CN117532753B - Real-time feedback adjustment rock breaking system and method for abrasive water jet angle - Google Patents
Real-time feedback adjustment rock breaking system and method for abrasive water jet angle Download PDFInfo
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- CN117532753B CN117532753B CN202311645790.4A CN202311645790A CN117532753B CN 117532753 B CN117532753 B CN 117532753B CN 202311645790 A CN202311645790 A CN 202311645790A CN 117532753 B CN117532753 B CN 117532753B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 158
- 239000011435 rock Substances 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 17
- 239000004576 sand Substances 0.000 claims abstract description 71
- 230000000694 effects Effects 0.000 claims abstract description 9
- 230000008859 change Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000013507 mapping Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000009123 feedback regulation Effects 0.000 claims 6
- 239000000463 material Substances 0.000 claims 1
- 230000008569 process Effects 0.000 description 6
- 239000003082 abrasive agent Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000002618 waking effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/22—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by cutting, e.g. incising
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
- B28D7/005—Devices for the automatic drive or the program control of the machines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
Abstract
The invention discloses a system and a method for real-time feedback adjustment of an abrasive water jet angle for rock breaking. The system comprises a high-pressure water jet nozzle coaxially assembled in a mixing nozzle, wherein an abrasive sand conveying pipe is hinged on the mixing nozzle, and the outlet end of the abrasive sand conveying pipe is communicated with the inlet end of a non-closed mixing cavity; the angle adjusting device is arranged at the hinged position of the abrasive sand conveying pipe and the mixing nozzle, and the angle can adjust the pitch angle and the yaw angle of the abrasive sand conveying pipe so as to control the abrasive jet flow direction output by the abrasive sand conveying pipe; a stress sensor is arranged on the impact area of the abrasive water jet flow on the rock sample to record the surface stress of the rock sample; an inertial navigation positioning device is arranged on the abrasive sand conveying pipe. Through the system, the distribution of the surface stress of the rock sample under the condition of different high-pressure water and abrasive jet flow included angles can be analyzed in real time, the impact effect of the mixed jet flow can be affected in real time by changing the included angle of the space position, the impact force received by different positions of the rock sample is further changed in real time, and the rock breaking efficiency is improved.
Description
Technical Field
The invention belongs to the field of mechanical equipment, and particularly relates to a system and a method for real-time feedback adjustment of an abrasive water jet angle for rock breaking.
Background
Along with the improvement of the foundation construction force, the demand of underground engineering and tunnel exploitation also rapidly rises. The full-face Tunnel Boring Machine (TBM) has the characteristics of rapidness, high quality and safety, can remarkably reduce the labor intensity, and is an indispensable tunnel excavation construction method internationally recognized at present. The abrasive water jet auxiliary technology creates a more ideal working condition for the cutter on the surface of the full-face tunnel boring machine, and compared with pure water jet, the abrasive jet enlarges the action area. When the abrasive water jet nozzle is designed, a certain included angle is formed between the abrasive sand inlet pipe and the high-pressure water nozzle, so that particle impact of a sector structure can be formed after mixing and emergence, and hard rock crushing can be performed more efficiently. In the prior art at home and abroad, improved abrasive water jet nozzles are also provided. However, these techniques are mainly for reducing abrasion and jamming of the abrasive in the internal structure and solving the jet deflection phenomenon, but do not optimally design the included angle between the abrasive jet and the water jet, and do not consider how to adjust the included angle in real time, so as to determine the optimal angle to improve the impact effect of the mixed jet.
Disclosure of Invention
The invention aims to solve the defects that the mixed jet angle is difficult to automatically adjust, the energy consumption is overlarge and the rock breaking efficiency is low in the process of continuously jetting and breaking hard rock by using an abrasive water jet auxiliary TBM, and provides a system and a method for real-time feedback adjustment of the abrasive water jet angle.
The specific technical scheme adopted by the invention is as follows:
In a first aspect, the invention provides a real-time feedback adjustment rock breaking system for an abrasive water jet angle, which comprises a high-pressure water jet nozzle coaxially assembled in a mixing nozzle, wherein the inlet end of the mixing nozzle is connected with a high-pressure water generator through a high-pressure water pipeline, the outlet end of the mixing nozzle is communicated with the inlet end of an internal flow channel of the high-pressure water jet nozzle, the tail end of the internal flow channel of the high-pressure water jet nozzle is provided with a section of non-closed mixing cavity, and a section of connecting pipe section connected with an abrasive sand conveying pipe is arranged between the inlet end of the internal flow channel and the non-closed mixing cavity;
The abrasive sand conveying pipe is hinged on the mixing nozzle, the inlet end of the abrasive sand conveying pipe is connected with the abrasive storage tank through an abrasive input pipeline, and the outlet end of the abrasive sand conveying pipe is communicated with the inlet end of the non-closed mixing cavity; the angle adjusting device is arranged at the hinged position of the abrasive sand conveying pipe and the mixing nozzle, and can adjust the pitch angle and the yaw angle of the abrasive sand conveying pipe so as to control the abrasive jet flow direction output by the abrasive sand conveying pipe;
The lower part of the outlet end of the non-closed mixing cavity in the mixing nozzle is used as a placing area of a rock sample, a test surface of the rock sample is placed facing the direction of the abrasive water jet, and a stress sensor is arranged on the rock sample in the impact area of the abrasive water jet to record the surface stress of the rock sample;
the abrasive sand conveying pipe is provided with an inertial navigation positioning device, and the inertial navigation positioning device, the stress sensor and the angle adjusting device are respectively connected with a main control unit through signal wires and form data acquisition and feedback control.
Preferably, the high-pressure water pipe is provided with a high-pressure water gauge for monitoring the water pressure in the pipe.
Preferably, the abrasive input pipeline is provided with an abrasive pressure gauge for monitoring the water pressure in the pipe.
As a preferable aspect of the first aspect, the stress sensor is a magnetic force type stress sensor fixed by magnetic force.
Preferably, the inertial navigation positioning device adopts a three-axis gyroscope.
As a preferable aspect of the first aspect, the three-axis gyroscope uses an MPU3050 three-axis gyroscope module.
Preferably, the high-pressure water generator comprises a water pump, a pressure container and a control system, wherein the water pump pumps water into the pressure container with a water outlet valve to pressurize the water to a required pressure, and the control system controls the valve to open to send out high-pressure water.
Preferably, in the first aspect, the high-pressure water pipeline and the abrasive material input pipeline are transparent pipelines.
Preferably, the angle adjusting device is implemented by a group of servo motors, and the pitch angle and the yaw angle of the abrasive sand conveying pipe are respectively and independently adjusted by different servo motors.
In a second aspect, the present invention provides a method for real-time feedback adjustment of the angle of abrasive water jet according to any one of the first aspect, comprising:
Placing a rock sample to be crushed below the outlet end of the non-closed mixing cavity, installing a stress sensor in the impact area of the abrasive water jet, and adjusting the abrasive sand conveying pipe to be at an initial pitch angle and a yaw angle;
Injecting high-pressure water with a first preset pressure into the high-pressure water jet nozzle through the high-pressure water generator and the high-pressure water pipeline, and simultaneously injecting abrasive with a second preset pressure into the abrasive sand conveying pipe through the abrasive storage tank and the abrasive input pipeline, so that the high-pressure water jet generated by the high-pressure water jet nozzle and the abrasive jet generated by the abrasive sand conveying pipe are fully mixed in the non-closed mixing cavity, and the formed abrasive water jet is impacted onto a stress sensor on the surface of a rock sample from an outlet of the non-closed mixing cavity; the stress sensor records stress distribution of the surface of the rock sample in real time and transmits stress data to the main control unit in real time;
The main control unit continuously drives the abrasive sand conveying pipe to change the pitch angle and the yaw angle through the angle adjusting device under the assistance of the triaxial gyroscope unit, so that the abrasive sand conveying pipe is positioned at different attitude angles, further outputs different abrasive jet flow directions, and simultaneously changes the included angle between the abrasive jet flow and the high-pressure water jet flow; when the abrasive sand conveying pipe is positioned at different attitude angles, acquiring stress distribution of the surface of the rock sample under the attitude angles in real time through a stress sensor;
And finally, determining the attitude angle capable of generating the optimal rock breaking effect according to the mapping relation data of the attitude angle recorded by the main control unit and the rock sample surface stress distribution, and controlling the included angle between the abrasive jet and the high-pressure water jet during actual rock breaking.
Compared with the prior art, the invention has the following beneficial effects:
The invention provides a real-time feedback adjustment rock breaking system for an abrasive water jet angle, which can be used for analyzing the distribution condition of the surface stress of a rock sample under the condition of different included angles between high-pressure water and abrasive jet in real time, and can be used for influencing the impact effect of a mixed jet in real time by changing the size of the included angle of a space position, so that the impact force applied to different positions of the rock sample is changed in real time, and the rock breaking efficiency is improved.
Drawings
FIG. 1 is a schematic view of an abrasive high-pressure water jet mixed rock breaking;
FIG. 2 is an enlarged illustration of an MPU3050 tri-axis gyroscope module;
FIG. 3 is a schematic flow chart of the whole control circuit;
FIG. 4 is a flow chart of real-time feedback adjustment of abrasive water jet angle throughout the experiment;
Fig. 5 is a schematic view of a three-way angle in a rectangular coordinate system.
The reference numerals in the drawings are: the high-pressure water pump comprises a high-pressure water generator 1, a high-pressure water pressure gauge 2, a high-pressure water pipeline 3, a high-pressure water jet nozzle 4, a mixing nozzle 5, a servo motor 6, a non-closed mixing cavity 7, an abrasive storage tank 8, an abrasive input pipeline 9, an abrasive pressure gauge 10, an inertial navigation positioning device 11, a first signal control line 12, an abrasive sand conveying pipe 13, a main control unit 14, a second signal control line 15, a stress sensor 16, a third signal control line 17 and a rock sample 18.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below. The technical features of the embodiments of the invention can be combined correspondingly on the premise of no mutual conflict.
In the description of the present invention, it will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected with intervening elements present. In contrast, when an element is referred to as being "directly connected" to another element, there are no intervening elements present.
In the description of the present invention, it should be understood that the terms "first" and "second" are used solely for the purpose of distinguishing between the descriptions and not necessarily for the purpose of indicating or implying a relative importance or implicitly indicating the number of features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
In a preferred embodiment of the invention, a real-time feedback adjustment of the angle of the abrasive water jet is provided in a rock breaking system comprising a high pressure water jet nozzle 4 coaxially fitted in a mixing head 5. The mixing head 5 and the high-pressure water jet nozzle 4 each have an internal flow passage. The high-pressure water jet nozzle 4 is installed on top of the mixing head 5, and the flow paths of both the mixing head 5 and the high-pressure water jet nozzle 4 need to be kept coaxial. The inlet end of the mixing nozzle 5 is connected with the high-pressure water generator 1 through a high-pressure water pipeline 3. The high-pressure water generator 1 can be realized in various modes, and in the embodiment of the invention, the high-pressure water generator 1 comprises a water pump, a pressure container and a control system, wherein the water pump pumps water into the pressure container with a water outlet valve to pressurize the water to a required pressure, and the control system controls the valve to open to send out the high-pressure water. In addition, in order to facilitate control of the outlet water pressure, a high-pressure water pressure gauge 2 for monitoring the water pressure in the pipe may be provided on the high-pressure water pipe 3.
The outlet end of the mixing nozzle 5 is communicated with the inlet end of the internal flow channel of the high-pressure water jet nozzle 4, the flow channel of the high-pressure water jet nozzle 4 is narrowed at the outlet, high-pressure water jet can be generated and injected into the internal flow channel of the mixing nozzle 5, and abrasive jet is required to be injected into the mixing nozzle 5 besides the high-pressure water jet. The abrasive jet and the high-pressure water jet are mixed at a non-closed mixing cavity 7, and the non-closed mixing cavity 7 is positioned at the tail end of an internal flow channel of the high-pressure water jet nozzle 4 and is spaced from the outlet end of the high-pressure water jet nozzle 4. Thus, a connecting pipe section is arranged between the inlet end of the internal flow channel of the mixing nozzle 5 and the non-closed mixing chamber 7, and the connecting pipe section is used for connecting the abrasive sand conveying pipe 13.
In the present invention, the abrasive sand pipe 13 is not directly fixed to the mixing head 5, but is hinged to the mixing head 5 because the direction of the jet flow is required to be continuously adjusted. The outlet end side of the abrasive sand conveying pipe 13 can be provided with a hinge part which is hinged with the mixing nozzle 5, but the installation position of the hinge part needs to be reasonably designed, and the flow fields of the high-pressure water jet and the abrasive jet cannot be influenced. The inlet end of the abrasive sand conveying pipe 13 is connected with the abrasive storage tank 8 through an abrasive input pipeline 9, and the outlet end of the abrasive sand conveying pipe 13 is communicated with the inlet end of the non-closed mixing cavity 7. In order to facilitate control of the pressure of the injected abrasive, an abrasive pressure gauge 10 for monitoring the water pressure in the pipe may be provided on the abrasive input line 9.
The angle adjustment of the abrasive sand conveyance pipe 13 needs to consider two dimensions, one is the pitch angle of the abrasive sand conveyance pipe 13 and one is the yaw angle of the abrasive sand conveyance pipe 13. As described with reference to fig. 1, the pitch angle of the abrasive sand conveying pipe 13 refers to the angle between the axis of the abrasive sand conveying pipe 13 and a plane (denoted as a plane) perpendicular to the axis of the mixing nozzle 5; the yaw angle of the abrasive sand conveying pipe 13 takes the projection of the abrasive sand conveying pipe 13 on the plane A in a certain initial state as a datum line, and the included angle between the projection generated on the plane A after the abrasive sand conveying pipe 13 swings horizontally around the hinging point and the datum line is controlled.
The articulated position of the abrasive sand conveying pipe 13 and the mixing nozzle 5 needs to be provided with an angle adjusting device 6 to adjust the pitch angle and the yaw angle of the abrasive sand conveying pipe 13, so that the abrasive jet flow direction output by the abrasive sand conveying pipe 13 is controlled, and the high-pressure water jet flow direction generated by the high-pressure water jet flow nozzle 4 in the mixing nozzle 5 is unchanged, so that the included angle between the abrasive jet flow and the high-pressure water jet flow can be further changed due to the change of the abrasive jet flow direction, and the abrasive jet flow and the high-pressure water jet flow mixed abrasive water jet flow impact effect is affected. The angle adjusting device 6 may be any micro-device capable of achieving the above functions, and in the embodiment of the present invention, the angle adjusting device 6 is implemented by a group of micro-servomotors, and the pitch angle and yaw angle of the abrasive sand conveying pipe 13 are independently adjusted by different servomotors.
In addition, in order to detect the impact of different abrasive jet directions on the rock sample 18, the lower part of the outlet end of the non-closed mixing cavity 7 in the mixing nozzle 5 is used as a placement area of the rock sample 18, and the test surface of the rock sample 18 to be tested can be placed facing the abrasive water jet direction. Since the impact breaking effect of the abrasive water jet on the rock sample 18 is directly related to the distribution of the surface stress of the rock sample, the impact area of the abrasive water jet on the rock sample 18 is provided with a stress sensor 16, so that the surface stress of the rock sample 18 is recorded. To facilitate a secure installation, in an embodiment of the present invention, the stress sensor 16 is a magnetically-mounted impact stress sensor.
In addition, the pitch angle and yaw angle of the abrasive delivery pipe 13 together determine the attitude angles thereof, each corresponding to one abrasive jet angle. The invention aims to record the surface stress of a rock sample 18 through a stress sensor 16, and then explore the distribution situation of the surface stress of the rock sample 18 formed by the attitude angles of different abrasive sand conveying pipes 13, so that the influence of the included angles of different high-pressure water jet flows and abrasive jet flows on the distribution of the surface stress of the rock sample can be analyzed, the best angle can be found conveniently, the impact effect of the mixed jet flow can be adjusted in real time by changing the attitude angle of the abrasive sand conveying pipes 13 in the actual rock breaking process, and the impact force applied to different positions of the rock sample can be changed, so that the rock breaking efficiency is improved. Therefore, the invention needs to determine the attitude angle of the abrasive sand conveying pipe 13 in real time by installing the inertial navigation positioning device 11 on the abrasive sand conveying pipe 13. And the inertial navigation positioning device 11, the angle adjusting device 6 and the stress sensor 16 are respectively connected with the main control unit 14 through a first signal control line 12, a second signal control line 15 and a third signal control line 17 to form data acquisition and feedback control.
In the embodiment of the present invention, the inertial navigation positioning device 11 is implemented by a tri-axis gyroscope, and the model of the inertial navigation positioning device can be selected as an MPU3050 tri-axis gyroscope module, as shown in fig. 2. The MPU3050 triaxial gyroscope module can be fixedly arranged on the abrasive sand conveying pipe 13, calculates Yaw (Yaw), pitch (Pitch) and Roll angle (Roll) of an abrasive pipeline after real-time detection, continuously sends data to the main control unit, and records the data after the main control unit collects the angle data.
As shown in fig. 3, in the embodiment of the present invention, the MPU3050 integrates a three-axis gyroscope as a gesture resolving unit, and a motor is connected to an I2C bus together with a main control unit. The triaxial gyroscope is a commonly used motion and positioning sensor, and can read angular acceleration data of three axes in space to calculate a three-way angle. A schematic diagram of three-way angles in a rectangular coordinate system is shown in fig. 5, where three-way angles can be defined as:
1. Yaw angle (Yaw): included angle between horizontal projection of machine shaft and ground shaft
2. Pitch angle (Pitch): included angle between machine body coordinate system x-axis and horizontal plane
3. Roll angle (Roll): the angle between the z axis of the machine body coordinate system and the vertical plane passing through the x axis of the machine body
The data acquisition process of the MPU3050 triaxial gyroscope module is as follows: firstly initializing an I2C bus, emptying residual data on the bus, resetting and waking up an MPU3050, setting a register for reading yaw, pitch and roll angles to store angle data in real time, setting a sampling rate to sample, recording stress distribution of a rock sample in real time by a magnetic attraction type stress sensor after the water jet of abrasive water starts to impact the rock sample, transmitting the stress distribution to a remote main control unit through the I2C bus, giving an instruction to a servo motor by the main control unit at the moment to drive the abrasive sand conveying pipe to move, changing the value of a three-way angle in the register in real time by recording the angular acceleration of the movement of the pipeline, determining the spatial position of the abrasive pipeline at the moment, and continuing the process of breaking the rock by the mixed jet, and recording the stress distribution value and the angle at the moment.
Of course, other types of inertial navigation positioning devices may be substituted for the apparatus in this scenario in addition to the MPU3050 tri-axis gyroscope module described above.
As shown in fig. 3, the data acquisition and feedback control process in the system of the present invention is as follows:
The water pump pumps water out and sends the water into the pressure vessel to be pressurized to a high pressure state, and the control system controls the valve to be opened to send out high pressure water. The high-pressure water pressure gauge 2 can limit the maximum value of the pressure of the high-pressure water sent by the control valve and read the current pressure value. The high-pressure water pipeline 3 sends high-pressure water to the high-pressure water jet nozzle 4; simultaneously, the abrasive is added into the abrasive storage tank 8, reaches the abrasive sand conveying pipe 13 through the abrasive input pipeline 9, and the abrasive pressure gauge 10 records the abrasive pressure value in real time. The high-pressure water jet and the abrasive jet are fully mixed in the non-closed mixing cavity 7 and then are emitted to impact the rock sample 18, the stress sensor 16 records the surface stress of the rock sample 18 in real time, and the stress data is transmitted to the main control unit 14 in real time through the third signal control line 17. At this time, the main control unit 14 reads three-way angle data of the inertial navigation positioning device 11 through the first signal control line 12, and sends a command to the servo motor 6 through the second signal control line 15 to enable the servo motor to adjust the spatial position of the sand conveying wear-resisting pipeline 13 so as to change stress distribution of the abrasive water jet mixed jet impacting the rock sample. The corresponding relation database between the stress distribution and the spatial angle position of the abrasive sand conveying pipe can be established by repeating the impact process, so that the optimal angle for rock breaking under different working conditions can be found, and the rock breaking efficiency is improved. In practical application, if an optimal angle is determined for the rock sample 8 to be broken by the system, the rock can be broken according to the angle.
In the present invention, in order to facilitate the in-pipe condition, the high-pressure water pipe 3 and the abrasive material input pipe 9 are preferably transparent pipes.
In another embodiment of the present invention, based on the rock breaking system shown in fig. 1, a method for real-time feedback adjustment of the angle of abrasive water jet for breaking rock may be further provided, and the method comprises the following specific steps:
first, the rock sample 18 to be crushed is collected from the actual rock formation and placed under the outlet end of the non-closed mixing chamber 7, and a stress sensor 16 is installed in the impact area of the abrasive water jet, adjusting the abrasive sand conveying pipe 13 to be at the initial pitch angle and yaw angle. The specific initial angle may be adjusted according to the actual situation, and is not limited thereto.
Then, the method comprises the steps of. High-pressure water with a first preset pressure is injected into the high-pressure water jet nozzle 4 through the high-pressure water generator 1 and the high-pressure water pipeline 3, and meanwhile, abrasive with a second preset pressure is injected into the abrasive sand conveying pipe 13 through the abrasive storage tank 8 and the abrasive input pipeline 9, so that the high-pressure water jet generated by the high-pressure water jet nozzle 4 and the abrasive jet generated by the abrasive sand conveying pipe 13 are fully mixed in the non-closed mixing cavity 7, and the formed abrasive water jet impacts the stress sensor 16 on the surface of the rock sample 18 from the outlet of the non-closed mixing cavity 7; the stress sensor 16 records the stress distribution on the surface of the rock sample 18 in real time and transmits the stress data to the main control unit 14 in real time.
It should be noted that, the first preset pressure and the second preset pressure need to be adjusted according to two actual fluid pressures of the rock breaking system, which is not limited.
Subsequently, the main control unit 14 continuously drives the abrasive sand conveying pipe 13 to change a pitch angle and a yaw angle through the angle adjusting device under the assistance of the triaxial gyroscope unit 11, so that the abrasive sand conveying pipe 13 is positioned at different attitude angles, further outputs different abrasive jet flow directions, and simultaneously changes the included angle between the abrasive jet flow and the high-pressure water jet flow; when the abrasive sand conveying pipe 13 is positioned at different attitude angles, the stress distribution of the surface of the rock sample 18 at the attitude angles is acquired in real time through the stress sensor 16.
Finally, after data acquisition of all attitude angles is completed, the attitude angle capable of generating the best rock breaking effect can be determined according to the mapping relation data of the attitude angle recorded by the main control unit 14 and the surface stress distribution of the rock sample 18, and the attitude angle is used for controlling the included angle between the abrasive jet and the high-pressure water jet in actual rock breaking.
In summary, the invention can record the spatial relative angle relation between the abrasive input and the high-pressure water input in real time by means of the triaxial gyroscope arranged on the abrasive sand conveying pipe, the magnetic attraction type stress sensor can feed back the recorded shear stress principal stress and tensile stress data to the remote control interface through the main control board in real time under each angle relation, so that the influence brought by the angle can be analyzed in time, and the three-way angle is regulated by sending instructions to the servo motor at the tail end of the abrasive input pipeline so as to change the stress distribution condition brought by the impact of the abrasive water jet so as to achieve the aim of improving the rock breaking efficiency.
The above embodiment is only a preferred embodiment of the present invention, but it is not intended to limit the present invention. Various changes and modifications may be made by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present invention. Therefore, all the technical schemes obtained by adopting the equivalent substitution or equivalent transformation are within the protection scope of the invention.
Claims (10)
1. The real-time feedback regulation rock breaking system for the abrasive water jet angle is characterized by comprising a high-pressure water jet nozzle (4) coaxially assembled in a mixing nozzle (5), wherein the inlet end of the high-pressure water jet nozzle (4) is connected with a high-pressure water generator (1) through a high-pressure water pipeline (3), the outlet end of the high-pressure water jet nozzle (4) is communicated with the inlet end of an internal flow channel of the mixing nozzle (5), the tail end of the internal flow channel of the mixing nozzle (5) is provided with a section of non-closed mixing cavity (7), and a section of connecting pipe section connected with an abrasive sand conveying pipe (13) is arranged between the inlet end of the internal flow channel and the non-closed mixing cavity (7);
The abrasive sand conveying pipe (13) is hinged to the mixing nozzle (5), the inlet end of the abrasive sand conveying pipe (13) is connected with the abrasive storage tank (8) through the abrasive input pipeline (9), and the outlet end of the abrasive sand conveying pipe (13) is communicated with the inlet end of the non-closed mixing cavity (7); the angle adjusting device (6) is arranged at the hinged position of the abrasive sand conveying pipe (13) and the mixing nozzle (5), and the angle adjusting device (6) can adjust the pitch angle and the yaw angle of the abrasive sand conveying pipe (13) so as to control the abrasive jet flow direction output by the abrasive sand conveying pipe (13);
The lower part of the outlet end of the non-closed mixing cavity (7) in the mixing nozzle (5) is used as a placing area of a rock sample (18), a test surface of the rock sample (18) faces to the direction of the abrasive water jet, and a stress sensor (16) is arranged on the rock sample (18) in the impact area of the abrasive water jet to record the surface stress of the rock sample (18);
The grinding material sand conveying pipe (13) is provided with an inertial navigation positioning device (11), and the inertial navigation positioning device (11), the stress sensor (16) and the angle adjusting device (6) are respectively connected with the main control unit (14) through signal wires and form data acquisition and feedback control.
2. The real-time feedback regulation rock breaking system for the angle of the abrasive water jet according to claim 1, wherein a high-pressure water pressure gauge (2) for monitoring the water pressure in the pipe is arranged on the high-pressure water pipeline (3).
3. The real-time feedback regulation rock breaking system of the abrasive water jet angle according to claim 1, characterized in that an abrasive pressure gauge (10) for monitoring the water pressure in the pipe is arranged on the abrasive input pipeline (9).
4. The abrasive water jet angle real-time feedback adjustment rock breaking system according to claim 1, characterized in that the stress sensor (16) adopts a magnetic attraction type stress sensor with fixed magnetic attraction type.
5. The real-time feedback regulation rock breaking system of the abrasive water jet angle according to claim 1, characterized in that the inertial navigation positioning device (11) adopts a triaxial gyroscope.
6. The abrasive water jet angle real-time feedback adjustment rock breaking system according to claim 5, wherein the three-axis gyroscope adopts an MPU3050 three-axis gyroscope module.
7. The real-time feedback regulation rock breaking system of the abrasive water jet angle according to claim 1, wherein the high-pressure water generator (1) comprises a water pump, a pressure container and a control system, the water pump pumps water into the pressure container with a water outlet valve to be pressurized to a required pressure, and the control system controls the water outlet valve to be opened to send high-pressure water.
8. The real-time feedback regulation rock breaking system for the angle of the abrasive water jet according to claim 1, wherein the high-pressure water pipeline (3) and the abrasive input pipeline (9) are transparent pipelines.
9. The real-time feedback adjustment rock breaking system of the abrasive water jet angle according to claim 1, characterized in that the angle adjusting device (6) is realized by a group of servo motors, and the pitch angle and the yaw angle of the abrasive sand conveying pipe (13) are respectively and independently adjusted by different servo motors.
10. A method for real-time feedback adjustment of rock breaking based on the angle of abrasive water jet according to any one of claims 1 to 9, comprising:
Placing a rock sample (18) to be crushed below the outlet end of the non-closed mixing cavity (7), and installing a stress sensor (16) in the impact area of the abrasive water jet, and adjusting the abrasive sand conveying pipe (13) to be at an initial pitch angle and a yaw angle;
High-pressure water with a first preset pressure is injected into the high-pressure water jet nozzle (4) through the high-pressure water generator (1) and the high-pressure water pipeline (3), and meanwhile, abrasive with a second preset pressure is injected into the abrasive sand conveying pipe (13) through the abrasive storage tank (8) and the abrasive input pipeline (9), so that the high-pressure water jet generated by the high-pressure water jet nozzle (4) and the abrasive jet generated by the abrasive sand conveying pipe (13) are fully mixed in the non-closed mixing cavity (7), and the formed abrasive water jet impacts on the stress sensor (16) on the surface of the rock sample (18) from the outlet of the non-closed mixing cavity (7); the stress sensor (16) records stress distribution of the surface of the rock sample (18) in real time and transmits stress data to the main control unit (14) in real time;
The main control unit (14) continuously drives the abrasive sand conveying pipe (13) to change a pitch angle and a yaw angle through the angle adjusting device under the assistance of the inertial navigation positioning device (11), so that the abrasive sand conveying pipe (13) is positioned at different attitude angles, further outputs different abrasive jet flow directions, and simultaneously changes the included angle between the abrasive jet flow and the high-pressure water jet flow; when the abrasive sand conveying pipe (13) is positioned at different attitude angles, stress distribution of the surface of the rock sample (18) under the attitude angles is obtained in real time through the stress sensor (16);
And finally, determining the attitude angle capable of generating the optimal rock breaking effect according to the mapping relation data of the attitude angle recorded by the main control unit (14) and the surface stress distribution of the rock sample (18), and controlling the included angle between the abrasive jet and the high-pressure water jet during actual rock breaking.
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