is in a first state, the support mechanism is in a retracted / contracted state. When the flexible mining machine is in a second state driven by a driving assembly, the support mechanism is in an unfolded / expanded state, and the support mechanism is pressed between the device body and the rock wall or against the surface of the rock wall.

[0040] Preferably, the travel drive device further comprises a traction mechanism and / or a crawling mechanism connected to the device body. When the traction mechanism is used to drive the device body to move, the traction mechanism comprises a traction rope, traction chain or traction rod connected to the device body and provided in front of the flexible excavator in the excavation direction, and a traction power device for providing traction power; the crawling mechanism is connected to the device body and pushes / pull the device body to move by repeatedly extending and contracting.

[0041] When the crawling mechanism is used to drive the device body to move, at least two support mechanisms are provided along the length direction of the flexible mining machine, and the crawling mechanism is connected between two adjacent support mechanisms. The crawling mechanism is configured as follows:

[0042] The crawling mechanism comprises at least two sections of crawling arms connected in an articulated manner, and the two crawling arms at both ends are respectively articulated to two adjacent support mechanisms, and a crawling drive structure is connected between the mutually articulated crawling arms and the support mechanisms, and between the two mutually articulated crawling arms; or

[0043] The crawling mechanism comprises a telescopic crawling section, and two ends of the telescopic crawling section are respectively connected to two adjacent supporting mechanisms.

[0044] Preferably, there is a first contact point between the support mechanism and the rock wall of the cavern for supporting the rock wall along the direction of maximum stress of the overlying stratum of the cavern, and a second contact point for supporting the support mechanism. The height difference between the first contact point and the second contact point in the vertical direction is not less than the short axis of the cross section of the mining working face generated by the excavation of the crushing assembly.

[0045] Preferably, the support mechanism includes a support body and at least two support rods hingedly connected to the support body, the support rods are circumferentially arranged around the support body, and the axes of relative rotation between the support rods and the support body are perpendicular to the length direction of the flexible mining machine, and the support body is also connected to a retraction and extension drive structure that drives the support rods to rotate closer to or away from the support body.

[0046] Preferably, the expansion arm comprises at least two arm structures, the crushing assembly is hinged to one of the arm structures, and a deflection drive structure for driving the crushing assembly to deflect is connected between the arm structure, and adjacent arm structures are connected by one of the following two connection methods:

[0047] Adjacent arm structures are slidably matched and are provided with a telescopic power unit for driving the adjacent arm structures to slide;

[0048] Adjacent arm structures are hinged and connected to a swing driving structure for driving the adjacent arm structures to swing relative to each other.

[0049] Preferably, the crushing assembly is a static pressure rock fracturing assembly, the crushing power assembly is a motor, and the motor and the static pressure rock fracturing assembly are connected by mechanical transmission or hydraulic transmission; the motor is connected to the power source outside the wellhead through an electric power line to drive the static pressure rock fracturing mechanism to achieve rock fracturing.

[0050] Preferably, the crushing assembly includes a drill bit, a reamer, a cutting head or a tunneling head transmission-connected to the crushing power assembly, and the maximum diameter of the drill bit, reamer, cutting head or tunneling head is 30%-99% of the inner diameter of the channel well; the length of the extension arm is greater than 5 times the diameter of the drill bit, cutting head or tunneling head; when the crushing assembly is a shallow hole drill bit or a drilling tool, the diameter of the shallow hole drill bit or the drilling tool is 20-200 mm.

[0051] Preferably, when the crushing assembly is a crushing head, the crushing power assembly is a reciprocating power assembly, and the power circuit is an electric circuit, a hydraulic circuit and / or a gas circuit;

[0052] The crushing head reciprocates under the drive of the crushing power assembly to impact and crush the ore;

[0053] Preferably, when the crushing assembly is a chain cutter head, the crushing power assembly is an electric motor or a hydraulic motor, the power circuit is an electric circuit, a high-pressure fluid circuit and / or a hydraulic circuit, and the chain cutter head moves continuously in a cycle to crush the ore under the drive of the crushing power assembly.

[0054] Preferably, the inner diameter of the channel well is between 0.2-2 meters; the length of the extension arm is greater than 3 times the diameter of the channel well; the plane perpendicular to the length direction of the flexible mining machine is used as the reference mining surface, and during the rotation of the extension arm, the total projected area of ​​the area that the extension arm can reach on the reference mining surface is greater than 10 times the cross-sectional area of ​​the channel well.

[0055] A controllable liquid-filled well expansion mining system includes a channel well connected to a mining location, a three-dimensional controllable expansion mining device that performs mining operations based on the channel well, a measurement and control device for realizing at least one function including measuring operation status parameters and controlling the operation of the three-dimensional controllable expansion mining device, a power line for supplying energy to the three-dimensional controllable expansion mining device, a shaft ore conveying device responsible for conveying ore, a travel module for driving the three-dimensional controllable expansion mining device to move along the channel well, and a supporting fluid filled in the channel well. The three-dimensional controllable expansion mining device includes an equipment body and a three-dimensional expansion device for extending the mining range. An expansion segment, one end of the three-dimensional expansion segment is connected to the equipment body, and the other end is connected to the mining assembly or the rock splitting assembly. The three-dimensional expansion segment has a deflection module and / or a rotation module. The deflection module drives the mining assembly or the rock splitting assembly to move in a direction deviating from the axis of the channel well. The rotation module drives the mining assembly or the rock splitting assembly to move around the channel well axis or the axis of the equipment body to drive the mining assembly or the rock splitting assembly to expand the mining range. The deflection module and the rotation module include an electric actuator, a hydraulic actuator or a pneumatic actuator for controllably performing the deflection action. The three-dimensional expansion segment is configured as follows:

[0056] The three-dimensional extension section includes a mining arm body rotatably connected to the equipment body and at least one main mining arm connected to a mining assembly or a rock splitting assembly, wherein the mining assembly or the rock splitting assembly is arranged at the front end of the main mining arm, and the mining arm body can rotate around the axis of the channel shaft. A rotation control component for driving the mining arm body to rotate is provided between the mining arm body and the equipment body, and an extension control component for driving the main mining arm to move radially toward the channel shaft is connected between the mining arm body and the main mining arm, wherein the extension control component serves as a deflection module, and the rotation control component serves as a rotation module; or

[0057] The three-dimensional extension section is a mining arm with two or more degrees of freedom. The three-dimensional extension section is connected to the equipment body by an articulated connection and / or a rotary connection. At least two drive components or at least one dual-axis drive component are also connected between the three-dimensional extension section and the equipment body, which can realize the control of the two degrees of freedom of the three-dimensional extension section. The total length of the three-dimensional extension section is greater than 3 times the diameter of the channel shaft. The drive component serves as a deflection module and / or a rotary module; or

[0058] The three-dimensional expansion segment includes at least two controllable sections connected in sequence, the controllable sections are fixedly connected in sequence, each of the controllable sections includes a front portion and a rear portion that are controlled to rotate relative to each other, and an opening and closing control component and / or a joint control component that drives the controlled rotation of the front portion and the rear portion, and the opening and closing control component and the joint control component both serve as deflection modules; or

[0059] The three-dimensional expansion segment includes at least two controllable sections connected in sequence, and the adjacent controllable sections are connected in sequence in a hinged or rotational connection manner. The rear end of the three-dimensional expansion segment is also provided with an expansion control mechanism, and the expansion control mechanism includes a driver with at least two degrees of freedom control. The driver pulls the controllable sections of the three-dimensional expansion segment through a pulling force transmission structure to drive the three-dimensional expansion segment to achieve three-dimensional movement. The driver serves as a deflection module, and the pulling force transmission structure is a rope, belt or chain.

[0060] The travel module of the controllable liquid-filled shaft expansion mining system is a component of the equipment body, or the travel module is an independent module detachably connected to the equipment body.

[0061] The power line is arranged in the channel well and / or other process wells connected to the channel well.

[0062] Preferably, the channel well is further provided with an oblique structure for guiding the three-dimensional expansion section to deviate from the axis of the channel well, and the oblique structure is directly provided in the channel well; or

[0063] A pipe string for the three-dimensional controllable expansion mining equipment to pass through is fixedly provided in the channel well, a travel passage for the equipment to pass through is provided in the pipe string, a window communicating with the travel passage is opened on the side of the pipe string, and the oblique structure is provided in the pipe string; or

[0064] The equipment body includes a flexible crawling device.

[0065] Preferably, when the three-dimensional extension section includes a mining arm body and a main mining arm, at least two auxiliary mining arms are further connected between the main mining arm and the mining arm body, and the two ends of the auxiliary mining arms are rotatably connected to the mining arm body and the main mining arm respectively to form a planar connecting rod mechanism, and the two auxiliary mining arms are connected to at least two pulling chains or pulling ropes, and the two pulling chains or pulling ropes respectively pull the auxiliary mining arms from both sides, and the extension control component includes a retractable and retractable motor for retracting and extending each pulling chain or pulling rope, and the retractable and retractable motor is installed on the mining arm body; or

[0066] At least one hydraulic cylinder or electric cylinder is connected between the auxiliary mining arm and the mining arm body to drive the auxiliary mining arm to open and close relative to the equipment body of the three-dimensional controllable expansion mining equipment; or

[0067] A hydraulic motor is installed at the connection between the auxiliary mining arm and the mining arm body to drive the auxiliary mining arm to swing.

[0068] Preferably, when the three-dimensional expansion segment realizes movement in at least two degrees of freedom directions through controllable nodes and an expansion control mechanism, the expansion control mechanism includes at least three pulling force transmission structures and a driver for retracting and releasing each pulling force transmission structure. The pulling force transmission structure includes any one of a rope, a belt or a chain. Multiple pulling force transmission structures are distributed circumferentially around the three-dimensional expansion segment. Each pulling force transmission structure passes through each controllable node in turn and is connected to the controllable node located at the front end of the three-dimensional expansion segment, driving the three-dimensional expansion segment composed of several controllable nodes to swing in different directions in a pulling manner.

[0069] Preferably, the mining assembly includes a crushing structure for mining ore and a crushing power mechanism for driving the crushing structure to operate, and the crushing structure includes a tunneling head, a reamer, a saw or an impactor.

[0070] Preferably, when the crushing structure excavates / crushes ore in a rotating manner, the rotation axis of the crushing structure is perpendicular to the axis of the three-dimensional controllable expansion mining equipment.

[0071] Preferably, the mining assembly is a jet mining assembly, which includes a jet nozzle and a measuring device. The measuring device is a ranging device, a radar, an acoustic measuring device or a visual measuring device, which is used to sense the relative position relationship between the jet nozzle and the rock mass and guide the movement of the three-dimensional expansion section to ensure the effective crushing of the rock mass by the jet.

[0072] Preferably, the mining assembly comprises an electric mining assembly, and the electric mining assembly comprises electrodes, and the electrodes are electrically connected to a power source outside the wellhead via cables.

[0073] Preferably, the rock-splitting assembly is an explosive rock-splitting assembly, a static pressure rock-splitting assembly or a hydraulic rock-splitting assembly.

[0074] Preferably, the three-dimensional controllable expansion mining equipment also includes a drilling assembly matched with the rock splitting assembly, and the drilling assembly includes a power module equipped with a drill bit and a drill delivery module that drives the power module to move.

[0075] Preferably, the rock splitting assembly is a mechanical rock splitting assembly, which further includes a breaker hammer, a crushing jaw, a crushing pliers or an impact pick, for efficiently crushing the ore that falls into the cave due to stress induction or artificial induction.

[0076] Preferably, the three-dimensional controllable expansion mining equipment further comprises a quarrying assembly connected to the three-dimensional expansion section, and the quarrying assembly comprises one or more of a rake, a hinged suction mechanism, a ore suction pipe, a shovel or a bucket.

[0077] Preferably, the shaft ore transporting device also includes a retractable transfer pipe and a return well connected to the channel well, one end of the return well is connected to the ground, and the other end extends to the bottom of the channel well and is connected to the bottom wall of the channel well. The end of the return well connected to the channel well is the entrance of the return well, one end of the transfer pipe is connected to the ore particle flow outlet of the three-dimensional controllable expansion mining equipment, and the other end is connected to the entrance of the return well.

[0078] Preferably, the transfer pipe includes a hose, a multi-section telescopic pipe, a telescopic chute, and a corrugated telescopic pipe, and the transfer pipe is detachably connected to the ore particle flow outlet of the three-dimensional controllable expansion mining equipment.

[0079] Preferably, the three-dimensional controllable expansion mining equipment also includes a fixing device and / or an anti-tilt device for preventing the three-dimensional extension mechanism from tipping over or rolling, the fixing device includes a fixing component that moves back and forth radially along the channel shaft and a reciprocating drive component that drives the fixing component to move back and forth, the fixing device is connected to the equipment body and / or a fixed object in the channel shaft, when the fixing device is pressed between the equipment body and the fixed object in the channel shaft, the position of the three-dimensional extension mechanism is locked by the fixing device, and / or

[0080] The fixing device includes two guide structures that slide relatively along the axis of the channel well, and the two guide structures are respectively fixedly connected to the equipment body and the fixed object in the channel well;

[0081] The anti-tilt device includes at least one supporting mechanism arranged at the front end of the three-dimensional expansion mining equipment, and the supporting mechanism is evenly arranged around the long axis of the three-dimensional expansion mining equipment. The supporting mechanism includes a support rod rotatably connected to the three-dimensional expansion mining equipment and a retractable drive mechanism that drives the support rod to rotate. The support rod is a rod body with a fixed length or a telescopic rod with controlled extension and retraction.

[0082] Preferably, the traveling module includes a drilling rig outside the well and a transmission pipe connected between the drilling rig and the three-dimensional controllable expansion mining equipment. The drilling rig drives the three-dimensional controllable expansion mining equipment to move in the channel well through the transmission pipe.

[0083] Preferably, the traveling module includes:

[0084] a traction rope, traction cable or traction rod connected to the three-dimensional controllable expansion mining equipment; and / or

[0085] A pulley rotatably connected to the three-dimensional controllable expansion mining equipment and a drive motor driving the pulley to rotate.

[0086] Preferably, when the fixing device includes a fixing assembly and a reciprocating drive assembly, wherein:

[0087] The fixing component is a claw, and the reciprocating drive component is a telescopic control module connected between the device body and the claw; or

[0088] The fixed component is a support leg connected to the device body, and the reciprocating drive component is a push-pull control module hinged between the support leg and the device body; or

[0089] The fixing component is a latch that slides with the equipment body, the reciprocating drive component is a sliding drive module that drives the latch to slide, and the well wall of the channel well or the fixed object in the channel well is also provided with a slot for the latch to be inserted.

[0090] Preferably, when the fixing device includes a fixing assembly and a reciprocating drive assembly, the equipment body includes at least two crawling segments arranged along the axis of the channel shaft, each crawling segment is provided with a fixing device, and two adjacent crawling segments are connected by a telescopic structure that is controlled to extend and retract along the axial direction of the channel shaft, and the two parts of the telescopic structure that move relative to each other are respectively connected to the two crawling segments, and the telescopic structure cooperates with the two adjacent crawling segments to form the traveling module that drives the three-dimensional controllable expansion mining equipment to move along the channel shaft. 50. A controllable form liquid-filled well expansion mining system as described in claim 45, characterized in that when the fixing device includes two guide structures that slide and cooperate with each other, the two guide structures are respectively:

[0091] A guide groove provided on a fixture in the channel well and a protrusion provided on the side of the device body, wherein the guide groove extends along the length of the channel well, the protrusion and the guide groove are slidably engaged, and at least one set of mutually engaged protrusions and guide grooves is provided; or

[0092] A guide bar arranged on a fixture in the channel well and a groove opened on the side of the equipment body, the guide bar extends along the length direction of the channel well, the guide bar and the groove are slidably matched, and at least one set of guide bars and grooves that match each other is provided.

[0093] Preferably, a pipe string for the shaft expansion mining equipment to pass through is fixedly provided in the channel shaft, and the shaft expansion mining device moves to the mining position through the through hole of the pipe string. The shaft expansion mining device also includes a fixing device for preventing the three-dimensional extension mechanism from tipping over or rolling. The fixing device includes an electromagnet installed on the inner wall of the pipe string. The device body of the three-dimensional extension mechanism is made of metal that is magnetically compatible with the electromagnet, or the device body of the three-dimensional extension mechanism is fixedly connected to a magnetic attraction component that is magnetically compatible with the electromagnet.

[0094] Preferably, the shaft ore conveying device includes a flexible hose for conveying ore particles and a conveying power module for driving the flow of ore particles, one end of the flexible hose extends to the outside of the wellhead of the channel well or the wellhead of other process wells connected to the channel well, and the other end of the flexible hose is connected to the three-dimensional expansion mining equipment and moves with the three-dimensional expansion mining equipment in the transportation well, the conveying power module includes a slurry pump or a booster pump arranged in the transportation well; or the conveying power module includes a low-density medium injection pump or a back pressure pump for injecting low-density medium into the well.

[0095] Preferably, the supporting fluid is a fluid with liquid properties, including fluid or supercritical fluid, and the supporting fluid has a density of 0.3-3 g / cm 3 of liquid;

[0096] Preferably, the power circuit of the shaft expansion mining device is structurally in the form of a flexible cable or a rigid pipeline; the power circuit includes one or more of an electrical cable, a hydraulic pipeline, a high-pressure fluid pipeline, a chemical pipeline or a pneumatic pipeline, and the energy transmitted by the power circuit includes electrical energy, pressure energy or chemical energy; one end of the power circuit is connected to the shaft expansion mining device underground, and the other end is connected to a power source outside the wellhead, and the energy provided by the power circuit to the shaft expansion mining device includes electrical energy, pressure energy and chemical energy.

[0097] Preferably, the power circuit includes a tubular string for transmitting pressure energy, and the shaft expansion mining device also includes a downhole generator; the tubular string is used to transport supporting fluid or other circulating fluid, and the fluid inlet of the downhole generator is connected to the tubular string for introducing the supporting fluid or other circulating fluid into the tubular string; the power output end of the downhole generator is electrically connected to the traveling module or driving mechanism, and is used to convert the pressure energy of the supporting fluid or other circulating fluid into electrical energy to supply power to the traveling module or driving mechanism inside the shaft expansion mining device.

[0098] Preferably, the power circuit includes a cable for transmitting electrical energy, and the shaft expansion mining device also includes a hydraulic station, which is electrically connected to a power source arranged outside the wellhead through a power line; the hydraulic station is hydraulically connected to the traveling module, driving mechanism, crushing assembly, mining assembly or rock splitting assembly inside the shaft expansion mining device, and is used to convert electrical energy into hydraulic energy to provide hydraulic energy for the traveling module, driving mechanism, crushing assembly, mining assembly or rock splitting assembly inside the shaft expansion mining device.

[0099] Preferably, the controllable liquid-filled well expansion mining system further comprises a control terminal located outside the well and a wireless communication device or communication line for achieving communication, wherein data is transmitted between the sensor and the communication terminal via the wireless communication device or communication line; when communication is performed using the communication line, the communication line passes through a passage well or other process well; the wellhead end of the communication line is communicatively connected to the control terminal, and the downhole end of the communication line is communicatively connected to a sensor or detection device provided on the well expansion mining equipment;

[0100] The detection equipment is installed on the shaft expansion mining equipment. The detection equipment includes a video detection module, radar, sonar or lidar, and the detection equipment is connected to the control terminal outside the shaft; the sensor includes a flow meter, a mineral concentration meter, a current sensor, a voltage sensor, a laser detection device, an acoustic detection device or an electromagnetic detection device, which is used to sense the operating status of the shaft ore transportation device, the three-dimensional controllable expansion mining equipment, the cave morphology and / or the status of the rock mass.

[0101] Preferably, the shaft ore conveying device also includes a mineral screen, which is arranged at the entrance end of the shaft ore conveying device in the cave or traffic shaft, and is used to screen out ore particles that can be conveyed by the shaft ore conveying device; when the shaft ore conveying device is a shaft hydraulic ore conveying system, the median particle size of the ore crushed by the shaft expansion mining equipment is less than 20% of the inner diameter of the ore conveying pipe or the ore discharge shaft, and the effective aperture of the mineral screen is less than 30% of the inner diameter of the ore conveying pipe or the ore discharge shaft; when the shaft ore conveying device is a shaft mechanical ore conveying system, the median particle size of the ore crushed by the shaft expansion mining equipment is less than 50% of the inner diameter of the ore conveying pipe or the ore discharge shaft, and the effective aperture of the mineral screen is less than 80% of the inner diameter of the ore conveying pipe or the ore discharge shaft.

[0102] Beneficial technical effects of the technical solution of the present invention:

[0103] (1) The controllable form of the liquid-filled well expansion mining system of the present invention can safely and efficiently construct small underground spaces, and can realize cave construction through three-dimensional mining devices and stereoscopic well mining and transportation systems. The controllable three-dimensional mining device realized by the present invention can realize "precision carving" in deep strata, without the need for workers to go down the well to mine. At the same time, the supporting fluid in the transportation well network is cleverly used to provide hydraulic support to the well wall, which can reduce the damage to the stratum during the mining process and reduce the impact ground pressure, rock burst, protrusion, roof fall, collapse, water seepage and other problems in the mining process, thereby smoothly mining deep minerals and minerals in the strata below the ocean.

[0104] (2) The traffic well includes a channel well and several branch wells connected to the channel well. The lateral extension section and the extended mining mechanism are guided to move through the branch well. The diameter of the branch well is relatively small. When the lateral extension section extends into the branch well to carry out the expansion and crushing operation device, it fully utilizes the guiding role of the branch well to guide the extended mining mechanism to mine the ore in the deep stratum. Moreover, based on the branch well network, mining is carried out by expanding the branch well space, which will not form a concentrated distribution of goaf areas, and avoid concentrated goaf areas in the vertical shaft tunnel mining process. Therefore, the branch well is used as a means to extend the mining range, and the expansion arm is used to controllably expand the branch well. The mining process causes little damage to the rock formation, and can maximize the contact with the ore body, fully mine the ore as much as possible, and expand to form tunnels or caverns as needed to improve the ore recovery effect. In addition, the method of gradually expanding the branch wells of the present invention can facilitate the monitoring of stratum collapse. Since the damage to the stratum is relatively small, it can also achieve a larger range of three-dimensional extension.

[0105] (3) The turning radius of the branch wells and the distribution density of the branch wells are set so that the directional branch well technology can be used to accurately extend and improve the mining efficiency under the condition that the diameter of the tunnel after mining is relatively controllable (0.5-5 meters).

[0106] (4) The equipment channel is connected between the wellhead and the mining position in the stratum. The detection equipment enters the mining position through the channel well, which can assist in observing the mining operation information in the cave and assist the staff outside the well in carrying out the mining work. The flexible mining machine includes a crushing device for excavating ore and a travel drive device for driving the crushing device. The drive assembly drives the device body of the travel drive device and the expansion arm of the crushing device to move in two degrees of freedom. That is, the mining face can be formed by moving in two free directions, and the mining working face with an area much larger than the cross-section of the channel well can be expanded. The entire wall of the cave can be mined smoothly.

[0107] The drive assembly can also control the overall folding and unfolding of the flexible excavator, switching between a first state for passing through a passage shaft and a second state for conducting mining operations. This allows the machine to smoothly pass through a small-diameter passage shaft to reach the mining location, allowing mining operations to be carried out without the need for personnel to descend into the shaft. This adapts to the needs of mining deep in the bottom layer and beneath the ocean, enabling both underwater and underground mining. Furthermore, the present invention can develop small mineral deposits without the need for shafts or tunnels, making small deposits that would otherwise be uneconomical valuable for development. This not only significantly reduces costs but also makes them less susceptible to vibration, blasting, or goaf.

[0108] (5) Using a crushing powertrain to drive the crushing assembly for rock crushing facilitates unified power sources and the realization of a fully electric deep-ground mining system, eliminating the need for complex underground high-pressure fluid pipelines, hydraulic lines, and pneumatic lines. This facilitates three-dimensional excavation through multi-branch wells. Furthermore, the high efficiency of power transmission and the small footprint it occupies help reduce the required shaft space, which is crucial for shaft-and-tunnel mining.

[0109] (6) By using a controllable and extendable mining arm to excavate a cave in the well in a three-dimensional controllable expansion mining manner, the cave formed during the mining process can be naturally stabilized, and the post-mining spatial form and mining position can be controlled.

[0110] (7) The ore is initially stripped by a rock splitting device in a three-dimensional extended mining method or a branch well guidance method. The ore stripped from the stratum is processed by a re-crushing device to a state of controllable particle size, and then hoisted by a wellbore, which can greatly reduce energy consumption in the mining of hard mineral deposits. BRIEF DESCRIPTION OF THE DRAWINGS

[0111] FIG1 shows a schematic structural diagram of a controllable liquid-filled well mining system according to a first embodiment of the present invention;

[0112] FIG2 shows a schematic diagram of the connection between the reaming drill bit and the lateral extension section of the three-dimensional expansion mining device in the first embodiment of the present invention;

[0113] FIG3 shows a schematic structural diagram of the device body of the three-dimensional expansion mining device in the first embodiment of the present invention;

[0114] FIG4 shows a schematic diagram of the connection between the equipment body of the three-dimensional expansion mining device and the flexible ore conveying pipe in the first embodiment of the present invention;

[0115] FIG5 shows a schematic diagram of the operation of the collection assembly of the three-dimensional expansion excavation device in the first embodiment of the present invention;

[0116] FIG6 shows a schematic diagram of the connection between the collection assembly and the lateral extension section of the three-dimensional expansion mining device in the first embodiment of the present invention;

[0117] FIG7 shows a schematic diagram of the connection between the crushing assembly, the lateral extension section and the equipment body in the first embodiment of the present invention;

[0118] FIG8 shows a schematic diagram of the cooperation between the device body and the drill feeding mechanism in the first embodiment of the present invention;

[0119] FIG9 shows a schematic diagram of the cooperation between the pipe string and the device body in the first embodiment of the present invention;

[0120] FIG10 is a schematic diagram showing the cooperation between the pipe string and the device body through the electromagnet in the first embodiment of the present invention;

[0121] FIG11 shows a schematic diagram of the cooperation between the lateral extension section and the oblique structure in the first embodiment of the present invention;

[0122] FIG12 shows a schematic diagram of the operation of the rock splitting assembly of the three-dimensional expansion mining device in the first embodiment of the present invention;

[0123] FIG13 shows a schematic diagram of the connection between the static pressure rock fracturing assembly and the lateral extension section in the first embodiment of the present invention;

[0124] FIG14 shows a schematic diagram of the connection between the drill bit body and the jet rock splitting assembly in the first embodiment of the present invention;

[0125] FIG15 shows a schematic diagram of the connection between the drilling assembly and the lateral extension section in the first embodiment of the present invention;

[0126] FIG16 shows a schematic diagram of the connection between the re-crushing assembly and the flexible ore conveying pipe in the first embodiment of the present invention;

[0127] FIG17 shows a schematic structural diagram of a channel well and a short-radius branch well in Embodiment 1 of the present invention;

[0128] FIG18 shows a schematic structural diagram of the supporting body, radially extending arms and extended mining mechanism in the third embodiment of the present invention;

[0129] FIG19 shows a schematic structural diagram of a controllable liquid-filled well mining system according to a fourth embodiment of the present invention;

[0130] FIG20 shows a schematic diagram of the connection between the support mechanism, the swivel joint and the expansion arm in the fourth embodiment of the present invention;

[0131] FIG21 is a schematic diagram showing the coordination between the pulling mechanism and the process well of the flexible mining machine in the fourth embodiment of the present invention;

[0132] FIG22 shows a schematic projection diagram of the support mechanism and the crushing assembly on a reference plane in the fourth embodiment of the present invention;

[0133] FIG23 shows a schematic diagram of the connection between the water spray structure and the pipeline of the flexible mining machine in the fourth embodiment of the present invention;

[0134] FIG24 shows a schematic diagram showing the connection between the water spray structure, pipelines, and heat dissipation water pump of the flexible mining machine in the fourth embodiment of the present invention;

[0135] FIG25 shows a schematic structural diagram of a flexible mining machine with a telescopic crawling section according to a fourth embodiment of the present invention;

[0136] FIG26 shows a schematic diagram of the connection between the flexible mining machine and the mining assembly in the fourth embodiment of the present invention;

[0137] FIG27 is a schematic diagram showing a branch shaft being mined by a three-dimensional controllable expansion mining device according to a fourth embodiment of the present invention;

[0138] FIG28 shows a schematic structural diagram of a deep borehole flexible mining device according to a seventh embodiment of the present invention;

[0139] FIG29 shows a schematic structural diagram of a deep borehole flexible mining device according to a seventh embodiment of the present invention;

[0140] FIG30 shows a schematic diagram of the connection between the main mining arm and the mining arm body in the seventh embodiment of the present invention;

[0141] FIG31 shows a schematic structural diagram of the main mining arm being stored in the mining arm body in the seventh embodiment of the present invention;

[0142] FIG32 shows a schematic diagram of the connection between the device body, the swivel joint and the three-dimensional expansion section in the eighth embodiment of the present invention;

[0143] FIG33 shows a schematic structural diagram of a deep borehole flexible mining device according to a tenth embodiment of the present invention;

[0144] FIG34 shows a schematic structural diagram of the device body and the body bending drive assembly in Example 5 of the present invention;

[0145] FIG35 is a schematic structural diagram of a device body with a crushing head in Embodiment 5 of the present invention;

[0146] FIG36 shows a schematic structural diagram of a shaft and tunnel expansion mining system according to an eleventh embodiment of the present invention;

[0147] FIG37 shows a schematic structural diagram of a three-dimensional expansion segment in Example 11 of the present invention;

[0148] FIG38 shows a schematic diagram of the connection between the flexible hose and the three-dimensional controllable expansion mining equipment in Example 11 of the present invention;

[0149] FIG39 shows a schematic diagram of a connection between an ore lifting pump and a three-dimensional controllable expansion mining device according to the eleventh embodiment of the present invention;

[0150] FIG40 shows a schematic diagram showing the connection between the device body and the three-dimensional expansion section of the three-dimensional controllable expansion mining device according to the eleventh embodiment of the present invention;

[0151] FIG41 is a schematic diagram showing the coordination between the expansion control mechanism and the three-dimensional expansion segment in the eleventh embodiment of the present invention;

[0152] FIG42 shows a schematic diagram of the coordination between the controllable joint and the pulling force transmission structure in the eleventh embodiment of the present invention;

[0153] FIG43 shows a schematic diagram of the coordination between the three-dimensional controllable expansion mining equipment and the pipe string in the eleventh embodiment of the present invention;

[0154] FIG44 is a schematic diagram showing a state where the flexible hose of the shaft expansion mining system according to the eleventh embodiment of the present invention is disconnected;

[0155] FIG45 shows a schematic diagram of the connection between the device body and the drilling assembly of the three-dimensional controllable expandable mining device according to the eleventh embodiment of the present invention;

[0156] FIG46 shows a schematic diagram of the operation of the rock splitting assembly in the eleventh embodiment of the present invention;

[0157] FIG47 shows a schematic diagram of the connection between the three-dimensional expansion section and the static pressure rock splitting assembly in the eleventh embodiment of the present invention;

[0158] FIG48 shows a schematic diagram of the connection between the three-dimensional expansion section and the hydraulic rock fracturing assembly in the eleventh embodiment of the present invention;

[0159] FIG49 shows a schematic diagram of the coordination between the three-dimensional controllable expansion mining equipment and the pipe string in the eleventh embodiment of the present invention;

[0160] FIG50 is a schematic diagram showing the coordination between the device body and the pipe string of the three-dimensional controllable expansion mining device according to the eleventh embodiment of the present invention;

[0161] FIG51 shows a schematic structural diagram of a flowback well and a channel well in Example 11 of the present invention;

[0162] FIG52 shows a schematic structural diagram of a low-density medium injection pump or back pressure pump and a flowback well in Example 11 of the present invention;

[0163] FIG53 shows a schematic diagram of the connection between the jet rock splitting assembly and the lateral extension section in the eleventh embodiment of the present invention;

[0164] FIG54 is a schematic diagram showing the working state of the drilling assembly in the twelfth embodiment of the present invention;

[0165] FIG55 shows a schematic diagram of the connection between the three-dimensional expansion section and the rock splitting assembly in the twelfth embodiment of the present invention;

[0166] FIG56 shows a schematic diagram of the connection between the pulse ore lifting mechanism and the cavern body in the nineteenth embodiment of the present invention;

[0167] FIG57 shows a schematic structural diagram of a liquid injection channel and a gas injection channel in a nineteenth embodiment of the present invention;

[0168] FIG58 shows a schematic diagram of a connection between the periodic lifting mechanism and the cavern body in the nineteenth embodiment of the present invention;

[0169] FIG59 shows another schematic diagram of the connection between the periodic lifting mechanism and the cavern body in the nineteenth embodiment of the present invention;

[0170] FIG60 is a schematic diagram showing the coordination of the hopper, the ore discharge shaft and the cavern in the twenty-second embodiment of the present invention;

[0171] FIG61 is a schematic diagram showing the structure of the chain and scraper cooperating in mining in Example 21 of the present invention;

[0172] FIG62 is a schematic structural diagram of an anti-tilt device in Embodiment 22 of the present invention;

[0173] Figure 63 shows a schematic diagram of the coordination between the anti-tilt device and the cave in Example 22 of the present invention.

[0174] Markings in the accompanying drawings:

[0175] 1- access shaft; 11- tubing string; 111- travel channel; 112- guide groove; 113- inclined structure; 114- travel assembly; 115- rotation assembly; 116- electromagnet; 12- branch shaft; 121- cavern; 13- discharge shaft; 131- re-crushing assembly; 132- crawler; 14- flowback shaft; 141- transfer pipe; 15- wellhead; 16- process shaft;

[0176] 2-Three-dimensional controllable expandable mining equipment; 2a-Communication line; 20-Transmission string; 21-Equipment body; 211-Crawling section; 2111-Telescopic control module; 2112-Claw; 212-Telescopic structure; 213-Power line; 2131-Power source; 214-Second detachable connector; 215-Magnetic assembly; 216-Protrusion; 217-Drilling mechanism; 218-Traction cable; 219-Latch; 2191-Sliding drive module;

[0177] 22-three-dimensional extension section; 221-controllable joint; 2211-joint control assembly; 222-mining arm body; 2221-auxiliary mining arm; 2222-main mining arm; 2223-pulling chain; 2224-receiving and discharging motor; 223-driver; 2231-pulling force transmission structure; 2232-hinge structure; 2233-reset mechanism; 224-slewing drive structure; 225-slewing joint;

[0178] 22a- lateral extension section; 221a- articulated short section; 222a- rotary drive; 223a- radial extension arm; 224a- radial extension section; 225a- bearing body;

[0179] 23-Extension mining mechanism; 230-Mining assembly; 230a-Crushing structure; 230b-Crushing power mechanism; 2301-Cutting head; 2302-Vibrating hammer; 231-Drill bit body; 231a-Blade blades; 231b-Varied drive mechanism; 232-Crushing assembly; 232a-Extension drive assembly; 232b-Deflection drive structure; 233-Collecting assembly; 233a-Collecting drive mechanism; 234-Power assembly; 234a-Motor; 234b-Reduction gearbox; 234c-Drive shaft; 235-Crushing head; 236-Reciprocating power assembly; 236a-Reversing drive assembly;

[0180] 24-Rock splitting assembly; 241-Rock splitter body; 242-Hydraulic rock splitting assembly; 2421-Rock splitting hydraulic cylinder; 2422-Rock splitting thrust piece; 2423-Hydraulic pump; 2424-Hydraulic transmission pipeline; 243-Jet rock splitting assembly; 243a-Jet direction control mechanism; 243b-High-pressure nozzle; 244-High-pressure flow channel; 245-Hydraulic rock splitting assembly; 2451-Hydraulic port; 2452-Packer;

[0181] 25-drilling assembly; 251-drilling module; 252-power module; 253-drill bit;

[0182] 3 - shaft ore transport device; 31 - flexible hose; 311 - first detachable connector; 312 - roller; 32 - ore lifting pipe; 321 - ore lifting pump; 322 - low-density medium injection pump; 323 - back pressure pump; 324 - suction port; 325 - chip discharge well;

[0183] 33-lifting channel; 331-feeding well section;

[0184] 34-hopper; 340-scraper; 341-chain;

[0185] 35-cycle silo; 35a-feeding silo door; 35b-discharging silo door;

[0186] 36-injection pump; 361-injection channel; 362-lift circulation loop;

[0187] 37-injection channel; 371-injection pump;

[0188] 38-gas injection channel; 381-gas injection pump;

[0189] 39-downhole pump; 391-downhole circulation loop; 392-ore filter screen;

[0190] 4-telemetry equipment; 4a-detection equipment;

[0191] 5-support mechanism; 51-telescopic support section; 52-support member; 53-support body; 54-long slot; 55-support rod; 56-retractable drive structure; 57-anchoring device; 58-guide member;

[0192] 6-crawling mechanism; 61-crawling arm; 62-crawling drive structure; 63-telescopic crawling section; 64-traction mechanism; 65-winch; 66-traction rope; 67-drilling and repairing machine; 68-traction rod;

[0193] 7- extension arm; 71- arm structure; 72- swing drive structure; 73- opening and closing drive structure; 74- rotation drive structure; 75- water spray structure; 76- pipe; 77- cooling water pump; 78- body bending drive assembly;

[0194] 8-Electric control valve. DETAILED DESCRIPTION

[0195] In order to make the purpose, technical solutions and advantages of the present invention more clear, the following is a further detailed description of a controllable form liquid-filled shaft expansion mining system proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the drawings are in a very simplified form and are not in precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, please refer to the drawings. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of the present invention, so they have no technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention.

[0196] The technical solution of a controllable form liquid-filled shaft expansion mining system of the present invention will be described in detail below with reference to Figures 1 to 63 and specific embodiments.

[0197] Example 1:

[0198] As shown in Figures 1 to 18, a controllable form of liquid-filled shaft expansion mining system of this embodiment includes a traffic shaft connected to the mining location, a supporting fluid filled in the traffic shaft, a three-dimensional expansion mining device based on the traffic shaft to perform mining operations, and a shaft ore conveying device 3 responsible for conveying ore. The traffic shaft includes a channel shaft 1 with a diameter of less than 2 meters and a depth of more than 100 meters and a plurality of branch shafts 12 connected to the channel shaft 1. Each branch shaft 12 is connected to a different mining location, and each branch shaft 12 is an ultra-short radius branch shaft 12 with a turning radius of less than 30 meters. The layout distance between some or all of the adjacent branch shafts 12 is less than 10 times the length of the branch shaft 12, and the specific layout distance is determined according to the distribution of the ore vein.

[0199] The three-dimensional extended mining device includes an extended mining mechanism 23 inserted into a branch shaft 12 for mining operations and a three-dimensional extension mechanism that drives the extended mining mechanism 23 to move. The three-dimensional extension mechanism includes an equipment body 21, a lateral extension section 22a connected between the equipment body 21 and the extended mining mechanism 23, and a travel module that drives the equipment body 21 to move along the access shaft 1. The lateral extension section 22a includes a flexible pipe string 11 or multiple articulated short sections 221a that are hinged in sequence and can bend and deform. Since the flexible pipe string 11 of the lateral extension section 22a needs to be able to elastically bend, a highly elastic metal pipe string 11 can be selected; when adjacent articulated short sections 221a rotate relative to each other, the lateral extension section 22a can also bend as a whole. In addition, the equipment body 21 also includes a travel module that drives the three-dimensional extended mining device to move along the access shaft, thereby allowing the extended mining mechanism 23 to move to different branch shafts 12.

[0200] The above-mentioned extended mining mechanism 23 is specifically introduced. The extended mining mechanism 23 includes the following multiple configuration forms, which can be selected one by one or used in combination:

[0201] In the first configuration, the expanded excavation mechanism 23 includes a reaming drill bit, which comprises a drill body 231 that rotates under the drive of a power assembly 234, at least two blades 231a pivotally connected to the drill body 231, and a variable diameter drive mechanism 231b that drives the blades 231a to expand and retract. One end of the blade 231a is connected to the drill body 231, and the other end moves toward or away from the rotation axis of the drill body 231 during expansion and retraction. It should also be noted that, as a preferred option, the equipment and tooling for mounting the reaming drill bit assembly in this embodiment can also be replaced with a drill bit 254 for drilling branch wells.

[0202] The second configuration is as follows: the extended mining mechanism 23 includes a crushing assembly 232 and an expansion arm 7 connected between the lateral extension section 22a and the crushing assembly 232. The expansion arm 7 is hingedly connected to the lateral extension section 22a. The crushing assembly 232 includes a reamer, a tunneling head, a crushing head 235, or a cutting saw. A power assembly 234 provides power to the crushing assembly 232. An expansion drive assembly 232a is also installed between the expansion arm 7 and the lateral extension section 22a to drive the expansion arm 7 to rotate. When the expansion arm 7 and the crushing assembly 232 enter the branch shaft 12, the expansion drive assembly 232a moves the ends of the expansion arm 7 relative to each other in a direction away from the axis of the branch shaft 12, causing the crushing assembly 232 to approach the wall of the branch shaft 12, thereby crushing the wall of the branch shaft 12, thereby expanding the branch shaft 12 to achieve extended mining. The crushing assembly 232 also clears the crushed ore blockage within the branch shaft 12. Specifically, the crushing head 235 includes a pick head, a drill rod, a steel chisel and other equivalent replacement parts.

[0203] The third configuration is as follows: the extended mining mechanism 23 includes a rock splitting assembly 24, which includes a rock splitter body 241 and a static rock splitting assembly 242, a hydraulic rock splitting assembly 24, a jet rock splitting assembly 243, a mechanical rock splitting assembly 24, or an electric rock splitting assembly 24 mounted on the rock splitter body 241. The three-dimensional extension mechanism is also provided with a power cable for transmitting pressure energy, electrical energy, or chemical energy to the rock splitting assembly 24. The static rock splitting assembly 242 squeezes the rock formation through the relative movement of its own structure, ultimately cracking the rock on the wall of the branch well 12. The hydraulic rock splitting assembly 24 increases the pressure on the rock formation by continuously injecting water, carbon dioxide, or other media into the branch well 12, ultimately cracking the rock on the wall of the branch well 12. The jet rock splitting assembly 243 is connected to a high-pressure flow channel 244 (as shown in Figure 13). High-pressure fluid of 3 MPa or more is supplied to the jet rock splitting assembly 243 through the high-pressure flow channel 244. The high-pressure fluid impacts the rock formation, cracking the rock on the wall of the branch well 12. The jet rock splitting assembly 243 can also be mounted on a movable jet direction control mechanism 243a, so that the jet direction of the jet rock splitting assembly 243 is controlled and swung, thereby improving the rock splitting efficiency. It should be understood that the rock splitting assembly 24 can also be used to clear broken and blocked ore in the branch well 12.

[0204] In this embodiment, an expansion arm 7 and an expansion drive assembly 232a are also installed between the rock splitting assembly 24 and the lateral extension section 22a. The expansion arm 7 is hinged to the lateral extension section 22a, and the expansion drive assembly 232a controls the movement of the expansion arm 7. After the lateral extension section 22a delivers the expansion arm 7 and the rock splitting assembly 24 into the branch shaft 12, the expansion drive assembly 232a drives the expansion arm 7 to swing, causing the ends of the expansion arm 7 to move relative to each other in a direction perpendicular to the axis of the branch shaft 12, thereby driving the rock splitting assembly 24 to accurately crush the ore around the wall of the branch shaft 12.

[0205] The fourth configuration form is: the extended mining mechanism 23 includes a collection assembly 233 for dredging, shoveling or grabbing ore and a collection drive mechanism 233a for driving the collection assembly 233 to operate. The collection drive mechanism 233a is used to drive the collection assembly 233 to move in the branch well 12 hole. The hydraulic clamp shown in the accompanying drawing can be used as a collection assembly 233 with grabbing or rock cracking functions.

[0206] The chamber formed after the branch shaft 12 undergoes three-dimensional expansion mining operations is defined as a cavern 121, and the shaft conveying device 3 conveys the mined ore to the outside of the wellhead 15 through the passage shaft 1. In addition, the traffic shaft may also include a discharge shaft 13 connected to the cavern 121, the passage shaft 1 or the branch shaft 12. The shaft conveying device 3 conveys the mined ore to the outside of the discharge shaft 13 through the discharge shaft 13, or conveys ore with a particle size controlled within a preset range through other process shafts 16 connected to the cavern 121. The preset range mentioned above refers to the range of ore particle sizes that the shaft conveying device 3 can lift to the outside of the well during actual mining operations. The preset range of ore particle sizes can be specified based on the type of shaft conveying device 3 and the requirements for conveying efficiency.

[0207] Among them, when using a reaming drill bit as an expansion mining mechanism 23, after the reaming drill bit is sent into the branch well 12, the blade 231a of the reaming drill bit is unfolded. Then the three-dimensional expansion mining device is controlled to move back and forth, dragging the reaming drill bit to move back and forth in the branch well 12, scraping the well wall of the branch well 12, and thus expanding the branch well 12. Each time the reaming drill bit moves in one direction, the expansion amplitude of the blade 231a remains unchanged. When the moving direction of the reaming drill bit is changed, the expansion amplitude of the blade 231a is increased, which can further increase the expansion range. Finally, after the reaming drill bit moves repeatedly, the branch well 12 is expanded to form a tunnel, and the scattered mineral veins in the rock formation are scraped off. When the rock splitting assembly 24 is used to crush rocks, the collection assembly 233 or the crushing assembly 232 is required to clean or crush the ore crushed by the rock splitting assembly 24 again.

[0208] In addition, a re-crushing assembly 131 can also be configured to perform secondary crushing on the ore to reduce the particle size of the ore. The re-crushing assembly can be installed on a crawler 132 that crawls freely underground.

[0209] Furthermore, the cavern 121 in this embodiment includes a cavern 121 and a tunnel formed by expansion. The average cross-sectional area of ​​the tunnel is more than 5 times the cross-sectional area of ​​the branch well 12, and the maximum cross-sectional area of ​​the cavern 121 is more than 10 times the cross-sectional area of ​​the branch well 12. It should be understood that the cavern 121 can also be a chamber formed by merging the well walls of multiple branch wells 12 after they collapse. As far as the present invention is concerned, the greater the expansion degree of the cavern 121, the better the economic benefits, but the higher the risk of collapse. For the deep stratum mining problem to be solved by this solution, the wellbore diameter of the branch well 12 is preferably 0.2-1 meters, the average effective diameter of the tunnel generated by the expansion is 0.4-8 meters, and the average effective diameter of the cavern 121 (with an aspect ratio of less than 10) generated by the expansion is 1-20 meters). Especially when the extended mining mechanism 23 includes a reaming drill bit, the expanded diameter of blades 231a is at least twice the diameter of the branch holes, and includes multiple clusters of closely spaced branch holes, allowing ore to be mined through reaming. When mining soft to medium-hard minerals such as coal seams, blades 231a are equipped with high-pressure jet nozzles to assist in breaking up the strata.

[0210] In addition, an inclined structure 113 is provided within the access shaft 1 to guide the extended mining mechanism 23 away from the access shaft 1. The inclined structure 113 is connected to a travel assembly 114 for driving the inclined structure 113 to move axially along the access shaft 1, and a rotation assembly 115 for driving the inclined structure 113 to rotate about the axis of the access shaft 1. The travel assembly 114 is used to adjust the position of the inclined structure 113, and the rotation assembly 115 is used to adjust the rotation angle of the inclined structure 113, so that the inclined structure 113 in this embodiment can guide the extended mining mechanism 23 to deflect toward any branch shaft 12. Alternatively, a drill rod can be connected to the inclined structure 113, and the drill rod can be used to drive the inclined structure 113 to move within the access shaft 1 and to drive the inclined structure 113 to rotate. The drill rod lowers the inclined structure 113 into the well, and after the position of the inclined structure 113 is adjusted, the inclined structure 113 is anchored. Then the drill rod is released from the inclined structure 113 and pulled out of the traffic well, thus completing the arrangement of the inclined structure 113.

[0211] To monitor the operating status of the inclined structure 113 and facilitate adjustments, it is equipped with an attitude sensor and a position sensor. Both transmit data to a control terminal outside the well via wireless communication or communication line 2a. The attitude sensor measures attitude angle, velocity, and acceleration, while the position sensor measures the position of the inclined structure 113. However, by selecting only one of these, recording and processing the attitude data, it is possible to guide the extended mining mechanism 23 downward toward the selected branch well 12.

[0212] Specifically, when the working parts of the extended mining mechanism 23 are rotating to perform mining operations, the power assembly 234 drives the lateral extension section 22a to rotate to drive the working parts of the extended mining mechanism 23 to rotate, or

[0213] A rotatable transmission shaft 234c is provided in the lateral extension section 22a. The power assembly 234 drives the working parts of the expansion mining mechanism 23 by driving the transmission shaft 234c to rotate. The transmission shaft 234c can be a universal joint series or a highly elastic metal rod (such as a titanium alloy rod).

[0214] Furthermore, when the lateral extension section 22a includes a plurality of hinged short sections 221a hinged in sequence, the rotatable angle range between adjacent hinged short sections 221a is limited to within 30 degrees to prevent the deflection angle between adjacent short sections from being too large and getting stuck in the shaft.

[0215] As a crushing method option in this embodiment, the extended mining mechanism 23 also includes a drill bit 253 for drilling and forming the branch well 12. The drill bit 253 is used to form the branch borehole or complete well drilling operations within the branch borehole. After the branch well 12 is drilled using the drill bit 253, the extended mining mechanism 23 can be used to directly expand the branch well 12, eliminating the need to rotate the extended mining mechanism 23 with other drilling tools, thereby improving production efficiency.

[0216] As another crushing method in this embodiment, when the extended mining mechanism 23 includes a rock splitting assembly 24, the extended mining device also includes a drilling assembly 25 for drilling holes in the sidewalls of the branch well 12. The rock splitting assembly 24 performs a crushing operation on the sidewalls of the branch well 12 based on the holes drilled by the drilling assembly 25. Using the drilling assembly 25 to drill a shallow hole in the sidewalls of the branch well 12 and then inserting the rock splitting assembly 24 into the shallow hole via the extended arm 7 to perform the rock splitting operation can conveniently fracture the sidewalls of the branch well 12 and improve the rock splitting efficiency of the rock splitting assembly 24.

[0217] Specifically, in order to understand the posture and position of the extended mining mechanism 23 and facilitate accurate mining operations, the extended mining mechanism 23 is also equipped with a gyroscope, posture sensor and / or position sensor for detecting the posture of the extended mining mechanism 23. The gyroscope, posture sensor and / or position sensor all transmit data to the control terminal outside the well by wireless communication or communication line 2a.

[0218] Specifically, the rock-splitting assembly 24 in this embodiment can also be selected from a mechanical rock-splitting assembly 24 and an electric assembly. The mechanical rock-splitting assembly 24 includes a breaker hammer, a crushing jaw, a crushing pliers or an impact pick. The mechanical rock-splitting assembly 24 can be used to efficiently crush the ore that falls into the cave 121 due to stress induction or artificial induction. The electric rock-splitting assembly 24 includes an electrode externally connected to a power supply, and when the electrode is energized, an arc or ion beam is generated for crushing the ore. It should be understood that other rock-splitting assemblies 24 or mining assemblies 230 also have the ability to crush fallen rocks. For example, the mechanical rock-splitting assembly 24 bites or shears the ore, thereby efficiently crushing the ore to a smaller particle size that is convenient for transportation. It should be noted that the mechanical rock-splitting assembly 24 is mainly used for efficiently crushing fallen or collapsed ores, and other extended mining mechanisms 23 can be configured to have the function of crushing fallen rocks. In addition, the static pressure rock splitting assembly 242 and the crushing assembly 232 can both realize mining by crushing fallen and collapsed ore. The mechanical rock splitting assembly 24 can efficiently crush the ore into smaller particle sizes for transportation by biting or shearing the ore, and the mining assembly 230 also has the ability to crush fallen rocks.

[0219] As shown in Figure 14, the rock-splitting assembly 24 is a jet rock-splitting assembly 243; the jet crushing assembly 232 includes multiple high-pressure nozzles 243b; it also includes a high-pressure through-flow channel, and the high-pressure through-flow channel is a high-pressure hose passing through the inside of the lateral extension section 22a or the through-flow channel inside the lateral extension section 22a as the high-pressure flow channel 244; it should be noted that the high pressure here refers to a relatively high internal and external pressure difference, and the pressure difference value is generally 3-200 MPa.

[0220] In addition, it should be understood that in order to facilitate the rock splitting assembly 24, the collection assembly 233, and the drilling assembly 25 to operate on the well wall of the branch well 12, an expansion arm 7 and an expansion arm 7 drive assembly can also be installed between these equipment assemblies and the lateral extension section 22a, and by controlling the movement of the expansion arm 7, the rock splitting assembly 24, the collection assembly 233, and the drilling assembly 25 can be driven close to the well wall of the branch well 12. Alternatively, as shown in Figure 5, the lateral extension section 22a is formed by a plurality of hinged short sections 221a hinged in sequence, and each hinged short section 221a is further fixedly connected to the side surface of at least three rope rings, and the three rope rings are evenly arranged circumferentially around the hinged short section 221a, that is, the side surface of the entire lateral extension section 22a is configured with three rows of rope rings, and each row of rope rings is respectively passed through a pulling force transmission structure 2231, and the pulling force transmission structure 2231 can be a rope or a steel wire. One end of the pulling force transmission structure 2231 is fixedly connected to the lateral extension section 22a, and the other end is connected to a driver 223 for reeling in or releasing the pulling force transmission structure 2231. The driver 223 can be a controlled rotating reeling roller. When the driver 223 reels the pulling force transmission structure 2231, the pulling force transmission structure 2231 can tighten the lateral extension section 22a, controlling the overall deflection of the lateral extension section 22a. By pulling and releasing the three pulling force transmission structures 2231 separately, the lateral extension section 22a can be controlled to deflect in various directions, causing the overall lateral extension section 22a to deflect and swing in a controlled manner, thereby driving the rock splitting assembly 24, the collection assembly 233, and the drilling assembly 25 close to the wall of the branch well 12, thereby facilitating the mining of ore on the wall of the branch well 12.

[0221] As shown in Figures 3, 4, and 8 to 10, to ensure safe and stable operation of the mining system, the present invention utilizes a series of securing devices and methods based on the access shaft 1 to ensure the safe and stable operation of the three-dimensional extensible mining device. The three-dimensional extension mechanism includes a securing device to prevent it from tipping or rolling. This securing device cooperates with the device body 21 of the three-dimensional extension mechanism to lock the position of the three-dimensional extension mechanism.

[0222] As shown in Figures 3 and 4, the fixing device includes a fixing component that moves radially back and forth along the channel well 1 and a reciprocating drive component that drives the fixing component to move back and forth. The fixing device is connected to the equipment body 21 and / or the fixed object in the channel well 1. The reciprocating drive component drives the fixing component to move so that the fixing device as a whole extends or contracts. When the fixing device extends and presses between the equipment body 21 and the fixed object in the channel well 1, the position of the three-dimensional extension mechanism is locked by the fixing device.

[0223] The fixed component in this embodiment is the claw 2112, and the reciprocating drive component is the telescopic control module 2111. The claw 2112 is connected to the equipment body 21 through the telescopic control module 2111, and can move relative to the equipment body 21, approaching or moving away from the well wall of the channel well 1.

[0224] When the fixing device includes a fixing component and a reciprocating drive component, the equipment body 21 includes at least two crawling segments 211 arranged along the axial direction of the channel shaft 1, each crawling segment 211 is provided with a fixing device, and the two adjacent crawling segments 211 are connected by a telescopic structure 212 that is controlled to extend and retract along the axial direction of the channel shaft 1. The two parts of the telescopic structure 212 that move relative to each other are respectively connected to the two crawling segments 211, and the telescopic structure 212 cooperates with the two adjacent crawling segments 211 to form a moving module that drives the equipment body 21 to move along the channel shaft 11.

[0225] Furthermore, the controllable form liquid-filled shaft expansion mining system also includes a power line 213 for supplying energy to the three-dimensional extension mechanism. One end of the power line 213 is connected to the three-dimensional extension mechanism, and the other end is connected to a power source 2131 outside the well. The energy transmitted by the power line 213 includes electrical energy, pressure energy, and chemical energy, which can be selected according to needs.

[0226] In this embodiment, the branch well 12 is a short-radius branch well 12 drilled by a radial well drilling tool or a short-radius drilling tool and having a dogleg angle greater than 3° / m, and the turning radius of the branch well 12 is within the range of 0 to 30 meters. The branch well 12 includes a radial well section and a change-of-direction well section connected between the radial well section and the access well 1, and a radial extension well section formed by continuing to drill along the change-of-direction well section. There is an angle (angle A in Figure 17) between the tangent of the axis of the radial extension well section and the axis of the access well 1, and the angle ranges from 45° to 90°.

[0227] As shown in Figure 17, the front portion of the lateral extension section 22a of the controllable fluid-filled well expansion mining system sequentially connects the expansion mining mechanism 23 and the drill bit 253 used to drill the branch well. The drill bit 253 is used to drill the branch well 12 forward, while the expansion mining mechanism 23 is used to excavate the cavern 121 while pulling the lateral extension section 22a back along the branch well 12. In this embodiment, the expansion mining mechanism 23 is a reaming drill bit, and the power assembly drives the reaming drill bit to rotate via the lateral extension section 22a.

[0228] A mining method, applicable to the above-mentioned controllable-shape liquid-filled well expansion mining system, comprises the following steps:

[0229] S1. Drilling to form a channel well 1;

[0230] S2. Starting from the end of the channel well 1, branch wells 12 are drilled one by one in the direction toward the wellhead 15 of the channel well 1. The branch wells 12 extend downward from the wall of the channel well 1;

[0231] S3. In the process of drilling the branch wells 12 one by one, before drilling the next branch well 12, the expansion mining mechanism 23 is used to complete the expansion process of the current branch well 12.

[0232] The branch wells 12 drilled in this mining method extend downward from the wall of the channel well 1, and because the branch wells 12 are drilled one by one from the end of the channel well 1 in the direction toward the wellhead 15 of the channel well 1, and the current branch well 12 is expanded before drilling the next branch well 12.

[0233] This mining method eliminates the need for a whipstock. To expand the drilled branch well 12, the extended mining mechanism 23 is simply moved along the access shaft 1 to the wellhead 15 of the branch well 12. Under its own gravity, the extended mining mechanism 23 bends the lateral extension section 22a, allowing the extended mining mechanism 23 to fall into the branch well 12. The three-dimensional extension mechanism can then be used to move the extended mining mechanism 23 within the branch well 12, allowing for expansion and mining of the branch well 12.

[0234] Example 2:

[0235] Please refer to Figure 9. The structural form of the fixing device in this embodiment is that the fixing device includes two guiding structures that slide together with each other. The two guiding structures are a guide groove 112 opened on the fixed object in the channel well 1 and a protrusion 216 provided on the side of the equipment body 21. The guide groove 112 extends along the length direction of the channel well 1. The protrusion 216 slides together with the guide groove 112, so that the equipment body 21 can move in the channel well 1. However, the protrusion 216 cooperates with the guide groove 112 and can prevent the equipment body 21 from deflecting in the channel well 1. There is also at least one group of mutually cooperating protrusions 216 and guide grooves 112. Multiple groups of mutually cooperating protrusions 216 and guide grooves 112 guide the equipment body 21 to move more stably.

[0236] It should be understood that the two guide structures can also be a guide bar provided on a fixed object in the channel well 1 and a groove opened on the side of the equipment body 21. The guide bar extends along the length direction of the channel well 1. The guide bar and the groove slide together, and can also prevent the equipment body 21 from deflecting in the channel well 1. There is at least one group of guide bars and grooves that cooperate with each other, and multiple groups of guide bars and grooves that cooperate with each other guide the equipment body 21 to move more stably.

[0237] When the fixing device needs to cooperate with the fixed object in the channel well 1, the fixed object in the channel well 1 can be a fixedly installed anchor rod, casing or anchoring device 57, or it can be a pipe string 11 fixedly installed in the channel well 1. The pipe string 11 is used to guide the movement of the three-dimensional extension mechanism, and the through hole of the pipe string 11 serves as a travel channel 111 for the three-dimensional expansion mining device to move through. The three-dimensional expansion mining device moves to each branch well 12 through the through hole of the pipe string 11.

[0238] Referring to Figure 10 , when using the tubular column 11 to guide the movement of the three-dimensional extension mechanism, the fixing device may also utilize an electromagnet 116 mounted on the inner wall of the tubular column 11. The electromagnet 116 is used to attract the device body 21 of the three-dimensional extension mechanism, thereby locking the position of the device body 21 of the three-dimensional extension mechanism. To use the electromagnet 116 to lock the position of the device body 21, the material of the device body 21 of the three-dimensional extension mechanism can be a metal that magnetically cooperates with the electromagnet 116, or a magnetic attraction component 215 that magnetically cooperates with the electromagnet 116 can be fixedly connected to the device body 21 of the three-dimensional extension mechanism, thereby locking or releasing the device body 21 of the three-dimensional extension mechanism using the electromagnet 116.

[0239] In addition, in addition to the fixture installed between the access shaft 1 and the equipment body 21, the equipment body 21 also includes a first equipment section and a second equipment section that move relative to each other along the length of the access shaft 1. The first equipment section cooperates with the fixture, while the second equipment section is connected between the first equipment section and the lateral extension section 22a. A drill feed mechanism 217 is also installed between the first and second equipment sections of the equipment body 21 to drive the two sections relative to each other along the length of the access shaft 1, thereby driving the expansion excavation mechanism 23 along the shaft axis. The drill feed mechanism 217 can utilize a linear actuator 223, such as a linear motor or power cylinder. After the fixture locks the position of the first equipment section, the drill feed mechanism 217 drives the second equipment section, the lateral extension section 22a, and the expansion excavation mechanism 23 to reciprocate, allowing the expansion excavation mechanism 23 to repeatedly expand or split the branch hole. The drill feed mechanism 217 defined in this embodiment is the drive mechanism used to drive the expansion excavation mechanism 23 to complete the excavation operation of the branch hole 12. The above-described series of fixtures and methods are applicable not only to Example 1 but also to Example 11.

[0240] Example 3:

[0241] As shown in Figure 18, the difference between this embodiment and Example 1 is that the branch well 12 is a shaft connected to the channel well 1 at an angle of 20° to 90°, and the equipment body 21 is connected to the extended mining mechanism 23 through a radial extension module. The radial extension module includes a radial extension arm 223a for installing the extended mining mechanism 23 and a supporting body 225a connected between the radial extension arm 223a and the equipment body 21. The supporting body 225a moves with the equipment body 21 in the channel well 1 to reach the location of each branch well 12.

[0242] The carrier body 225a is provided with a receiving hole for accommodating the radial extension arm 223a, and the receiving hole passes through the carrier body 225a. The radial extension arm 223a is located within the receiving hole and is hinged to the carrier body 225a through the opposite side walls of the receiving hole, with the hinge axis perpendicular to the well axis of the channel shaft 1. A rotation driver 222a is also installed between the radial extension arm 223a and the carrier body 225a. The rotation driver 222a in this embodiment is a power cylinder, which is hinged between the radial extension arm 223a and the carrier body 225a and can drive the radial extension arm 223a to rotate relative to the carrier body 225a, so that the expansion mining mechanism 23 connected to the radial extension arm 223a is aligned with the branch well 12 that needs to be expanded. Therefore, it should be noted that the cross-sectional width of the access shaft 1 in this embodiment should be sufficient to allow the radial extension arm 223a and the expansion mining mechanism 23 to rotate out of the receiving hole, and the expansion mining mechanism 23 connected to the radial extension arm 223a should be aligned in the direction of the branch well 12; or the cross-sectional width of the access shaft 1 should be sufficient to allow the radial extension arm 223a to rotate out of the receiving hole, and then the expansion mining mechanism 23 is used to drill to create a space for the radial extension arm 223a to rotate freely. In addition, when the radial extension arm 223a and the expansion mining mechanism 23 are used in conjunction with the expansion mining mechanism 23 for extended mining, the expansion mining mechanism 23 installed on the radial extension arm 223a can also be configured with a drill bit 253 for drilling the branch well 12, so that the expansion mining mechanism 23 can directly complete the process of drilling the branch well 12 and expanding the branch well 12.

[0243] The radial extension arm 223a is composed of a plurality of radial extension sections 224a connected in sequence. Adjacent radial extension sections 224a slide and cooperate with each other, allowing the radial extension arm 223a to extend and shorten. The plurality of radial extension sections 224a are connected in a multi-stage piston structure, and a drive mechanism is installed therein for driving the plurality of radial extension sections 224a to slide against each other, thereby enabling the radial extension arm 223a to extend and shorten. Since the drive mechanism in this embodiment can drive the expansion and excavation mechanism 23 to reciprocate when in operation, it can also be regarded as the drill feeding mechanism 217. During the rotation of the radial extension arm 223a, when the expansion and excavation mechanism 23 connected to the radial extension arm 223a is aligned with the direction of the branch well 12, the radial extension arm 223a can be controlled to extend and retract, thereby sending the expansion and excavation mechanism 23 into the branch well 12 or withdrawing the expansion and excavation mechanism 23 from the branch well 12, thereby repeatedly expanding the wellbore wall of the branch well 12.

[0244] The drill delivery mechanism 217 can be a rigid chain drill delivery mechanism 217 or a hydraulic drill delivery mechanism 217. When the drill delivery mechanism 217 is a rigid chain drill delivery mechanism 217, the rigid chain is driven by a motor to drive the multi-stage piston structure to extend and retract; when the drill delivery mechanism 217 is a hydraulic drill delivery mechanism 217, the piston structure is extended and retracted by injecting and returning hydraulic fluid into the multi-stage piston.

[0245] The accommodating hole in this embodiment passes through the radial direction of the supporting body 225a. The opening direction of the accommodating hole and the hinge axis of the radial extension arm 223a will limit the rotation trajectory of the radial extension arm 223a. Therefore, in order to expand the branch wells 12 at various locations around the channel well 1, the supporting body 225a can be rotatably connected to the equipment body 21, and the rotation axis between the two is parallel to the well axis of the channel well 1. The supporting body 225a is driven to rotate around the rotation axis by a motor or other rotating drive component, and the pointing angle of the extended mining mechanism 23 can be adjusted.

[0246] Furthermore, in this embodiment of the three-dimensional expandable mining device, the power assembly 234 required for the expandable mining mechanism 23 is also mounted within the radially extending arm 223a, driving the working components of the expandable mining mechanism 23. The power assembly 234 is mounted within the radially extending section 224a, which is directly connected to the expandable mining mechanism 23, and drives the rotation of the movable components of the expandable mining mechanism 23 via a transmission shaft 234c.

[0247] Example 4:

[0248] As shown in Figures 19 to 27, a controllable fluid-filled well expansion mining system of this embodiment includes a channel shaft 1 connected to the mining location, with a cross-sectional major axis diameter of less than 3 meters (the optimal diameter range is between 0.5 and 2 meters) and a length greater than 100 meters, a detection device 4a for detecting mining operation information inside the cave 121, and a flexible mining machine for excavating ore. The cave 121 and the wellbore are filled with support fluid to support the cave 121. The power line 213 of the flexible mining machine is installed in the channel shaft 1 or other process well 16 with a diameter smaller than the channel shaft 1. The two ends of the power line 213 are respectively connected to the flexible mining machine and a power source 2131. The power source 2131 is located outside the wellhead 15 of the channel shaft 1 or other process well 16. The flexible mining machine includes a crushing device for excavating ore and a travel drive device for driving the crushing device. The crushing device includes an expansion arm 7, a crushing assembly 232 mounted on the expansion arm 7, and a crushing power assembly 234 in transmission connection with the crushing assembly 232. The expansion arm 7 is longer than three times the maximum diameter of the access shaft 1. The crushing power assembly 234 is connected to the power line 213 and is used to convert electrical energy or pressure energy into mechanical power to provide rock-breaking power for the crushing assembly 232. The crushing power assembly 234 can be a hydraulic motor 234a, a pneumatic motor 234a, or an electric motor.

[0249] The travel drive device includes a device body connected to the crushing device, and the device body is connected to the expansion arm 7 by a hinged connection or a rotational connection. A drive component including at least two degrees of freedom control quantities is also connected between the expansion arm 7 and the device body to control the flexible mining machine as a whole to switch between the folded and unfolded states, that is, to switch between the first state of passing through the channel shaft 1 and the second state of performing mining work.

[0250] In addition, the device body includes a support mechanism 5 that is movably pressed against the rock wall of the cave 121. When the flexible mining machine is in the first state, the support mechanism 5 is in a retracted / contracted state. When the flexible mining machine is in the second state driven by the driving assembly, the support mechanism 5 is in an unfolded / expanded state, locking the overall position of the flexible mining machine.

[0251] The support mechanism 5 includes a cylindrical support body 53 connected to the crawling mechanism 6 and at least two support rods 55 rotatably connected to the support body 53. In this embodiment, three support rods 55 are installed. The length direction of the support body 53 is parallel to the length direction of the flexible excavator. The three support rods 55 are evenly arranged around the axis of the support body 53, and the axes of relative rotation between the support rods 55 and the support body 53 are perpendicular to the axis of the support body 53. The support body 53 is also connected to a retractable drive structure 56 that drives the support rods 55 to rotate closer to or away from the support body 53. The retractable drive structure 56 drives the support rods 55 to open and close with the hinge between the support rods 55 and the support body 53 as the center. When passing through the wellbore, the drive mechanism controls the support mechanism 5 to retract with the hinge structure 2232 as the center. When support is needed, the drive mechanism controls the support mechanism 5 to open with the hinge structure 2232 as the center.

[0252] In addition, the travel drive device also includes a crawling mechanism 6 connected to the device body. The crawling mechanism 6 is connected to the device body and pushes / pulls the device body to move by repeatedly extending and contracting. In this embodiment, the crawling mechanism 6 is used to drive the device body to move. Multiple support mechanisms 5 are provided along the length of the flexible mining machine. The crawling mechanism 6 is connected between two adjacent support mechanisms 5. The crawling mechanism 6 includes a retractable telescopic crawling segment 63, and the ends of the telescopic crawling segment 63 are respectively connected to the two adjacent support mechanisms 5. Taking two adjacent support mechanisms 5 and the telescopic crawling segment 63 connected between the two support mechanisms 5 as an example, when the travel drive device is used to drive the flexible mining machine to move, it is necessary to control the two adjacent support mechanisms 5 to alternately expand and press against the wall of the passage shaft 1. When the two support mechanisms 5 are respectively expanded and pressed against the passage shaft 1, the telescopic crawling segments 63 are respectively extended and shortened. In other words, the flexible mining machine is driven to crawl as a whole by the alternating expansion of the support mechanisms 5 and the repeated expansion and contraction of the telescopic crawling segments 63.

[0253] Furthermore, the side of the support body 53 is provided with a long slot 54 extending along the length of the flexible excavator. A support rod 55 and a retractable drive structure 56 are both mounted within the slot 54. The support rod 55 is rotatably connected to the slot wall of the slot 54. When the support rod 55 is retracted, it can be placed within the slot 54, saving space. The support rod 55 is a retractable rod structure. One end of the support rod 55 is connected to the support body 53, and the other end is connected to a positioning member. The positioning member has a tapered surface that abuts against the rock wall and can penetrate the stratum to enhance the fixing effect.

[0254] The plane perpendicular to the length of the flexible mining machine where the support mechanism 5 is located is defined as the reference plane. In this embodiment, the reference plane can be selected from a vertical plane perpendicular to the length of the support body 53 to which the support rod 55 is rotated. During the rotation of the extension arm 7, the area of ​​the maximum circumscribed circle determined by the extreme positions of the expansion / extension of the telescopic support section 51 and the positioning members at both ends is greater than the projected area of ​​the crushing operation area of ​​the crushing assembly 232 within the reference plane, thereby ensuring that when the telescopic support section 51 is extended to the extreme position, the positioning members of the support rod 55 can smoothly contact the rock wall of the cave 121 excavated by the crushing assembly 232. A plane perpendicular to the length of the flexible mining machine is used as the reference mining surface, and the reference mining surface is parallel to the reference surface. During the rotation of the extension arm 7, the total area of ​​the area that can be reached by the projection of the extension arm 7 on the reference mining surface is greater than 10 times the cross-sectional area of ​​the channel shaft 1.

[0255] Three support rods 55 are in contact with the rock wall of cavern 121 via positioning members. One of the support rods 55 is vertically pressed against the top wall of cavern 121. The contact point between this support rod 55 and the rock wall of cavern 121 serves as the first contact point for supporting the rock wall of cavern 121 in the direction of maximum stress in the overlying stratum. The remaining two support rods 55 are pressed against the sides of the rock wall of cavern 121. The two contact points between these two support rods 55 and the rock wall of cavern 121 serve as the second contact points for supporting support mechanism 5. Generally, in deeper strata, the overlying stratum pressure is the maximum principal stress. Using the first contact point between support mechanism 5 and the rock wall of cavern 121 to apply stress to the rock wall can effectively avoid rock burst and rock burst accidents or reduce their severity.

[0256] In this embodiment, the axis of the support body 53 is parallel to the length of the flexible excavator, and the reference plane on which the support mechanism 5 is located is perpendicular to the axis of the support body 53. When the support rod 55 rotates to a position perpendicular to the axis of the support body 53, the support mechanism 5 extends to its limit position. With the axis of the support body 53 serving as the axis of the flexible excavator, the distance n between the maximum extended position of the support mechanism 5 and the axis of the flexible excavator is greater than 70% of the distance m between the maximum extended position of the extension arm 7 and the axis of the flexible excavator, i.e., n>0.7m. This ensures that the support mechanism 5 has sufficient length to more easily find a support point on the inner side of the tunnel wall and is able to press against the rock wall of the cave 121 excavated by the crushing assembly 232.

[0257] As shown in Figures 21 to 27, to enable relative movement between the device body and the expansion arm 7 in two degrees of freedom, a swivel joint 225 is installed between the expansion arm 7 and the support body 53 of the support mechanism 5. The swivel joint 225 includes a fixed portion connected to the device body and a rotating portion connected to the expansion arm 7. In this embodiment, the fixed portion of the swivel joint 225 is directly connected to the support body 53. The fixed portion and the rotating portion of the swivel joint 225 rotate relative to each other, and the rotation axis between the fixed portion and the rotating portion is parallel to the axis of the support body 53, that is, parallel to the length of the flexible mining machine. The rotating portion is connected to the expansion arm 7 in a hinged manner, and the hinge axis is perpendicular to the axis of the support body 53. The drive assembly with two degrees of freedom control mentioned in this embodiment includes a rotation drive structure 74 connected between the fixed portion and the rotating portion, and an opening and closing drive structure 73 connected between the rotating portion and the expansion arm 7. The rotation drive structure 74 can be, but is not limited to, a hydraulic motor 234a or an electric motor 234a.

[0258] However, it should be understood that there are other ways to make the device body and the extension arm 7 move in two degrees of freedom directions, such as hingedly connecting the device body and the extension arm 7 with a ball joint, and using a structure similar to a universal joint to achieve movement in two degrees of freedom directions; or directly setting a rotational connection between the fixed part and the rotating part, and also a rotational connection between the rotating part and the extension arm 7, configuring the rotation axes between the rotating part and the fixed part and the extension arm 7 as two non-parallel rotation axes, and controlling the rotation of the rotating part and the extension arm 7, so that the extension arm 7 can achieve movement in two degrees of freedom directions relative to the device body.

[0259] In addition, in this embodiment, if it is necessary to achieve movement in three degrees of freedom, a telescopic drive structure can be installed between the device body and the rotary joint 225 or between the rotary joint 225 and the expansion arm 7. The telescopic drive structure is used to drive the expansion arm 7 to extend and retract along the length direction of the flexible mining machine. The telescopic drive structure can use displacement drive components such as cylinders, oil cylinders, screw modules, and linear motors.

[0260] The drive assembly controls the relative rotation between the expansion arm 7 and the device body, so that the flexible mining machine as a whole switches between a first state of being folded through the channel shaft 1 and a second state of being unfolded to carry out mining work. In addition, when the flexible mining machine is in the first state, the support mechanism 5 is also in a folded / contracted state. When the flexible mining machine is folded, it can easily pass through the channel shaft 1 to reach the underground mining location; when it is unfolded at the mining location, it can smoothly carry out mining work. It only needs to use the small-diameter channel shaft 1 to realize the transmission of equipment, without the need for any vehicles or large equipment to enter, and mining operations can be carried out without the need for personnel to go down the well. It can adapt to the needs of deep bottom and seabed strata mining, reducing the difficulty and cost of mining. In addition, small mineral deposits can be developed without the need for vertical shafts and tunnels, so that small mineral deposits that originally could not achieve economic benefits have development value. The present invention not only greatly reduces costs, but is also less susceptible to vibration, blasting or goaf.

[0261] Specifically, when the flexible mining machine is in the first state, the support mechanism 5 is in a retracted / contracted state, and when the flexible mining machine is in the second state driven by the drive assembly, the support mechanism 5 is in an unfolded / expanded state, and the support mechanism 5 is pressed tightly between the device body and the rock wall of the cave 121.

[0262] The communication line 2a and power line 213 of the flexible mining machine are connected to the control terminal and power source 2131 outside the well through the channel well 1, which makes it convenient for the staff to directly view the mining operation information in the cave 121 from outside the well and control the movement and excavation of the flexible mining machine.

[0263] The power line 213 can be selected from one or more of cables, hydraulic lines or pneumatic lines. When the power line 213 is selected from hydraulic lines or pneumatic lines, the flexible mining machine is also equipped with an electrically controlled valve 8 (not shown in the figure) connected to each hydraulic line or pneumatic line, and the electrically controlled valve 8 is communicatively connected to the control terminal outside the well. Using the above-mentioned hydraulic lines, high-pressure gas lines or cables as the power line 213 to provide power for the flexible mining machine can provide energy to the flexible mining machine in the cave 121 in an efficient and high-energy-density manner. Power equipment such as generators or hydraulic sources can be placed on the ground or on an offshore platform, which greatly reduces the size of the flexible mining machine and facilitates its entry into the cave 121 through the passage well 1, as well as its operation in an immersed environment.

[0264] Specifically, the power line 213 provides power or communication connection for the flexible mining machine; the controllable form liquid-filled well expansion mining system in this solution also includes a winch 65 for winding up the power line 213, and the winch 65 is installed on the flexible mining machine or arranged outside the wellhead 15.

[0265] Furthermore, the flexible mining machine also includes a circulation system for spraying water to the crushing assembly 232. The circulation system sprays water to the crushing assembly 232 during the excavation process, which can promote the cooling of the crushing assembly 232 and the rock wall, and promptly flush out the crushed rock debris, thereby improving the working efficiency of the crushing assembly 232. Specifically describing the circulation system for spraying water to cool the crushing assembly 232, the circulation system includes a pipe 76 and a water spray structure 75 with a water nozzle pointing to the crushing assembly 232. The water spray structure 75 is connected to a heat dissipation water pump 77 and / or a water supply facility outside the well through the pipe 76. The heat dissipation water pump 77 is installed on the extension arm 7 of the flexible mining machine. Water supply facilities can be used to supply water to the water spray structure 75 when mining in the deep bottom layer and on the seabed. When mining on the seabed, the heat dissipation water pump 77 can also be used to directly suck seawater and supply it to the water spray structure 75. The circulation system can also be applied to other embodiments.

[0266] Furthermore, the expansion arm 7 includes a two-section arm structure 71, one of which is hinged to the support mechanism 5. The crushing assembly 232 is hingedly mounted on the end of the other section of the arm structure 71 away from the support mechanism 5. Furthermore, a deflection drive structure 232b for driving the crushing assembly 232 to deflect is mounted on the side of the arm structure 71 on which the crushing assembly 232 is mounted. This facilitates adjustment of the rock breaking angle, thereby improving the rock breaking efficiency of the flexible mining machine on the rock wall of the cave 121. It should be understood that the expansion arm 7 can also be configured with a plurality of arm structures 71.

[0267] In this embodiment, adjacent arm structures 71 are connected by one of the following two connection methods:

[0268] Adjacent arm structures 71 are slidably matched with each other and are equipped with a telescopic power unit for driving the adjacent arm structures 71 to extend and retract. For example, the cylinder body and piston rod of a hydraulic cylinder are directly used as the two arm structures 71. The telescopic power unit includes the chamber of the hydraulic cylinder and the hydraulic oil for providing power. Of course, the two arm structures 71 can also be directly slidably matched. The telescopic power unit uses a hydraulic cylinder or a screw drive module.

[0269] Adjacent arm structures 71 are hinged and connected to a swing drive structure 72 for driving the adjacent arm structures 71 to swing relative to each other. The swing drive structure 72 drives the adjacent arm structures 71 to rotate relative to each other, thereby driving the crushing assembly 232 to move, so as to facilitate all-round crushing and mining of the rock wall of the cave 121.

[0270] In this embodiment, the crushing function can be achieved by any of the following methods:

[0271] Specifically, the crushing assembly 232 includes a drill bit 253, a reamer, a cutting head 2301, a tunneling head, a percussion pick, or a drilling tool connected to the crushing power assembly 234. The maximum diameter of the drill bit 253, reamer, cutting head 2301, or tunneling head is 30%-99% of the inner diameter of the access shaft 1. This is to fully utilize the diameter of the access shaft 1 to deliver the most efficient and high-performance flexible mining machine possible. The length of the extension arm 7 is greater than five times the diameter of the drill bit 253, reamer, cutting head 2301, or tunneling head. When the crushing assembly 232 is a shallow-hole drill bit 253 or a drilling tool, the diameter of the shallow-hole drill bit 253 or the drilling tool is 20-200 mm. When the flexible mining machine is in the first state, the major axis of a cross-section of the flexible mining machine perpendicular to its own length does not exceed three times the maximum diameter of the drill bit 253, reamer, cutting head 2301, or tunneling head. The present invention enables a flexible mining device with high passability to achieve a larger mining volume through a channel well 1 with a smaller diameter in an expandable manner.

[0272] As an alternative to the crushing assembly 232, a controllable fluid-filled well expansion mining system is provided, characterized in that the crushing assembly 232 is a static rock-splitting assembly 242, the crushing power assembly 234 is a motor 234a, and the motor 234a is connected to the static rock-splitting assembly 242 by a mechanical or hydraulic transmission. The motor 234a is connected to the power source 2131 outside the wellhead 15 via an electric power line to drive the static rock-splitting mechanism to achieve rock-splitting. The static rock-splitting assembly 242 includes a rock-splitting body 241, which is provided with a rock-splitting hydraulic cylinder 2421. The rock-splitting thrust member 2422 is provided on the outside or front of the rock-splitting hydraulic cylinder 2421. The hydraulic cylinder is connected to a hydraulic pump 2423 via a hydraulic transmission line 2424 to achieve hydraulic transmission.

[0273] As an alternative to the crushing assembly 232, the crushing assembly 232 may also utilize a crushing head 235. The crushing power assembly 234 is a reciprocating power assembly 236, which may include a reciprocating pneumatic power assembly 234, a reciprocating electric power assembly 234, or a reciprocating hydraulic power assembly 234. The power circuit 213 may include an electric circuit, a hydraulic circuit, and / or a gas circuit. Driven by the crushing power assembly 234, the crushing head 235 reciprocates to impact and crush the ore. The crushing head 235 may include a pick, a drill rod, a steel chisel, or other equivalent alternatives. In this embodiment, the reciprocating power assembly 236 used to drive the crushing head 235 (as shown in FIG. 35 ) includes a reversing transmission assembly 236a and a motor 234a. Directly utilizing a linear motor or a hydraulic piston may also serve as an equivalent alternative to the reciprocating power assembly 236.

[0274] When the crushing assembly 232 is a reciprocating saw, the crushing power assembly 234 is a reciprocating electric power assembly 234 or a reciprocating hydraulic power assembly 234, and the power circuit 213 is an electric circuit, a high-pressure fluid circuit, and / or a hydraulic circuit. The reciprocating saw is driven by the crushing power assembly 234 to reciprocate and crush the ore. When the crushing assembly 232 is a chain saw, the crushing power assembly 234 is an electric motor or a hydraulic motor 234a, and the power circuit 213 is an electric circuit, a high-pressure fluid circuit, and / or a hydraulic circuit. The chain saw is driven by the crushing power assembly 234 to cut and crush the ore.

[0275] When the crushing assembly 232 is a chain cutter head, the crushing power assembly 234 is an electric motor or a hydraulic motor 234a, and the power circuit 213 is an electric circuit, a high-pressure fluid circuit and / or a hydraulic circuit. The chain cutter head is driven by the crushing power assembly 234 to continuously cycle and crush the ore.

[0276] Furthermore, the detection device 4a is mounted on a flexible mining machine or a detection robot. The detection robot is a specialized robot suitable for use in caverns 121. For use in underwater caverns 121, an underwater robot is required. Specifically, the detection device 4a includes a video detection module, radar, sonar, or lidar. Sonar can only be used underwater. The detection device 4a is connected to a control terminal outside the well via a communication line 2a or wireless communication device, and can directly transmit the monitored cavern 121 conditions to the control terminal for easy viewing by personnel.

[0277] When the flexible mining machine is working, the detection equipment 4a enters the mining position through the passage shaft 1, and displays the shape of the rock wall of the cave 121 to the staff outside the well in real time, assisting the staff outside the well in carrying out mining work. The support mechanism 5 is in close contact with the rock wall of the cave 121, which can not only stably support the crushing device for mining operations, but also be able to separate from the rock wall of the cave 121. The position of the device body is driven by the travel drive device to move, so that the flexible mining machine moves forward and excavates. It can achieve continuous excavation and mining without the need for personnel to go down the well, thereby reducing mining costs. The crushing assembly 232 is used to mine ore or crush large pieces of collapsed gravel. The mined ore can be pumped out with a pump or taken out with a salvage tube or hopper 34.

[0278] It should be understood that the phrase "longitudinal cross-section less than 3 meters" in this embodiment means that the maximum width of any cross-section of the access shaft 1 perpendicular to its axis is less than 3 meters. The internal diameter of the access shaft 1 in this embodiment is actually between 0.2 and 2 meters. The length of the extension arm 7 is greater than three times the diameter of the access shaft 1, allowing the crushing assembly 232 to extend over a larger area, resulting in an excavation surface with a diameter greater than the diameter of the access shaft 1.

[0279] A method for using the above-mentioned controllable-shape liquid-filled well expansion mining system comprises the following steps:

[0280] s1. Construction of access shaft 1;

[0281] s2. Lower the reamer into the channel well 1 and perform local reaming operations at the mining location;

[0282] s3. The detection device 4a and the flexible mining machine in the first state from the channel well 1, down into the mining position;

[0283] s4. Expand the flexible mining machine and start the crushing assembly 232 at the same time to start mining ore.

[0284] It should be understood that the aforementioned method of use is a simplified and general method of use. Considering the selection of the pulling mechanism 64 and the crawling mechanism 6, this embodiment further discloses a detailed method of use applicable to the above-mentioned controllable liquid-filled well expansion mining system, including the following steps:

[0285] S1. Construction of access shaft 1;

[0286] S2. Lower the reamer into the access shaft 1 and perform local reaming operations at the mining location;

[0287] S3. The detection device 4a and the flexible mining machine in the first state from the channel well 1, down to the mining position;

[0288] S4. When using the crawling method to propel the flexible tunnel boring machine:

[0289] S4-1 control the opening and closing drive structure 73 operation, the flexible mining machine to expand, while starting the crushing assembly 232, start driving;

[0290] S4-2. After the crushing assembly 232 loses contact with the rock wall of the cave 121, each supporting mechanism 5 is controlled to retract / contract one by one. During the retraction / contraction of each supporting mechanism 5, the crawling mechanism 6 drives the retracted / contracted supporting mechanism 5 in the excavation direction. Before the next supporting mechanism 5 retracts / contracts, the current supporting mechanism 5 is controlled to return to the rock wall of the cave 121.

[0291] S4-3. After each support mechanism 5 moves toward the excavation direction and restores the rock wall 121 against the cave, the crushing assembly 232 is started again for excavation;

[0292] S4-4. Repeat steps S4-2 to S4-3;

[0293] S5. When using the pulling method to tow the roadheader:

[0294] S5-1 control the opening and closing drive structure 73 operation, the expansion arm 7 and the support mechanism 5 to expand, while starting the crushing assembly 232, start driving;

[0295] S5-2. After the crushing assembly 232 cannot contact the rock wall of the cave 121, each support mechanism 5 is controlled to reduce the support force, and then the flexible mining machine is pulled forward by winding the traction rope 66 or the traction chain;

[0296] S5-3. Once again, the support mechanism 5 is used to stably support the flexible mining machine and start the crushing assembly 232 for excavation:

[0297] S5-4. Repeat steps S5-2 to S5-3.

[0298] During the reaming operation, blasting reaming may also be used to directly obtain a cavern 121 with a space size sufficient to accommodate the flexible mining machine to enter and expand.

[0299] Embodiment 5:

[0300] As shown in Figures 34 and 35, the device body of the flexible mining machine includes multiple sections that are hingedly connected in sequence. Adjacent sections of the device body are connected by a first hinge structure 2232 with at least one degree of rotational freedom, and a body bending drive assembly 78 is provided to drive the hinge structure 2232 to rotate in a controlled manner; the body bending drive assembly 78 located at the rear does not include a telescopic crawling function, and it and the telescopic crawling segment 63 are independent structures; and the body bending drive assembly 78 located at the front can realize the function of the telescopic crawling segment 63 through the synchronous extension and contraction of multiple hydraulic cylinders.

[0301] The maximum bending curvature between adjacent sections of the device body and the maximum bending curvature between the end section of the device body and the expansion arm 7 are both greater than 20° / 30m, so that it can deviate from the main channel well 1 for mining and form a branch channel well 1, or can enter and exit the branch channel well 1 for mining. In the embodiment, the branch channel well 1 is a branch well 12 connected to the main channel well 1. After the device body is set as a multi-section structure that can be relatively movable, the device body can crawl in and out of different branch channel wells 1 to mine scattered tunnels, which is suitable for mining scattered ore veins. For ore veins of a certain scale, this mining method is conducive to increasing the ore output of a single well.

[0302] As a further preferred configuration, the device body includes multiple sections that are hingedly connected in sequence, and adjacent sections of the device body are connected by a first hinge structure 2232 with at least one rotational degree of freedom, and a first body bending drive assembly 78 is provided to drive the first hinge structure 2232 to rotate in a controlled manner. The last section located at one end of the device body is connected to the expansion arm 7 by a hinge structure 2232 with at least two rotational degrees of freedom, and is controlled by the opening and closing drive structure 73.

[0303] In addition, the crushing assembly 232 in this embodiment is connected to a reduction box 234b in a transmission manner, and the motor 234a of the power assembly 234 drives the crushing assembly 232 to operate through the reduction box 234b.

[0304] Example 6:

[0305] In addition to the crawling mechanism 6, the travel drive device may also utilize a pulling mechanism 64 connected to the device body. Referring to Figures 23 and 24, this embodiment adds a pulling mechanism 64 as a traction power device. The pulling mechanism 64 includes a traction rope 66 connected to the device body, a traction chain, and a winch 65 for rewinding the traction rope 66 or traction chain, located in front of the flexible excavator in the excavation direction. The pulling mechanism 64 includes a winch 65 mounted on a slewing joint 225. The winch 65 is wound with a traction rope 66. One end of the traction rope 66 is fixed to the winch 65, and the other end passes through the access shaft 1 or process shaft 16 and is fixedly connected to the outside of the shaft. When the winch 65 rewinds the traction rope 66, it can pull the flexible excavator to move. Furthermore, when the power line 213 is securely connected to the front of the flexible excavator, the power line 213 can be directly used as the traction rope 66. The pulling mechanism 64 and the crawling mechanism 6 are used at the same time, but it should be noted that the pulling mechanism 64 can be used alone to drive the device body to move. Although the crawling mechanism 6 is not needed, it still includes a supporting mechanism 5 that is tightly pressed against the rock wall of the cave 121. When the crushing assembly 232 is mining ore, the supporting mechanism 5 can bear the reaction force of ore mining and provide a fulcrum for the swing and rotation of the expansion arm 7.

[0306] Embodiment seven:

[0307] Referring to Figures 28 to 31 , this embodiment differs from the fourth embodiment in that the three-dimensional expansion section 22 includes at least one main mining arm 2222 equipped with a mining assembly 230 / rock splitting assembly 24, and a mining arm body 222 rotatably connected to the equipment body 21. The mining arm body 222 rotates about the axis of the access shaft 1. A rotation control assembly is located between the mining arm body 222 and the equipment body 21 to drive the rotation of the mining arm body 222. A control assembly is connected between the mining arm body 222 and the main mining arm 2222 to drive the main mining arm 2222 radially along the access shaft 1. The control assembly serves as a deflection module, and the rotation control assembly serves as a rotation module. The control assembly can provide radial and circumferential movement, while the travel device provides axial movement. Therefore, the control assembly enables three-dimensional mining control. In this embodiment, the travel device includes a crawler 132, a drill string, a traction device, or other device that drives equipment along the shaft.

[0308] Specifically, there are at least two auxiliary mining arms 2221 between the mining arm body 222 and the main mining arm 2222, and the two ends of the auxiliary mining arms 2221 are respectively rotatably connected to the mining arm body 222 and the main mining arm 2222. The two auxiliary mining arms 2221 and the mining arm body 222 and the main mining arm 2222 form a planar connecting rod mechanism. The two auxiliary mining arms 2221 are both connected with a pulling chain 2223. The extended control component includes a retractable motor 2224 for retracting and releasing the above two groups of pulling chains 2223 from two directions respectively. The output shaft of the retractable motor 2224 is equipped with a reel, and the pulling chain 2223 is connected to the side of the reel. When the retractable motor 2224 rotates, the pulling chain 2223 can be smoothly retracted. The auxiliary mining arm 2221 is pulled by a pulling chain 2223, driving the main mining arm 2222 to move, thereby moving the mining assembly 230 / rock splitting assembly 24 away from or closer to the mining arm body 222. Two sets of pulling chains 2223 are provided, one pulling the auxiliary mining arm 2221 from either side. Both sets of pulling chains 2223 are always taut, ensuring that the auxiliary mining arm 2221 remains stable during mining operations. Alternatively, a hydraulic piston can be used to drive the rotation of the auxiliary mining arm 2221 to prevent shaking of the auxiliary mining arm 2221 and ensure the proper operation of the mining assembly 230 or rock splitting assembly 24.

[0309] In addition, at least one hydraulic cylinder or electric cylinder can be connected between the auxiliary mining arm 2221 and the mining arm body 222. The two ends of the hydraulic cylinder or electric cylinder are respectively hinged to the auxiliary mining arm 2221 and the mining arm body 222. The hydraulic cylinder or electric cylinder is directly used to push and pull the auxiliary mining arm 2221, driving the auxiliary mining arm 2221 to open and close relative to the equipment body 21 of the three-dimensional controllable expansion mining equipment 2, thereby making the main mining arm 2222 move away from or close to the mining arm body 222.

[0310] A hydraulic motor 234a can also be installed at the connection between the auxiliary mining arm 2221 and the mining arm body 222. The outer casing of the hydraulic motor 234a is connected to the mining arm body 222, and the output shaft of the hydraulic motor 234a is transmission-connected to the auxiliary mining arm 2221. When the hydraulic motor 234a is working, it drives the auxiliary mining arm 2221 to swing, thereby making the main mining arm 2222 move away from or close to the mining arm body 222.

[0311] The mining arm body 222 in this embodiment is provided with a recessed portion for accommodating the auxiliary mining arm 2221 and the main mining arm 2222. When the three-dimensional controllable expansion mining equipment 2 is sent into the channel well 1, the auxiliary mining arm 2221 and the main mining arm 2222 can be stored in the recessed portion of the mining arm body 222, making it convenient to pass through the channel well 1.

[0312] Embodiment 8:

[0313] Referring to Figure 32, the difference between this embodiment and Example 4 is that the three-dimensional expansion section 22 is a dual-degree-of-freedom or multi-degree-of-freedom mining arm, and the three-dimensional expansion section 22 is connected to the equipment body 21 by a hinge connection and / or a rotary connection. At least two drive components or at least one dual-axis drive component are also connected between the three-dimensional expansion section 22 and the equipment body 21, which can realize the dual-degree-of-freedom control of the three-dimensional expansion section 22, and the total length of the three-dimensional expansion section 22 is greater than twice the diameter of the channel well 1. In this embodiment, the three-dimensional expansion section 22 is connected to the equipment body 21 by a hinge, and a rotary joint 225 is also installed between the three-dimensional expansion section 22 and the equipment body 21. The rotary joint 225 includes a fixed part connected to the equipment body 21 and a rotating part connected to the three-dimensional expansion section 22. The rotating part and the three-dimensional expansion section 22 are opened and closed in a hinged manner. The driving component includes a rotary driving structure 224 that drives the fixed part and the rotating part to rotate relative to each other and an opening and closing driving structure 73 that drives the rotating part and the expansion arm 7 to rotate and open. The rotary driving structure 224 serves as a rotary module, and the opening and closing driving structure 73 serves as a deflection module. The rotary driving structure 224 can be selected from a hydraulic motor 234a, a stepping hydraulic motor 234a, and an electric motor 234a, which can drive the rotating part of the rotary joint 225 to rotate relative to the fixed part in a controllable manner. The rotary driving structure 224 can be selected from hydraulic motors 234a, hydraulic cylinders and other equipment. In this embodiment, the rotation control mechanism is provided at the fixed portion of the swivel joint 225 , driving the rotating portion of the swivel joint 225 to rotate, thereby driving the three-dimensional expansion section 22 to rotate around the axis of the equipment body 21 or the channel shaft 1 .

[0314] In this embodiment, the mining assembly 230 is an impactor, the crushing structure 230a is a cutting head 2301 and a vibrating hammer 2302; the crushing power mechanism 230b is an electric motor, a hydraulic piston or a pneumatic piston used to drive the vibrating hammer 2302 to move back and forth. Using a linear motor to drive the vibrating hammer 2302 can obtain a higher impact frequency, which is conducive to crushing rocks in a deep liquid-filled environment.

[0315] The length of the three-dimensional expansion section 22 is greater than three times the maximum diameter of the channel shaft 1, which can realize large-scale mining work. The three-dimensional expansion section 22 can rotate relative to the equipment body 21 and can pass through the channel shaft 1 smoothly.

[0316] In this embodiment, the fixing assembly is a latch 219 that slides with the device body 21, and the reciprocating drive assembly is a sliding drive module 2191 that drives the latch 219 to slide. The wall of the access shaft 1 or a fixed object within the access shaft 1 is also provided with a slot for inserting the latch 219. When the device body 21 is moved into position, the sliding drive module 2191 is controlled to operate, inserting the latch 219 into the slot, thereby locking the three-dimensional controllable expandable mining device 2.

[0317] Embodiment 9:

[0318] Referring to Figures 28 and 29 , in addition to the traction mechanism 64 of the first embodiment, as an alternative to the travel method, the traction power device in this embodiment is a driller 67. The driller 67 can be a drilling rig, workover rig, bolter, or other device capable of connecting drill pipe or tubing. The traction mechanism 64 includes a traction rod 68, one end of which is mounted on the front of the flexible drilling rig, specifically near the connection between the travel drive unit and the crushing unit. The traction rod 68 passes through the access shaft 1 or other process well 16. One end of the traction rod 68 is connected to the support mechanism 5 of the flexible excavator, and the other end passes through the access shaft 1 or process well 16 and connects to the traction power device outside the well. The traction power device pulls the traction rod 68 to move the flexible excavator. The crushing power assembly 234 of the flexible excavator provides power to the crushing assembly 232 to perform the excavation operation. In this embodiment, the traction rod 68 is made of drill pipe or oil pipe, and the traction power device uses a shackle to lift the pipe string 11 to pull the traction rod 68 out of the well section by section, so as to continuously pull the flexible mining machine forward through the traction rod 68.

[0319] The flexible mining machine in this embodiment adopts a tubular support mechanism 5, which includes two sections of pipes respectively arranged in front and behind the flexible mining machine. The pipes at both ends are restricted by the channel shaft 1, so as to provide stable positioning for the flexible mining machine. The support mechanism 5 also includes an anchoring device 57 and a swivel joint 225. The anchoring device 57 is an electric anchor, a hydraulic anchor or a hydraulic anchor, which is used to fix the support mechanism 5 in the channel shaft 1 and to fix the flexible mining machine. The rotation drive structure 74 arranged in the swivel joint 225 behind the anchoring device 57 provides another degree of freedom of control for the flexible mining machine, which can make the expansion arm 7 rotate with the channel shaft 1 as the axis, greatly increasing the operating range of the expansion arm 7. In this embodiment, the cuttings are discharged from the chip discharge shaft 325, and the cuttings are lifted to the outside of the wellhead 15 by the hopper 34 or the ore lifting pump 321.

[0320] The power line 213 is disposed inside the traction rod 68 or in the wall of the traction rod 68. In addition, this embodiment further includes a guide member 58, which is used to guide the movement of the flexible drilling machine, including limiting its movement direction, so that the flexible drilling machine moves along a stable route.

[0321] Embodiment 10:

[0322] Referring to Figure 33 , this embodiment differs from the first embodiment in that the support mechanism 5 includes a controllably extendable telescopic support segment 51 connected to the crawling mechanism 6, and support members 52 connected to both ends of the telescopic support segment 51. The support members 52 are hingedly connected to the telescopic support segment 51. The telescopic support segment 51 can be extended and retracted by a hydraulic cylinder driving the relative sliding movement of two segments, or the hydraulic cylinder can be used directly as the telescopic support segment 51. The support member 52 is connected to the two ends of the telescopic support section 51 in a hinged manner, and the side of the support member 52 facing away from the telescopic support section 51 has a fitting surface that fits tightly against the rock wall of the cave 121, which can adapt to the rock wall of the cave 121 with different angles and irregular shapes, ensuring that the support member 52 of the support mechanism 5 can stably rest against the rock wall of the cave 121, and thus firmly support the crushing assembly 232 to perform mining work. The area of ​​the fitting surface should be greater than 1 square decimeter. When the support member 52 and the telescopic support section 51 are connected by a ball joint, it can better adapt to the shape of the rock wall of the cave 121 and fit tightly against the rock wall of the cave 121.

[0323] The crawling mechanism 6 in this embodiment includes two hinged crawling arms 61, the adjacent ends of the two crawling arms 61 are hinged to each other, and the other ends of the two crawling arms 61 are respectively hinged to the telescopic support sections 51 of the two adjacent support mechanisms 5. A crawling drive structure 62 is installed between the hinged crawling arms 61 and the telescopic support sections 51 and between the two hinged crawling arms 61. The crawling drive structure 62 can use an angular stroke driver 223 such as a hydraulic cylinder, an electric cylinder or a servo motor.

[0324] This embodiment also includes a rock-cutting processing mechanism for collecting rock cuttings. This mechanism includes a material lifting pipe 32 that extends through the access shaft 1. The bottom end of the material lifting pipe 32 is inserted into the bottom of the cavern 121 and is connected to an ore lifting pump 321. The suction port 324 of the ore lifting pump 321 is located at the bottom of the cavern 121. When the ore lifting pump 321 is in operation, it pumps the water and rock-cutting mixture from the cavern 121 out of the shaft. A gap is provided between the material lifting pipe 32 and the sidewall of the access shaft 1 to allow the communication line 2a and power line 213 of the flexible excavator to pass through. Alternatively, the ore lifting pump 321 can be replaced by a high-throughput hopper 34 lowered into the cavern 121 via a rope to capture ore. The high-throughput hopper 34 has a smaller diameter than the access shaft 1 and is lowered into the cavern 121 by a winch to capture ore and lift it out of the shaft. This method is more suitable as a supplement to the ore lifting pump 321.

[0325] Figure 33 also shows the detection device 4a, electrically controlled valve 8, and communication line 2a mentioned in the previous embodiment. The detection device 4a is mounted on the side of the flexible mining machine's telescopic support section 51; the electrically controlled valve 8 is also mounted on the flexible mining machine; the communication line 2a passes through the access shaft 1, with one end of the communication line 2a connected to the flexible mining machine; and the material lifting pipe 32 passes directly vertically through the access shaft 1, leaving a sufficient gap between the material lifting pipe 32 and the access shaft 1 for the power line 213 and the communication line 2a to pass through.

[0326] When the flexible mining machine in this embodiment is folded, the telescopic support section 51 and the connected crawling arm 61 are controlled to rotate relative to each other, so that the telescopic support section 51 is folded close to the crawling arm 61, reducing the space occupied by the flexible mining machine along its own width direction, so that the flexible mining machine can pass through the channel shaft 1 with a diameter much smaller than the mining working face, thereby facilitating communication between the ground and the cavern 121 at a lower cost.

[0327] The crawling arm 61 of the crawling mechanism 6 is hinged to the support mechanism 5 and can realize opening and closing movement relative to the two support mechanisms 5 in front and behind, driving the two support mechanisms 5 to move. With the excavation direction of the flexible excavator as the front, the flexible excavator in this embodiment moves in the following manner:

[0328] A1: Use the first supporting mechanism 5 located in front of the crawling mechanism 6 to hold the rock wall of the cave 121 tightly, and release the tight state between the second supporting mechanism 5 located behind the crawling mechanism 6 and the rock wall of the cave 121;

[0329] A2: Control the two crawling arms 61 of the crawling mechanism 6 to rotate and retract, pulling the second supporting mechanism 5 forward;

[0330] A3: Use the second supporting mechanism 5 to support the rock wall of the cave 121 and release the tight state between the first supporting mechanism 5 and the rock wall of the cave 121;

[0331] A4: Control the two crawling arms 61 of the crawling mechanism 6 to rotate and unfold. During the unfolding process of the crawling arms 61, the second supporting mechanism 5 bears the reaction force to push the other parts of the flexible mining machine including the first supporting mechanism 5 to move forward.

[0332] Compared with the telescopic crawling section 63 in the first embodiment, the crawling arms 61 in this embodiment are hinged to each other to open and close, so that the support mechanisms 5 on both sides of the crawling mechanism 6 can be close to each other, thereby minimizing the space occupied by the travel drive device.

[0333] In this embodiment, the telescopic support section 51 rests against the top wall and bottom wall of the cavern 121 through the support members 52 at both ends. There is a first contact point between the support member 52 at the top of the telescopic support section 51 and the top wall of the cavern 121, and there is a second contact point between the support member 52 at the bottom of the telescopic support section 51 and the bottom wall of the cavern 121. The telescopic support section 51 provides support to the top wall of the cavern 121 through the first contact point and transfers pressure to the bottom wall of the cavern 121, which can reduce the stress concentration caused by the pressure of the overlying formation.

[0334] Considering that the support mechanism 5 needs to support the rock wall of the cave 121 through the first contact point and the second contact point, when the flexible mining machine excavates in the horizontal direction in the cave 121, it is necessary to ensure that after the support mechanism 5 is unfolded, the height difference between the first contact point and the second contact point in the vertical direction is not less than the vertical height of the mining working face generated by the excavation of the crushing assembly 232. If the shape of the mining working face is irregular, then the height difference between the first contact point and the second contact point in the vertical direction should not be less than the short axis of the cross section of the mining working face to ensure that the rock wall of the cave 121 can be supported.

[0335] The flexible mining machine also includes a compensation device for achieving pressure balance inside and outside the flexible mining machine; the compensation device includes a piston or a bag. When the interior of the piston or the bag is filled with a balancing liquid, the interior of the cavity of the piston or the bag is connected to the internal pressure of the flexible mining machine, and the outside of the piston or the bag is connected to the ambient pressure, and vice versa.

[0336] Example 11:

[0337] As shown in Figures 36 to 53, a controllable liquid-filled shaft expansion mining system of this embodiment includes a channel shaft 1 connected to the mining location, a three-dimensional controllable expansion mining equipment 2 that performs mining operations based on the channel shaft 1, a measurement and control device for realizing at least one function including measuring operation status parameters and controlling the operation of the three-dimensional controllable expansion mining equipment 2, a power line 213 for supplying energy to the three-dimensional controllable expansion mining equipment 2, a shaft ore transport device 3 responsible for transporting ore, a travel module that drives the three-dimensional controllable expansion mining equipment 2 to move along the channel shaft 1, and a support fluid filled in the channel shaft 1. The three-dimensional controllable expansion mining equipment 2 includes an equipment body 21 and a three-dimensional expansion section 22 for expanding the mining range. One end of the three-dimensional expansion section 22 is connected to the equipment body 21, and the other end is connected to the mining assembly 230 or the rock splitting assembly 24. The three-dimensional expansion section 22 has a deflection module and / or a rotation module. The deflection module drives the mining assembly 230 or the rock splitting assembly 24 to move in a direction deviating from the axis of the channel well 1. The rotation module drives the mining assembly 230 or the rock splitting assembly 24 to move around the axis of the channel well 1 or the axis of the equipment body 21 to drive the mining assembly 230 or the rock splitting assembly 24 to expand the mining range. The deflection module and the rotation module include an electric actuator, a hydraulic actuator or a pneumatic actuator for controllably performing deflection actions.

[0338] The channel shaft 1 in this scheme provides a channel for transporting the three-dimensional controllable expansion mining equipment 2 to the mining location. The three-dimensional controllable expansion mining equipment 2 includes a three-dimensional expansion section 22 that drives the mining assembly 230 / rock splitting assembly 24 to move in a direction deviating from the axis of the channel shaft 1, thereby expanding the mining range and forming a cavern 121 by mining. At the same time, the three-dimensional controllable expansion mining equipment 2 can also move within the channel shaft 1, so that the three-dimensional controllable expansion mining equipment 2 can realize mining and crushing in the form of a cavern 121 group along the three-dimensional well network, and then use the shaft ore conveying device 3 to transport the mined crushed stone to the ground. The rolling mining method can safely and efficiently realize the mining and filling operations of the cavern 121. During the mining process, high-pressure support fluid is added to the channel well 1, and the support fluid can be used to temporarily support the cave 121 until the cave 121 is refilled after the mining is completed. The support fluid in the cave 121 can effectively alleviate the problems of rock burst, protrusion, roof fall, collapse, water seepage, etc. in the stratum, promote the smooth progress of mining work, and can be applied to the mining of deep minerals and minerals in the stratum below the ocean. If the stratum leaks during the mining process, it is necessary to add support fluid from the wellhead 15 to the well so that the support fluid in the channel well 1 maintains a preset liquid column height. In addition, a back pressure pump 323 can be used to replenish the lost support fluid in real time. The role of the support fluid is to provide support for the cave 121 during the mining process through its liquid column pressure, so that the cave 121 can be prevented from collapsing. In addition, the support fluid is also used to carry ore materials and to carry the ore materials out of the wellhead 15.

[0339] The three-dimensional expansion segment 22 in this embodiment includes at least two sequentially connected controllable segments 221. Adjacent controllable segments 221 are fixedly connected. Each controllable segment 221 includes a front portion and a rear portion that rotate relative to each other. For two adjacent controllable segments 221, the rear portion of the preceding segment is fixedly connected to the front portion of the following segment. An opening and closing control assembly and a joint control assembly 2211 are also provided between the front and rear portions of each controllable segment 221 to drive the controlled rotation of the two portions. The rotation axes between the two portions of different controllable segments 221 are non-parallel. When the front and rear portions of each controllable segment 221 rotate relative to each other, the three-dimensional expansion segment 22 formed by the controllable segments 221 can drive the mining assembly 230 / rock splitting assembly 24 to move along two degrees of freedom. The opening and closing control assembly and joint control assembly 2211 in this embodiment serve as a deflection module, and specifically, various actuators such as an electric motor 234a and a pneumatic piston can be used.

[0340] Furthermore, a pipe string 11 is fixedly installed within the passageway 1 of this embodiment, through which the three-dimensional controllable expandable mining equipment 2 passes. A smooth travel channel 111 is provided within the pipe string 11, along which the three-dimensional controllable expandable mining equipment 2 can move to the mining location. A window is provided on the side of the pipe string 11, communicating with the travel channel 111. An inclined structure 113 is provided within the pipe string 11 to guide the three-dimensional controllable expandable mining equipment 2 out of the window. It should be understood that the accompanying drawings are schematic diagrams, and the actual shaft length is several kilometers. The curvature of the curved portion of the shaft is very small, allowing the pipe string 11 to smoothly pass through the curved portion of the shaft during its lowering into the passageway 1. The diameter of the three-dimensional controllable expandable mining equipment 2 is also thinner than that of the pipe string 11, meaning that the three-dimensional controllable expandable mining equipment 2 can pass through the passageway 1 and move smoothly within the pipe string 11. The main body 21 of the three-dimensional controllable expandable mining machine 2 is a multi-section structure, each section capable of pivoting relative to one another, allowing the machine to smoothly navigate curved sections of the shaft. During operation, a cable is used to slowly lower the machine into the shaft, where it gradually sinks to the bottom under its own weight. Once in an inclined or horizontal section, the machine utilizes the propulsion module to autonomously advance when its own weight proves insufficient.

[0341] It should be understood that in the absence of the tubular column 11, if the channel shaft 1 is not directly aligned with and connected to the mining position, the three-dimensional controllable expansion mining equipment 2 moves directly in the channel shaft 1, and the inclined structure 113 can be directly installed in the channel shaft 1, and the inclined structure 113 can be used to guide the three-dimensional controllable expansion mining equipment 2 to break through the wall of the channel shaft 1 and advance toward the mining position.

[0342] The equipment body 21 can also include a flexible crawling device. When the three-dimensional controllable expansion mining equipment 2 enters the channel well 1 with a larger curvature, the flexible crawling device crawls autonomously underground, which can improve the flexibility of the crawling functional section, which is conducive to the three-dimensional controllable expansion mining equipment 2 entering the high-curvature wellbore.

[0343] In addition, for a three-dimensional expansion segment 22 comprising a plurality of sequentially connected controllable segments 221, the three-dimensional expansion segment 22 can also operate in other ways. Referring to FIG. 53 , for example, in another embodiment of this embodiment, adjacent controllable segments 221 of the three-dimensional expansion segment 22 are hinged to each other, and the adjacent controllable segments 221 are hingedly or rotationally connected via a hinge structure 2232. An expansion control mechanism is also mounted at the rear end of the three-dimensional expansion segment 22. The expansion control mechanism includes three independently operated actuators 223, each of which is connected to a pull-type force transmission structure 2231. The pull-type force transmission structure 2231 can be a rope, chain, or belt. Three ring structures are welded to the side of each controllable segment 221, through which the pull-type force transmission structure 2231 passes. The sides of all controllable segments 221 have three rows of ring structures, evenly arranged around the axis of the three-dimensional expansion segment 22. Each pull-type force transmission structure 2231 passes through a row of ring structures and connects to the controllable segment 221 at the front end of the three-dimensional expansion segment 22. The three actuators 223 can provide motion control in at least two directions. By retracting and extending the pulling and force-transmitting structure 2231, the three-dimensional expansion segment 22 formed by the multiple controllable segments 221 can be driven to swing in different directions, achieving three-dimensional motion. A reset mechanism 2233 is also installed between two adjacent controllable segments 221. The reset mechanism 2233 is used to provide a force to restore the coaxial state between the controllable segments 221, providing bending elasticity for the three-dimensional expansion segment 22 formed by the multiple controllable segments 221. When the actuator 223 controls the three-dimensional expansion segment 22 through the pulling and force-transmitting structure 2231, the arm shape of the three-dimensional expansion segment 22 can be guaranteed to be stable. The reset mechanism 2233 can be a spring sheet connected between each controllable segment 221, or an elastic rod inserted into each controllable segment 221. The structure and principle of the reset mechanism 2233 are similar to the structure and principle of the soft robotic arm (flexible robotic arm) used to maintain its elasticity, and will not be repeated here.

[0344] The aforementioned driver 223 is capable of retracting and releasing a wound rope. For example, the driver 223 utilizes an electric motor 234a from an electrically driven actuator, and the rope is wound around the output shaft of the electric motor 234a, or around a rotating drum in transmission connection with the output shaft of the electric motor 234a. Using ropes as the pulling force transmission structure 2231, at least three ropes are used to retract and release ropes from different directions around the three-dimensional expansion segment 22, thereby driving the three-dimensional expansion segment 22, composed of several controllable segments 221, to swing in different directions. The reset mechanism 2233 in this embodiment is an elastic member, which is used to provide a force to restore the coaxial state between the controllable segments 221. This allows the three-dimensional expansion segment 22 to maintain its shape when the ropes pull the three-dimensional expansion segment 22 to deflect. The elastic member may be an elastic tube, an elastic rod, or a leaf spring.

[0345] In addition, the number of pulling force transmission structures 2231 can also be increased. For example, two independent drivers 223 can be used in conjunction with two pairs, or four, of pulling force transmission structures 2231 to achieve control. Taking the rope as the pulling force transmission structure 2231 as an example, each pair of pulling force transmission structures 2231 is symmetrically arranged on both sides of the axis of the three-dimensional expansion segment 22. When the driver 223 retracts the rope on one side, it releases the rope on the other side. The control scheme for multiple pairs of ropes is similar.

[0346] It should be understood that the above-mentioned driver 223 represents the minimum structural unit that can completely realize the retraction and extension of a pulling force transmission structure 2231. In other embodiments, it can also represent a structural module that can simultaneously retract and extend multiple pulling force transmission structures 2231.

[0347] In addition, the three-dimensional controllable expandable mining equipment 2 also includes a traveling module that drives the equipment body 21 to move in the channel shaft 1. The traveling module can be either a component of the equipment body 21 or an independent module that can be detachably connected to the equipment body 21.

[0348] The solution of this embodiment can also be applied to mining operations in the form of multi-branch channel shafts 1. The channel shaft 1 in this embodiment can also include several branch channel shafts 1 connected thereto. An inclined structure 113 is provided in the channel shaft 1 to guide the three-dimensional expansion section 22 away from the axis of the channel shaft 1. The inclined structure 113 is directly disposed in the channel shaft 1. By adjusting the position and angle of the inclined structure 113 in the channel shaft 1, the inclined structure 113 can be enabled to guide the three-dimensional controllable expansion mining equipment 2 into any one of the branch channel shafts 1.

[0349] In addition, when a pipe string 11 for the three-dimensional controllable expansion mining equipment 2 to pass through is fixedly installed in the channel well 1, a travel channel 111 for the equipment to pass through is provided in the pipe string 11, and a window communicating with the travel channel 111 is opened on the side of the pipe string 11, and the inclined structure 113 is arranged in the pipe string 11.

[0350] The traveling device is a flexible crawling device, the three-dimensional expansion segment 22 is arranged in front of the flexible crawling segment 211 and the flexible crawling device includes a telescopic mechanism and a crawling foot; the flexible crawling device includes at least two parts connected by a hinged structure 2232 and the hinged structure 2232 includes at least one crawling foot in front and behind respectively.

[0351] Furthermore, when the three-dimensional controllable expandable mining device 2 is in the channel shaft 1, it can rely on its own gravity to stably stop in the channel shaft 1, ensuring that the three-dimensional controllable expandable mining device 2 will not shift when the mining assembly 230 and the rock splitting assembly 24 are in operation. However, in order to improve the stability of the three-dimensional controllable expandable mining device 2, the three-dimensional controllable expandable mining device 2 also includes a fixing device for preventing the three-dimensional controllable expandable mining device 2 from tipping over or rolling. The fixing device is configured as follows:

[0352] The fixing device includes a fixing assembly that reciprocates radially along the channel shaft 1 and a reciprocating drive assembly that drives the fixing assembly back and forth. The fixing device is mounted on the device body 21 of the three-dimensional controllable expandable mining equipment 2 or on a fixed object within the channel shaft 1. When the fixing device is extended and pressed against the device body 21 and the fixed object, the position of the three-dimensional controllable expandable mining equipment 2 is locked by the fixing device. It should be understood that the fixing device can also be mounted on both the device body 21 of the three-dimensional controllable expandable mining equipment 2 and the fixed object within the channel shaft 1.

[0353] In this embodiment, the fixing assembly comprises a plurality of claws 2112 movably connected to the side of the device body 21, and the reciprocating drive assembly comprises a telescopic control module 2111 that drives the claws 2112 toward or away from the device body 21. The claws 2112 extend and retract radially or obliquely, engaging the wall of the access shaft 1 or the inner wall of the tubular column 11, thereby securing the three-dimensional controllable expandable mining device 2 within the access shaft 1. The extension stroke of the claws 2112 toward the wall of the access shaft 1 should be greater than the gap between the claws 2112 and the wall of the access shaft 1, ensuring that the claws 2112 can be secured by pressing or snapping in. In the present invention, the claws 2112 are secured by frictional compression or locked by a structure within the wall of the tubular column 11 that cooperates with them. In this embodiment, the tubular column 11 serves as a fixed object within the access shaft 1, and the three-dimensional controllable expandable mining device 2 is located within the tubular column 11. The claws 2112 can then be used to press against the inner wall of the tubular column 11.

[0354] In addition, the fixed component can also be set as a support leg connected to the equipment body 21, and the support leg and the equipment body 21 slide or rotate together. The reciprocating drive component is a push-pull control module hinged between the support leg and the equipment body 21. The push-pull control module pushes the support leg to move and presses against the well wall of the channel well 1 or the inner wall of the pipe column 11 to achieve locking.

[0355] It should be understood that the claws 2112, support legs and other structures can also be installed on the wall of the channel well 1 or on fixed objects in the channel well 1. When the equipment body 21 passes by, it can also play the role of locking the three-dimensional controllable expandable mining equipment 2.

[0356] Furthermore, the equipment body 21 in this embodiment includes at least two crawling segments 211 arranged along the axial direction of the channel shaft 1, each crawling segment 211 is provided with a fixing device, and the two crawling segments 211 are connected by a telescopic structure 212 that can be controlled to extend and retract along the axial direction of the channel shaft 1. The two parts of the telescopic structure 212 that move relative to each other are respectively connected to the two crawling segments 211. The telescopic structure 212 and the two crawling segments 211 with fixing devices are combined to form a traveling module that drives the three-dimensional controllable expandable mining equipment 2 to move along the traveling channel 111.

[0357] Furthermore, with the end of the three-dimensional controllable extended mining equipment 2 away from the mining position as the rear end, the rear end of the three-dimensional controllable extended mining equipment 2 is connected to a traction cable 218 or a traction rod 68. When the three-dimensional controllable extended mining equipment 2 needs to exit the channel well 1, the traction cable 218 or the traction rod 68 can be conveniently used to pull the three-dimensional controllable extended mining equipment 2 toward the wellhead 15 and exit the channel well 1.

[0358] Specifically, mining assembly 230 includes a crushing structure 230a for mining ore and a crushing power mechanism 230b for driving crushing structure 230a. Crushing structure 230a includes a tunneling head, a cutting head, a reamer, a saw, or an impactor. It should be understood that the crushing principle and specific structure of crushing structure 230a in this embodiment can be interchanged with the crushing principle and specific structure of crushing assembly 232 in the aforementioned embodiment.

[0359] When the crushing structure 230a is rotating to excavate / crush ore, for example, when a tunneling head or reamer is used as the crushing structure 230a, the rotation axis of the crushing structure 230a is perpendicular to the axis of the three-dimensional controllable expandable mining device 2 (i.e., the long axis of the three-dimensional controllable expandable mining device 2). This prevents the reaction torque generated by the tunneling head or reamer during ore crushing from being transmitted along the axis of the three-dimensional controllable expandable mining device 2. As shown in Figures 37, 43, and 50, the axis of the crushing structure 230a is perpendicular to the axis of the three-dimensional controllable expandable mining device 2, preventing the three-dimensional controllable expandable mining device 2 from being subjected to axial twisting forces, thereby promoting better stability and facilitating the transmission of reaction torque.

[0360] In other embodiments, the mining assembly 230 may also utilize a jet mining assembly 230. The jet mining assembly 230 includes a jet nozzle and a measuring device. The measuring device may be a range sensor, radar, acoustic measuring device, or visual measuring device. The measuring device senses the relative position between the jet nozzle and the rock mass, thereby guiding the movement of the three-dimensional expansion segment 22 and adjusting the jet direction of the jet mining assembly 230 to effectively fragment the rock mass. When controlling the movement of the three-dimensional expansion segment 22 based on the relative position information measured by the measuring device, the movement of the three-dimensional expansion segment 22 can be controlled directly manually or automatically by a controller. When the controller is used to control the movement of the three-dimensional expansion segment 22, the deflection module and / or rotation module of the three-dimensional expansion segment 22 and the measuring device are all electrically connected to the controller. The measuring device transmits the measured relative position information to the controller, which then controls the movement of the three-dimensional expansion segment 22 based on the relative position information. Of course, the controller's operation can also be performed manually.

[0361] In addition, the mining assembly 230 can also use an electric mining assembly 230. The electric mining assembly 230 includes an electrode with an external power supply. The electrode is connected to the power supply outside the wellhead 15 through a cable. When power is supplied to the electrode, the electrode generates an ion beam or electric arc for crushing the ore.

[0362] Specifically, the rock-splitting assembly 24 is one or more of an explosive rock-splitting assembly 24, a static pressure rock-splitting assembly 242 or a hydraulic rock-splitting assembly 245. Several forms of the rock-splitting assembly 24 can be replaced with each other in the present invention.

[0363] Among them, the static pressure rock splitting assembly 242 includes a rock splitter body 241, a rock splitting hydraulic cylinder 2421 connected to the rock splitter body 241, the piston structure of the rock splitting hydraulic cylinder 2421 is connected to the rock splitting thrust piece 2422, and the rock splitting hydraulic cylinder 2421 is connected to the hydraulic source through a hydraulic line. The hydraulic source is set outside the wellhead 15, in the wellbore or on the three-dimensional controllable expansion mining equipment 2.

[0364] The hydraulic rock fracturing assembly 245 includes a rock splitter body 241 provided with a hydraulic port 2451. The rock splitter body 241 is also connected to a packer 2452 that closes the channel well 1. The rock splitter body 241 is also provided with a hydraulic port 2451 for leading the high-pressure fluid inside the rock splitter body 241 to the rock surface. The hydraulic port 2451 is connected to the hydraulic source through a hydraulic line. The hydraulic source is set outside the wellhead 15, in the wellbore or on the three-dimensional controllable expansion mining equipment 2.

[0365] As an alternative to the hydraulic fracturing assembly 245, a hydraulic fracturing assembly 245 based on the jet fracturing principle can also be used. That is, the rock splitter body 241 is further provided with a nozzle, and the rock splitter body 241 has a flow channel inside that is connected to the power line 213. A high-pressure pump group is used to provide high-pressure fluid to the hydraulic fracturing assembly 245 to achieve jet fracturing. The fluid used in the hydraulic fracturing assembly 245 can be water, oil, supercritical carbon dioxide, or a fluid medium with equivalent functions.

[0366] Preferably, the three-dimensional controllable expansion mining equipment 2 also includes a drilling assembly 25 that is matched with the rock splitting assembly 24. The drilling assembly 25 includes a power module 252 equipped with a drill bit 253 and a drill feeding module 251 that drives the power module 252. When in use, the drilling assembly 25 is first used to drill a hole in the wall of the passage well 1 or the wall of the cave 121, and then the rock splitting assembly 24 is inserted into the hole drilled by the drilling assembly 25 to crush the rock wall, thereby improving the rock splitting efficiency.

[0367] In another embodiment, the rock splitting assembly 24 may be a mechanical rock splitting assembly 24, which includes a breaker hammer, a crushing jaw, a crushing jaw, or an impact pick. The mechanical rock splitting assembly 24 can be used to efficiently crush ore that has fallen into the cavern 121 due to stress or artificial induction. However, it should be understood that other rock splitting assemblies 24 or mining assemblies 230 also have the ability to crush fallen rocks.

[0368] In addition, the three-dimensional controllable expansion mining equipment 2 also includes a quarrying assembly connected to the three-dimensional expansion section 22. The quarrying assembly includes one or more of a rake, a suction mechanism, a ore suction pipe 76, a shovel or a bucket. While the mining assembly 230 is mining ore, the quarrying assembly is operated to transport and transfer the mined ore.

[0369] Based on the above-mentioned controllable-shape liquid-filled well expansion mining system, this embodiment provides a mining method applicable to the above-mentioned controllable-shape liquid-filled well expansion mining system, which includes the following steps:

[0370] S1. The three-dimensional controllable expansion mining equipment 2 is transported to the mining location through the channel well 1;

[0371] S2 control three-dimensional controllable expansion mining equipment 2 to form a cave 121, and continuously inject support fluid into the cave 121;

[0372] S3 control shaft transport device 3 continues to collect mined ore;

[0373] S4 mobile three-dimensional controllable expansion mining equipment 2, and repeat steps S2 and S3, mining to form a cave group 121;

[0374] S5. After the excavation operation is completed, each cavern 121 is filled.

[0375] For a controllable-shape-fluid-filled well expansion mining system equipped with a drilling assembly 25 and a rock splitting assembly 24, a mining method applicable to the controllable-shape-fluid-filled well expansion mining system includes the following steps:

[0376] S1. The end portion is provided with a three-dimensional controllable expansion drilling assembly 25 of the mining equipment 2 through the channel shaft 1 is transported to the mining location;

[0377] S2. Drilling a hole in the channel well 1 or the wall of the cave 121 using the drilling assembly 25;

[0378] S3. The end portion is provided with a three-dimensional controllable expansion rock splitting assembly 24 of the mining equipment 2 is transported to the mining location through the channel well 1;

[0379] S4. Insert the rock splitting assembly 24 into the hole drilled by the drilling assembly 25. When the rock splitting assembly 24 is a static pressure rock splitting assembly 242, the hydraulic piston is activated, which cracks the hole wall. When the cracks extend to the cave wall, they cause large rock to collapse. When the hydraulic rock splitting assembly 245 is used, high-pressure water will form cracks near the rock splitting device. When the cracks form a network or extend to the cave wall surface, they will cause ore collapse.

[0380] S5. The three-dimensional controllable expansion mining equipment 2 with a quarrying assembly at the end is transported to the mining location through the channel shaft 1, the ore is collected and absorbed into the shaft ore transportation pipe system, and the ore is returned to the outside of the wellhead 15 through the shaft ore transportation device 3.

[0381] Example 12:

[0382] As shown in Figures 54 and 55, for the situation of extended mining in a branch channel well 1 or in other branch wells 12 extending from the channel well 1, the present invention provides another embodiment, in which the traveling device is a flexible crawling device, the three-dimensional expansion segment 22 is arranged in front of the flexible crawling segment 211, and the flexible crawling device includes a telescopic mechanism and a crawling foot. In this embodiment, the telescopic mechanism is the telescopic crawling segment 63, and the crawling foot is the crawling segment 211; the flexible crawling device includes at least two parts connected by a hinge structure 2232, and the hinge structure 2232 includes at least one crawling foot in front and behind. This embodiment takes rock splitting and crushing as an example. Any other crushing assembly 232, mining assembly 230, or rock splitting assembly 24 can be used as an equivalent replacement for the crushing method in this embodiment. The traveling crawling device and method can adopt the traveling device and method of the other embodiments mentioned above.

[0383] Example 13:

[0384] As shown in Figures 30, 46, and 52, power circuit 213 is specifically connected to the three-dimensional controllable expandable mining equipment 2 underground at one end and to a power source 2131 outside the wellhead 15 at the other end. Power circuit 213 provides energy to the three-dimensional controllable expandable mining equipment 2 in the form of electrical energy, pressure energy, and chemical energy. When configuring power circuit 213, different power circuits 213 are configured based on the actual power requirements of the three-dimensional controllable expandable mining equipment 2.

[0385] The three-dimensional controllable expansion mining equipment 2 in this embodiment is provided with an ore channel for the flow of ore particles. The two ends of the ore channel are respectively an ore particle flow inlet and an ore particle flow outlet. The ore particle flow inlet is located at the working part of the mining assembly 230 or the rock splitting assembly 24, which can facilitate the entry of the mined and fallen minerals into the ore channel. The location of the ore particle flow outlet is not limited. The shaft ore conveying device 3 includes a flexible hose 31 connected to the ore particle flow outlet of the three-dimensional controllable expansion mining equipment 2. One end of the flexible hose 31 is connected to the three-dimensional controllable expansion mining equipment 2, and the other end extends to the wellhead 15 of the channel shaft 1 or the wellhead 15 of other process wells 16 connected to the channel shaft 1. The end of the flexible hose 31 connected to the ore particle flow outlet is installed with a first detachable connector 311, and the three-dimensional controllable expansion mining equipment 2 is installed with a second detachable connector 214 that cooperates with the first detachable connector 311.

[0386] Specifically, an alignment structure and a locking mechanism are provided between the ends of the first releasable connector 311 and the second releasable connector 214, for aligning the mating surfaces of the first and second releasable connectors 311 and 214. The alignment mechanism comprises two mating parts: a guide cone or guide groove 112, and an insert that mates with the guide cone or guide groove 112. The two parts of the alignment mechanism are provided on the first and second releasable connectors 311 and 214, respectively. Since alignment mechanisms are found in numerous connection and plug-in devices, they are similar to common pipe alignment tools. The locking mechanism is used to achieve connection between the first and second releasable connectors 311 and 214. The two parts of the alignment mechanism in this embodiment are conical guide cylinders formed at the ends of the two detachable connectors. The two conical guide cylinders can fit together. When the two conical guide cylinders fit together, the inner conical surface of one conical guide cylinder fits with the outer conical surface of the other conical guide cylinder, so that the central axes of the two detachable connectors can be aligned; and the locking mechanism of the detachable connector can adopt a hydraulic locking mechanism or an electromagnetic attraction mechanism to realize the locking and unlocking functions.

[0387] In addition, the shaft ore transport device 3 in this embodiment further includes a process well 16 connected to the channel well 1 , and the process well 16 is used for the flexible hose 31 to pass through.

[0388] The steps of the actual operation in this embodiment are as follows:

[0389] (1) Use a cable to lower the three-dimensional controllable expansion mining equipment 2 into the well, and then lower the flexible hose 31 into the channel well 1.

[0390] (2) The flexible hose 31 pushes the first detachable connector 311 to approach the second detachable connector 214 by its own weight, or the second detachable connector 214 at the rear end of the three-dimensional controllable expansion mining equipment 2 is pushed to approach the first detachable connector 311 by the crawling section 211.

[0391] (3) The first detachable connector 311 and the second detachable connector 214 are aligned by the alignment structure and locked by the locking mechanism.

[0392] (4) The first detachable connector 311 at the end of the control flexible hose 31 is connected to the second detachable connector 214 provided at the rear end of the three-dimensional controllable expansion mining equipment 2. After the connection is completed, the mineral material transportation can be realized.

[0393] The flexible hose 31 is directly connected to the ground, and the flexible hose 31 can be directly dragged using a ground-mounted roller 312. When the three-dimensional controllable expandable mining equipment 2 needs to be replaced, the detachable connector is controlled to disconnect, and part of the flexible hose 31 is recovered to make way for a channel so that the traction cable 218 or traction rod 68 can be connected to the rear end of the three-dimensional controllable expandable mining equipment 2 to pull the three-dimensional controllable expandable mining equipment 2 toward the wellhead 15.

[0394] Specifically, the flexible hose 31 may be a non-metallic hose, and a conductive layer or a cable is provided in the wall interlayer of the non-metallic hose.

[0395] When using the flexible hose 31, the ore lifting pump 321, such as a slurry pump or a booster pump, can be directly installed at the rear of the three-dimensional controllable expandable mining equipment 2. When the ore lifting pump 321 is in operation, the two-phase flow or multi-phase flow containing mineral particles is pumped out of the wellhead 15 through the flexible hose 31.

[0396] The measurement and control device in this embodiment is designed to perform the following three functions: monitoring mining operations, measuring operational parameters, and controlling the operation of the three-dimensional controllable expandable mining equipment 2. At least one of these functions can be selected as needed. The measurement and control device includes a telemetry device 4, which includes a flow meter, a material concentration meter, a current sensor, a voltage sensor, a laser detector, an acoustic detector, or an electromagnetic detector located underground. These devices are used to sense the operating status of the shaft conveying device 3, the three-dimensional controllable expandable mining equipment 2, the morphology of the cavern 121, and / or the state of the rock mass. The sensors communicate with a communication terminal located outside the wellhead 15 via a communication line 2a, which is located within the access shaft 1 or other process shaft 16. A material flow meter, a material velocity meter, or a material concentration meter is positioned along the length of the flexible hose 31 to monitor material transport and provide early warning of particle blockage. Specifically, a laser imager or a tomographic imager can be used to monitor the velocity or concentration of particle flow within the conveying pipeline 76. Current and voltage sensors are used to monitor the operating status of the three-dimensional controllable expandable mining equipment 2. Laser, acoustic, or electromagnetic detection devices are used to detect the morphology of the cavern 121 and the formation conditions. Furthermore, laser and acoustic detection devices are installed outside the mining assembly 230, the rock splitting assembly 24, or the expanded mining section in this embodiment to monitor the mining process.

[0397] In addition, the measurement and control device also includes a remote control device, which includes a control terminal located outside the wellhead 15. The control terminal communicates with the deflection module, rotation module, and reciprocating drive assembly in the fixed device via communication line 2a in this embodiment to transmit data and control instructions, thereby controlling the operation of the three-dimensional controllable expandable mining equipment 2. The remote control device and the telemetry device 4 can share the same communication line 2a, or they can use independent communication lines 2a. The communication line 2a used by the telemetry device 4 and the remote control device is located in the access well 1 or other process well 16.

[0398] Example 14:

[0399] 9, 10 and 50, the fixing device in this embodiment includes two guide structures that slide with each other. The two guide structures are respectively fixedly connected to the equipment body 21 of the three-dimensional controllable expansion mining equipment 2 and the fixed object in the channel well 1. When a pipe string 11 is provided in the channel well 1, the pipe string 11 serves as the fixed object in the channel well 1:

[0400] The two guide structures are a guide groove 112 provided on the inner wall of the travel channel 111, i.e., the inner wall of the pipe column 11, and a protrusion 216 provided on the side of the equipment body 21. The guide groove 112 extends along the length of the travel channel 111. The protrusion 216 slides in conjunction with the guide groove 112. There is at least one set of mutually cooperating protrusions 216 and guide grooves 112; or

[0401] The two guide structures are a guide bar arranged on the inner wall of the travel channel 111 and a groove opened on the side of the controllable section 221. The guide bar extends along the length direction of the travel channel 111. The guide bar and the groove slide together. There is at least one set of guide bars and grooves that cooperate with each other.

[0402] In the case where the pipe string 11 is not provided in the channel well 1 , the corresponding guide grooves 112 and guide strips may be provided on other fixed objects in the channel well 1 .

[0403] By using the protrusion 216 to cooperate with the guide groove 112, or using the groove to cooperate with the guide bar, the equipment body 21 of the three-dimensional controllable expansion mining equipment 2 can be guided to slide smoothly along the travel channel 111, but it can also prevent the equipment body 21 from rolling around the axis of the travel channel 111.

[0404] When the mining assembly 230 is set at the front end of the extended mining equipment, the friction generated by the weight of the extended mining equipment is not enough to compensate for the reaction force generated by its rock breaking. The side of the equipment body 21 is also movably provided with a clamping claw 2112 and a telescopic control module 2111 that drives the clamping claw 2112 radially close to or away from the equipment body 21 along the travel channel 111. After the clamping claw 2112 is extended, it can press against the travel channel 111 to compensate for the reaction force generated by cutting and breaking the rock, thereby preventing the equipment body 21 from axial slipping.

[0405] Embodiment 15:

[0406] The three-dimensional controllable excavation equipment 2 in this embodiment is equipped with a travel module that drives the three-dimensional controllable excavation equipment 2 to move axially along the channel shaft 1. The travel module includes:

[0407] A traction rope 66 connected to the three-dimensional controllable expansion mining device 2; or

[0408] A pulley rotatably connected to the three-dimensional controllable expansion mining equipment 2 and a driving motor driving the pulley to rotate.

[0409] The traction rope 66 and the pulley can be used simultaneously or separately, and both can be connected to any position of the equipment body 21, as long as they can drive the three-dimensional controllable expandable mining equipment 2 to move. When using the pulley, attention should be paid to the problem of jamming, so the pulley is also more suitable for use in the pipe string 11.

[0410] Example 16:

[0411] The contents of this embodiment, when combined with the contents of Embodiments 1, 2, or 3, form an embodiment of a controllable-form liquid-filled well-tunnel mining system. Regarding the controllable-form liquid-filled well-tunnel mining system described in the three embodiments of the present invention, as shown in Figures 36 and 51-52, the shaft ore conveying device 3 specifically includes a flexible hose 31 for conveying ore particles and a conveying power module 252 for driving the flow of ore particles. One end of the flexible hose 31 extends beyond the wellhead 15 of the access shaft 1 or beyond the wellhead 15 of another process shaft 16 connected to the access shaft 1. The flexible hose 31 is wound around a roller 312 outside the shaft for easy retraction. The other end of the flexible hose 31 is connected to a three-dimensional extension mechanism and moves within the transportation shaft with the three-dimensional extension mechanism. The conveying power module 252 can utilize a slurry pump or booster pump within the transportation shaft. The slurry pump or booster pump serves as an ore lifting pump 321, which, when in operation, can pump a two-phase or multi-phase flow containing ore particles out of the wellhead 15 through the flexible hose 31. The three-dimensional extension mechanism in this embodiment is provided with an internal flow channel for the flow of ore particles. The inlet of the channel is the ore particle flow inlet, and the outlet is the ore particle flow outlet. The flexible hose 31 is connected to the ore particle flow outlet of the three-dimensional extension mechanism. The flexible hose 31 and the three-dimensional extension mechanism are respectively installed with a first detachable connector 311 and a second detachable connector 214 that cooperate with each other, so that the flexible hose 31 and the three-dimensional extension mechanism can be detachably connected.

[0412] Furthermore, the suction port of the ore lift pump 321 is connected to the internal flow channel of the three-dimensional expansion mining device. When the ore lift pump 321 is in operation, the ore mined by the three-dimensional expansion mining device flows through the internal flow channel, then passes through the ore lift pump 321 and enters the flexible hose 31, and is ultimately pumped out of the wellhead 15. The ore lift pump 321 increases the pressure of the ore particle flow at the well bottom. The power of the ore lift pump 321 overcomes the frictional resistance of the ore particle flow in the pipeline 76 and the force of gravity, significantly improving the efficiency of ore transportation.

[0413] As a more preferred option, the flexible hose 31 in this embodiment is a composite flexible tube, a rubber flexible tube or a high-plasticity metal tube, or a continuous oil pipe, and the flexible hose 31 is a composite tube comprising at least two layers of pipes, and an electric power or communication line 2a is provided in the pipe interlayer. The electric power line is used to supply power to the underground extended mining mechanism 23 or the transmission power module 252, and the communication line 2a is used to transmit control signals and monitored sensor data.

[0414] The conveying power module 252 can also use a low-density medium injection pump 322 or a back pressure pump 323 to inject low-density medium into the well. The purpose of injecting low-density medium into the well is to reduce the liquid column pressure in the wellbore and ultimately use the pressure in the cave 121 to promote the outflow of mineral materials.

[0415] Specifically, referring to Figures 51-52 , the shaft ore transport device 3 in this embodiment includes a retractable transfer pipe 141 and a flowback shaft 14 connected to the access shaft 1. One end of the flowback shaft 14 is connected to the ground, and the other end extends below the access shaft 1 and communicates with the bottom wall of the access shaft 1. The end of the flowback shaft 14 connected to the access shaft 1 serves as the inlet of the flowback shaft 14. One end of the transfer pipe 141 is connected to the ore particle outflow outlet of the three-dimensional controllable expandable mining equipment 2, and the other end is connected to the inlet of the flowback shaft 14. The transfer pipe 141 transfers ore from the three-dimensional controllable expandable mining equipment 2 to the flowback shaft 14, from which the ore particles are then mined.

[0416] Preferably, the transfer pipe 141 includes a hose, a multi-section telescopic pipe 76, a telescopic chute, and a corrugated telescopic pipe. The transfer pipe 141 is detachably connected to the ore particle flow outlet of the three-dimensional controllable expansion mining equipment 2.

[0417] In addition, the shaft ore conveying device 3 also includes an ore lifting pipe 32. The outlet of the ore lifting pipe 32 is located at the wellhead 15 of the return flow shaft 14. The inlet of the ore lifting pipe 32 extends to the bottom of the return flow shaft 14 and is connected to an ore lifting pump 321. The ore lifting pump 321 can be a slurry pump or a booster pump. The slurry pump or booster pump is located in the well and is used to pump a two-phase flow or multi-phase flow containing ore particles out of the wellhead 15. When the ore lifting pump 321 is in operation, it can create a negative pressure, sucking ore particles discharged from the return flow shaft 14, the transfer pipe 141, and the ore particle outlet of the three-dimensional controllable expansion mining equipment 2. For example, a motor-driven screw pump, impeller pump, vane pump, or diaphragm pump can all perform the functions of a slurry pump or a booster pump.

[0418] In addition, the three-dimensional controllable expandable mining equipment 2 includes a sealing assembly for sealing the gap between the three-dimensional controllable expandable mining equipment 2 and the inner wall of the access shaft 1. The transfer pipe 141 is installed between the fixing device and the sealing assembly. The sealing assembly not only positions the three-dimensional controllable expandable mining equipment 2 but also prevents the ore lifting pump 321 from directly sucking liquid from the access shaft 1, ensuring that the ore lifting pump 321 can smoothly pump ore particles from the ore particle outflow outlet of the three-dimensional controllable expandable mining equipment 2. The ore lifting pipe 32 and ore lifting pump 321 can also be directly installed in the access shaft 1 or other shaft connected to the access shaft 1 to suck ore particles from the access shaft 1.

[0419] In this embodiment, a plurality of flow meters or mineral concentration meters may be arranged along the length of the mineral lifting pipe 32 to monitor the mineral transmission and provide an early warning of mineral particle blockage.

[0420] Embodiment 17:

[0421] Please refer to Figure 52. The difference between this embodiment and the sixteenth embodiment is that the wellbore ore conveying device 3 in this embodiment includes a low-density medium injection pump 322 or a back pressure pump 323, and a return well 14 is also connected between the channel well 1 and the ground. The low-density medium injection pump 322 or the back pressure pump 323 is set outside the wellhead 15 of the channel well 1 or any other well connected to the cavern 121, and is used to inject low-density medium into the well or directly pump fluid downward; when the low-density medium injection pump 322 is used, the low-density medium injection pump 322 injects low-density medium into the well, and after the low-density medium is mixed with the fluid containing the mineral material, it is discharged from the wellhead 15 through the return well 14 under the action of the support liquid column pressure; when the back pressure pump 323 is used, the back pressure pump 323 pumps support fluid into the well, and uses the support fluid to carry the mineral material through the return well 14, the mineral material lifting pipe 32 or the flexible hose 31 to discharge the wellhead 15.

[0422] With respect to Examples 2 and 3, it should be understood that the pulling chain 2223 and the reciprocating motor 2224 in Example 3 can also be considered as a joint rotation control mechanism or hinge rotation control mechanism that drives the mining arm to rotate about the joint axis, that is, as a manifestation of a drive assembly. Furthermore, the driving of the rotating portion of the three-dimensional expansion segment 22 in Examples 2 and 3 can also be achieved by using the rope or chain 341 drive method described in the examples.

[0423] In this embodiment, a plurality of flow meters or mineral concentration meters may be arranged along the length of the flowback well 14 to monitor the mineral transmission and provide an early warning of mineral particle blockage.

[0424] Embodiment 18:

[0425] As shown in Figure 33, this embodiment provides a shaft conveying device suitable for various mining methods. The controllable-form liquid-filled shaft expansion mining system also includes a rock-cutting processing mechanism for collecting rock cuttings. The rock-cutting processing mechanism includes a ore lifting pipe 32 that passes through the access shaft 1 or other process shaft 16. The bottom end of the ore lifting pipe 32 is inserted into the interior of the cavern 121 and is connected to an ore lifting pump 321.

[0426] Embodiment 19:

[0427] As shown in Figures 56 to 59, the shaft ore conveying device 3 in this embodiment includes a pulse ore hoisting mechanism for conveying ore to the surface based on the ore discharge shaft 13. The pulse ore hoisting mechanism includes:

[0428] A feed bin door 35a and a discharge bin door 35b are provided in the discharge shaft 13. The discharge bin door 35b is located on the side of the feed bin door 35a facing the wellhead 15 of the discharge shaft 13, and both bin doors are controlled to switch between open and closed states. A periodic bin 35 is formed by being surrounded by the feed bin door 35a, the discharge bin door 35b and the wall of the discharge shaft 13.

[0429] The injection channel 361 is connected to the periodic silo 35 , one end of the injection channel 361 is connected to the periodic silo 35 , and the other end is connected to the ground, and is externally connected to an injection pump 36 for injecting support fluid.

[0430] During use, the feed bin door 35a is first opened, and the ore mined in the cavern 121 will gradually fall into the discharge shaft 13 at the bottom of the cavern 121. After mining for a certain period of time, the feed bin door 35a is closed and the discharge bin door 35b is opened. Then, the injection pump 36 is used to continuously inject support fluid into the periodic bin 35, and the ore in the periodic bin 35 is pumped out through the lifting channel 33.

[0431] The hoisting channel 33 is the section of the ore discharge shaft 13 between the discharge bin door 35b and the wellhead 15 of the ore discharge shaft 13. The length of the hoisting channel 33 and the vertical spacing between the two ends are both greater than 100 meters, so as to realize vertical hoisting of ore.

[0432] As shown in Figure 56, the ore discharge shaft 13 can be configured with two or more parallel feeding shaft sections 331. Each feeding shaft section 331 is provided with a feed bin door 35a and a discharge bin door 35b, forming two parallel periodic silos 35. In this embodiment, each periodic silo 35 is connected to the lifting channel 33, and the two periodic silos 35 alternately transport ore to the lifting channel 33.

[0433] Furthermore, the pulsating ore hoisting system further includes a liquid injection channel 37 communicating with the cavern 121 and a gas injection channel 38 communicating with the hoisting channel 33, wherein:

[0434] One end of the liquid injection channel 37 is connected to the cavern 121, and the other end is connected to the ground. It is externally connected to a liquid injection pump 371. One end of the gas injection channel 38 is connected to the lifting channel 33, and the other end is connected to the ground. It is externally connected to a gas injection pump 381. By injecting liquid into the cavern 121, the discharge of ore in the cavern 121 into the periodic silo 35 can be accelerated. Injecting gas into the lifting channel 33 can reduce the liquid column pressure in the lifting channel 33, facilitating the discharge of ore from the periodic silo 35 through the lifting channel 33 to the outside of the well. The liquid injection channel 37 and the gas injection channel 38 can be used in combination or separately.

[0435] Referring to Figures 58 and 59 , an improved embodiment of a shaft ore conveying device 3 includes a periodic lifting mechanism located underground, an underground circulation loop 391 connecting the chamber 121 and the periodic lifting mechanism, and a lifting circulation loop 362 connected to the surface at both ends. The periodic lifting mechanism includes a feed bin door 35a and a discharge bin door 35b located underground, and a periodic hopper 35 surrounded by the feed bin door 35a, the discharge bin door 35b, and the shaft wall. The feed bin door 35a is positioned higher than the discharge bin door 35b. The lifting circulation loop 362 passes below the periodic hopper 35 and connects to the end of the periodic hopper 35 provided with the discharge bin door 35b. The vertical height of the lifting circulation loop 362 from the wellhead 15 to the shaft bottom is greater than 100 meters. An injection pump 36 is connected to one end of the lifting circulation loop 362 for injecting support fluid into the lifting circulation loop 362, thereby using the support fluid to carry and lift the ore.

[0436] A filter screen 392 and a downhole pump 39 are installed in the downhole circulation loop 391. The downhole circulation loop 391 is also filled with a support fluid. The downhole pump 39 is used to drive the support fluid to circulate in the downhole circulation loop 391. There are two configurations of the downhole circulation loop 391 and the periodic silo 35:

[0437] (i) As shown in Figure 58 , the support fluid within the downhole circulation loop 391 flows from bottom to top through the ore filter screen 392. One end of the periodic silo 35, equipped with a feed bin door 35a, is connected to the downhole circulation loop 391. The feed bin door 35a of the periodic silo 35 is located below the ore filter screen 392. Opening the feed bin door 35a allows the ore filtered by the ore filter screen 392 to be received. After closing the feed bin door 35a and opening the discharge bin door 35b, the ore within the periodic silo 35 falls into the lifting circulation loop 362 and can be directly carried by the support fluid in the lifting circulation loop 362 and lifted out of the well.

[0438] In addition, in Figure 58, the equipment body 21 includes a transmission pipe string 20 for driving the three-dimensional expansion mining device. One end of the transmission pipe string 20 is directly connected to the lateral extension section 22a, and the other end extends outside the well. The transmission pipe string 20 is pulled up or lowered by a hanging device outside the well, thereby driving the three-dimensional expansion mining device to move along the well axis. The transmission pipe string 20 can be made of drill pipe or oil pipe. During operation, the transmission pipe string 20 can also transport crushed ore in a positive circulation or reverse circulation manner, that is, the supporting fluid flows through the transmission pipe string 20 into the lateral extension section 22a through the expansion mining mechanism 23 and flows into the cavern 121, and then carries the crushed ore back to the wellhead 15 through the branch well 12 and the channel well 1, and vice versa.

[0439] (ii) As shown in Figure 59, the downhole circulation loop 391 is connected to the inner cavity of the periodic silo 35. A filtration screen 392 is installed at the connection point between the downhole circulation loop 391 and the periodic silo 35. The ore filtered by the filtration screen 392 falls directly into the periodic silo 35. Subsequently, the discharge bin door 35b of the periodic silo 35 is opened, allowing the ore in the inner cavity of the periodic silo 35 to fall into the lifting circulation loop 362, and is carried out of the well by the support fluid in the lifting circulation loop 362.

[0440] In this embodiment, after the discharge bin door 35b of the periodic silo 35 is opened, the ore in the periodic silo 35 falls into the lifting circulation loop 362. The discharge bin door 35b of the periodic silo 35 should then be closed, and the ore is transported out of the well using the support fluid of the lifting circulation loop 362.

[0441] As a preferred option, the ore hoisting system also includes a sealed feeder; the sealed feeder is a scraper 340-type feeder or a piston feeder. The feeder's inlet is connected to the cavern 121, and the feeder's outlet is connected to the ore discharge shaft 13. An injection well is also included, connected to the ore discharge shaft 13, forming a U-shaped well in the ore discharge shaft 13. The feeder's outlet is located at the connection between the injection and discharge shafts 13. The feeder is used to transfer ore from the cavern 121 into the ore discharge shaft 13, where it is flushed out of the wellhead 15 by water flow.

[0442] Embodiment 20:

[0443] Referring to Figure 60 , in this embodiment, the ore discharge shaft 13 is directly connected to the bottom of the mine 121. The shaft ore transport device 3 includes a ore chain bucket, a hopper 34, or a scraper 340 that is raised and lowered within the ore discharge shaft 13 to lift the ore to the wellhead 15. In the figure, the hopper 34 is used to grab the ore at the bottom of the mine 121. Hoisting equipment outside the well pulls the hopper 34 through the ore discharge shaft 13 and into the mine 121. After the hopper 34 grabs the ore, it is then raised to the wellhead 15 of the ore discharge shaft 13, thereby transferring the ore from the well to the outside.

[0444] Embodiment 21:

[0445] As shown in FIG61 , this embodiment includes a scraper 340 conveying system or a chain bucket conveying system, which is installed in a mine discharge shaft 13 having an inner diameter of less than 1 meter. The mine discharge shaft 13 is connected to the cavern 121. The mined ore is transported to the outside of the wellhead 15 by the scraper 340 conveying system or the chain bucket conveying system in the mine discharge shaft 13.

[0446] Embodiment 22:

[0447] As shown in Figures 62 and 63, this embodiment illustrates an anti-tilt device for replacing a fixing device. The anti-tilt device can be used alone or in conjunction with a fixing device. The anti-tilt device can also be used to prevent the three-dimensional extension mechanism from tipping over or rolling. The anti-tilt device includes at least one support mechanism 5 disposed at the front end of the three-dimensional extension excavation device. The support mechanisms 5 are evenly arranged around the long axis of the three-dimensional extension excavation device. The support mechanisms 5 include support rods 55 rotatably connected to the three-dimensional extension excavation device and a retractable drive mechanism for rotating the support rods 55. The rotation axes of the support rods 55 are perpendicular to the long axis of the three-dimensional extension excavation device. The support rods 55 in this embodiment are telescopic rods that can be controlled to extend and retract. Specifically, they can be electric or hydraulic. When the support rod 55 rotates and approaches the three-dimensional excavation equipment, the three-dimensional excavation equipment can move smoothly within the shaft. After the front end of the three-dimensional excavation equipment enters the cavern 121, the support rod 55 is controlled to swing, so that one end of the support rod 55 moves away from the three-dimensional excavation equipment. When the support rod 55 abuts the inner wall of the cavern 121, the position of the front end of the three-dimensional excavation equipment is locked. During operation, one end of the support mechanism 5 is connected to the equipment body 21, and the other end abuts the wall of the cavern 121, which is used to absorb the reaction torque to prevent the equipment from overturning and ensure the stable operation of the three-dimensional excavation equipment.

[0448] In addition, the support rod 55 may also be a rod with a fixed length, but the adjustability will be worse.

[0449] Embodiment 23:

[0450] In this embodiment, the shaft ore conveying device 3 also includes a mineral screen, which is arranged at the entrance end of the shaft ore conveying device 3 in the cave 121 or the traffic shaft, and is used to screen out the ore particles that the shaft ore conveying device 3 can convey. When the shaft ore conveying device 3 conveys ore hydraulically, the median particle size of the ore crushed by the shaft expansion mining equipment is less than 20% of the inner diameter of the ore conveying pipe or the ore discharge shaft 13, and the effective aperture of the mineral screen is less than 30% of the inner diameter of the ore conveying pipe or the ore discharge shaft 13; when the shaft ore conveying device 3 conveys ore mechanically, the median particle size of the ore crushed by the shaft expansion mining equipment is less than 50% of the inner diameter of the ore conveying pipe or the ore discharge shaft 13, and the effective aperture of the mineral screen is less than 80% of the inner diameter of the ore conveying pipe or the ore discharge shaft 13. The mineral screen is a grid screen, a gap structure, a porous structure or other alternative methods.

[0451] Description of terms and process flow:

[0452] (1) The branch well 12 or branch passage well 1 described in the present invention is a branch well 12 or branch passage well 1 drilled during the mining process, or a branch well 12 or branch passage well 1 drilled in advance before the mining operation begins.

[0453] (2) Power pipelines include umbilical cables, electrical cables, hydraulic pipelines, oil pipes, drill pipes, chemical pipelines, and other pipelines used to transport high-pressure fluids.

[0454] (3) The cable or communication line 2a can be an armored cable or an umbilical cable, or can be set in the wall of a continuous pipe. For example, when a rubber hose is used, the wire winding of the hose can be directly used as the communication line 2a or the power line 213. When a composite hose is used, a woven metal mesh or metal wire can be used as the communication line 2a or the power line 213. When a continuous oil pipe is used, a double-layer or multi-layer pipe can be used, and the communication line 2a or the power line 213 can be arranged between the layers.

[0455] In all of the above embodiments, the driving of the rotating parts can be achieved by direct drive of an electric motor, direct drive of a hydraulic motor 234a, direct drive of a pneumatic motor 234a, or other structures with equivalent functions. It can also be driven by a hydraulic cylinder, pneumatic cylinder, electric cylinder, or rope in a push-pull manner. Parts that require telescopic / sliding movement can be driven by a hydraulic cylinder, electric cylinder, pneumatic cylinder, screw, gear rack, rope, or other equivalent alternative mechanisms. Correspondingly, the electric drive actuator, hydraulic actuator, and pneumatic actuator used in the deflection module and the rotation module in this embodiment can select appropriate angular stroke actuators or linear stroke actuators as needed. In addition, the power source 2131 installed at the wellhead 15 can be selected from an electric source, an air source, or a hydraulic power source 2131 as needed.

[0456] For all of the above embodiments, when used in deep or easily collapsible formations, the flexible excavator should inject a support fluid with a density of 0.8-2.4 g / cm³ into the cavern 121 and the wellbore during operation. This fluid supports the cavern 121 by means of its column pressure, preventing collapse. The detection device 4a includes a pressure-resistant housing capable of withstanding pressures exceeding 3 MPa, designed to withstand the fluid column pressure within the cavern 121. When the support fluid is primarily water, it may include a viscosity enhancer, a shear enhancer, or bentonite.

[0457] The following are the terms and definitions used in this invention: "Cave 121" refers to an underground cavity with a controllable shape created by mining using a controlled-trajectory branch well 12 and / or a controllably extendable robotic arm. "Cave 121" is an equivalent substitute for the term "cavern" in the priority patent document of this patent. "Flexible tubing string 11" in this invention includes coiled tubing, composite tubing, articulated flexible drilling tools, and other equivalent substitutes.

[0458] In the present invention, the swing drive structure 72 and the joint control assembly 2211 are different expressions in the original priority patent, and their structural principles can be approximately replaced.

[0459] In the present invention, the wellbore working fluid has both support and circulation functions, and the supporting fluid described herein can be considered the wellbore working fluid. Wellbore working fluids include any fluid with liquid properties, including common fluids such as water, oil, and liquid carbon dioxide, as well as fluids with certain liquid properties such as supercritical carbon dioxide and supercritical hydrocarbons. Furthermore, in the present invention, in most cases, the supporting fluid has a circulation function, namely, it is used to support the wellbore and the wellbore 121 while also serving as a circulating medium.

[0460] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0461] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A controllable shape liquid-filled shaft expansion mining system, characterized in that: It includes a traffic well connected to the mining location, a supporting fluid filled in the traffic well, a three-dimensional expansion mining device for performing mining operations based on the traffic well, and a shaft ore transport device responsible for transporting ore. The traffic well includes a passage well with a diameter of less than 2 meters and a depth of more than 100 meters and a plurality of branch wells connected to the passage well; The three-dimensional extended mining device includes an extended mining mechanism inserted into a branch well for mining operations and a three-dimensional extension mechanism for driving the extended mining mechanism to move. The three-dimensional extension mechanism includes an equipment body located in the passage well and a lateral extension section or a radial extension module connected between the equipment body and the extended mining mechanism. The equipment body includes a travel module capable of driving the three-dimensional extended mining device to move along the traffic well. When the branch well is an ultra-short radius branch well with a turning radius of less than 30 meters, the equipment body is connected to the extended mining mechanism through a lateral extension section, and the lateral extension section includes a flexible pipe column or a plurality of hinged short sections hinged in sequence; when the branch well is a well connected to the channel well at an angle of 20° to 90°, the equipment body is connected to the extended mining mechanism through a radial extension module, and the radial extension module includes a bearing body connected to the equipment body and a radial extension arm for installing the extended mining mechanism, the radial extension arm is rotatably connected to the bearing body, and the radial extension arm is controlled to rotate relative to the bearing body as a whole to drive the extended mining mechanism to rotate and align with the direction of the branch well, and the radial extension arm is also controlled to extend and retract along its own long axis direction to drive the extended mining mechanism to enter and exit the branch well; The extended mining mechanism is configured as follows: The extended excavation mechanism comprises an eye-reaming drill bit and a power assembly, wherein the power assembly is in transmission connection with the eye-reaming drill bit, wherein the eye-reaming drill bit comprises a drill bit body rotating under the drive of the power assembly, at least two blades swingably connected to the drill bit body, and a variable diameter drive mechanism for driving the blades to open and retract, wherein one end of the blade is connected to the drill bit body, and the other end approaches or moves away from the rotation axis of the drill bit body during the opening and retracting process; and / or The extended mining mechanism includes a crushing assembly for crushing rocks along the branch well, a power assembly, an extension arm connected between the lateral extension section and the crushing assembly, and an extension drive assembly that drives the extension arm to move, the power assembly provides power to the crushing assembly, and the two ends of the extension arm move relatively in a direction away from the axis of the branch well under the action of the extension drive assembly, so as to achieve extended mining by expanding the hole; and / or The extended mining mechanism includes a rock-splitting assembly, which is a static rock-splitting assembly, a hydraulic rock-splitting assembly, a jet rock-splitting assembly, a mechanical rock-splitting assembly or an electric rock-splitting assembly, and the three-dimensional extension mechanism is also provided with a power line for transmitting pressure energy, chemical energy or electrical energy to the rock-splitting assembly; and / or The extended excavation mechanism includes a collection assembly for dredging, shoveling or grabbing ore and a collection drive mechanism for driving the collection assembly to operate, wherein the collection drive mechanism is used to drive the collection assembly to move in the branch wellbore; The chamber formed after the branch shaft undergoes three-dimensional expansion mining operations is defined as a cavern, and the shaft ore transport device transports the mined ore to the outside of the wellhead through the passage shaft, or the traffic shaft also includes a discharge shaft connected to the cavern, passage shaft or branch shaft, and the shaft ore transport device transports the mined ore to the outside of the wellhead through the discharge shaft.

2. A controllable shape liquid-filled shaft expansion mining system as claimed in claim 1, characterized in that: The layout distance between some or all of the adjacent branch wells is less than 10 times the length of the branch well. The caverns include caverns and tunnels formed by expansion. The average cross-sectional area of ​​the tunnel is more than 5 times the cross-sectional area of ​​the branch wellbore, and the maximum cross-sectional area of ​​the cavern is more than 10 times the cross-sectional area of ​​the branch wellbore.

3. A controllable shape liquid-filled shaft expansion mining system as claimed in claim 1, characterized in that: When the equipment body is connected to the extended mining mechanism through a lateral extension section, an inclined structure is also provided in the channel well to guide the extended mining mechanism to deviate from the channel well toward any branch well. The inclined structure is connected to a traveling assembly that drives the inclined structure to move axially along the channel well and a rotating assembly that drives the inclined structure to rotate around the axis of the channel well, or the inclined structure is driven by a drill pipe to achieve positioning and rotation underground.

4. A controllable shape liquid-filled shaft expansion mining system as claimed in claim 3, characterized in that: The oblique structure is also connected to a posture sensor and / or a position sensor, and the posture sensor and the position sensor transmit data to a control terminal outside the well in a wireless communication or communication line communication manner.

5. A controllable shape liquid-filled shaft expansion mining system as claimed in claim 1, characterized in that: When the working parts of the extended excavation mechanism are used for excavation in a rotating manner, a rotatable transmission shaft is provided in the lateral extension section or the radial extension arm, and the power assembly drives the working parts of the extended excavation mechanism to operate by driving the transmission shaft to rotate, or In the case where the equipment body is connected to the extended mining mechanism via the lateral extension section, the power assembly drives the lateral extension section to rotate so as to drive the working parts of the extended mining mechanism to rotate.

6. A controllable shape liquid-filled shaft expansion mining system as claimed in claim 1, characterized in that: When the lateral extension section includes a plurality of articulated short sections articulated in sequence, the rotatable angle range between adjacent articulated short sections is limited to within 30 degrees.

7. A controllable liquid-filled shaft expansion mining system as claimed in claim 1, characterized in that: In the case where the extended mining mechanism includes a rock splitting assembly, the extended mining device also includes a drilling assembly for drilling holes in the well wall of the branch well, and the rock splitting assembly performs a crushing operation on the well wall of the branch well based on the hole drilled by the drilling assembly.

8. The controllable liquid-filled shaft expansion mining system according to claim 1, characterized in that: An expansion arm and an expansion drive assembly for driving the expansion arm to move are also provided between the rock splitting assembly and the lateral extension section. Under the action of the expansion drive assembly, the two ends of the expansion arm move relative to each other in a direction perpendicular to the axis of the branch well to drive the rock splitting assembly to accurately crush the ore around the branch well.

9. A controllable liquid-filled shaft expansion mining system as claimed in claim 1, characterized in that: The extended mining mechanism is also provided with a gyroscope, a posture sensor and / or a position sensor for detecting the posture of the extended mining mechanism. The gyroscope, the posture sensor and / or the position sensor transmits data with a control terminal outside the well by wireless communication or communication line communication.

10. The controllable liquid-filled shaft expansion mining system according to claim 1, characterized in that: The static pressure rock splitting assembly comprises a rock splitter body, a rock splitting hydraulic cylinder connected to the rock splitter body, and a rock splitting thrust piece is connected to the piston structure of the rock splitting hydraulic cylinder; The mechanical rock splitting assembly includes a crushing jaw or a crushing clamp; or the mechanical rock splitting assembly includes a rock splitter body and a rock splitting hydraulic cylinder connected to the rock splitter body.

11. A controllable liquid-filled shaft expansion mining system as claimed in claim 1, characterized in that: When the rock-splitting assembly is a jet rock-splitting assembly, the jet-type crushing assembly includes a plurality of high-pressure nozzles and a high-pressure through-flow channel connected to the high-pressure nozzles, and the high-pressure through-flow channel is a high-pressure hose passing through the inside of the lateral extension section or a through-flow channel inside the lateral extension section.

12. A controllable liquid-filled shaft expansion mining system as claimed in claim 1, characterized in that: The traveling module is a winch and a traction rope. The traction rope is passed through the channel shaft and connected to the equipment body. The winch is fixedly arranged in the channel shaft or outside the wellhead and is used to tow the three-dimensional expansion mining device.

13. The controllable liquid-filled shaft expansion mining system according to claim 1, characterized in that: A pipe column for guiding the movement of the three-dimensional extension mechanism is arranged in the channel well, and the three-dimensional expansion mining device moves to each branch well through the through hole of the pipe column.

14. A controllable fluid-filled shaft expansion mining system as claimed in claim 1, characterized in that: In the case where the equipment body is connected to the extended mining mechanism through the lateral extension section, the three-dimensional extension mechanism also includes a fixing device that cooperates with the equipment body to prevent the three-dimensional extension mechanism from tipping over or rolling. The equipment body includes a first equipment section and a second equipment section that move relative to each other along the length direction of the channel well. The first equipment section cooperates with the fixing device, and the second equipment section is connected between the first equipment section and the lateral extension section. A drilling mechanism is also provided between the first equipment section and the second equipment section of the equipment body to drive the two to move relative to each other along the length direction of the channel well, so as to drive the extended mining mechanism to move along the well axis.

15. A controllable shape liquid-filled shaft expansion mining system, characterized in that: It includes a passage shaft with a major axis diameter of less than 3 meters and a length of more than 100 meters connected to a mining location, a detection device for detecting mining operation information inside the cave, and a flexible mining machine for mining ore; the cave and the wellbore are filled with supporting fluid to support the cave with the supporting fluid; the power line of the flexible mining machine is passed through the passage shaft or other process wells with a diameter smaller than the passage shaft, and the two ends of the power line are respectively connected to the flexible mining machine and a power source, the power source is arranged outside the wellhead, and the flexible mining machine includes a crushing device for excavating ore and a travel drive device for driving the crushing device to move, wherein: A crushing device, comprising an expansion arm, a crushing assembly mounted on the expansion arm, and a crushing power assembly connected to the crushing assembly in a transmission manner; the expansion arm is longer than twice the maximum diameter of the channel well; and the crushing power assembly is connected to the power line; The travel drive device includes a device body connected to the expansion arm, the device body and the expansion arm are connected by a hinged connection or a rotational connection, and a drive component including at least two degrees of freedom control quantities is also connected between the expansion arm and the device body to control the flexible mining machine as a whole to switch between a folded and unfolded state or to control the flexible mining machine to achieve a larger range of mining operations, that is, to switch between a first state of passing through a channel shaft and a second state of performing mining work.

16. A controllable fluid-filled shaft expansion mining system as claimed in claim 15, characterized in that: The device body of the flexible mining machine comprises a plurality of segments which are hingedly connected in sequence, and adjacent segments of the device body are connected by a first hinge structure having at least one degree of rotational freedom, and a first body bending drive assembly is provided to drive the first hinge structure to rotate in a controlled manner; The maximum bending curvature between adjacent sections of the device body and the maximum bending curvature between the end section of the device body and the expansion arm are both greater than 20° / 30m, so that it can deviate from the main channel well for mining and form a branch channel well, or enter and exit the branch channel well for mining.

17. A controllable fluid-filled shaft expansion mining system as claimed in claim 15, characterized in that: A swivel joint is provided between the extension arm and the device body, the swivel joint includes a fixed part connected to the device body and a rotating part connected to the extension arm, the rotating part and the extension arm are opened and closed in a hinged manner, and the driving assembly includes a rotating driving structure for driving the fixed part and the rotating part to rotate relative to each other and an opening and closing driving structure for driving the rotating part and the extension arm to rotate and open and close.

18. A controllable fluid-filled shaft expansion mining system as claimed in claim 15, characterized in that: The device body includes a support mechanism that is movably abutted against the rock wall of the cave. When the flexible mining machine is in a first state, the support mechanism is in a retracted / contracted state. When the flexible mining machine is in a second state driven by a driving assembly, the support mechanism is in an unfolded / expanded state, and the support mechanism is pressed between the device body and the rock wall or against the surface of the rock wall.

19. A controllable fluid-filled shaft expansion mining system as claimed in claim 18, characterized in that: The travel drive device also includes a traction mechanism and / or a crawling mechanism connected to the device body. When the traction mechanism is used to drive the device body to move, the traction mechanism includes a traction rope, a traction chain or a traction rod connected to the device body and arranged in front of the excavation direction of the flexible excavator, and a traction power device for providing traction power; the crawling mechanism is connected to the device body and pushes / pulls the device body to move by repeatedly extending and contracting. When the crawling mechanism is used to drive the device body to move, at least two supporting mechanisms are provided along the length direction of the flexible mining machine, and the crawling mechanism is connected between two adjacent supporting mechanisms. The crawling mechanism is configured as follows: The crawling mechanism comprises at least two sections of crawling arms connected in an articulated manner, and the two sections of crawling arms at both ends are respectively articulated to two adjacent support mechanisms, and a crawling drive structure is connected between the mutually articulated crawling arms and the support mechanisms and between the two mutually articulated crawling arms; or The crawling mechanism comprises a telescopic crawling section, and two ends of the telescopic crawling section are respectively connected to two adjacent supporting mechanisms.

20. A controllable fluid-filled shaft expansion mining system as claimed in claim 18, characterized in that: There is a first contact point between the support mechanism and the rock wall of the cave along the direction of maximum stress of the overlying stratum of the cave, and a second contact point for supporting the support mechanism. The height difference between the first contact point and the second contact point in the vertical direction is not less than the short axis of the cross-section of the mining working face produced by the excavation of the crushing assembly.

21. A controllable fluid-filled shaft expansion mining system as claimed in claim 18, characterized in that: The support mechanism includes a support body and at least two support rods hingedly connected to the support body. The support rods are circumferentially arranged around the support body, and the axes of relative rotation between the support rods and the support body are perpendicular to the length direction of the flexible mining machine. The support body is also connected to a retractable drive structure that drives the support rods to rotate closer to or away from the support body.

22. A controllable fluid-filled shaft expansion mining system as claimed in claim 15, characterized in that: The expansion arm includes at least two arm structures, the crushing assembly is hinged to one of the arm structures, and a deflection driving structure for driving the crushing assembly to deflect is connected to the arm structure, and each adjacent arm structure is connected by one of the following two connection modes: Adjacent arm structures are slidably matched and are provided with telescopic power units for driving the adjacent arm structures to slide; Adjacent arm structures are hinged and connected to a swing driving structure for driving the adjacent arm structures to swing relative to each other.

23. The controllable-shape liquid-filled shaft expansion mining system according to claim 15, characterized in that: The crushing assembly is a static pressure rock fracturing assembly, and the crushing power assembly is a motor. The motor and the static pressure rock fracturing assembly are connected by mechanical transmission or hydraulic transmission; the motor is connected to a power source outside the wellhead through an electric power line to drive the static pressure rock fracturing mechanism to achieve rock fracturing.

24. A controllable fluid-filled shaft expansion mining system as claimed in claim 15, characterized in that: The crushing assembly includes a drill bit, a reamer, a cutting head or a tunneling head which is transmission-connected to the crushing power assembly. The maximum diameter of the drill bit, reamer, cutting head or tunneling head is 30%-99% of the inner diameter of the channel well; the length of the extension arm is greater than 5 times the diameter of the drill bit, cutting head or tunneling head; when the crushing assembly becomes a shallow hole drill bit or a drilling tool, the diameter of the shallow hole drill bit or the drilling tool is 20-200 mm.

25. The controllable liquid-filled shaft expansion mining system according to claim 15, characterized in that: When the crushing assembly is a crushing head, the crushing power assembly is a reciprocating power assembly, and the power circuit is an electric circuit, a hydraulic circuit and / or a gas circuit; The crushing head reciprocates under the drive of the crushing power assembly to impact and crush the ore.

26. A controllable fluid-filled shaft expansion mining system as claimed in claim 15, characterized in that: When the crushing assembly is a chain cutter head, the crushing power assembly is an electric motor or a hydraulic motor, the power circuit is an electric circuit, a high-pressure fluid circuit and / or a hydraulic circuit, and the chain cutter head is driven by the crushing power assembly to continuously cycle and crush ore.

27. A controllable fluid-filled shaft expansion mining system as claimed in claim 15, characterized in that: The inner diameter of the channel well is between 0.2 and 2 meters; the length of the extension arm is greater than 3 times the diameter of the channel well; taking the plane perpendicular to the length direction of the flexible mining machine as the reference mining surface, during the rotation of the extension arm, the total projected surface area of ​​the area that the extension arm can reach on the reference mining surface is greater than 10 times the cross-sectional area of ​​the channel well.

28. A controllable shape liquid-filled shaft expansion mining system, characterized in that: The invention comprises a channel shaft connected to a mining location, a three-dimensional controllable expansion mining device for performing mining operations based on the channel shaft, a measurement and control device for realizing at least one function including measuring operation status parameters and controlling the operation of the three-dimensional controllable expansion mining device, a power line for supplying energy to the three-dimensional controllable expansion mining device, a shaft ore transport device for transporting ore, a travel module for driving the three-dimensional controllable expansion mining device to move along the channel shaft, and a supporting fluid filled in the channel shaft. The three-dimensional controllable expansion mining device comprises an equipment body and a three-dimensional expansion section for expanding the mining range. The three-dimensional expansion section One end of the expansion section is connected to the equipment body, and the other end is connected to the mining assembly or the rock splitting assembly. The three-dimensional expansion section has a deflection module and / or a rotation module. The deflection module drives the mining assembly or the rock splitting assembly to move in a direction deviating from the axis of the channel shaft. The rotation module drives the mining assembly or the rock splitting assembly to move around the axis of the channel shaft or the axis of the equipment body to drive the mining assembly or the rock splitting assembly to expand the mining range. The deflection module and the rotation module include an electric drive actuator, a hydraulic actuator or a pneumatic actuator for controllably performing the deflection action. The three-dimensional expansion section is configured as follows: The three-dimensional extension section includes a mining arm body rotatably connected to the equipment body and at least one main mining arm connected to a mining assembly or a rock splitting assembly, wherein the mining assembly or the rock splitting assembly is arranged at the front end of the main mining arm, the mining arm body can rotate around the axis of the channel shaft, a slewing control component for driving the mining arm body to rotate is arranged between the mining arm body and the equipment body, an extension control component for driving the main mining arm to move radially toward the channel shaft is connected between the mining arm body and the main mining arm, the extension control component serves as a deflection module, and the slewing control component serves as a slewing module; or The three-dimensional extension section is a double-degree-of-freedom or multi-degree-of-freedom mining arm, and the three-dimensional extension section is connected to the equipment body by an articulated connection and / or a swivel connection, and the three-dimensional extension section At least two drive assemblies or at least one dual-axis drive assembly are also connected to the device body, which can realize the control of the two degrees of freedom of the three-dimensional expansion section, and the total length of the three-dimensional expansion section is greater than 3 times the diameter of the channel well, and the drive assembly serves as a deflection module and / or a rotation module; or The three-dimensional expansion segment includes at least two controllable sections connected in sequence, the controllable sections are fixedly connected in sequence, each of the controllable sections includes a front part and a rear part that are controlled to rotate relative to each other, and an opening and closing control component and / or a joint control component that drives the front part and the rear part to rotate in a controlled manner, and the opening and closing control component and the joint control component both serve as a deflection module; or The three-dimensional expansion segment includes at least two controllable sections connected in sequence, and the adjacent controllable sections are connected in sequence in a hinged or rotational connection manner. The rear end of the three-dimensional expansion segment is also provided with an expansion control mechanism, and the expansion control mechanism includes a driver with at least two degrees of freedom control. The driver pulls the controllable sections of the three-dimensional expansion segment through a pulling force transmission structure to drive the three-dimensional expansion segment to achieve three-dimensional movement. The driver serves as a deflection module, and the pulling force transmission structure is a rope, a belt or a chain. The travel module of the controllable liquid-filled shaft expansion mining system is a component of the equipment body, or the travel module is an independent module detachably connected to the equipment body. The power line is arranged in the channel well and / or other process wells connected to the channel well.

29. A controllable fluid-filled shaft expansion mining system as claimed in claim 28, characterized in that: The channel well is also provided with an oblique structure for guiding the three-dimensional expansion section to deviate from the axis of the channel well, and the oblique structure is directly arranged in the channel well; or A pipe column for the three-dimensional controllable expansion mining equipment to pass through is fixedly arranged in the channel well, a travel passage for the equipment to pass through is arranged in the pipe column, a window communicating with the travel passage is opened on the side of the pipe column, and the oblique structure is arranged in the pipe column; or The equipment body comprises a flexible crawling device.

30. A controllable fluid-filled shaft expansion mining system as claimed in claim 28, characterized in that: When the three-dimensional extension section includes a mining arm body and a main mining arm, at least two auxiliary mining arms are further connected between the main mining arm and the mining arm body, and the two ends of the auxiliary mining arms are rotatably connected to the mining arm body and the main mining arm respectively to form a planar connecting rod mechanism, and the two auxiliary mining arms are connected to at least two pulling chains or pulling ropes, and the two pulling chains or pulling ropes pull the auxiliary mining arms from both sides respectively, and the extension control component includes a retractable and retractable motor for retracting and releasing each pulling chain or pulling rope, and the retractable and retractable motor is installed on the mining arm body; or At least one hydraulic cylinder or electric cylinder is connected between the auxiliary mining arm and the mining arm body to drive the auxiliary mining arm to perform opening and closing movements relative to the equipment body of the three-dimensional controllable expansion mining equipment; or A hydraulic motor is installed at the connection between the auxiliary mining arm and the mining arm body to drive the auxiliary mining arm to swing.

31. A controllable fluid-filled shaft expansion mining system as claimed in claim 28, characterized in that: When the three-dimensional expansion segment realizes movement in at least two directions of freedom through controllable nodes and an expansion control mechanism, the expansion control mechanism includes at least three pulling force transmission structures and a driver for retracting and releasing each pulling force transmission structure. The pulling force transmission structure includes any one of a rope, a belt or a chain. Multiple pulling force transmission structures are distributed circumferentially around the three-dimensional expansion segment. Each pulling force transmission structure passes through each controllable node in turn and is connected to the controllable node located at the front end of the three-dimensional expansion segment, so as to drive the three-dimensional expansion segment composed of several controllable nodes to swing in different directions in a pulling manner.

32. A controllable fluid-filled shaft expansion mining system as claimed in claim 28, characterized in that: The mining assembly includes a crushing structure for mining ore and a crushing power mechanism for driving the crushing structure to operate. The crushing structure includes a tunneling head, a reamer, a saw or an impactor.

33. A controllable fluid-filled shaft expansion mining system as claimed in claim 32, characterized in that: When the crushing structure excavates / crushes ore in a rotating form, the rotation axis of the crushing structure is perpendicular to the axis of the three-dimensional controllable expansion mining equipment.

34. A controllable fluid-filled shaft expansion mining system as claimed in claim 28, characterized in that: The mining assembly is a jet mining assembly, which includes a jet nozzle and a measuring device. The measuring device is a distance measuring device, a radar, an acoustic measuring device or a visual measuring device, which is used to sense the relative position relationship between the jet nozzle and the rock mass and guide the movement of the three-dimensional expansion section to ensure the effective crushing of the rock mass by the jet.

35. A controllable fluid-filled shaft expansion mining system as claimed in claim 28, characterized in that: The mining assembly includes an electric mining assembly, and the electric mining assembly includes electrodes, and the electrodes are electrically connected to a power source outside the wellhead through cables.

36. A controllable fluid-filled shaft expansion mining system as claimed in claim 28, characterized in that: The rock-breaking assembly is an explosive rock-breaking assembly, a static pressure rock-breaking assembly or a hydraulic rock-breaking assembly.

37. A controllable fluid-filled shaft expansion mining system as claimed in claim 36, characterized in that: The three-dimensional controllable expansion mining equipment also includes a drilling assembly matched with the rock splitting assembly, and the drilling assembly includes a power module equipped with a drill bit and a drill sending module that drives the power module to move.

38. A controllable fluid-filled shaft expansion mining system as claimed in claim 28, characterized in that: The rock splitting assembly is a mechanical rock splitting assembly, which also includes a breaker hammer, a crushing jaw, a crushing pliers or an impact pick, and is used to efficiently crush the ore that falls into the cave due to stress induction or artificial induction.

39. A controllable fluid-filled shaft expansion mining system as claimed in claim 28, characterized in that: The three-dimensional controllable expansion mining equipment also includes a quarrying assembly connected to the three-dimensional expansion section, and the quarrying assembly includes one or more of a rake, a hinge suction mechanism, a ore suction pipe, a shovel or a bucket.

40. A controllable fluid-filled shaft expansion mining system as claimed in claim 28, characterized in that: The shaft ore transport device also includes a retractable transfer pipe and a return well connected to the channel well, one end of the return well is connected to the ground, and the other end extends to the bottom of the channel well and is connected to the bottom wall of the channel well. The end of the return well connected to the channel well is the entrance of the return well, one end of the transfer pipe is connected to the ore particle flow outlet of the three-dimensional controllable expansion mining equipment, and the other end is connected to the entrance of the return well.

41. A controllable fluid-filled shaft expansion mining system as claimed in claim 40, characterized in that: The transfer pipe includes a hose, a multi-section telescopic pipe, a telescopic chute, and a corrugated telescopic pipe. The transfer pipe is detachably connected to the ore particle flow outlet of the three-dimensional controllable expansion mining equipment.

42. A controllable fluid-filled shaft expansion mining system as claimed in claim 1 or 28, characterized in that: The three-dimensional controllable expansion mining equipment also includes a fixing device and / or an anti-tilting device for preventing the three-dimensional extension mechanism from tipping over or rolling over. The fixing device includes a fixing component that reciprocates radially along the channel shaft and a reciprocating drive component that drives the fixing component to reciprocate. The fixing device is connected to the equipment body and / or a fixed object in the channel shaft. When the fixing device is pressed against the fixing object in the channel shaft, the position of the three-dimensional extension mechanism is locked by the fixing device, and / or The fixing device comprises two guide structures that slide relatively along the axis of the channel well, and the two guide structures are respectively fixedly connected to the equipment body and the fixed object in the channel well; The anti-tilt device comprises at least one supporting mechanism arranged at the front end of the three-dimensional expansion mining equipment, the supporting mechanism is evenly arranged around the long axis of the three-dimensional expansion mining equipment, the supporting mechanism comprises a supporting rod rotatably connected to the three-dimensional expansion mining equipment and a retractable driving mechanism driving the supporting rod to rotate, the supporting rod is a rod body with a fixed length or a controlled extension. Telescopic rod.

43. A controllable fluid-filled shaft expansion mining system as claimed in claim 42, characterized in that: The traveling module includes a drill rig outside the well and a transmission pipe string connected between the drill rig and the three-dimensional controllable expansion mining equipment. The drill rig drives the three-dimensional controllable expansion mining equipment to move in the channel well through the transmission pipe string.

44. A controllable fluid-filled shaft expansion mining system as claimed in claim 42, characterized in that: The travel module comprises: A traction rope, traction cable or traction rod connected to the three-dimensional controllable expansion mining equipment; and / or A pulley rotatably connected to the three-dimensional controllable expansion mining equipment and a driving motor driving the pulley to rotate.

45. A controllable fluid-filled shaft expansion mining system as claimed in claim 42, characterized in that: When the fixing device comprises a fixing assembly and a reciprocating drive assembly, wherein: The fixing component is a claw, and the reciprocating driving component is a telescopic control module connected between the device body and the claw; or The fixed component is a support leg connected to the device body, and the reciprocating drive component is a push-pull control module hinged between the support leg and the device body; or The fixing component is a latch that slidably cooperates with the equipment body, the reciprocating drive component is a sliding drive module that drives the latch to slide, and the wall of the channel well or the fixed object in the channel well is also provided with a slot for inserting the latch.

46. ​​A controllable fluid-filled shaft expansion mining system as claimed in claim 42, characterized in that: In the case where the fixing device includes a fixing component and a reciprocating drive component, the equipment body includes at least two crawling segments arranged along the axial direction of the channel shaft, each of the crawling segments is provided with a fixing device, and two adjacent crawling segments are connected by a telescopic structure that is controlled to extend and retract along the axial direction of the channel shaft. The two parts of the telescopic structure that move relative to each other are respectively connected to the two crawling segments, and the telescopic structure cooperates with the two adjacent crawling segments to form the traveling module that drives the three-dimensional controllable expandable mining equipment to move along the channel shaft.

47. A controllable fluid-filled shaft expansion mining system as claimed in claim 42, characterized in that: In the case where the fixing device comprises two guide structures that slide in cooperation with each other, the two guide structures are respectively: A guide groove provided on a fixture in the channel well and a protrusion provided on the side of the equipment body, the guide groove extending along the length direction of the channel well, the protrusion and the guide groove slidingly cooperate with each other, and at least one set of mutually cooperating protrusions and guide grooves is provided; or A guide bar arranged on a fixture in the channel well and a groove opened on the side of the equipment body, the guide bar extends along the length direction of the channel well, the guide bar and the groove are slidably matched, and at least one set of mutually matching guide bars and grooves is provided.

48. A controllable fluid-filled shaft expansion mining system as claimed in claim 42, characterized in that: A pipe column for the shaft expansion mining equipment to pass through is fixedly provided in the channel shaft, and the shaft expansion mining device moves to the mining position through the through hole of the pipe column. The shaft expansion mining device also includes a fixing device for preventing the three-dimensional extension mechanism from tipping over or rolling. The fixing device includes an electromagnet installed on the inner wall of the pipe column. The equipment body of the three-dimensional extension mechanism is made of metal that cooperates with the electromagnet magnetic attraction, or the equipment body of the three-dimensional extension mechanism is fixedly connected to a magnetic attraction component that cooperates with the electromagnet magnetic attraction.

49. A controllable fluid-filled shaft expansion mining system as claimed in any one of claims 1, 15 or 28, characterized in that: The shaft ore transport device includes a flexible hose for transporting ore particles and a transport power module for driving the flow of ore particles. One end of the flexible hose extends to the outside of the wellhead of the channel well or the outside of the wellhead of other process wells connected to the channel well, and the other end of the flexible hose is connected to the three-dimensional expansion mining equipment and moves with the three-dimensional expansion mining equipment in the traffic well. The transport power module includes a slurry pump or a booster pump arranged in the traffic well; or the transport power module includes a low-density medium injection pump or a back pressure pump for injecting low-density medium into the well.

50. A controllable fluid-filled shaft expansion mining system as claimed in any one of claims 1, 15 or 28, characterized in that: The supporting fluid is a fluid with liquid properties, including fluid or supercritical fluid, and the supporting fluid has a density of 0.3-3g / cm 3 of liquid.

51. A controllable-shape fluid-filled shaft expansion mining system as claimed in any one of claims 1, 15 or 28, characterized in that: The power line of the shaft expansion mining device is structurally in the form of a flexible cable or a hard pipeline; the power line includes one or more of an electrical cable, a hydraulic pipeline, a high-pressure fluid pipeline, a chemical pipeline or a pneumatic pipeline, and the energy form transmitted by the power line includes electrical energy, pressure energy or chemical energy; one end of the power line is connected to the shaft expansion mining device underground, and the other end is connected to a power source outside the wellhead, and the energy form provided by the power line to the shaft expansion mining device includes electrical energy, pressure energy and chemical energy.

52. A controllable fluid-filled shaft expansion mining system as claimed in any one of claims 1, 15 or 28, characterized in that: The power line includes a pipe string for transmitting pressure energy, and the shaft expansion mining device also includes a downhole generator; the pipe string is used to transport support fluid or other circulating fluid, and the fluid inlet of the downhole generator is connected to the pipe string for introducing support fluid or other circulating fluid into the pipe string; The power output end of the downhole generator is electrically connected to the traveling module or driving mechanism, and is used to convert the pressure energy of the supporting fluid or other circulating fluid into electrical energy to supply power to the traveling module or driving mechanism inside the shaft expansion mining device.

53. A controllable fluid-filled shaft expansion mining system as claimed in any one of claims 1, 15 or 28, characterized in that: The power circuit includes a cable for transmitting electrical energy, and the shaft expansion mining device also includes a hydraulic station, which is electrically connected to a power source arranged outside the wellhead through a power line; the hydraulic station is hydraulically connected to a traveling module, a driving mechanism, a crushing assembly, a mining assembly or a rock splitting assembly inside the shaft expansion mining device, and is used to convert electrical energy into hydraulic energy to provide hydraulic energy for the traveling module, the driving mechanism, the crushing assembly, the mining assembly or the rock splitting assembly inside the shaft expansion mining device.

54. A controllable fluid-filled shaft expansion mining system as claimed in any one of claims 15 or 28, characterized in that: The controllable form liquid-filled well expansion mining system also includes a control terminal located outside the well and a wireless communication device or communication line for realizing communication. When the controllable form liquid-filled well expansion mining system is equipped with a detection device, data is transmitted between the detection device and the communication terminal via a wireless communication device or communication line. When the controllable form liquid-filled well expansion mining system is equipped with a measurement and control device, data is transmitted between the measurement and control device and the communication terminal via a wireless communication device or communication line. When communication is carried out using a communication line, the communication line passes through a passage well or other process well; the wellhead end of the communication line is connected to the control terminal, and the downhole end of the communication line is connected to the sensor or detection equipment provided on the well expansion mining equipment; The detection equipment or measurement and control device includes a video detection module, radar, sonar or lidar, and the detection equipment is connected to the control terminal outside the well; the sensor includes a flow meter, a mineral concentration meter, a current sensor, a voltage sensor, a laser detection device, an acoustic detection device or an electromagnetic detection device, which is used to sense the operating status, cave morphology and / or rock status of the flexible mining machine or three-dimensional controllable expandable mining equipment.

55. A controllable fluid-filled shaft expansion mining system as claimed in any one of claims 1, 15 or 28, characterized in that: The shaft ore conveying device also includes a ore screen, which is arranged at the entrance end of the shaft ore conveying device in the cave or traffic shaft, and is used to screen out ore particles that can be conveyed by the shaft ore conveying device; when the shaft ore conveying device is a shaft hydraulic ore conveying system, the median particle size of the ore crushed by the shaft expansion mining equipment is less than 20% of the inner diameter of the ore conveying pipe or the ore discharge shaft, and the effective aperture of the ore screen is less than 30% of the inner diameter of the ore conveying pipe or the ore discharge shaft; when the shaft ore conveying device is a shaft mechanical ore conveying system, the median particle size of the ore crushed by the shaft expansion mining equipment is less than 50% of the inner diameter of the ore conveying pipe or the ore discharge shaft, and the effective aperture of the ore screen is less than 80% of the inner diameter of the ore conveying pipe or the ore discharge shaft.

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