AU2020402793B2 - Tbm-mounted test device for automatically obtaining grain size and strength features of rock debris and method - Google Patents
Tbm-mounted test device for automatically obtaining grain size and strength features of rock debris and method Download PDFInfo
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- 239000011435 rock Substances 0.000 title claims abstract description 370
- 238000012360 testing method Methods 0.000 title claims abstract description 77
- 238000000034 method Methods 0.000 title abstract description 17
- 238000012545 processing Methods 0.000 claims abstract description 38
- 238000001035 drying Methods 0.000 claims abstract description 26
- 230000008859 change Effects 0.000 claims abstract description 10
- 238000005406 washing Methods 0.000 claims description 22
- 230000005641 tunneling Effects 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000005485 electric heating Methods 0.000 claims description 6
- 239000007921 spray Substances 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 239000000428 dust Substances 0.000 claims description 5
- 238000005286 illumination Methods 0.000 claims description 4
- 230000008602 contraction Effects 0.000 claims description 3
- 238000010981 drying operation Methods 0.000 claims description 3
- 238000010998 test method Methods 0.000 claims description 2
- 239000002893 slag Substances 0.000 abstract 24
- 238000004140 cleaning Methods 0.000 abstract 3
- 239000002245 particle Substances 0.000 abstract 2
- 230000008569 process Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013135 deep learning Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
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- 238000012669 compression test Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
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- 239000005341 toughened glass Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/02—Investigating particle size or size distribution
- G01N15/0205—Investigating particle size or size distribution by optical means
- G01N15/0227—Investigating particle size or size distribution by optical means using imaging; using holography
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/02—Details
- G01N3/06—Special adaptations of indicating or recording means
- G01N3/068—Special adaptations of indicating or recording means with optical indicating or recording means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/026—Specifications of the specimen
- G01N2203/0284—Bulk material, e.g. powders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/06—Indicating or recording means; Sensing means
- G01N2203/067—Parameter measured for estimating the property
- G01N2203/0676—Force, weight, load, energy, speed or acceleration
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- Immunology (AREA)
- Pathology (AREA)
- Dispersion Chemistry (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
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Abstract
Provided are a TBM-carried test device and method for automatically acquiring particle size and strength characteristics of rock slag. The device comprises a telescopic mechanical gripper for gripping rock slag and introducing same into a rock slag fixing device. The rock slag fixing device, a rock slag cleaning device, a rock slag drying device, a rock slag photographing device, a point load test device and a rock slag collecting device are sequentially arranged on a guide rail, wherein the rock slag fixing device can freely move on the guide rail and is configured for conveying the rock slag to a preset position for corresponding operations; the rock slag cleaning device is configured for cleaning the rock slag; the rock slag drying device is configured for drying the rock slag; the rock slag photographing device is configured for acquiring images of an upper surface and a lower surface of the rock slag and transmitting the images to a data comprehensive processing system; the point load test device is configured for crushing the rock slag, acquiring a rock slag point load strength and transmitting the rock slag point load strength to the data comprehensive processing system; the data comprehensive processing system is used for obtaining rock slag characteristics, such as the shape, particle size, and a point load strength index of the rock slag so as to determine, according to the rock slag characteristics, a rock mass change condition of the current tunnelled face; and the rock slag collecting device is configured for collecting the rock slag.
Description
The present invention belongs to the field of TBM-mounted test devices, and particularly, relates to a TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris and a method.
The description in this section merely provides background information related to the present invention and does not necessarily constitute the prior art. With the large-scale construction of infrastructure and the large-scale development of the western region in China, a large number of tunnels need to be constructed; the full face tunnel boring machine (TBM) is widely applied to the long and large tunnel construction in China due to advantages such as fast excavation, safety, economy, and less disruption; and with the continuous change of features of rock mass in front of a tunneling face, workers need to adjust a corresponding TBM parameter in time to avoid accidents such as damage of a cutting tool and jamming. Obtaining the features of the rock mass in front of the current tunneling face becomes very important, and it is generally needed to: core at a sidewall of a tunnel using a drilling machine and process into a standard rock specimen, and perform a compression test on the rock specimen indoors using a press machine to obtain uniaxial compressive strength of the rock. However, the process of processing the standard rock specimen may cause secondary damage to the rock, while a point load test can perform a test on the rock specimen without processing the rock specimen, and therefore, compared with the indoor test, the point load test has certain advantages in obtaining the strength of the rock. In a conventional condition, rock debris generated during a TBM working process needs to be manually picked up on a conveyor belt, the rock debris is washed, features of a surface of the rock debris is observed with naked eyes, and point load strength of the rock debris is obtained using point load equipment. However, the inventor finds that an on-site operating environment is complicated, dust concentration is high, and the conveyor belt has a fast running speed, and therefore it is difficult and unsafe to manually pick up the rock debris that
I satisfies test requirements on the conveyor belt.
To resolve the foregoing problems, the present invention provides a TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris and a method, which can obtain rock debris features such as a grain size, and joint and strength features of the rock debris in real time during a TBM tunneling process, to make a person skilled in the art determine a change condition of a rock mass in front of a tunneling face according to the rock debris features. In order to realize the above objectives, the present invention adopts the technical solutions as follows: A first aspect of the present invention provides a TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris, including: a telescopic mechanical gripper, disposed on one end of a guide rail, and configured to grab rock debris and place the rock debris into a rock debris fixing apparatus, where the guide rail is disposed above a TBM conveyor belt; and the rock debris fixing apparatus, a rock debris washing apparatus, a rock debris drying apparatus, a rock debris shooting apparatus, a point load test apparatus, and a rock debris collecting apparatus are disposed on the guide rail in sequence; and the rock debris fixing apparatus is capable of moving freely on the guide rail, and configured to convey the rock debris to a preset position for a corresponding operation; the rock debris washing apparatus is configured to perform a wash operation on the conveyed rock debris; the rock debris drying apparatus is configured to perform a drying operation on the conveyed rock debris; the rock debris shooting apparatus is configured to perform an operation of collecting upper and lower surface images of the rock debris on the conveyed rock debris and transmit the upper and lower surface images to a data comprehensive processing system; the point load test apparatus is configured to fracture the conveyed rock debris, collect point load strength of the rock debris, and transmit the point load strength of the rock debris to the data comprehensive processing system; the data comprehensive processing system is configured to obtain rock debris features such as a shape and a grain size, and an index of the point load strength of the rock debris, and obtain a change curve diagram of strength of rock at a tunnel tunneling working section; and the rock debris collecting apparatus is configured to collect the rock debris processed by the point load test apparatus. As an implementation, the guide rail is disposed on a base, and the base in disposed above the TBM conveyor belt. As an implementation, a high-pressure spray head is disposed inside the rock debris washing apparatus. As an implementation, an electric heating wire is disposed inside the rock debris drying apparatus. As an implementation, a third high-definition camera and an illumination apparatus are disposed on both an upper plate and a lower plate inside the rock debris shooting apparatus, and configured to obtain the upper and lower surface images of the rock debris. As an implementation, the base is made of an angle steel or an I-shaped steel. As an implementation, the telescopic mechanical gripper is suspended above the TBM conveyor belt with support of an electric hydraulic column on one side, and the electric hydraulic column is capable of stretching up and down. As an implementation, the telescopic mechanical gripper includes a round gripper, the round gripper is configured to achieve lifting and left and right swing of the mechanical gripper through contraction of a rotation joint and a mechanical arm after grabbing the rock debris, and place the grabbed rock debris into the rock debris fixing apparatus, a first high-definition camera is further disposed above the round gripper, the first high-definition camera is configured to shoot images of the rock debris on the conveyor belt and transmit the images to the data comprehensive processing system, to further locate grabbed rock debris and control the telescopic mechanical gripper to grab the rock debris on the conveyor belt. As an implementation, the rock debris fixing apparatus includes a mobile trolley, and the mobile trolley is connected to a carrying box through a rotary connecting rod. As an implementation, the point load test apparatus includes a point load upper conical head and a point load lower conical head, the load lower conical head is disposed on a jack, the jack is connected to a driving mechanism, and the driving mechanism is configured to drive the jack to vertically move, to further drive the point load lower conical head to vertically move; and the point load upper conical head is fixed on an inner side of a top plate of the point load test apparatus and is disposed opposite to the point load lower conical head. As an implementation, a second high-definition camera is further disposed on two sides of the point load test apparatus, a pressure sensor is disposed inside the point load upper conical head and configured to record point load strength, and a displacement sensor is disposed inside the point load lower conical head and configured to record a movement distance of the point load lower conical head; and when the rock debris fixing apparatus carries the rock debris and moves inside the point load test apparatus, the second high-definition camera is configured to locate a position of the rock debris, and a center position of the rock block is caused to be located between the point load upper conical head and the point load lower conical head by adjusting the rotary connecting rod. As an implementation, the data comprehensive processing system for the rock debris is configured to extract the grain size of the rock debris and a surface joint feature of the rock debris in the images of the rock debris, and finally obtain the rock debris features such as the point load strength of the rock debris, and distribution of the grain size of the rock debris on the conveyor belt. As an implementation, the TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris further includes an industrial computer, and the data comprehensive processing system is a central processing system of the industrial computer. The mechanical arm, the rock debris fixing apparatus, the rock debris washing apparatus, the rock debris drying apparatus, the rock debris shooting apparatus, the rock debris point load test apparatus, and the rock debris collecting apparatus of the test device are connected to the central processing system of the industrial computer respectively through a signal transmission apparatus. A second aspect of the present invention provides a test method of the TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris, including: 1) determining the position of the rock debris on the TBM conveyor belt, controlling the telescopic mechanical gripper to grab corresponding rock debris on the conveyor belt, and placing the grabbed rock debris into the rock debris fixing apparatus; 2) moving toward the rock debris fixing apparatus on the guide rail, carrying the rock debris and moving to the rock debris washing apparatus to wash dust on a surface of the rock debris; 3) keeping moving toward the rock debris fixing apparatus, carrying the rock debris and moving to the rock debris drying apparatus to dry moisture on the surface of the rock debris, to maintain the rock debris with moisture content in a natural condition; 4) keeping moving toward the rock debris fixing apparatus, carrying the rock debris and moving to the rock debris shooting apparatus to shoot upper and lower surfaces of the rock debris, where at least four pictures are taken for each rock block, and transmitting obtained rock debris images to the data comprehensive processing system;
5) keeping moving toward the rock debris fixing apparatus, carrying the rock debris and moving to the point load test apparatus, locating the position of the rock debris, adjusting rotation rods on two sides of the carrying box to press the point load upper conical head and the point load lower conical head of the point load test apparatus at the center position of the rock debris, moving upward the point load lower conical head till the rock debris is fractured, and recording strength and displacement of the lower conical head when the rock debris is fractured; 6) carrying the fractured rock debris and leaving the point load test apparatus, pouring the fractured rock debris into the rock debris collecting apparatus by rotating the carrying box, and moving backward a carrying trolley to a beginning end of the guide rail; and 7) repeating the above operation steps, and obtaining the rock debris features such as the grain size, the point load strength and the surface joint feature of the grabbed rock debris through an analysis of the data comprehensive processing system. The present invention has the following beneficial effects: According to the present invention, the telescopic mechanical gripper grabs the rock debris and places the rock debris into the rock debris fixing apparatus, and uses the rock debris fixing apparatus to move the rock debris to the rock debris washing apparatus, the rock debris drying apparatus, the rock debris shooting apparatus, the point load test apparatus, and the rock debris collecting apparatus in sequence for corresponding operations, thereby achieving the objectives of automatic collecting, washing, drying of the rock debris, and automatically extracting the surface features of the rock debris and the point load strength of the rock debris, resolving the problem that it is difficult and unsafe to manually pick up the rock debris that satisfies test requirements on a conveyor belt, and obtaining in real time the features such as the grain size, and the joint and strength features of the rock debris during the TBM tunneling process, facilitating determining of a change condition of the rock mass on a current tunneling face according to the rock debris features, and improving an automation degree of the test device and accuracy of test results.
The accompanying drawings forming a part of the present invention are used for providing a further understanding of the present invention. Exemplary embodiments of the present invention and descriptions thereof are used for explaining the present invention, and do not constitute any inappropriate limitation to the present invention.
FIG. 1 is a three-dimensional schematic structural diagram of a TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris according to an embodiment of the present invention; FIG. 2 is a schematic structural diagram of a point load test apparatus according to an embodiment of the present invention; FIG. 3 is a schematic structural diagram of a rock debrisfixing apparatus according to an embodiment of the present invention; and FIG. 4 is a schematic diagram of an internal structure of a TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris according to an embodiment of the present invention. In the figures: 1. Telescopic mechanical gripper; 2. Mechanical arm; 3. Rotation joint; 4. First high-definition camera; 5. Rock debris fixing apparatus; 6. Rock debris washing apparatus; 7. Rock debris drying apparatus; 8. Rock debris shooting apparatus; 9. point load test apparatus; 10. Rock debris collecting apparatus; 11. Electric hydraulic column; 12. Base supporting rod; 13. Guide rail; 14. TBM conveyor belt; 15. Second high-definition camera; 16. Point load lower conical head; 17. Jack; 18. Point load upper conical head; 19. Rock debris; 20. Carrying box; 21. Rotary connecting rod; 22. Wheel; 23. Connection member; 24. Wire mesh structure; 25. Third high-definition camera; 26. Electric heating wire; 27. High-pressure spray head; 28. Illumination apparatus; 29. Industrial computer.
The present invention is further described below with reference to the accompanying drawings and embodiments. It should be noted that the following detailed descriptions are all exemplary and are intended to provide a further description of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those usually understood by a person of ordinary skill in the art to which the present invention belongs. It should be noted that the terms used herein are merely used for describing specific implementations, and are not intended to limit exemplary implementations of the present invention. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise. In addition, it should further be understood that terms "comprise" and/or "include" used in this specification indicate that there are features, steps, operations, devices, components, and/or combinations thereof.
In the present invention, orientation or position relationships indicated by the terms such as "upper", "lower", "left", "right" "front", "rear", "vertical", "horizontal", "side", and "bottom" are based on orientation or position relationships shown in the accompanying drawings, and are merely relationship words that are determined for ease of describing the structural relationship between components or elements in the present invention, and are not intended to specifically refer to any component or element in the present invention. Therefore, such terms should not be construed as a limitation on the present invention. In the present invention, terms such as "fixedly connected", "interconnection", and "connection" should be understood in a broad sense. The connection may be a fixed connection, an integral connection or a detachable connection; or the connection may be a direct connection, or an indirect connection by using an intermediary. Relevant scientific research or technical personnel in the art may determine the specific meanings of the foregoing terms in the present invention according to specific situations, and such terms should not be construed as a limitation on the present invention. As shown in FIG. 1 and FIG. 4, this embodiment provides a TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris, including: a telescopic mechanical gripper 1, disposed on one end of a guide rail 13, and configured to grab rock debris 19 and place the rock debris into a rock debris fixing apparatus 5, where the guide rail is disposed above a TBM conveyor belt 14; and the rock debrisfixing apparatus , a rock debris washing apparatus 6, a rock debris drying apparatus 7, a rock debris shooting apparatus 8, a point load test apparatus 9, and a rock debris collecting apparatus 10 are disposed on the guide rail 13 in sequence; and the rock debris fixing apparatus is capable of moving freely on the guide rail, and configured to convey the rock debris to a preset position for a corresponding operation; the rock debris washing apparatus is configured to perform a wash operation on the conveyed rock debris; the rock debris drying apparatus is configured to perform a drying operation on the conveyed rock debris; the rock debris shooting apparatus is configured to perform an operation of collecting upper and lower surface images of the rock debris on the conveyed rock debris and transmit the upper and lower surface images to a data comprehensive processing system; the point load test apparatus is configured to fracture the conveyed rock debris, collect point load strength of the rock debris, and transmit the point load strength of the rock debris to the data comprehensive processing system; the data comprehensive processing system is configured to obtain rock debris features such as a shape and a grain size, and an index of the point load strength of the rock debris, to facilitate determining of a change condition of a rock mass on a current tunneling face according to the rock debris features; and the rock debris collecting apparatus is configured to collect the rock debris processed by the point load test apparatus. In a specific implementation, the guide rail 13 is disposed on a base, and the base in disposed above the TBM conveyor belt 14. Specifically, a base supporting rod 12 is disposed on a bottom of the base, and configured to support the base. Specifically, the base is made of an angle steel or an I-shaped steel, and is welded above the TBM conveyor belt, to provide support for other elements of the test device. As an implementation, the telescopic mechanical gripper 1 is suspended above the TBM conveyor belt 14 with support of an electric hydraulic column 11 on one side, and the electric hydraulic column 11 is capable of stretching up and down. Specifically, the telescopic mechanical gripper 1 includes a round gripper, the round gripper is configured to achieve lifting and left and right swing of the mechanical gripper through contraction of a rotation joint 3 and a mechanism arm 2 after grabbing the rock debris, and place the grabbed rock debris into the rock debris fixing apparatus 5, a first high-definition camera 4 is further disposed above the round gripper, thefirst high-definition camera 4 is configured to shoot images of the rock debris on the conveyor belt and transmit the images to the data comprehensive processing system, to further locate the rock debris and control the telescopic mechanical gripper to grab the rock debris on the conveyor belt. As shown in FIG. 3, the rock debris fixing apparatus includes a mobile trolley, and the mobile trolley is connected to a carrying box 20 through a rotary connecting rod 21. Wheels 22 are disposed on a bottom of the mobile trolley, and are capable of moving freely on the guide rail. The wheels 22 constitute a chassis of the mobile trolley through a connection member 23, and the chassis is configured to place the carrying box 20. In a specific implementation, the carrying box 20 is a round carrying box; the rotary connecting rod 21 is capable of achieving up-down flipping of the carrying box 20, and the rock debris fixing apparatus 5 is capable of moving freely on the guide rail. A sidewall of the round carrying box is made of tempered glass or stainless steel materials, a bottom surface is a net plate with net holes, the net plate is a wire mesh structure 24, a diameter of a wire of the wire mesh structure 24 is in a range of 1 to 3 mm, and a single-direction size of a hole is in a range of 5 to 20 mm. Specifically, housings of the rock debris washing apparatus 6, the rock debris drying apparatus 7, the rock debris shooting apparatus 8, and the point load test apparatus 9 are spliced using stainless steel plates or iron plates, and are welded to the base respectively.
As an implementation, a high-pressure spray head 27 is disposed inside the rock debris washing apparatus 6; and the high-pressure spray head is disposed on an inner side of an upper plate inside the rock debris washing apparatus and the rock debris drying apparatus. As an implementation, an electric heating wire 26 is disposed inside the rock debris drying apparatus 7; and the electric heating wire is disposed on an inner side of a lower plate inside the rock debris drying apparatus. When the rock debris fixing apparatus moves inside the rock debris washing apparatus and the rock debris drying apparatus in sequence, the high-pressure spray head automatically opens, to wash dust on a surface of the rock debris, and the electric heating wire dries moisture on the surface of the rock debris. As an implementation, a third high-definition camera 25 and an illumination apparatus 28 are disposed on both an upper plate and a lower plate inside the rock debris shooting apparatus, and configured to obtain the upper and lower surface images of the rock debris. As shown in FIG. 2, the point load test apparatus includes a point load upper conical head 18 and a point load lower conical head 16, the load lower conical head 16 is disposed on a jack 17, the jack is connected to a driving mechanism, and the driving mechanism is configured to drive the jack to vertically move, to further drive the point load lower conical head to vertically move; and the point load upper conical head 18 is fixed on an inner side of a top plate of the point load test apparatus 9 and is disposed opposite to the point load lower conical head 16. A second high-definition camera 15 is further disposed on two sides of the point load test apparatus 9, a pressure sensor is disposed inside the point load upper conical head and configured to record point load strength, and a displacement sensor is disposed inside the point load lower conical head and configured to record a movement distance of the point load lower conical head; and when the rock debris fixing apparatus carries the rock debris and moves inside the point load test apparatus, the second high-definition camera is configured to locate a position of the rock debris, and a center position of the rock block is caused to be located between the point load upper conical head and the point load lower conical head by adjusting the rotary connecting rod. After the rock debris is fractured, the cameras on the two sides shoot the rock debris, the images of the rock debris are transmitted to the data comprehensive processing system, and feature extraction is performed on the images of the rock debris through deep learning, to obtain a minimum section width W of the rock debris passing through a loading point and obtain the index of the point load strength of the rock, and the formula is as follows:
P7r s4WD
where I, is the index (Mpa) of the point load strength, P is a fracture load (N), D is an interval (mm) of the loading point, and W is the minimum section width (mm) passing through the loading point. The TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris further includes an industrial computer, and the data comprehensive processing system is a central processing system of the industrial computer 29. The central processing system includes an image processing module that is configured to process the images of the rock debris and a data processing module that is configured to process data of the rock debris, and the image processing module mainly applies technologies such as image cropping, edge extraction, filtering enhancement and deep learning, to extract the grain size of the rock debris and the surface joint feature of the rock debris in the images of the rock debris. The data processing module analyzes and processes the obtained date of the rock debris, to obtain the index of the point load strength of the rock debris, to further obtain a change curve diagram of the strength of the rock on a tunnel face ahead during a tunnel tunneling process. It may be understood that, the industrial computer 29 includes a display interface, to display a result of the images of the rock debris processed by the image processing module and a result of the data of the rock analyzed and processed by the data processing module, to facilitate determining of a change condition of the rock mass on the current tunneling face by a person skilled in the art according to the results displayed on the display interface. Based on the foregoing embodiments, the mechanical arm, the rock debris fixing apparatus, the rock debris washing apparatus, the rock debris drying apparatus, the rock debris shooting apparatus, the rock debris point load test apparatus, and the rock debris collecting apparatus are connected to the central processing system of the industrial computer respectively through a signal transmission apparatus, to achieve data transmission between the industrial computer and the test device, and the industrial computer includes a parameter setting module, to make each apparatus work at a corresponding working parameter by setting the working parameter of each test apparatus through the parameter setting module. This embodiment provides a method of the TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris, including: 1) determining the position of the rock debris on the TBM conveyor belt, controlling the telescopic mechanical gripper to grab corresponding rock debris on the conveyor belt, and placing the grabbed rock debris into the rock debris fixing apparatus; 2) moving toward the rock debris fixing apparatus on the guide rail, carrying the rock debris and moving to the rock debris washing apparatus to wash dust on a surface of the rock debris; 3) keeping moving toward the rock debris fixing apparatus, carrying the rock debris and moving to the rock debris drying apparatus to dry moisture on the surface of the rock debris, to maintain the rock debris with moisture content in a natural condition; 4) keeping moving toward the rock debris fixing apparatus, carrying the rock debris and moving to the rock debris shooting apparatus to shoot upper and lower surfaces of the rock debris, where at least four pictures are taken for each rock block, and transmitting obtained rock debris images to the data comprehensive processing system; 5) keeping moving toward the rock debris fixing apparatus, carrying the rock debris and moving to the point load test apparatus, locating the position of the rock debris, adjusting rotation rods on two sides of the carrying box to press the point load upper conical head and the point load lower conical head of the point load test apparatus at the center position of the rock debris, moving upward the point load lower conical head till the rock debris is fractured, and recording strength and displacement of the lower conical head when the rock debris is fractured; 6) carrying the fractured rock debris and leaving the point load test apparatus, pouring the fractured rock debris into the rock debris collecting apparatus by rotating the carrying box, and moving backward a carrying trolley to a beginning end of the guide rail; and 7) repeating the above operation steps, and obtaining the rock debris features such as the grain size, the point load strength and the surface joint feature of the grabbed rock debris through an analysis of the data comprehensive process system. According to this embodiment, the telescopic mechanical gripper grabs the rock debris and places the rock debris into the rock debris fixing apparatus, and uses the rock debris fixing apparatus to move the rock debris to the rock debris washing apparatus, the rock debris drying apparatus, the rock debris shooting apparatus, the point load test apparatus, and the rock debris collecting apparatus in sequence for corresponding operations, thereby achieving the objectives of automatic collecting, washing, drying of the rock debris, and automatically extracting the surface features of the rock debris and the point load strength of the rock debris, resolving the problem that it is difficult and unsafe to manually pick up the rock debris that satisfies test requirements on a conveyor belt, and obtaining in real time the features such as the grain size, and the joint and strength features of the rock debris during the TBM tunneling process, perceiving the change condition of the rock mass in front of the tunneling face, and improving an automation degree of the test device and accuracy of test results. The foregoing descriptions are merely preferred embodiments of the present invention, but are not intended to limit the present invention. A person skilled in the art may make various alterations and variations to the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (9)
- What is claimed is: 1. A TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris, comprising: a telescopic mechanical gripper, disposed on one end of a guide rail, and configured to grab rock debris and place the rock debris into a rock debris fixing apparatus, wherein the guide rail is disposed on a base, and the base is disposed above the TBM conveyor belt;; and the rock debris fixing apparatus, a rock debris washing apparatus, a rock debris drying apparatus, a rock debris shooting apparatus, a point load test apparatus, and a rock debris collecting apparatus are disposed on the guide rail in sequence; the rock debris fixing apparatus is capable of moving freely on the guide rail, and configured to convey the rock debris to a preset position for a corresponding operation; the rock debris washing apparatus is configured to perform a wash operation on the conveyed rock debris; the rock debris drying apparatus is configured to perform a drying operation on the conveyed rock debris; the rock debris shooting apparatus is configured to perform an operation of collecting upper and lower surface images of the rock debris on the conveyed rock debris and transmit the upper and lower surface images to a data comprehensive processing system; the point load test apparatus is configured to fracture the conveyed rock debris, collect point load strength of the rock debris, and transmit the point load strength of the rock debris to the data comprehensive processing system; the data comprehensive processing system is configured to obtain rock debris features such as a shape and a grain size, and an index of the point load strength of the rock debris; and the rock debris collecting apparatus is configured to collect the rock debris processed by the point load test apparatus; and wherein the telescopic mechanical gripper comprises a round gripper, the round gripper is configured to achieve lifting and left and right swing of the mechanical gripper through contraction of a rotation joint and a mechanical arm after grabbing the rock debris, and place the grabbed rock debris into the rock debris fixing apparatus, a first high-definition camera is further disposed above the round gripper, the first high-definition camera is configured to shoot images of the rock debris on the conveyor belt and transmit the images to the data comprehensive processing system, to further locate grabbed rock debris and control the telescopic mechanical gripper to grab the rock debris on the conveyor belt.
- 2. The TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris according to claim 1, wherein a high-pressure spray head is disposed inside the rock debris washing apparatus; or an electric heating wire is disposed inside the rock debris drying apparatus; or a third high-definition camera and an illumination apparatus are disposed on both an upper plate and a lower plate inside the rock debris shooting apparatus, and configured to obtain the upper and lower surface images of the rock debris.
- 3. The TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris according to claim 2, wherein the base is made of an angle steel or an I-shaped steel.
- 4. The TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris according to claim 1, wherein the telescopic mechanical gripper is suspended above the TBM conveyor belt with support of an electric hydraulic column on one side, and the electric hydraulic column is capable of stretching up and down.
- 5. The TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris according to claim 1, wherein the rock debris fixing apparatus comprises a mobile trolley, and the mobile trolley is connected to a carrying box through a rotary connecting rod.
- 6. The TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris according to claim 5, wherein the point load test apparatus comprises a point load upper conical head and a point load lower conical head, the point load lower conical head is disposed on a jack, the jack is connected to a driving mechanism, and the driving mechanism is configured to drive the jack to vertically move, to further drive the point load lower conical head to vertically move; and the point load upper conical head is fixed on an inner side of a top plate of the point load test apparatus and is disposed opposite to the point load lower conical head.
- 7. The TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris according to claim 6, wherein a second high-definition camera is further disposed on two sides of the point load test apparatus, a pressure sensor is disposed inside the point load upper conical head and configured to record the point load strength, and a displacement sensor is disposed inside the point load lower conical head and configured to record a movement distance of the point load lower conical head; and when the rock debris fixing apparatus carries the rock debris and moves inside the point load test apparatus, the second high-definition camera is configured to locate a position of the rock debris, and a center position of the rock block is caused to be located between the point load upper conical head and the point load lower conical head by adjusting the rotary connecting rod.
- 8. The TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris according to claim 1, wherein the data comprehensive processing system for the rock debris is configured to extract the grain size of the rock debris and a surface joint feature of the rock debris in the images of the rock debris, and finally obtain the rock debris features of the index of the point load strength of the rock debris, a distribution rule of the grain size of the rock debris, and a joint fissure of the rock debris, to determine a change condition of a rock mass on a current tunneling face according to the rock debris features.
- 9. A test method of the TBM-mounted test device for automatically obtaining a grain size and strength features of rock debris according to any one of claims I to 8, comprising: 1) determining the position of the rock debris on the TBM conveyor belt, controlling the telescopic mechanical gripper to grab corresponding rock debris on the conveyor belt, and placing the grabbed rock debris into the rock debris fixing apparatus; 2) moving toward the rock debris fixing apparatus on the guide rail, carrying the rock debris and moving to the rock debris washing apparatus to wash dust on a surface of the rock debris; 3) keeping moving toward the rock debris fixing apparatus, carrying the rock debris and moving to the rock debris drying apparatus to dry moisture on the surface of the rock debris, to maintain the rock debris with moisture content in a natural condition; 4) keeping moving toward the rock debris fixing apparatus, carrying the rock debris and moving to the rock debris shooting apparatus to shoot upper and lower surfaces of the rock debris, wherein at least four pictures are taken for each rock block, and transmitting obtained rock debris images to the data comprehensive processing system; 5) keeping moving toward the rock debris fixing apparatus, carrying the rock debris and moving to the point load test apparatus, locating the position of the rock debris, adjusting rotation rods on two sides of the carrying box to press the point load upper conical head and the point load lower conical head of the point load test apparatus at the center position of the rock debris, moving upward the point load lower conical head till the rock debris is fractured, and recording strength and displacement of the lower conical head when the rock debris is fractured; 6) carrying the fractured rock debris and leaving the point load test apparatus, pouring the fractured rock debris into the rock debris collecting apparatus by rotating the carrying box, and moving backward a carrying trolley to a beginning end of the guide rail; and 7) repeating the above operation steps, and obtaining the rock debris features of the grain size, the point load strength and the surface joint feature of the grabbed rock debris through an analysis of the data comprehensive processing system.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911260142.0 | 2019-12-10 | ||
| CN201911260142.0A CN110954452B (en) | 2019-12-10 | 2019-12-10 | TBM (tunnel boring machine) carrying type test device and method for automatically obtaining particle size and strength characteristics of rock slag |
| PCT/CN2020/073540 WO2021114465A1 (en) | 2019-12-10 | 2020-01-21 | Tbm-carried test device and method for automatically acquiring particle size and strength characteristics of rock slag |
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| Publication Number | Publication Date |
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| AU2020402793A1 AU2020402793A1 (en) | 2022-03-17 |
| AU2020402793B2 true AU2020402793B2 (en) | 2023-08-31 |
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| Country | Link |
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| CN (1) | CN110954452B (en) |
| AU (1) | AU2020402793B2 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111879610B (en) * | 2020-07-10 | 2024-04-02 | 武汉大学 | Real-time measurement system and method for rock slag mechanical parameters in tunneling process |
| CN112033838B (en) * | 2020-08-17 | 2022-07-26 | 山东大学 | Automatic testing device for point load of rock and soil mass and working method |
| CN112666197B (en) * | 2020-11-29 | 2022-11-04 | 山东大学 | Rock slag quartz content testing system and method for TBM |
| CN113310949B (en) * | 2021-05-24 | 2023-01-13 | 山东大学 | Hyperspectral imaging-based TBM tunnel-mounted rock slag mineral identification system and method |
| CN113431561A (en) * | 2021-07-12 | 2021-09-24 | 绍兴文理学院 | Automatic rock recognition device for drilling |
| CN113884658B (en) * | 2021-11-02 | 2023-10-10 | 安徽理工大学 | Test device and method for researching influence of hard rock mechanical breaking rock debris grain composition |
| CN114152728B (en) * | 2021-11-18 | 2023-01-13 | 山东大学 | Automatic test system and method for slag piece point load strength suitable for TBM carrying |
| CN114252333A (en) * | 2021-12-08 | 2022-03-29 | 浙江浙交检测技术有限公司 | Rock physical parameter measuring system and method |
| CN115097798A (en) * | 2022-07-19 | 2022-09-23 | 西南交通大学 | TBM adaptive machining parameter adjusting system and method based on rock composition |
| CN116481590A (en) * | 2023-03-15 | 2023-07-25 | 北京交通大学 | Intelligent detection robot for shield carried muck and detection method thereof |
| CN117629771B (en) * | 2024-01-25 | 2024-04-09 | 深圳大学 | Device and method for testing fatigue strength of in-situ rock by simulating seawater corrosion |
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| CN110043267A (en) * | 2019-04-04 | 2019-07-23 | 山东大学 | TBM carrying type advanced geology prediction system and method based on lithology and the identification of unfavorable geology Precursory Characters |
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| KR100825272B1 (en) * | 2007-01-19 | 2008-04-25 | 울산과학대학 산학협력단 | Point loading strength tester |
| CN204255772U (en) * | 2014-12-17 | 2015-04-08 | 浙江商业职业技术学院 | A kind of New Rock point loading determinator |
| CN106934796B (en) * | 2017-02-15 | 2018-11-30 | 山东大学 | The high-speed belt conveyor rock slag video analytic system and method that rock tunnel(ling) machine carries |
| CN108398331A (en) * | 2018-02-23 | 2018-08-14 | 山东大学 | A kind of rock multiple information acquisition system and test method |
| CN209354156U (en) * | 2018-12-19 | 2019-09-06 | 中铁工程装备集团有限公司 | A kind of integral type belt feeder suitable for double-shielded TBM |
| CN109443946B (en) * | 2018-12-25 | 2024-03-08 | 长沙矿山研究院有限责任公司 | Point load tester and point load test method |
| CN110130921B (en) * | 2019-06-26 | 2024-01-19 | 中国铁建重工集团股份有限公司 | TBM and belt feeder slag information acquisition device thereof |
| CN110308167B (en) * | 2019-08-09 | 2020-09-15 | 山东大学 | TBM rock slag ray transmission imaging CT real-time scanning imaging device and method |
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| CN110043267A (en) * | 2019-04-04 | 2019-07-23 | 山东大学 | TBM carrying type advanced geology prediction system and method based on lithology and the identification of unfavorable geology Precursory Characters |
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| AU2020402793A1 (en) | 2022-03-17 |
| WO2021114465A1 (en) | 2021-06-17 |
| CN110954452B (en) | 2021-04-06 |
| CN110954452A (en) | 2020-04-03 |
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Free format text: THE NATURE OF THE AMENDMENT IS: AMEND THE INVENTION TITLE TO READ TBM-MOUNTED TEST DEVICE FOR AUTOMATICALLY OBTAINING GRAIN SIZE AND STRENGTH FEATURES OF ROCK DEBRIS AND METHOD |
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| FGA | Letters patent sealed or granted (standard patent) |