CN112196545B - Hob-free hard rock tunneling machine for breaking rock by utilizing laser and high-pressure air jet - Google Patents
Hob-free hard rock tunneling machine for breaking rock by utilizing laser and high-pressure air jet Download PDFInfo
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- CN112196545B CN112196545B CN202010143856.XA CN202010143856A CN112196545B CN 112196545 B CN112196545 B CN 112196545B CN 202010143856 A CN202010143856 A CN 202010143856A CN 112196545 B CN112196545 B CN 112196545B
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- laser
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- pressure air
- cutter
- hob
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/0642—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining the shield having means for additional processing at the front end
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
- E21D9/087—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1066—Making by using boring or cutting machines with fluid jets
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1073—Making by using boring or cutting machines applying thermal energy, e.g. by projecting flames or hot gases, by laser beams
Abstract
The invention discloses a hobbing-cutter-free hard rock tunneling machine for breaking rock by utilizing laser and high-pressure air jet flow, which comprises a central main driving unit connected with a hobbing-cutter-free cutter head, wherein a laser transmitter is arranged on the hobbing-cutter-free cutter head, a dust removal unit is arranged on the laser transmitter, a high-pressure air nozzle is arranged on the hobbing-cutter-free cutter head, the high-pressure air nozzle is connected with a high-pressure air system through a high-pressure air pipe, and the laser transmitter and the high-pressure air nozzle are both connected with a control center. The invention adopts a laser and high-pressure air jet coupled rock breaking system, thoroughly abandons the conventional cutter rock breaking technology, not only solves the problem that the metal cutter of the development machine is easy to be abnormally damaged when cutting rocks, but also saves the cost of a hob of millions. Because no cutter is arranged, the weight of the front panel of the heading machine is reduced 2/3, so that only 1/3 configured previously is needed for the main drive, which saves at least millions of expenses. And moreover, the excavation efficiency is improved, the excavation cost is reduced, and the method can be suitable for the excavation of various stratums.
Description
Technical Field
The invention relates to the technical field of fifth generation tunnel boring machines, in particular to a hob-free hard rock boring machine for breaking rock by utilizing laser and high-pressure air jet flow.
Background
At present, tunnel excavation aims at rock stratums, and mainly aims at achieving the purpose of crushing rock masses by means of pressing rocks with a disc-shaped hob, the compressive strength of the rocks is mainly overcome, the rock crushing efficiency of the rock stratums with common strength (within 100 MPa) is still good, but in harder rock stratums, the hob rock crushing method is poor in economy. Therefore, a novel development machine and a rock breaking method are needed to be subversively invented.
Through the retrieval, the current application date is 2018.12.29, the chinese utility model patent of application number CN201822256047.0 discloses an utilize broken entry driving machine of rock of laser, including the entry driving machine host computer, be equipped with the blade disc on the entry driving machine host computer, the blade disc on be equipped with laser generator. The utility model discloses a although the patent adopts laser and water-cooled principle to replace traditional metal cutter, can promote broken rock efficiency, when the serious inhomogeneous geology such as soft lower hard in the tunnelling, has solved traditional metal cutter and has very easily taken place the difficult problem of abnormal damage.
But the rock is broken to single adoption laser, and not only the tunnelling efficiency is limited, and broken rock in-process detritus dust is more moreover, can shelter from laser generating device's optical lens, seriously influences broken rock effect. In addition, when single laser is adopted for rock breaking, rock debris deposition and re-solidification can occur to cause serious high-heat burn, so that the energy utilization rate is low, and rock debris after laser ablation cannot be smoothly discharged.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the hobbing-cutter-free hard rock tunneling machine for breaking rock by using laser and high-pressure air jet, and solves the technical problems of low energy utilization rate and poor rock breaking and slag discharging effects when the tunneling machine adopts laser to break rock singly.
The technical scheme of the invention is realized as follows: the utility model provides an utilize no hobbing cutter hard rock entry driving machine of broken rock of laser and high-pressure wind efflux, is including being connected with the center main drive unit of no hobbing cutter blade disc, because no hobbing cutter blade disc quality is light, is different from traditional blade disc moreover and utilizes cutter extrusion rock on the blade disc to break the rock, consequently need not to use traditional actuating mechanism, can abandon the traditional drive mode of peripheral multiunit motor or hydraulic motor speed reducer, only adopt center main drive unit drive do not have the hobbing cutter blade disc rotation can. Because the hob-free cutterhead is driven by a central main driving unit, the back of the hob-free cutterhead can have enough assembly space, and the back of the hob-free cutterhead is provided with a laser transmitter. Laser is a novel light source, and compared with a common light source, the laser has the characteristics of high brightness, high directionality, high monochromaticity and the like. The rock is composed of a plurality of mineral particles, laser is irradiated on the surface of the rock, and the mineral particles show differences in thermal expansion anisotropy, thermal expansion nonuniformity and the like due to different thermal conductivity coefficients of various phase change boundary regions. The laser irradiation time and the laser power are main factors for determining whether the laser rock breaking can be successful, and the higher the laser power is, the higher the laser rock breaking speed is, and the deeper a hole is drilled on the rock. The laser rock breaking is basically to break the rock in a thermal fragmentation, melting and gasification mode, the temperature field of the rock irradiated by laser is changed violently, the internal structure of the rock is changed, the permeability of the rock is improved to about 4 times, the laser frequency and the exposure frequency influence the ablation effect, and the ablation effect after soaking is better than that under a dry condition. In the process of laser rock breaking, rocks in a laser facula area and rock mass matrixes around the rocks undergo three-phase shock changes of solid, liquid and gas, and very complex three-dimensional unstable heat energy transfer and exchange exist among the three-phase shock changes. The hob-free cutter head is provided with a high-pressure air nozzle which is connected with a high-pressure air system through a high-pressure air pipe. The high-pressure air system is started on the basis of the action of the microwaves, the rocks generate strong thermal stress impact to generate cracks under the huge temperature difference, and the rocks are instantaneously crushed and peeled off through the huge impact waves and stress wave effects of the high-pressure air.
Furthermore, the laser emission end of the laser emitter points to be perpendicular to the front tunneling surface, and the application efficiency of laser energy can be guaranteed to be the highest.
Furthermore, the laser transmitter is connected with an angle monitoring device and an angle adjusting device, and the angle monitoring device and the angle adjusting device are connected with a control center. The control center can monitor the direction of the laser emitting end of the laser emitter in real time through the angle monitoring device, and can correct the deviation by controlling the angle adjusting device after exceeding the error range, so that the burn of equipment can be avoided while the highest rock breaking efficiency is achieved.
Furthermore, the laser emitting end of the laser emitter and the high-pressure air nozzle are arranged in the same circumferential track, so that rock debris ablated by laser can be rapidly and smoothly discharged, and serious high-heat burn caused by rock debris deposition and re-coagulation is avoided, and energy waste is avoided.
Furthermore, a tearing knife is arranged on the hob-free cutter head, the tearing knife can cut the broken rock section by laser and high-pressure air smoothly, and the sharp rock is prevented from damaging the laser emission end and the high-pressure air nozzle.
Furthermore, the movement track of the tearing knife is staggered with the movement track of the high-pressure air nozzle, the rock can be broken more efficiently by the staggered structure, and the tearing knife can tear off large rocks between the rocks broken by the laser and the high-pressure air.
Furthermore, an elastic wear-resistant buffer layer is arranged on the radiation plate at the front end of the hob-free cutter head. Because the high-pressure air nozzles are arranged according to a specific angle, the peeled rocks just fall to the slag collecting opening, individual peeled rocks can rebound to the radiation plate on the front end face of the development machine under the impact of high-pressure air, and the radiation plate is not damaged because the surface layer of the radiation plate is covered with a wear-resistant and impact-resistant buffer layer with certain elasticity.
Furthermore, the dust removal unit comprises an air blowing nozzle corresponding to the focusing lens, the air blowing nozzle is connected with an air blowing system, and the air blowing system is connected with the control center. The control center controls the blowing system to work, and the blowing system continuously blows low-pressure air to the air blowing nozzle, so that the focusing lens is kept clean all the time.
The invention adopts the laser and high-pressure air jet coupled rock breaking system, thoroughly abandons the conventional cutter rock breaking technology, solves the problem that the metal cutter of the development machine is easy to be abnormally damaged when cutting rocks, improves the excavation efficiency, reduces the excavation cost, and can adapt to the development of various strata. The laser emitting end of the laser emitter and the high-pressure air nozzle are arranged in the same circumferential track, so that rock can be broken rapidly, rock debris ablated by laser can be discharged rapidly and smoothly, and serious high-temperature burn caused by rock debris deposition and re-coagulation is avoided, and energy waste is avoided. The invention has the structural characteristics different from the conventional shield tunneling machine, and the front panel of the tunneling machine is light in weight because the rock is broken without depending on the extrusion of a hob, and the central main driving unit is adopted to drive the hob-free cutterhead to rotate. The absence of cutters such as hobs not only saves costs of up to several million, but also saves cost of at least several million because the weight of the front panel of the heading machine is reduced 2/3 because no cutters are arranged, so that the main drive only needs 1/3 configured previously. In addition, the propulsion system does not need strong thrust to extrude rocks, and can be reduced from dozens of propulsion oil cylinders of a conventional shield to four oil cylinders, so that the purpose of pushing the front shield body to move forwards can be met. In addition, the invention is different from the speed reducer driving mode of a plurality of groups of motors or hydraulic motors at the periphery of the conventional tunneling machine, and adopts a group of high-power motors to drive the center, so that more space is reserved at the back of the cutter head for arranging the laser emitter.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.
FIG. 1 is a schematic cross-sectional view of the present invention;
FIG. 2 is a left side view of the present invention;
FIG. 3 is a schematic view of the laser emitting tip of FIG. 1 in cooperation with a blowing dust removal unit;
in the figure, 1, a hob-free cutter head, 2, a central main driving unit, 3, a laser emitter, 31, an angle monitoring device, 32, a laser emitting end, 33, a focusing lens, 4, a dust removal unit, 41, an air blowing nozzle, 5, a high-pressure air nozzle, 6, a high-pressure air pipe, 7, a high-pressure air system, 8, a shield body, 9, a propulsion oil cylinder, 10, a segment erector, 11 and a spiral conveyor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Embodiment 1, a no hobbing cutter hard rock entry driving machine that utilizes laser and high-pressure wind efflux to break rock, as shown in fig. 1, includes the shield body 8, is provided with central main drive unit 2 in the shield body 8, and central main drive unit 2 is connected with no hobbing cutter blade 1, and central main drive unit 2 drives no hobbing cutter blade 1 circumferential direction. A segment erector 10 and a screw conveyor 12 are arranged in the shield body 8, and the feeding end of the screw conveyor 12 is positioned at the rear side close to the hob-free cutter head 1. Not only is the cost of the hob saved by millions due to the absence of the hob, but the weight of the front panel of the heading machine is reduced 2/3 due to the absence of the hob and other cutters, so that the main drive only needs 1/3 which is configured previously, and the cost is saved by millions at least.
Because the hob-free cutterhead 1 is driven by the central main driving unit 2, the back of the hob-free cutterhead can have enough assembly space, and the back of the hob-free cutterhead 1 is provided with the laser emitter 3. Laser is a novel light source, and compared with a common light source, the laser has the characteristics of high brightness, high directionality, high monochromaticity and the like. The rock is composed of a plurality of mineral particles, laser is irradiated on the surface of the rock, and the mineral particles show differences in thermal expansion anisotropy, thermal expansion nonuniformity and the like due to different thermal conductivity coefficients of various phase change boundary regions. The laser irradiation time and the laser power are main factors for determining whether the laser rock breaking can be successful, and the higher the laser power is, the higher the laser rock breaking speed is, and the deeper a hole is drilled on the rock. The laser rock breaking is basically to break the rock in a thermal fragmentation, melting and gasification mode, the temperature field of the rock irradiated by laser is changed violently, the internal structure of the rock is changed, the permeability of the rock is improved to about 4 times, the laser frequency and the exposure frequency influence the ablation effect, and the ablation effect after soaking is better than that under a dry condition. In the process of laser rock breaking, rocks in a laser facula area and rock mass matrixes around the rocks undergo three-phase shock changes of solid, liquid and gas, and very complex three-dimensional unstable heat energy transfer and exchange exist among the three-phase shock changes.
And starting the laser emitter 3, irradiating high-power laser on the rock, instantly heating the irradiated rock to about 200-300 ℃, and generating crystal fracture and transgranular fracture in the rock by the internal stress generated by different thermal expansion of each mineral so as to generate damage and microcrack on the sample and reduce the strength of the rock.
The hob-free cutter head 1 is provided with a high-pressure air nozzle 5, the high-pressure air nozzle 5 is connected with a high-pressure air system 7 through a high-pressure air pipe 6, and the high-pressure air system 7 can be an air compressor or other equipment. The rock generates strong thermal stress impact to generate cracks under huge temperature difference, the rock is crushed and peeled off instantly through huge impact waves and stress wave effects of high-pressure air, and the peeled rock is discharged through the screw conveyor 12.
The invention adopts the laser and high-pressure air jet coupled rock breaking system, thoroughly abandons the conventional cutter rock breaking technology, solves the problem that the metal cutter of the development machine is easy to be abnormally damaged when cutting rocks, improves the excavation efficiency, reduces the excavation cost, and can adapt to the development of various strata.
In the embodiment 2, the non-hob hard rock heading machine for breaking rock by using laser and high-pressure wind jet flow, the laser emitting end 32 of the laser emitter 3 points to be perpendicular to the heading surface in front, and the application efficiency of laser energy can be guaranteed to be the highest.
The other structure of this embodiment is the same as embodiment 1.
Embodiment 3, a no hobbing cutter hard rock entry driving machine that utilizes laser and high-pressure wind efflux to break rock, as shown in fig. 3, laser emitter 3 is connected with angle monitoring device 31 and angle adjusting device, and angle monitoring device 31 and angle adjusting device link to each other with control center. The control center can monitor the pointing direction of the laser emission end 32 of the laser emitter 3 in real time through the angle monitoring device 31, and can correct the deviation through the control angle adjusting device after exceeding the error range, so that the equipment can be prevented from being burnt while the highest rock breaking efficiency is achieved.
The other structure of this embodiment is the same as embodiment 1 or 2.
Embodiment 4, a no hobbing cutter hard rock entry driving machine that utilizes laser and high-pressure wind efflux to break rock, as shown in fig. 2, the laser emission end 32 and the high-pressure wind nozzle 5 of laser emitter 3 set up with the circular orbit, are convenient for discharge the rock debris after the laser ablation fast smoothly, avoid appearing the rock debris deposit and recondensing phenomenon and cause serious high fever burn to avoid causing the energy waste.
The other structure of this embodiment is the same as embodiment 1, 2 or 3.
Further, the movement track of the tearing knife 101 is staggered with the movement track of the high-pressure air nozzle 5, the rock can be broken more efficiently by the staggered design, and the tearing knife 101 can tear off large rocks between the rocks broken by the laser and the high-pressure air.
The other structure of this embodiment is the same as that of embodiment 1 or 2 or 3 or 4.
Embodiment 6, a does not have hobbing cutter hard rock entry driving machine that utilizes laser and high-pressure wind efflux to break rock, be provided with elastic wear-resisting buffer layer on the radiation plate of the front end of no hobbing cutter blade disc 1. Because the high-pressure air nozzles 5 are arranged according to a specific angle, the peeled rocks just fall to the slag collecting opening, individual peeled rocks can rebound to the radiation plate on the front end face of the development machine under the impact of high-pressure air, and the radiation plate is not damaged because the surface layer of the radiation plate is covered with a wear-resistant and impact-resistant buffer layer with certain elasticity.
Other structures of this embodiment may be the same as any of embodiments 1 to 5.
Embodiment 7, a non-hob hard rock heading machine for breaking rock by using laser and high-pressure air jet, as shown in fig. 3, the dust removal unit 4 includes an air blowing nozzle 41 corresponding to the focusing lens 33, the air blowing nozzle 41 is connected with an air blowing system, and the air blowing system is connected with a control center. The control center controls the operation of the blowing system, and the blowing system continuously blows low-pressure air to the blowing nozzle 41, so that the focusing lens 33 is always kept clean.
Other structures of this embodiment may be the same as any of embodiments 1 to 6.
Nothing in this specification is intended to be exhaustive of all conventional and well known techniques.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. The utility model provides an utilize no hobbing cutter hard rock entry driving machine of broken rock of laser and high-pressure wind efflux which characterized in that: the system comprises a central main driving unit (2) connected with a hob-free cutter head (1), wherein a laser emitter (3) is arranged on the hob-free cutter head (1), a dust removal unit (4) is arranged on the laser emitter (3), a high-pressure air nozzle (5) is arranged on the hob-free cutter head (1), the high-pressure air nozzle (5) is connected with a high-pressure air system (7) through a high-pressure air pipe (6), and the laser emitter (3) and the high-pressure air system (5) are both connected with a control center; the laser emitter (3) emits laser beams to the palm surface at intervals through the laser emitting end (32), the high-pressure air system (7) emits high-pressure air jet flow to the palm surface at intervals through the high-pressure air nozzle (5), the emission of the laser and the high-pressure air jet flow are alternately carried out, the rock generates strong thermal stress impact to generate cracks under huge temperature difference, and the rock is instantly crushed and peeled through huge impact wave and stress wave effect of the high-pressure air; a laser emission end head (32) of the laser emitter (3) points to be vertical to a front tunneling surface; the laser transmitter (3) is connected with an angle monitoring device (31) and an angle adjusting device, the angle monitoring device (31) and the angle adjusting device are connected with a control center, the control center monitors the pointing direction of a laser transmitting end (32) of the laser transmitter (3) in real time through the angle monitoring device (31), and the angle adjusting device is controlled to correct after the pointing direction exceeds an error range, so that the heading machine achieves the highest rock breaking efficiency and avoids equipment burn; the laser emitting end (32) of the laser emitter (3) and the high-pressure air nozzle (5) are arranged in the same circumferential track, so that rock debris ablated by laser can be rapidly and smoothly discharged, serious high-temperature burn caused by rock debris deposition and re-coagulation is avoided, and energy waste is avoided; be provided with on no hobbing cutter blade dish (1) and tear sword (101), the motion trail of tearing sword (101) is crisscross with the motion trail of high-pressure air nozzle (5), and the motion trail of the crisscross design of tearing sword (101) and the motion trail of high-pressure air nozzle (5) can break rock more high-efficiently, and bulk rock can be torn down to tearing sword (101) between the rock that laser and high-pressure air hit the bits of broken glass.
2. The hobless hard rock boring machine for breaking rock by using laser and high-pressure wind jet according to claim 1, characterized in that: an elastic wear-resistant impact-resistant buffer layer is arranged on the radiation plate at the front end of the heading machine.
3. The hobless hard rock boring machine for breaking rock using laser and high-pressure wind jet according to claim 1 or 2, characterized in that: the dust removal unit (4) comprises an air blowing nozzle (41) corresponding to the focusing lens (33) of the laser emission end head (32), the air blowing nozzle (41) is connected with an air blowing system, and the air blowing system is connected with the control center.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010143856.XA CN112196545B (en) | 2020-03-04 | 2020-03-04 | Hob-free hard rock tunneling machine for breaking rock by utilizing laser and high-pressure air jet |
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| CN202010143856.XA CN112196545B (en) | 2020-03-04 | 2020-03-04 | Hob-free hard rock tunneling machine for breaking rock by utilizing laser and high-pressure air jet |
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| CN112196545B true CN112196545B (en) | 2022-03-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113202494A (en) * | 2021-04-30 | 2021-08-03 | 山东建筑大学 | Tunnel full-section hot-melting rock breaking device and method |
| CN114165251A (en) * | 2021-12-06 | 2022-03-11 | 中铁工程装备集团有限公司 | Tunnel construction method for breaking rock by laser |
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| CN85102321A (en) * | 1985-04-01 | 1987-11-04 | 刘义民 | Comprehensive rock-breaking technique for rock tunnel engineering |
| WO2002040819A2 (en) * | 2000-11-14 | 2002-05-23 | Alois Pichler | Method for producing a bore and advancing machine for boring |
| KR20030039722A (en) * | 2001-11-14 | 2003-05-22 | 주식회사 케이티 | Tunneling machines having a laser nozzle |
| CN106761805A (en) * | 2016-12-14 | 2017-05-31 | 大连理工大学 | Laser full face rock tunnel boring machine cutterhead design method |
| CN108756924A (en) * | 2018-06-29 | 2018-11-06 | 中铁工程装备集团有限公司 | A kind of development machine using high-pressure blast broken rock |
| CN109555531A (en) * | 2018-06-29 | 2019-04-02 | 中铁工程装备集团有限公司 | A kind of development machine and its driving method using laser rock fragmenting |
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2020
- 2020-03-04 CN CN202010143856.XA patent/CN112196545B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85102321A (en) * | 1985-04-01 | 1987-11-04 | 刘义民 | Comprehensive rock-breaking technique for rock tunnel engineering |
| WO2002040819A2 (en) * | 2000-11-14 | 2002-05-23 | Alois Pichler | Method for producing a bore and advancing machine for boring |
| KR20030039722A (en) * | 2001-11-14 | 2003-05-22 | 주식회사 케이티 | Tunneling machines having a laser nozzle |
| CN106761805A (en) * | 2016-12-14 | 2017-05-31 | 大连理工大学 | Laser full face rock tunnel boring machine cutterhead design method |
| CN108756924A (en) * | 2018-06-29 | 2018-11-06 | 中铁工程装备集团有限公司 | A kind of development machine using high-pressure blast broken rock |
| CN109555531A (en) * | 2018-06-29 | 2019-04-02 | 中铁工程装备集团有限公司 | A kind of development machine and its driving method using laser rock fragmenting |
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