CN116446876A - Coaxial drilling accurate splitting device, crushing equipment and coaxial splitting method - Google Patents

Abstract

The application relates to the technical field of crushing of solid materials such as rock, concrete and the like, and provides a coaxial drilling accurate splitting device, crushing equipment and a coaxial splitting method; this accurate splitting device of coaxial drilling includes: the system comprises a main control system, a drilling power device, an oil cylinder system, an oil pressure control system, a splitting mechanism, a drill rod, a rock mass multi-source acoustic positioning and identifying module and a rock breaking mechanism; the drilling power device, the oil cylinder system, the splitting mechanism, the drill rod and the rock breaking mechanism are coaxially arranged, one end of the drill rod is connected with the drilling power device, the drill rod passes through the oil cylinder system and the splitting mechanism, the other end of the drill rod is connected with the rock breaking mechanism, the oil cylinder system and the oil pressure control system are matched to control the splitting mechanism to split and break rock, and the splitting mechanism and the rock breaking mechanism are provided with a geothermal sensor. The coaxial drilling accurate splitter has the advantages of high splitting efficiency, safety, accurate splitting, low energy consumption and long service life.

Description

A coaxial drilling precision splitting device, crushing equipment and coaxial splitting method

technical field

The application belongs to the technical field of crushing solid materials such as rocks and concrete, and more specifically relates to a coaxial drilling precision splitting device, crushing equipment and a coaxial splitting method.

Background technique

With the rapid development of the national economy and the country's increasing demand for mineral resources, the importance of geotechnical engineering and mining engineering has become increasingly prominent. The compressive strength of solid materials such as various types of rocks or ores is much higher than its tensile and shear strength. Generally speaking, the compressive strength of sandstone rocks is between 20 and 200 MPa; the compressive strength of granite rocks is higher, about 100 to 250 MPa. And all rock materials have cleavage, which makes them directional when they break. The existence of cleavage makes the tensile strength of rock and other solid materials much lower than its compressive and shearing strength. The tensile strength and shear strength of solid materials such as rocks and concrete are about 1/10 of their compressive strength. How to make full use of the physical and mechanical properties of solid materials such as rocks and concrete for crushing is the key to improving the crushing efficiency of solid materials. The essential.

From the perspective of the principle of mechanical crushing of solid materials, it can be basically divided into three categories: impact compression shear method, milling cutting method and rock splitting method. The drilling splitting method is to first drill a hole in solid materials such as rock and concrete, and then apply a static or quasi-static load to the hole wall to crack or break the rock. Because it breaks solid materials from inside such as rock or concrete, it can make full use of the mechanical properties of rock or concrete whose tensile and shear strength are much lower than the compressive strength. Compared with the impact compression shear method and milling cutting method, the energy utilization rate of the drilling splitting rock breaking method is greatly improved. The efficiency of breaking solid materials is also significantly improved, especially suitable for the construction of solid materials with higher strength. Compared with the drilling and blasting method, the drilling and splitting rock breaking method has a relatively high controllability, which can avoid damage to the surrounding structures and over-excavation during the construction of solid materials, and can also avoid other harmful effects caused by the blasting method, such as Earthquake waves, air shock waves, harmful gases, flying stones and noise, etc., so its application range is much wider.

In the prior art, the patent application number CN202220720293.0 discloses a drilling and cracking integrated machine. When the drilling and cracking integrated machine is in operation, the hinged seat is connected with the excavator or other equipment, and then the horizontal rotation mechanism is started to drive The frame swings horizontally, so that the rock drilling unit swings to the drilling position, and then starts the rock drilling unit to drill. When the drilling is completed, start the horizontal rotation mechanism to drive the frame to swing horizontally, so that the splitting unit swings to the previous rock hole Then start the splitting unit and push it into the rock hole for rock splitting operation. The integrated drilling and splitting machine needs to use the rock drilling unit to drill holes first. hole; that is, the operation process of drilling, retreating and aligning holes is required; similarly, the drilling and splitting integrated trolley with the patent application number CN202020675232.8, and the drilling and splitting trolley with the patent application number CN202020981705.7 all have the above operations The operation process of the existing equipment has high positioning difficulty, slow hole alignment time, and short service life of the rotating parts under the vibration and impact force generated by the splitting of solid materials such as rocks, resulting in low drilling and splitting construction efficiency , high construction and maintenance costs.

Contents of the invention

The purpose of the embodiments of the present application is to provide a precise splitting device for coaxial drilling to solve the problem of low drilling and splitting construction efficiency due to the complicated operation procedures of drilling, retreating and re-alignment in the prior art technical problems.

In order to achieve the above purpose, the technical solution adopted by this application is to provide a precise splitting device for coaxial drilling, including: a general control system, a drilling power unit, an oil cylinder system, an oil pressure control system, a splitting mechanism, and a drill pipe , a rock mass multi-source acoustic positioning and identification module and a rock-breaking mechanism; the drilling power unit, the oil cylinder system, the splitting mechanism, the drill pipe and the rock-breaking mechanism are coaxially arranged, and the One end of the drill pipe is connected to the drilling power unit, and after passing through the oil cylinder system and the splitting mechanism, the other end is connected to the rock breaking mechanism, and the oil cylinder system and the oil pressure control system cooperate to control The splitting mechanism splits and breaks rocks, and at least the splitting mechanism and the rock-breaking mechanism are provided with geoacoustic sensors.

By adopting the above-mentioned technical scheme, under the control of the general control system, the drilling power device controls the action of the drill pipe and the rock-breaking mechanism to realize the drilling operation. For rock cracking operations, the coaxial drilling precision splitting device is a coaxial center structure. The rock breaking mechanism does not need to retreat the hole, and the splitting mechanism splits the hole and the re-entry hole. The splitting process is simple. Combined with the drill pipe and The geoacoustic sensors deployed by the rock-breaking mechanism and the rock drilling or splitting rock-breaking signals collected by the multi-source acoustic positioning and identification module of the rock mass invert the structure of the surrounding materials to be mined, and determine the best splitting mechanism based on the actual free surface. The direction of splitting and the required splitting force can effectively avoid the damage to the surrounding structures of the materials to be mined during the crushing or construction process, as well as problems such as undercut and overcut.

In one embodiment, the coaxial drilling precision splitting device also includes a positioning mechanism for positioning on the mining face, the overall control system is set on the positioning mechanism through the first linear drive mechanism, and the oil cylinder system is set on the positioning mechanism through the second The linear drive mechanism is arranged on the positioning mechanism, the splitting mechanism is arranged on the oil cylinder system, and the positioning mechanism is provided with a geoacoustic sensor.

By adopting the above technical solution, the positioning mechanism is used for pressure positioning with the mining working face, and is used for positioning the coaxial drilling precision splitting device on the material to be mined, thereby ensuring the stability of the coaxial drilling precision splitting device Performance and position accuracy ensure that the coaxial drilling precision splitting device will not move during rock drilling and splitting. The first linear drive mechanism is used to realize the reciprocating motion of the general control system and the drilling power unit, so as to realize the drilling operation, and the second linear drive mechanism is used to drive the oil cylinder system to reciprocate, so as to drive the splitting mechanism into the hole for splitting Cracking work.

In one embodiment, the positioning mechanism includes: a positioning square tube, a telescopic rod and a thimble. It is arranged on the telescopic rod, and the positioning square tube is provided with a fifth oil port, and the fifth oil port is connected with the oil pressure control system.

By adopting the above technical solution, the thimble is controlled to expand and contract through the telescopic rod, so that it can be applied to different mining working faces for positioning.

In one embodiment, the oil pressure control system includes a first oil pipe, a second oil pipe, an oil pressure instrument panel, a first control switch and a second control switch; both the first oil pipe and the second oil pipe are connected to the oil pressure instrument panel , the first control switch controls the opening and closing of the first oil pipe, the second control switch controls the opening and closing of the second oil pipe, and both the first oil pipe and the second oil pipe are connected to the oil cylinder system.

By adopting the above technical solution, the oil pressure control system can accurately control the oil pressure of each oil pipe and display it through the oil pressure instrument panel, which is convenient for confirmation.

In one embodiment, the oil cylinder system includes: a cylinder body and a piston; the piston is arranged in the cylinder body and divides the cylinder body into a first chamber and a second chamber, and on the cylinder body There is a first oil port communicated with the first chamber, and a second oil port communicated with the second chamber, the drill rod passes through the cylinder and the piston, the piston The moving direction is the same as the length direction of the drill pipe; the first oil pipe is connected with the first oil port, and the second oil pipe is connected with the second oil port.

In one embodiment, the splitting mechanism is a mechanically rigid splitting mechanism, including a translation slider and a splitting wedge, the splitting wedge is arranged around the translation slider, and the drill rod passes through the The translation slider, the translation slider is connected with the piston, the end of the cylinder close to the splitting mechanism is provided with a card slot, and a rebound device providing radial elastic force is provided in the card slot, so One end of the splitting wedge is arranged in the slot and connected with the rebound device.

By adopting the above technical scheme, the translational slider moves toward the inside of the hole, and the splitting wedge is stretched, so that the splitting wedge exerts a splitting force on the hole, and at the same time, the rebound device is compressed; after the splitting operation is completed , the translation slider moves in reverse, and under the elastic force of the rebound device, the splitting wedge returns to its original state for the next splitting operation.

In one embodiment, the oil cylinder system includes a servo motor and a hydraulic pump, the splitting mechanism is a hydraulic servo splitting mechanism, including a housing and a splitting block, the servo motor is connected to the hydraulic pump, and The hydraulic pump is connected with the housing, the hydraulic pump is provided with a third oil port and a fourth oil port, the third oil port is connected with the first oil pipe, the fourth oil port is connected with the second oil pipe, and the split A plurality of blocks are provided at intervals, and the splitting blocks are sealed out of the casing or accommodated in the casing.

Another object of the present application is to provide a crushing device, which includes the main body of the device and the precise splitting device for coaxial drilling as described above. The precise splitting device for coaxial drilling also includes a hinge mechanism, and the hinge mechanism includes a connection A seat and a rotary drive assembly, the rotary drive assembly is connected with the positioning mechanism, and the connection seat is connected with the device main body.

By adopting the above technical solution, the coaxial drilling precision splitting device is arranged on the equipment main body through a hinged structure, so as to be applicable to different types of equipment main bodies, and can be applied to drilling and splitting work at different angles through the rotating drive assembly.

In one embodiment, the main body of the equipment is an excavator, a rake, a rock drilling jumbo, a roadheader, a cantilever mining robot or a rock-piercing flexible rock drilling robot.

Another object of the present application is to provide a coaxial splitting method, based on the crushing equipment as described above, the coaxial splitting method includes the following steps:

S1. The main body of the equipment is equipped with a coaxial drilling precision splitting device and moves to the mining face;

S2. The general control system controls the work of the drilling power device in the coaxial drilling precision splitting device. The drilling power device drives the drill pipe and the rock breaking mechanism to perform drilling operations. At the same time, the rock mass multi-source acoustic positioning and identification module Automatically transmit the characteristic information of the material to be mined to the intelligent analysis module in the general control system;

S3. The overall control system controls the oil pressure control system in the coaxial drilling precision splitting device and cooperates with the oil cylinder system to make the splitting mechanism face the rear of the air surface and split the material to be mined. The oil pressure control system automatically transmits the oil pressure information to the intelligent analysis module;

S4. The rock mass multi-source acoustic positioning and identification module is used to dynamically perceive and locate the sound source induced by the rupture, stress and deformation of the material to be mined during the rock drilling process, and then according to the position of multiple types of sound sources and the rock breaking mechanism, The position and propagation time between the geoacoustic sensors arranged by the positioning mechanism and the splitting mechanism are used to invert the parameters of the materials to be mined in the area to be crushed, including abnormal areas such as joints, cracks, strength, water-bearing bodies, and faults, and then determine the original location accurately and in real time. In-situ crushing of the splitting direction and splitting force of the material to be mined, and start the in-situ splitting of the material to be mined;

S5. After the material to be mined is split, the general control system controls the oil pressure control system in the coaxial drilling precision splitting device to stop the application of splitting force, and the general control system controls the coaxial drilling precision splitting device After the advanced rock-breaking mechanism further breaks the stripped materials to be mined, the coaxial drilling precision splitting device moves to the next splitting position;

S6. After the coaxial drilling precision splitting device completes the splitting operation that can touch the mining face, clean and remove the slag from the split materials to be mined;

S7. The main body of the equipment moves so that the coaxial drilling precision splitting device moves to the next mining face.

The beneficial effects of the coaxial drilling precision splitting device, crushing equipment and coaxial splitting method provided by this application are:

First, the precise splitting device for coaxial drilling is a coaxial center structure. The rock breaking mechanism does not need to retreat the hole, and the splitting mechanism does not need to split the hole and the re-entry hole. The splitting process is simple and improves the drilling efficiency. and splitting construction efficiency;

Second, the coaxial drilling precision splitting device is a coaxial center structure, the reduction of the operation process can avoid the problem of multi-equipment rotation or the rotation switching of the mechanism in the equipment, reduce the equipment cost and improve the service life of the equipment;

Third, the coaxial drilling precision splitting device has a coaxial center structure, which effectively reduces the equipment volume, improves flexibility, has strong rock breaking ability and low rock breaking specific energy, and reduces energy consumption;

Fourth, use the rock mass multi-source acoustic positioning and identification module to dynamically perceive and locate the sound source induced by rock mass rupture, stress, and deformation during the rock drilling process, and then according to the position of multiple types of sound sources and the rock-breaking mechanism The position and propagation time between the geoacoustic sensors arranged by the positioning mechanism and the splitting mechanism can be used to invert the parameters of the rock mass in the area to be broken, including abnormal areas such as joints, cracks, strength, water-bearing bodies, and faults, and then determine the original rock mass accurately and in real time. The splitting direction and splitting force of the materials to be mined can effectively avoid the damage to the surrounding structures or the problems of undercut and overcut during the crushing or construction process of the materials to be mined;

Fifth, the coaxial drilling precision splitting device has the advantages of safety, high efficiency, precise splitting, low energy consumption and long service life.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without creative effort.

Fig. 1 is the schematic diagram of the overall simplified structure of the coaxial drilling precision splitting device provided in Embodiment 1 of the present application;

Fig. 2 is the simplified structure schematic diagram of the oil pressure control system in the coaxial drilling precision splitting device that the embodiment 1 of the present application provides;

Fig. 3 is the simplified schematic structural diagram of the oil cylinder control system in the coaxial drilling precise splitting device provided by Embodiment 1 of the present application;

Fig. 4 is the simplified structural schematic diagram of the mechanically rigid splitting mechanism in the coaxial drilling precise splitting device provided in Embodiment 1 of the present application;

Fig. 5 is a simplified schematic structural view of the positioning mechanism in the coaxial drilling precision splitting device provided in Embodiment 1 of the present application;

Fig. 6 is a simplified structural schematic diagram of the hinge mechanism in the coaxial drilling precision splitting device provided in Embodiment 1 of the present application;

Fig. 7 is a simplified structural schematic diagram of the cylinder system and the hydraulic splitting mechanism in the coaxial drilling precise splitting device provided in Embodiment 2 of the present application.

Wherein, each reference sign in the figure:

1. General control system; 2. Drilling power unit; 3. Oil cylinder system; 31. First oil port; 32. Second oil port; 33. Cylinder block; 34. First chamber; 35. Second chamber ;36, piston; 37, card slot; 38, rebound device; 4, oil pressure control system; 41, first oil pipe; 42, second oil pipe; 43, oil pressure instrument panel; 44, first control switch; 45 , the second control switch; 5, the hinge mechanism; 51, the connecting seat; 52, the rotary drive assembly; 6, the drill pipe; 7, the splitting mechanism; 71, the translation slider; 72, the splitting wedge; 73, the servo motor ; 74, hydraulic pump; 75, shell; 76, split block; 77, the third oil port; 78, the fourth oil port; 8, positioning mechanism; 81, the fifth oil port; 82, telescopic rod; 83, Thimble; 84. Positioning square pipe; 9. Geoacoustic sensor; 10. Rock mass multi-source acoustic positioning and identification module; 11. Rock breaking mechanism; 12. First linear drive mechanism; 13. Second linear drive mechanism.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

It is to be understood that the terms "length", "width", "top", "bottom", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying No device or element must have a particular orientation, be constructed, and operate in a particular orientation, and thus should not be construed as limiting the application.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

Example 1:

As shown in FIGS. 1-6 , a coaxial drilling precision splitting device provided by the embodiment of the present application is now described. The precise splitting device for coaxial drilling includes: general control system 1, drilling power device 2, oil cylinder system 3, oil pressure control system 4, splitting mechanism 7, drill pipe 6, multi-source acoustic positioning and identification of rock mass Module 10 and rock breaking mechanism 11.

Among them, the drilling power unit 2, the oil cylinder system 3, the splitting mechanism 7, the drill pipe 6 and the rock breaking mechanism 11 are coaxially arranged, and the rock mass multi-source acoustic positioning and identification module 10 is arranged on the splitting mechanism 7 and the rock breaking mechanism. Between 11, one end of the drill pipe 6 is connected to the drilling power unit 2, after passing through the oil cylinder system 3 and the splitting mechanism 7, the other end is connected to the rock-breaking mechanism 11, and the rock-breaking mechanism 11 includes at least a rock-breaking drill bit for The material to be mined is drilled and crushed; the oil pressure control system 4 is connected to the oil cylinder system 3 through the oil pipe, and the oil cylinder system 3 and the oil pressure control system 4 cooperate to control the splitting mechanism 7 to split and break the rock. At least the splitting mechanism 7 and the rock breaking The mechanism 11 is provided with a geoacoustic sensor 9, and the geoacoustic sensor 9 cooperates with the rock mass multi-source acoustic positioning and identification module 10; the geoacoustic sensor 9 is used to monitor the rock drilling and the original The wave speed at which the bit breaks the material to be mined. The general control system 1 can adopt an existing PLC control system; the drilling power unit 2 can control the rotation of the drill rod 6 in an existing conventional manner, or provide propulsion while controlling the drilling of the drill rod 6 .

In this embodiment, under the control of the general control system 1, the drilling power device 2 controls the action of the drill pipe 6 and the rock breaking mechanism 11 to realize the drilling operation. After the drilling is completed, the oil pressure control system 4 cooperates with the oil cylinder system 3 Control the splitting mechanism 7 to carry out splitting and rock-breaking operations. The coaxial drilling precision splitting device is a coaxial center structure. The rock-breaking mechanism 11 does not need to retreat the hole, and the splitting mechanism 7 does not need to split the hole and the re-entry hole. , the splitting process is simple, combined with the geoacoustic sensor 9 arranged by the drill pipe 6 and the rock-breaking mechanism 11 and the rock-drilling or splitting rock-breaking signal collected by the rock mass multi-source acoustic positioning and identification module 10, the surrounding materials to be mined (referring to the rock , concrete and other solid materials), combined with the actual free surface situation, determine the best splitting direction and the required splitting force of the splitting mechanism 7, which can effectively avoid the impact of the material to be mined on the surrounding area during crushing or construction. Damage to structures or issues such as undercut and overbreak.

As shown in Figures 1 and 5, in this embodiment, the coaxial drilling precision splitting device also includes a positioning mechanism 8 for positioning on the mining face, and the total control system 1 passes through the first linear drive mechanism 12 Set on the positioning mechanism 8, the drilling power unit 2 is set on the general control system 1, the oil cylinder system 3 is set on the positioning mechanism 8 through the second linear drive mechanism 13, the splitting mechanism 7 is set on the oil cylinder system 3, the positioning mechanism 8 is provided with geoacoustic sensor 9. The positioning mechanism 8 is used for pressing and positioning with the mining working face, and is used to fix the coaxial drilling precision splitting device on the material to be mined, thereby ensuring the stability and position accuracy of the coaxial drilling precision splitting device, Ensure that the coaxial drilling precision splitting unit does not move while drilling and splitting. The first linear drive mechanism 12 and the second linear drive mechanism 13 can adopt the existing screw assembly structure, track drive assembly or hydraulic cylinder and slide rail assembly. The first linear drive mechanism 12 is used to control the movement of the general control system 1 and the drilling power unit 2, thereby synchronously driving the movement of the drill pipe 6 and the rock breaking mechanism 11; the second linear drive mechanism 13 is used to control the oil cylinder system 3 and the movement of the splitting mechanism 7; in the actual work process, while drilling, the first linear drive mechanism 12 and the second linear drive mechanism 13 can work synchronously; or, when drilling, the first linear drive mechanism 12 works first, and after the drilling is completed, the second linear drive mechanism 13 works again, and the specific conditions are selected according to actual needs.

The overall control system 1 is used to control each working component to perform corresponding actions. The total control system 1 includes an intelligent analysis module. The intelligent analysis module analyzes the coaxial drilling by receiving the oil pressure information transmitted by the oil pressure control system 4 and the rock mass quality information transmitted by the rock mass multi-source acoustic positioning and identification module 10. The working state of the precise splitting device is dynamically controlled, such as dynamically adjusting the splitting force value, the drilling rate and the active force of the positioning mechanism 8, etc. The oil pressure control system 4 can control and read the oil pressure of each chamber of the coaxial drilling precision splitting device, and then control the operation of the coaxial drilling precision splitting device. Further, the oil pressure control system 4 is connected with the intelligent analysis module of the general control system 1 and can transmit the read oil pressure data to the general control system 1 .

Specifically, as shown in Figure 5, the positioning mechanism 8 includes: a positioning square tube 84, a telescopic rod 82 and a thimble 83, and the surface of the positioning square tube 84 is a plane, which is for the convenience of installing the first linear drive mechanism 12 and the second linear drive mechanism. drive mechanism 13. The positioning square tube 84 is provided with a circular channel, the circular channel is used to install the telescopic rod 82, the telescopic rod 82 is sealed and movable arranged in the positioning square tube 84, and the thimble 83 is arranged on the telescopic rod 82, and the thimble 83 is used for pressing The mining face; the geoacoustic sensor 9 is set on the thimble 83 . The positioning square pipe 84 is provided with a fifth oil port 81, the fifth oil port 81 is connected with the oil pressure control system 4, and the movement of the telescopic rod 82 is controlled by feeding the oil pressure, so that it is applicable to different positions of the mining face for positioning.

As shown in Figures 1 and 2, the oil pressure control system 4 includes a first oil pipe 41, a second oil pipe 42, an oil pressure instrument panel 43, a first control switch 44 and a second control switch 45; The oil pipes 42 are all connected with the oil pressure instrument panel 43, the first control switch 44 controls the on-off of the first oil pipe 41, the second control switch 45 controls the on-off of the second oil pipe 42, and the first oil pipe 41 and the second oil pipe 42 are connected with each other. Cylinder system 3 connections. In other embodiments, the number of oil pipes and control switches can be appropriately increased according to requirements.

As shown in Fig. 1 and Fig. 3, in the present embodiment, the oil cylinder system 3 includes: a cylinder body 33 and a piston 36; the piston 36 is arranged in the cylinder body 33 and the cylinder body 33 is divided into a first chamber 34 and a second chamber Cavity 35, the cylinder body 33 is provided with the first oil port 31 communicating with the first chamber 34, and the second oil port 32 communicating with the second chamber 35, the drill rod 6 passes through the cylinder body 33 and the piston 36 , the moving direction of the piston 36 is the same as the length direction of the drill pipe 6; the first oil pipe 41 is connected with the first oil port 31, and the second oil pipe 42 is connected with the second oil port 32.

As shown in Fig. 1, Fig. 3 and Fig. 4, in the present embodiment, the splitting mechanism 7 is a mechanically rigid splitting mechanism, comprising a translation slider 71 and a splitting wedge 72, and the splitting wedge 72 surrounds the translation slide Block 71 is arranged, and drilling rod 6 passes translation slide block 71, and translation slide block 71 is connected with piston 36, is preferably threaded connection, and cylinder body 33 is provided with draw-in groove 37 near the end of splitting mechanism 7, and draw-in groove 37 is provided with The rebound device 38 provides radial elastic force, and one end of the splitting wedge 72 is arranged in the slot 37 and connected with the rebound device 38 . Specifically, the rebound device 38 includes a spring, and one end of the splitting wedge 72 is arranged in an L shape so as to be connected with the spring, and the spring drives the splitting wedge 72 to move toward the direction of the axis, so that a plurality of splitting wedges 72 gather together, No splitting force is applied to the inner wall of the hole when gathered. The translation slider 71 is a circular tube structure, and the contact surfaces between the translation slider 71 and the splitting wedge 72 are all wedge-shaped surfaces, so that the splitting wedge 72 is conveniently stretched to apply a splitting force to the inner wall of the hole.

In this embodiment, as shown in Figure 1 and Figure 5, the coaxial drilling precision splitting device also includes a hinge mechanism 5, the hinge mechanism 5 includes a connection base 51 and a rotary drive assembly 52, the connection base 51 is used for the following The main body of the equipment is connected, and the rotary drive assembly 52 is used to install the positioning mechanism 8. The rotary drive assembly 52 can drive the positioning mechanism to rotate 360°, so that the coaxial drilling precision splitting device can drill the mining working face at different angles. Hole and split work. The rotary drive assembly 52 can be implemented by combining a motor with a turntable.

In this embodiment, the rock mass multi-source acoustic positioning and identification module 10 is used for dynamically sensing and locating sound sources induced by rock mass rupture, stress, and deformation during the rock drilling process, and then according to the positions and The position and propagation time between the geoacoustic sensors arranged by the rock-breaking mechanism, the positioning mechanism and the splitting mechanism 7 are used to invert the parameters of the rock mass in the area to be broken, including abnormal areas such as joints, cracks, strength, water-bearing bodies, and faults, and then Accurate and real-time determination of the splitting direction and splitting force of in-situ crushing materials to be mined. The specific working principles of the rock mass multi-source acoustic positioning and identification module include:

a. The geoacoustic sensor 9 installed on the rock-breaking mechanism 11, the positioning mechanism 8 and the splitting mechanism 7 calibrates its position in time according to inertial navigation and ground-penetrating communication; its specific principle can refer to the patent application number CN202110127701.1.

b. According to the arrival of multiple types of multiple sound sources caused by rock rupture, force, deformation, etc. from the rock breaking mechanism 11 rock drilling process received by the geoacoustic sensor 9, the geoacoustic sensor 9 in the a step is combined to carry out the sound Source location; the specific principle can refer to the patent application number CN202010796166.4.

c. According to the position and arrival time of multiple types of sound sources caused by rock fracture, stress, deformation, etc., and the position of the geoacoustic sensor, the rock mass wave velocity field in the broken area to be measured is back calculated. For specific principles, please refer to the application number CN202010811187 .9 patent, its rock mass wave velocity expression is as follows:

In the formula: v(xi _, y _i ,zi ₎ is the wave velocity field of the rock mass in the broken area to be measured, Δ(t _i ,t _0i ) is the arrival time difference between the signal arrival time and the initial time, S( _xi ,y _i , z _i x _0i , y _0i , z _0i ) is the distance between the sensor and the source signal.

d. Judging the abnormal area according to the data size of the wave velocity field: the wave velocity is less than 340m/s, which is usually a cavity, and it is necessary to avoid drilling, anti-jamming and cracking of the splitting block 76; 340-1000m/s may contain water, you need Prepare for water inrush in advance. If the wave velocity is greater than 6000m/s, it is necessary to prevent rockburst and other disasters from harming personnel and equipment.

In this embodiment, the general control system 1 controls the drilling power unit 2, the drill rod 6 and the rock breaking mechanism 11 to perform rock drilling. After the drilling is completed, the first control switch 44 is turned on, and the oil pressure control system 4 sends the first cavity The chamber 34 is pressurized, and because the piston 36 is fixedly connected with the translation slider 71, the piston 36 moves in the direction of the hole in the splitting wedge 72 with the translation slider 71, and the splitting wedge 72 is gradually opened, so that the splitting Crack the wedge 72 and carry out in-situ splitting in the holes of solid materials (materials to be mined) such as rocks. After splitting, the first control switch 44 was turned off, the second control switch 45 was turned on, and the oil pressure control system 4 added oil to the second chamber 35, and the piston 36 drove the translation slide block 71 to the hole in the splitting wedge 72. Move outward, and the piston 36 returns. At the same time, the elastic force of the rebound device 38 drives the splitting wedge 72 to return to gather, so that the next splitting work of the equipment has the advantages of good construction effect, high safety factor and simple structure.

In this embodiment, there is also provided a crushing device, which includes a main body of the device and the precise splitting device for coaxial drilling as stated above, the connecting seat 51 of the precise splitting device for coaxial drilling is connected to the main body of the device.

Specifically, in this embodiment, the main body of the equipment is an excavator, a rake, a rock drilling jumbo, a roadheader, a cantilever mining robot or a rock-penetrating flexible rock drilling robot. Among them, the cantilever-type tunneling mining robot can adopt the cantilever-type tunneling mining robot disclosed in the patent application number CN202210419094.0; the rock-piercing flexible rock drilling robot can adopt the rock-piercing flexible rock drill disclosed in the patent application number CN202110940989.4 Robot; Specifically, the connecting seat 51 of the coaxial drilling precision splitting device is arranged at the front end of the robot arm of the main body of the device. The main body of the equipment has its own walking mechanism, which can travel freely to the mining face.

In this embodiment, a coaxial splitting method is also provided, based on the crushing equipment stated above, the coaxial splitting method includes the following steps:

S1. The main body of the equipment is equipped with a coaxial drilling precision splitting device and moves to the mining face;

S2. The general control system 1 controls the drilling power device 2 in the coaxial drilling precision splitting device to work. The drilling power device 2 drives the drill pipe 6 and the rock breaking mechanism 11 to perform drilling operations. At the same time, the rock mass is multi-sourced. The acoustic positioning and identification module 10 automatically transmits the characteristic information of the material to be mined to the intelligent analysis module in the general control system 1;

S3. The total control system 1 controls the oil pressure control system 4 in the coaxial drilling precision splitting device, cooperates with the oil cylinder system 3 to make the splitting mechanism 7 split the material to be mined towards the rear of the air surface, and the oil pressure control system 4 automatically transfers the oil Compress information to the intelligent analysis module;

S4. The rock mass multi-source acoustic positioning and identification module is used to dynamically perceive and locate the sound source induced by the rupture, stress and deformation of the material to be mined during the rock drilling process, and then according to the position of multiple types of sound sources and the rock breaking mechanism, The position and propagation time between the geoacoustic sensors arranged by the positioning mechanism and the splitting mechanism 7 are used to invert the parameters of the materials to be mined in the area to be crushed, including abnormal areas such as joints, cracks, strength, water-bearing bodies, and faults, and then accurately and in real time. In-situ crushing of the splitting direction and splitting force of the material to be mined, and start the in-situ splitting of the material to be mined;

S5. After the material to be mined is split, the total control system 1 controls the oil pressure control system 4 in the coaxial drilling precision splitting device to stop the application of the splitting force, and the total control system 1 controls the coaxial drilling precision splitting After the rock-breaking mechanism in the splitting device further breaks the stripped materials to be mined, the coaxial drilling precision splitting device moves to the next splitting position;

S6. After the coaxial drilling precision splitting device completes the splitting operation that can touch the mining face, the split material to be mined is cleaned and slag removed; the cleaning and slag removal can be realized by the structure that comes with the main body of the equipment, or can be through additional equipment;

S7. The main body of the equipment moves so that the coaxial drilling precision splitting device moves to the next mining face.

Example 2:

In this embodiment, the difference from Embodiment 1 is that another oil cylinder system 3 and splitting mechanism 7 are provided. Specifically, as shown in Figure 7, the oil cylinder system 3 includes a servo motor 73 and a hydraulic pump 74, and the splitting mechanism 7 is a hydraulic servo type splitting mechanism 7, including a housing 75 and a splitting block 76, the servo motor 73 and the hydraulic pump 74 connection, the hydraulic pump 74 is connected with the casing 75, the hydraulic pump 74 is provided with a third oil port 77 and a fourth oil port 78, the third oil port 77 is connected with the first oil pipe 41, and the fourth oil port 78 is connected with the second oil pipe 42 connection, the splitting block 76 is provided with a plurality of intervals, and the splitting block 76 extends out of the housing 75 in a sealed manner or is accommodated in the housing 75; the servo motor 73 is used to adjust the splitting angle, and the hydraulic pump 74 is used to control the flow to the shell. The oil pressure input in the body 75 pushes each splitting block 76 out of the housing 75 to apply splitting force to the rock wall in the hole.

In this embodiment, the general control system 1 controls the drilling power unit 2, the drill rod 6 and the rock breaking mechanism to drill rocks. After the drilling is completed, the servo motor 73 adjusts the angle so that each splitting block 76 is aligned with the rock that needs to be split. direction, the first control switch 44 is turned on, the oil pressure control system 4 inputs oil pressure into the third oil port 77 and adjusts the state of each splitting block 76 to load the splitting force under the control of the hydraulic pump 74, so that each splitting block Block 76 evenly contacts with the hole wall to carry out splitting operation in situ.

The above descriptions are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the application should be included in the protection of the application. within range.

Claims (10)

1. A coaxial drilling precision splitting device is characterized in that it comprises: total control system (1), drilling power unit (2), oil cylinder system (3), oil pressure control system (4), splitting mechanism (7), drill pipe (6), rock mass multi-source acoustic positioning and identification module (10) and rock breaking mechanism (11); the drilling power unit (2), the oil cylinder system (3), the The splitting mechanism (7), the drill rod (6) and the rock breaking mechanism (11) are coaxially arranged, and one end of the drill rod (6) is connected to the drilling power unit (2), After passing through the oil cylinder system (3) and the splitting mechanism (7), the other end is connected with the rock breaking mechanism (11), and the oil cylinder system (3) and the oil pressure control system (4) Cooperate with controlling the splitting mechanism (7) to split and break rocks, at least the splitting mechanism (7) and the rock breaking mechanism (11) are provided with geoacoustic sensors (9). 2. The precise splitting device for coaxial drilling as claimed in claim 1, characterized in that, it also includes a positioning mechanism (8) for being positioned on the mining face, and the total control system (1) passes through the first The linear drive mechanism (12) is arranged on the positioning mechanism (8), the oil cylinder system (3) is arranged on the positioning mechanism (8) through the second linear drive mechanism (13), and the splitting mechanism (7) It is arranged on the oil cylinder system (3), and a geoacoustic sensor (9) is arranged on the positioning mechanism (8). 3. The precise splitting device for coaxial drilling according to claim 2, characterized in that: the positioning mechanism (8) comprises: a positioning square tube (84), a telescopic rod (82) and a thimble (83), the The positioning square tube (84) is provided with a circular channel, the telescopic rod (82) is sealed and movable arranged in the positioning square tube (84), and the thimble (83) is arranged on the telescopic rod (82). ), the positioning square pipe (84) is provided with a fifth oil port (81), and the fifth oil port (81) is connected with the oil pressure control system (4). 4. The coaxial drilling precision splitting device according to claim 1, characterized in that: the oil pressure control system (4) comprises a first oil pipe (41), a second oil pipe (42), an oil pressure instrument panel (43), the first control switch (44) and the second control switch (45); the first oil pipe (41) and the second oil pipe (42) are all connected with the oil pressure instrument panel (43), and the first control switch (44 ) controls the passage of the first oil pipe (41), the second control switch (45) controls the passage of the second oil pipe (42), and the first oil pipe (41) and the second oil pipe (42) are all connected to the The cylinder system (3) is connected. 5. The precise splitting device for coaxial drilling as claimed in claim 4, characterized in that: said oil cylinder system (3) comprises: a cylinder body (33) and a piston (36); said piston (36) is arranged on In the cylinder body (33) and the cylinder body (33) is divided into a first chamber (34) and a second chamber (35), the cylinder body (33) is provided with the The first oil port (31) communicated with the chamber (34), and the second oil port (32) communicated with the second chamber (35), the drill rod (6) passes through the cylinder ( 33) and the piston (36), the moving direction of the piston (36) is the same as the length direction of the drill pipe (6); the first oil pipe (41) and the first oil port (31) connected, the second oil pipe (42) is connected to the second oil port (32). 6. The precise splitting device for coaxial drilling according to claim 5, characterized in that: the splitting mechanism (7) is a mechanically rigid splitting mechanism, comprising a translational slider (71) and a splitting wedge (72), the splitting wedge (72) is arranged around the translation slider (71), the drill rod (6) passes through the translation slider (71), and the translation slider (71) Connected with the piston (36), the end of the cylinder (33) near the splitting mechanism (7) is provided with a draw-in groove (37), and the draw-in groove (37) is provided with a radial elastic force The rebound device (38), one end of the splitting wedge (72) is arranged in the slot (37) and connected with the rebound device (38). 7. The coaxial drilling precision splitting device according to claim 4, characterized in that: the cylinder system (3) includes a servo motor (73) and a hydraulic pump (74), and the splitting mechanism (7) It is a hydraulic servo splitting mechanism, comprising a casing (75) and a splitting block (76), the servo motor (73) is connected to the hydraulic pump (74), and the hydraulic pump (74) is connected to the casing body (75), the hydraulic pump (74) is provided with a third oil port (77) and a fourth oil port (78), the third oil port (77) is connected with the first oil pipe (41), the fourth oil port The mouth (78) is connected with the second oil pipe (42), and the splitting blocks (76) are arranged in multiple intervals, and the splitting blocks (76) extend out of the casing (75) or are stored in the casing ( 75) inside. 8. A crushing device, characterized in that it comprises a device main body and a coaxial drilling precision splitting device according to any one of claims 2-7, and the coaxial drilling precision splitting device also includes a hinge mechanism (5), the hinged mechanism (5) comprises a connection base (51) and a rotation drive assembly (52), the rotation drive assembly (52) is connected with the positioning mechanism (8), and the connection base (51) Connect with the device body. 9. The crushing equipment according to claim 8, characterized in that: the main body of the equipment is an excavator, a rake, a rock drilling jumbo, a roadheader, a cantilever mining robot or a rock-piercing flexible rock drilling robot. 10. A coaxial splitting method, characterized in that, based on the crushing equipment as claimed in claim 8, the coaxial splitting method comprises the following steps: S1. The main body of the equipment is equipped with a coaxial drilling precision splitting device and moves to the mining face; S2. The general control system (1) controls the drilling power device (2) in the coaxial drilling precision splitting device to work, and the drilling power device (2) drives the drill pipe (6) and the rock breaking mechanism (11) to perform actions. Drilling operation, at the same time, the rock mass multi-source acoustic positioning and identification module (10) automatically transmits the characteristic information of the material to be mined to the intelligent analysis module in the general control system (1); S3. The general control system (1) controls the oil pressure control system (4) in the coaxial drilling precision splitting device and cooperates with the oil cylinder system (3) to make the splitting mechanism (7) split the material to be mined towards the rear of the air surface, Oil pressure control system (4) automatically transmits oil pressure information to the intelligent analysis module; S4. The rock mass multi-source acoustic positioning and identification module (10) is used to dynamically perceive and locate the sound source induced by the rupture, force, and deformation of the material to be mined during the rock drilling process, and then according to the position and fracture of multiple types of multiple sound sources The position and propagation time between the geoacoustic sensors (9) arranged by the rock mechanism (11), the positioning mechanism (8) and the splitting mechanism (7), invert the parameters of the material to be mined in the area to be crushed, including joints, cracks, Strength, water body, fault and other abnormal areas, and then accurately and in real time determine the splitting direction and splitting force of the in-situ crushed materials to be mined, and start to split the materials to be mined in situ; S5. After the material to be mined is split, the total control system (1) controls the oil pressure control system (4) in the coaxial drilling precision splitting device, stops the application of the splitting force, and the total control system (1) controls After the rock-breaking mechanism (11) in the coaxial drilling precise splitting device further breaks the stripped materials to be mined, the coaxial drilling precise splitting device moves to the next splitting position; S6. After the coaxial drilling precision splitting device completes the splitting operation that can touch the mining face, clean and remove the slag from the split materials to be mined; S7. The main body of the equipment moves so that the coaxial drilling precision splitting device moves to the next mining face.