CN105807034A - Matched three-dimensional physical model test robot system - Google Patents
Matched three-dimensional physical model test robot system Download PDFInfo
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- CN105807034A CN105807034A CN201610280524.XA CN201610280524A CN105807034A CN 105807034 A CN105807034 A CN 105807034A CN 201610280524 A CN201610280524 A CN 201610280524A CN 105807034 A CN105807034 A CN 105807034A
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The invention relates to a matched three-dimensional physical model test robot system, which comprises two major parts including a three-dimensional physical model test and a matched robot. The outer part of the matched three-dimensional physical model test robot system is a reaction frame; at least one cube framework surface of the reaction frame adopts the following arrangement that at least two mutually parallel rectangular large steel plates are arranged between upright posts in opposite arrangement; at least one row of small rectangular steel plates are arranged between the two adjacent rectangular large steel plates; a rock body model is arranged inside the reaction frame; a vertical loading system, a horizontal left and right loading system and a horizontal front and back loading system are arranged between the reaction frame and the rock body model; the matched robot mainly comprises a robot body; an anchor rod support system and a grouting system are arranged in a matched way; a cutter disc is arranged on the top end of the head of the robot body; at least one group of support boots and at least one group of driving wheels are arranged on the robot body; a robot operation and control system is connected with the driving wheels through an operation and control pipeline. The system provided by the invention has the advantages that the surrounding rock evolution rule of the roadway digging and work face stoping can be accurately shown, and a reliable test measure can be provided.
Description
Technical field
The invention belongs to the three-dimensional physical model assay device technical field of rock mass mechanics, be specifically related to a kind of supporting three-dimensional physical model and test a machine people's system.
Background technology
Demand along with socioeconomic development and national economy, underground mine and tunnel construction shift to deep, the research emphasis of rock mechanics is increasingly turning to underground, in mining engineering and hydroelectric project field, the length of underground passage, span and buried depth are also increasing, therefore the surrouding rock stress that roadway excavation causes under complex geological condition adjusts process and stability problem becomes particularly important, and scene wall rock's level needs more manpower, material resources and financial resources, the workload paid is big, cycle is long, and the change of country rock and stress distribution situation can not be directly observed, the restriction of field condition it is often subject to again when monitoring, it is difficult to obtain good achievement.
Physical experiments is one of important research means of research Deep Roadway and mine pressure, model test based on the theory of similarity is on the physical material basis that preparation is similar to engineering rock mass character, test specimen is loaded, excavates and supporting etc., the stress of Study of The Underground cavern, deformation and stability problem.Physical experiments can be simulated roadway excavation, working face extraction etc. and surrouding rock stress is adjusted process, displacement distribution characteristic and displacement maximum happening part etc..
In physical experiments, circular tunnel uses rig excavation to be easier to realize, and is usually, for rectangular shaped roadways, stalk arch form tunnel, the method or the pre-buried cylinder the same with tunnel shape that adopt manually excavation.Manually excavation is wasted time and energy and becomes lane effect bad, the method of pre-buried cylinder is taken out before being divided into loading and is ejected cylinder in cylinder simultaneous drifting and loading procedure and be segmented into lane, the former is too big with the actual digging process gap in scene, and the latter is in heavily stressed and more difficult realization when multi-mine roadway is staggered.In coal-face back production three-dimensional simulation, basic employing is manually excavated with Simple mechanical, is not inconsistent with actual digging process, it is impossible to realize coal-winning machine coal cutting back production and the inclination back production at certain inclination angle.
Summary of the invention
For above-mentioned existing problems, the present invention devises a kind of supporting three-dimensional physical model and tests a machine people's system: include three-dimensional physical model test and supporting robot two large divisions, the outside of three-dimensional physical model assay device is reaction frame, and the cube shaped framework of described reaction frame is made up of horizontal beam and four longitudinally disposed columns of eight horizontally sets；
At least one cube frame face of described reaction frame there is following setting: arranging the horizontal plane angle that at least two is parallel to each other between the column and the column that are oppositely arranged is the big steel plate of α rectangle, is provided with at least one little steel plate of row's rectangle between two adjacent big steel plates of rectangle；
Other frame facet of described reaction frame is respectively provided with reaction frame panel；In the inside of reaction frame, strata model is set；Three surfaces of strata model are separately installed with bearing plate, left bearing plate and rear bearing plate；
Arrange between the upper bearing plate and corresponding top reaction frame panel of strata model and on the upside of several, shake jack composition vertical load system；
Arrange between the left bearing plate and corresponding side reaction frame panel of strata model and on the left of several, shake jack composition level left and right loading system；
Rear bearing plate and corresponding setting between reaction frame panel below at strata model shake loading system before and after jack composition level on rear side of several；
Supporting robot mainly includes robot fuselage, supporting arranges Bolt System and filling system；Apical head at robot fuselage arranges cutterhead, arranges least one set support boots and least one set driving wheel on robot fuselage；Robot control system and driving wheel are connected by the manipulation pipeline stretched out from the afterbody of robot fuselage.
In technique scheme, the two ends of the described big steel plate of each rectangle are at least provided with one group of rectangle bolt hole and arch screw bolt hole；The two long limits along the big steel plate of rectangle are provided with multiple little rectangular steel plates link bolt hole；
The big steel plate of rectangle is setting up and down with one group of rectangle bolt hole and the arch screw bolt hole of one end, the wherein rectangular borehole of rectangle bolt hole, its long limit is parallel with the big steel plate of rectangle, arch screw bolt hole is the fan annular borehole of 60 °～120 °, its central shaft and rectangle bolt hole overlap, and the center of circle in this arch screw bolt hole is near rectangle bolt hole side.
In technique scheme, the one side of described each little rectangular steel plates is provided with handle, and the corner of each little rectangular steel plates is provided with little rectangular steel plates link bolt hole；Little rectangular steel plates link bolt hole in the rectangle big steel plate link bolt hole of the big steel plate of rectangle and little rectangular steel plates equivalently-sized, and arrangement position is corresponding.
In technique scheme, described cube frame face there is following setting: the column being oppositely arranged and the inner side of column are provided with bolt and install groove；Utilize stay bolt that the big steel plate of some rectangles is set between the column and column in cube frame face；The bolt head of long bolt is arranged on bolt install in groove；The screw portion of this stay bolt stretches out outside groove installed by bolt；The rectangle bolt hole at the big steel plate two ends of rectangle, arch screw bolt borehole jack that horizontal sextant angle α tilts are contained on the screw rod of these stay bolts；Nut is installed be arranged on the precalculated position between column and column by big for rectangle steel plate；
The adjacent compact arranged little rectangular steel plates of at least one row is at least set between two blocks of adjacent big steel plates of rectangle；After big to each little rectangular steel plates link bolt hole and rectangle steel plate link bolt hole being alignd, utilize connecting bolt from outside being arranged on the every piece little tight arranged adjacent of rectangular steel plates between the big steel plate of rectangle；The handle of every piece little rectangular steel plates is respectively positioned on outside.
In technique scheme, the length-width ratio of the big steel plate of rectangle is more than 5；The length-width ratio of little rectangular steel plates is between 0.8～1.2, and the ratio of the minor face of the minor face of little rectangular steel plates and the big steel plate of rectangle is between 0.5～2.
In technique scheme, described cutterhead is arranged on the position, termination of robot fuselage by the rotating shaft at center and multiple Minitype jacks of surrounding；
The front end face centre of described cutterhead is shield dish；Described shield dish is circular, is provided with multiple carbide buttons, multiple mud hole and at least one fish tail cutter that centrosymmetry is arranged.
In technique scheme, in the outside of circular beater plate can also monolateral arrange some auxiliary actively creep into head.Auxiliary is actively crept into back of head and is arranged micromachine.
In technique scheme, on described robot fuselage, the anchor pole control system of supporting setting connects the Bolt System described in Bolt System described in controlling by manipulating pipeline, mainly includes anchor pole, anchor pole jack, anchor pole spring；Multiple anchor poles are successively set on inside tunnel, and first anchor pole is positioned at anchor pole jack top, and last root anchor pole is laterally fixing by anchor pole spring.
In technique scheme, described filling system includes Grouting Pipe, grouting port and slip casting control system；Grouting port is for being circumferentially positioned in Grouting Pipe；Grouting Pipe is stretched out from the afterbody of robot fuselage；The manipulation pipeline stretched out at the afterbody of robot fuselage connects slip casting control system.
The above-mentioned supporting three-dimensional physical model of present invention design tests a machine people's system, has the advantage that
1, the omnidirectional three-dimensional simulation situation such as the inside and outside stress of rock mass and vibrations, the prestressing force stressing conditions of the simulation actual rock mass of reduction.
2, in actual production, tunnel and coal seam excavation are subject to landform, rock mass etc. and in many ways limit, and often present various inclination and roundabout.Being removed by row's little steel plate of rectangle between two blocks of big steel plates of rectangle, namely the strata model exposed simulates rock mass.By removing the little steel plate of rectangle of diverse location, stay a part of strata model not excavate, be the rock mass part retained in excavation simulation.By cooperating between the large and small steel plate of various sizes of rectangle, it is possible to achieve the simulation between various sizes of tunnel, work surface and reservation rock mass.
3, tunnel and work surface are processed by supporting robot excavation, it is possible to the real tunneling process simulating Suporting structure, and various excavation operations during mining, compare the simulation effect of existing pre-buried method closer to practical situation.
4, in above-mentioned driving simulation process, it is also possible to utilize each loading system and each jack to apply external force to strata model, the internal stress that the actual rock mass of synchronously simulating is subject to；It is adapted to more more complicated analog case.
5, tunnel that simulate at the same time it can also be simulated the operations such as anchor pole location and country rock whitewashing, it is possible to the situation of comprehensive simulation actual production, meet the needs of scientific research and production.
The supporting three-dimensional physical model of present invention design tests a machine people's system, coordinate the simulation of the automated mining after robot to simulate and in various rock mass, excavate the situations such as tunnel, work surface, development end, the stressing conditions of outside controllable strata model, also coordinates simultaneously and specifies the operation such as position anchor pole and country rock whitewashing；Overall structure is firm, simple to operate, it is ensured that the analog reslt that rock mass excavates accurately and reliably, can be widely applied to the simulated production situation of the rock excavations such as various tunnel, country rock, tunnel, development end, coordinates test and the research of corresponding rock mass.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of three-dimensional physical model assay device.
Fig. 2 is the structural representation of external force frame in Fig. 1.
Fig. 3 is the plan structure schematic diagram of external force frame in Fig. 2.
Fig. 4 is the partial structurtes schematic diagram that in Fig. 1, big for rectangle steel plate is arranged on column by connecting bolt.
Fig. 5 is the arrangement schematic diagram of cube frame surface in Fig. 1.
Fig. 6 is the big steel plate of rectangle and the little steel sheet connection structure schematic diagram of rectangle in Fig. 5.
Fig. 7 is the structural representation of the big steel plate of rectangle.
Fig. 8 is the structure left view of the little steel plate of rectangle.
Fig. 9 is the structure front view of the little steel plate of rectangle.
Figure 10 is the structural representation of strata model and loading system.
Figure 11 is the structural representation of strata model and loading system.
Figure 12 is the overall structure schematic diagram of robot.
Figure 13 is the structural representation of the grouting port of robot.
Figure 14 is the overall structure schematic diagram of the Bolt System of robot.
The structural representation of the single anchor pole of Figure 15.
Figure 16 is the overall structure schematic diagram of Bolt System..
Figure 17 is the Facad structure schematic diagram of shield dish.
Figure 18 is the side structure schematic diagram of shield dish.
Figure 19 is the side structure schematic diagram of the shield dish actively creeping into head with two auxiliary.
Figure 20 is the side structure schematic diagram of the shield dish actively creeping into head with four auxiliary.
Figure 21 is the structural representation that auxiliary actively creeps into head and micromachine.
In figure: reaction frame A0, horizontal beam A1, column A2, groove A3 installed by bolt, bayonet socket A4, raised line A5, the big steel plate A6 of rectangle is (wherein: rectangle bolt hole A6.1, arch screw bolt hole A6.2, the big steel plate link bolt hole A6.3 of rectangle), the little steel plate A7 of rectangle is (wherein: handle A7.1, little rectangular steel plates link bolt hole A7.2), connecting bolt A8, stay bolt A9, reaction frame panel A10, cube frame face A11, strata model A12, level left and right loading system A13, loading system A14 before and after level, vertical load system A15, left side vibrations jack A16, rear side vibrations jack A17, upside vibrations jack A18, left bearing plate A19, rear bearing plate A21, upper bearing plate A22,
Robot fuselage 1, support boots 2, driving wheel 3, Grouting Pipe 4, Minitype jack 5, cutterhead 6, shield dish 7 (wherein: carbide button 7.1a, scum hole 7.1b, fish tail cutter 7.1c, alloy bit 7.2), mud hole 8, rotating shaft 9, injected hole 10, motor 11, manipulation pipeline 12, slip casting control system 13, robot control system 14, anchor pole control system 15, micromachine 16, Bolt System 20, anchor pole 21, anchor pole jack 22, anchor pole spring 23.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail, in order to people's the understanding of the present invention.
As shown in Fig. 1～11, the present invention devises a kind of three-dimensional physical model assay device, including three-dimensional physical model test and supporting robot two large divisions, its outside is reaction frame A0, the cube shaped framework of described reaction frame A0 is made up of the horizontal beam A1 and four longitudinally disposed column A2 of eight horizontally sets, and at least one cube frame face A11 of described reaction frame A0 has following setting:
The big steel plate A6 of the rectangle that horizontal plane angle is α that at least two is parallel to each other is set between the column A2.1 and the column A2.2 that are oppositely arranged, between two adjacent rectangle big steel plate A6, is provided with the little steel plate A7 of at least one row's rectangle.
Other frame facet of described reaction frame A0 is respectively provided with reaction frame panel A10.In the inside of reaction frame A0, strata model A12 is set.Three surfaces of strata model A12 are separately installed with bearing plate A22, left bearing plate A19 and rear bearing plate A21.
Arrange between the upper bearing plate A22 and corresponding top reaction frame panel A10 of strata model A12 and on the upside of several, shake jack A18 composition vertical load system A15.
Between the left bearing plate A19 and corresponding side reaction frame panel A10 of strata model A12, vibrations jack A16 composition level left and right loading system A13 on the left of several is set.
Rear bearing plate A21 and corresponding setting between reaction frame panel A10 below at strata model A12 shake loading system A14 before and after jack A17 composition level on rear side of several.
According to this, effectively strata model A12 can be applied external force by loading system A14 before and after vertical load system A15, level and level left and right loading system A13, realize the independent loads of three-dimensional force, thus effectively the outside of simulation rock mass exerts a force and internal stress.
Each above-mentioned jack and loading system on the one hand at the framework assay device initial stage, directly can apply simulation stress to strata model A12, simulate rock mass stress；In construction simulation process, jack operation can also be controlled and applies vibrations on the other hand, to simulate caved stopes or rock mass vibrations simultaneously.Can comparatively comprehensively simulate the actual production situation of various excavation, driving.
Concrete, between the column A2 and horizontal beam A1 of this reaction frame A0, the bayonet socket A4 mortise and tenon type with prominent raised line A5 and depression is formed by connecting.
Concrete, the two ends of the big steel plate A6 of each rectangle are at least provided with one group of rectangle bolt hole A6.1 and arch screw bolt hole A6.2；The two long limits along rectangle big steel plate A6 are provided with the little steel plate link bolt hole A6.3 of multiple rectangle.
Concrete, rectangle big steel plate A6 is setting up and down with one group of rectangle bolt hole A6.1 and arch screw bolt hole A6.2 of one end, the wherein rectangular borehole of rectangle bolt hole A6.1, its long limit is parallel with rectangle big steel plate A6, arch screw bolt hole A6.2 is the fan annular borehole of 60 °～120 °, its central shaft and rectangle bolt hole A6.1 overlap, and the center of circle of this arch screw bolt hole A6.2 is near rectangle bolt hole A6.1 side.
Concrete, the one side of the little steel plate A7 of each rectangle is provided with handle A7.1, and the corner of each rectangle little steel plate A7 is provided with the little steel plate link bolt hole A7.2 of rectangle.Rectangle little steel plate link bolt hole A7.2's on the rectangle big steel plate link bolt hole A6.3 and rectangle little steel plate A7 of rectangle big steel plate A6 is equivalently-sized, and arrangement position is corresponding.
In the present embodiment, the length-width ratio of the big steel plate A6 of rectangle is more than 5.The length-width ratio of the little steel plate A7 of rectangle is between 0.8～1.2, and the ratio of the minor face of the minor face of rectangle little steel plate A7 and the big steel plate A6 of rectangle is between 0.5～2.Arch screw bolt hole A6.2 is the fan annular borehole of 90 °.
Concrete, the inside view of cube frame face A11 as shown in Figure 5, this cube frame face A11 there is following setting: the column A2.1 being oppositely arranged and the inner side of column A2.2 are provided with bolt and install groove A3.Utilize stay bolt A9 that the big steel plate A6 of some rectangles is set between the column A2.1 and column A2.2 of cube frame face A11.The bolt head of long bolt A9 is arranged on bolt install in groove A3；The screw portion of this stay bolt A9 stretches out outside groove A3 installed by bolt；The rectangle bolt hole A6.1 at rectangle big steel plate A6 two ends, arch screw bolt hole A6.2 are sleeved on the screw rod of these stay bolts A9；Can big for rectangle steel plate A6 be arranged on the precalculated position between column A2.1 and column A2.2 after nut is installed.
At least at least one row little steel plate A7 of adjacent compact arranged rectangle is set between two pieces of adjacent rectangle big steel plate A6.By big to little for each rectangle steel plate link bolt hole A7.2 and rectangle steel plate link bolt hole A6.3 align after, utilize connecting bolt A8 from outside being arranged on every piece of rectangle little steel plate tight arranged adjacent of A7 between the big steel plate A6 of rectangle.The handle A7.1 of every piece of little steel plate A7 of rectangle is respectively positioned on outside.
Concrete, by each piece of big steel plate A6 of rectangle with and horizontal sextant angle α be inclined between column A2.1 and column A2.2, one group of rectangle bolt hole A6.1 at its two ends and arch screw bolt hole A6.2 inserts the screw portion of the stay bolt A9 being arranged in bolt installation groove A3 respectively, then installs nut and fixes.
In order to ensure that the big steel plate A6 of each rectangle is arranged between two column A2.1 and column A2.2, it is possible to design the big steel plate A6 of rectangle of a series of different length.Or many group rectangle bolt hole A6.1 and arch screw bolt hole A6.2 are set on the big steel plate A6 of sufficiently long rectangle, during installation, utilize one group of rectangle bolt hole A6.1 on diverse location and arch screw bolt hole A6.2, to adapt to the inclination of different α.
The each piece of big steel plate A6 of rectangle is with angle α=0～45 ° with level；Namely can realize the tunnel under different angle, coal seam etc. to excavate, exploit simulation.
The whole cube frame face A11 arranged according to aforesaid way is only made up of rectangle large and small steel plate A6, A7.Wherein, the little steel plate A7 of rectangle excavates tunnel (face) for simulation, and the big steel plate A6 of rectangle simulates the rock mass face do not excavated.After connecting bolt A8 on little for certain block rectangle steel plate A7 is all removed, it is possible to hold handle A7.1 and little for this rectangle steel plate A7 is taken off；Then on the strata model A12 exposed, simulation is excavated.Tunnel after extremely to a certain degree at a little steel plate A7 of rectangle, less for another block rectangle steel plate A7 is pulled down and simulates excavation, stressing conditions when excavating different tunnels on rock mass can be simulated.Or all being removed by the adjacent little steel plate A7 of several rectangles, now, it is the excavation face of α that the space between two big steel plate A6 of rectangle can be simulated with horizontal plane angle, simulation coal seam is excavated.
During the use of this reaction frame A0, a cube frame face A11 as above is only set, can effectively simulate rock mass and load；The situations such as cube frame face A11, the driving of larger range of simulation penetration type can also be all set on two adjacent faces.
In order to simulate roadway excavation situation, the present invention can directly adopt manual type to excavate, or the supporting excavation excavation of robot simulation's shield machine.
As shown in Figure 12～21, in order to simulate roadway excavation situation, the supporting robot of present invention design mainly includes robot fuselage 1, and the apical head at robot fuselage 1 arranges cutterhead 6, and middle part arranges multiple grouting port 10.Robot fuselage 1 arranges least one set support boots 2 and least one set driving wheel 3.The Grouting Pipe 4 and the manipulation pipeline 12 that connect grouting port 10 stretch out from the afterbody of robot fuselage 1.Robot control system 14 connects the driving wheel 3 described in controlling by manipulating pipeline 12；Anchor pole control system 15 connects the Bolt System 20 described in controlling by manipulating pipeline 12.
Generally one group of driving wheel 3 is respectively set at robot fuselage 1 afterbody and middle part, robot control system 14 controls driving wheel 3 by manipulation pipeline 12 and moves forward and backward, Minitype jack 5 realizes the flexible of jack by the turnover of hydraulic oil in hydraulic control jack cylinder, it is achieved stationary machines people's fuselage 1 and providing a supporting role.
Concrete, the centre of the front end face of cutterhead 6 is shield dish 7.Described shield dish 7 is circular, is provided with multiple carbide buttons 7, multiple mud hole 8 and at least one fish tail cutter 7.1c that centrosymmetry is arranged.
As shown in Figure 16～19, the center of shield dish 7 is circular beater plate 7.1, on circular beater plate 7.1 symmetrically be provided with carbide button 7.1a and mud hole 7.1b, be additionally provided with a fish tail cutter 7.1c in the middle.The situation generally adopting the drift section that circular beater plate 7.1 processes driving to be circle.
Some auxiliary can also be set actively creep into 7.2 monolateral in the outside of circular beater plate 7.1.Actively creep into 7.2 rear portion is provided power by micromachine 16 to auxiliary.Concrete, that some auxiliary not of uniform size are actively crept into a 7.2 composition stalk Semicircular arched one group.One group or two groups auxiliary actively creeps into 7.2 one circular beater plate 7.1 of cooperation, it is possible to circular beater plate 7.1 creeping into exterior domain, tunneled required cross-section shape of roadway.
Concrete, cutterhead 6 is arranged on the position, termination of robot fuselage 1 by the rotating shaft 9 at center and multiple Minitype jacks 5 of surrounding, motor 11 provide moment of torsion, and Minitype jack 5 provides thrust.It is provided with one or more groups support boots 2 in the middle part of robot fuselage 1, circumferentially provides a supporting role.Support boots 2 coordinate Minitype jack to be arranged symmetrically on the upper and lower side of robot fuselage 1, simultaneously drive wheel 3 and can also provide support to robot fuselage 1.
Cutterhead 6 first is pressed through in face rock mass under the thrust that Minitype jack 5 provides, and under the moment of torsion effect that motor 11 provides, rotary cutting rock mass forms circular cross section；Can also assist simultaneously use actively creep into alloy bit 7.2 realize circular cross section outside excavation, cutter is cut the mud hole 8 that the dregs fallen can pass through on cutterhead 6 under fish tail cutter 12 drives and be discharged.
Robot fuselage 1 realizes the supporting operation of suspension roof support and two kinds of forms of gunite also by Bolt System 20 and filling system, it is possible to overcome the drawback of small space manual hand manipulation, it is achieved automation mechanized operation.
As shown in Figure 13～15, described Bolt System 20, mainly include anchor pole 21, anchor pole jack 22, anchor pole spring 23.Multiple anchor poles 21 are successively set on inside tunnel, and first anchor pole 21 is positioned at anchor pole jack 22 top, and last root anchor pole 21 is laterally fixing by anchor pole spring 23.In wall during boring, shifting onto on anchor pole jack 22 by first anchor pole 21, startup anchor pole jack 22 stretches out to squeeze into anchor pole 21 retracts after in country rock, and next root anchor pole 21 is shifted onto on anchor pole jack 22 by anchor pole spring 23, so circulation, it is achieved suspension roof support country rock.
As shown in Figure 11,12, described filling system, including Grouting Pipe 4, grouting port 10 and grouting operation system.Serosity is sprayed by grouting port 10 by Grouting Pipe 4, it is achieved whitewash in country rock surface, and simulated field country rock is whitewashed, it is achieved with on-the-spot concordance.Described grouting port 10, for being circumferentially positioned in Grouting Pipe 4, is sleeved on the rear of the head of robot fuselage 1, and Grouting Pipe 4 is stretched out from the afterbody of robot fuselage 1.
Embodiment 1: tunnelling is simulated
The method utilizing the simulation tunnelling of above-mentioned three-dimensional physical model assay device, comprises the following steps:
Step 1: framework reaction frame A0, sets up model equipment:
Framework reaction frame A0, arranges the big steel plate A6 of multiple rectangles being parallel to each other of horizontal plane angle α on the A11 of cube frame face, and arranges the little steel plate A7 of polylith rectangle side by side between two pieces of rectangle big steel plate A6.
Strata model A12 is set in reaction frame A0, and loading system A14 before and after vertical load system A15, level, level left and right loading system A13 are installed.
Before and after setting vertical load system A15, level, loading system A14, level left and right loading system A13 are to strata model A12 on-load pressure.
Rectangle big steel plate A6 and horizontal plane angle α is the angle of tunnel to be simulated and level.When horizontal plane angle α=0 °, simulate for horizon mining.
Step 2: remove the little steel plate A7 of one or more rectangle in the tunnelling position of simulation；Formed and the tunnelling face that horizontal plane angle is α.
Step 3: put into excavator in the position removing the little steel plate A7 of rectangle, or manual simulation excavates strata model A12 to target location.
During usage mining robot simulation, first stationary machines people, then start this robot rotary cutting press-in strata model A12, " dregs " (the strata model A12 chip) of excavation is discharged from rear.When, after one step pitch of driving, manipulation robot advances, and now completes the Excavation simulation of a step pitch, simultaneously can also matched simulated supporting and other operations.
When using manual simulation to excavate strata model A12, it is possible to use instrument directly excavates to target location
Step 4: repeat step 2 and 3, until completing the excavation simulation in first tunnel.
Concrete, after removing one piece of little steel plate A7 of rectangle between two pieces of rectangle big steel plate A6, it is possible to constitute the tunnelling position of a simulation, directly adopting robot or hand excavation strata model A12, the hole of formation is the tunnel of simulation.In some simulation test, the work surface of the bigger inclination that the rectangle little steel plate A7 that polylith is adjacent is formed after all excavating could simulate a tunnel.Now, it is common that first one piece of little steel plate A7 of rectangle is excavated to target location, then remove the little steel plate A7 of its adjacent rectangle, and excavated to target location；According to this until all excavating the adjacent little steel plate A7 of multiple rectangles to target location, form simulation tunnel or work surface.
Production and scientific research situation for closing to reality, by at varying level (between two pieces of different rectangle big steel plate A6), diverse location (between two pieces of identical rectangle big steel plate A6, non-conterminous) is upper removes the little steel plate A7 of several rectangles, it is achieved the simulation of tunnel difference position；It is criss-cross arranged including phase same level and varying level tunnel.By robot or manually tunnel, it is possible to achieve the excavation in the tunnel of different section.
Usually when design simulation, by treating, the simulation corresponding position of development end arranges the little steel plate A7 of polylith rectangle side by side in advance, multiple different aspects treat simulation development end the little steel plate A7 of multiple different aspects rectangle side by side is then set, the position that reservation rock mass does not excavate arranges big rectangular steel plates A6, Cube for designing algorithm frame surface A11 according to this；Arrange thus realizing tunnel cross on simulation varying level.
Embodiment 2: coal seam level, tilt mining are simulated
The method utilizing the simulation coal seam horizon mining of above-mentioned three-dimensional physical model assay device, comprises the following steps:
Step 1～3: consistent with simulating tunnelling in embodiment 1.Until completing the excavation in first tunnel.
Step 4: remove the little steel plate A7 of next block rectangle in the adjacent position of first the rectangle little steel plate A7 removed.
Step 5: repeat step 2～4, completes advance of the face simulation.
In the present embodiment, remove the little steel plate A7 of adjacent rectangle successively, an analog operation face between the big steel plate A6 of two rectangles on cube frame surface A11 can be carried out complete extraction simulation according to this.
If necessary, it is possible to another row's little steel plate A7 repeat the above steps of rectangle between two other rectangle big steel plate A6, the work surface of varying level in coal seam can be realized with back production simulation test.
In above-mentioned simulation test, during horizontal plane angle α=0 °, the horizon mining for coal seam is simulated.During horizontal plane angle α ≠ 0 °, the tilt mining for coal seam is simulated.
Embodiment 3: metallic ore Mining by caving method is simulated
Step 1～4: consistent with simulating tunnelling in embodiment 1；Until completing the excavation in first tunnel.Then the following step is taked to produce to simulate metallic ore Mining by caving method:
Step 5: loading system A14, level left and right loading system A13 before and after manipulation vertical load system A15, level, controls and manufactures vibrations, the once on-the-spot explosion of one work surface of simulation.
Manipulate and cooperate between each jack of each loading system, simulate once on-the-spot explosion, be " fall ore deposit " in actual production.
Step 6: directly the strata model A12 fragment that vibrations are formed is discharged.
" Ore " that the avalanche that the strata model A12 fragment that vibrations are formed is in simulation actual production is got off；This simulation is completed, it is possible to carry out next step simulation after " Ore " being discharged.
If being not only the once on-the-spot explosion of one work surface of simulation, but needing the exploitation to whole section to be simulated, after step 6, also should take following step:
Step 7: remove the little steel plate A7 of next block rectangle；
Step 8: loading system A14, level left and right loading system A13 before and after manipulation vertical load system A15, level, controls and manufactures vibrations, again the once on-the-spot explosion of one work surface of simulation；
Step 9: repeat step 7,8, until complete this section exploitation simulation.
Situation needs according to simulation, can remove the little steel plate A7 of next block rectangle in the adjacent position of first the rectangle little steel plate A7 removed in step 7；Can also put in same ranking and choose one piece of little steel plate A7 of rectangle.
Simulate for whole underground metal mining if necessary, also should take following step after step 9:
Step 10: to another row's little steel plate A7 repeat the above steps 5～9 of rectangle, it is possible to achieve the metallic ore Mining by caving method simulation of varying level.
In above-mentioned simulation test, during horizontal plane angle α=0 °, simulate for metallic ore Caving Method with Large Space horizon mining.During horizontal plane angle α ≠ 0 °, the tilt mining for metallic ore Caving Method with Large Space is simulated.
In the present embodiment, similar, first framework reaction frame A0, then robot or manual simulation is utilized to excavate a work surface, restart subsequently the equipment such as loading system A14 and vertical load system A15 before and after level left and right loading system A13, level (concrete can manipulate, coordinate shake jack A18 on the upside of each, vibrations jack A16 and vibrations jack A17 on rear side of each on the left of each), control and manufacture vibrations, the once on-the-spot explosion of one work surface of simulation every time, repeatedly repeat simulation, simulation metallic ore Mining by caving method mining is fully achieved.
Embodiment 4: room and pillar caving is simulated
Step 1 is consistent with simulation tunnelling in embodiment 1；Until completing the excavation in first tunnel.Then the following step is taked to produce to simulate metallic ore Mining by caving method:
Step 5: remove the little steel plate A7 of next block rectangle at the rectangle the removed little steel plate same row of A7, the one or more rectangle in interval little steel plate A7；Put into excavator in the position removing the little steel plate A7 of rectangle, or manual simulation excavates strata model A12 to target location.
Step 6: after the upper excavation of same row's rectangle little steel plate A7 completes, then the row little steel plate A7 of rectangle between two other rectangle big steel plate A6 repeats step 2～5, form crisscross tunnel, it is achieved the simulation of room and pillar caving.
In the present embodiment, being removed by little for the rectangle between big for rectangle steel plate A6 steel plate A7, the strata model A12 exposed simulates rock mass exactly.By removing the little steel plate A7 of rectangle of diverse location, a part of strata model A12 is stayed not excavate, it is simply that the rock mass part retained in excavation simulation.The exploitation that is achieved in that in colliery gob side entry driving future small coal pillar.This invention can also be simulated gob side entry driving and be stayed and set different size fender tunnelling etc..
Claims (9)
1. a supporting three-dimensional physical model tests a machine people's system, it is characterized in that: include three-dimensional physical model test and supporting robot two large divisions, the outside of three-dimensional physical model assay device is reaction frame (A0), and the cube shaped framework of described reaction frame (A0) is made up of horizontal beam (A1) and four longitudinally disposed columns (A2) of eight horizontally sets；
At least one cube frame face (A11) of described reaction frame (A0) there is following setting: arranging the horizontal plane angle that at least two is parallel to each other between the column (A2.1) and the column (A2.2) that are oppositely arranged is the big steel plate of α rectangle (A6), is provided with the little steel plate of at least one row's rectangle (A7) between two the adjacent big steel plate of rectangles (A6)；
Other frame facet of described reaction frame (A0) is respectively provided with reaction frame panel (A10)；In the inside of reaction frame (A0), strata model (A12) is set；Three surfaces of strata model (A12) are separately installed with upper bearing plate (A22), left bearing plate (A19) and rear bearing plate (A21)；
Vibrations jack (A18) on the upside of several are set between the upper bearing plate (A22) and corresponding top reaction frame panel (A10) of strata model (A12) and constitute vertical load system (A15)；
Vibrations jack (A16) on the left of several are set between the left bearing plate (A19) and corresponding side reaction frame panel (A10) of strata model (A12) and constitute level left and right loading system (A13)；
Rear bearing plate (A21) and corresponding setting between reaction frame panel (A10) below at strata model (A12) are shaken jack (A17) on rear side of several and are constituted loading system before and after level (A14)；
Supporting robot mainly includes robot fuselage (1), supporting arranges Bolt System (20) and filling system；Apical head at robot fuselage (1) arranges cutterhead (6), arranges least one set support boots (2) and least one set driving wheel (3) on robot fuselage (1)；Robot control system (14) and driving wheel (3) are connected by the manipulation pipeline (12) stretched out from the afterbody of robot fuselage (1).
2. supporting three-dimensional physical model according to claim 1 tests a machine people's system, it is characterised in that: the two ends of the described big steel plate of each rectangle (A6) are at least provided with one group of rectangle bolt hole (A6.1) and arch screw bolt hole (A6.2)；The two long limits along the big steel plate of rectangle (A6) are provided with multiple little rectangular steel plates link bolt hole (A6.3)；
The big steel plate of rectangle (A6) with one group of rectangle bolt hole (A6.1) of one end and arch screw bolt hole (A6.2) for setting up and down, wherein rectangle bolt hole (A6.1) rectangular borehole, its long limit is parallel with the big steel plate of rectangle (A6), arch screw bolt hole (A6.2) is in the fan annular borehole of 60 °～120 °, its central shaft and rectangle bolt hole (A6.1) overlap, and the center of circle in this arch screw bolt hole (A6.2) is near rectangle bolt hole (A6.1) side.
3. supporting three-dimensional physical model according to claim 2 tests a machine people's system, it is characterized in that: the one side of described each little rectangular steel plates (A7) is provided with handle (A7.1), the corner of each little rectangular steel plates (A7) is provided with little rectangular steel plates link bolt hole (A7.2)；Little rectangular steel plates link bolt hole (A7.2) on the rectangle big steel plate link bolt hole (A6.3) of the big steel plate of rectangle (A6) and little rectangular steel plates (A7) equivalently-sized, and arrangement position is corresponding.
4. supporting three-dimensional physical model according to claim 3 tests a machine people's system, it is characterised in that: described cube frame face (A11) there is following setting: the column (A2.1) being oppositely arranged and the inner side of column (A2.2) are provided with bolt and install groove (A3)；Utilize stay bolt (A9) that the big steel plate of some rectangles (A6) are set between the column (A2.1) and column (A2.2) of cube frame face (A11)；The bolt head of long bolt (A9) is arranged on bolt install in groove (A3)；The screw portion of this stay bolt (A9) stretches out outside groove (A3) installed by bolt；The rectangle bolt hole (A6.1) at rectangle big steel plate (A6) two ends, arch screw bolt hole (A6.2) that horizontal sextant angle α tilts are sleeved on the screw rod of these stay bolts (A9)；Nut is installed big for rectangle steel plate (A6) is arranged on the precalculated position between column (A2.1) and column (A2.2)；
The adjacent compact arranged little rectangular steel plates (A7) of at least one row is at least set between the two pieces of adjacent big steel plate of rectangles (A6)；After big to each little rectangular steel plates link bolt hole (A7.2) and rectangle steel plate link bolt hole (A6.3) is alignd, utilize connecting bolt (A8) from outside being arranged on tight for every piece little rectangular steel plates (A7) arranged adjacent between the big steel plate of rectangle (A6)；The handle (A7.1) of every piece little rectangular steel plates (A7) is respectively positioned on outside.
5. supporting three-dimensional physical model according to claim 4 tests a machine people's system, it is characterised in that: the length-width ratio of the big steel plate of rectangle (A6) is more than 5；The length-width ratio of little rectangular steel plates (A7) is between 0.8～1.2, and the ratio of the minor face of the minor face of little rectangular steel plates (A7) and the big steel plate of rectangle (A6) is between 0.5～2.
6. the supporting three-dimensional physical model according to any one of Claims 1 to 5 tests a machine people's system, it is characterised in that: described cutterhead (6) is arranged on the position, termination of robot fuselage (1) by the rotating shaft (9) at center and multiple Minitype jacks (5) around；
The front end face centre of described cutterhead (6) is shield dish (7)；Described shield dish (7) is circular, is provided with multiple carbide buttons (7.1a), multiple mud hole (7.1b) and at least one fish tail cutter (7.1c) that centrosymmetry is arranged.
7. supporting three-dimensional physical model according to claim 6 tests a machine people's system, it is characterised in that: some auxiliary can also be set actively creep into head (7.2) monolateral in the outside of circular beater plate (7.1).Auxiliary is actively crept into head (7.2) rear portion and is arranged micromachine (16).
8. the supporting three-dimensional physical model according to any one of Claims 1 to 5 tests a machine people's system, it is characterized in that: the Bolt System (20) that the anchor pole control system (15) in the upper supporting setting of described robot fuselage (1) controls described in described Bolt System (20) by manipulating pipeline (12) to connect, mainly include anchor pole (21), anchor pole jack (22), anchor pole spring (23)；Multiple anchor poles (21) are successively set on inside tunnel, and first anchor pole (21) is positioned at anchor pole jack (22) top, and last root anchor pole (21) is laterally fixing by anchor pole spring (23).
9. the supporting three-dimensional physical model according to any one of Claims 1 to 5 tests a machine people's system, it is characterised in that: described filling system includes Grouting Pipe (4), grouting port (10) and slip casting control system (13)；Grouting port (10) is for being circumferentially positioned in Grouting Pipe (4)；Grouting Pipe (4) is stretched out from the afterbody of robot fuselage (1)；The manipulation pipeline (12) stretched out at the afterbody of robot fuselage (1) connects slip casting control system (13).
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| CN107607380A (en) * | 2017-11-15 | 2018-01-19 | 河南理工大学 | The making mould of multi-angle class containing interlayer rock mass reinforcing experiment |
| CN111221033A (en) * | 2019-12-26 | 2020-06-02 | 中国科学院武汉岩土力学研究所 | Embedded TBM carries on slight shock monitoring devices |
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