CN117588161A - Design method of double-power system for horizontal rescue drilling machine - Google Patents

Abstract

The invention discloses a design method of a double-power system for a horizontal rescue drilling machine, which mainly comprises an external power device, an internal power device, an external feeding device, an internal feeding device, a breaking and dismantling device, a detection device and a control module, wherein the designed double-power system for the horizontal rescue drilling machine can ensure that the operation parameter coefficients of all parts are automatically regulated according to actual working conditions, has high operation efficiency and wide application range, greatly reduces constructors, can receive operation environment information in real time, analyzes drilling operation states and coal and rock stratum characteristics, autonomously controls the double-power system to perform construction, can adjust the operation parameters of the double-power system for the horizontal rescue drilling machine in real time, adapts to different coal and rock stratum conditions, can detect different geological anomalies and barriers, processes the abnormal conditions, can be manually and remotely interactively regulated, has high automatic construction efficiency and high operation precision, and provides a new design method for the design and development of the horizontal rescue drilling machine.

Description

Design method of double-power system for horizontal rescue drilling machine

Technical Field

The invention belongs to the technical field of horizontal large-diameter pipe following rescue drilling rigs, and particularly relates to a design method of a double-power system for a horizontal rescue drilling rig.

Background

At present, a horizontal follow-up pipe rescue drilling machine is generally adopted to construct a large-diameter drilling hole in a coal mine underground (tunnel) drilling rescue process, a personnel escape channel is established, trapped personnel escape is realized through a rescue operation cabin, the efficiency of horizontal rescue drilling hole construction directly determines whether rescue is successful, wherein a power system is used as a core component, the working capacity and the operation range of the power system directly determine the construction capacity of the horizontal rescue drilling machine, at present, the conventional rescue drilling machine at home and abroad has realized the rapid tunneling function of a traditional single coal seam or rock stratum and can complete rapid construction of the rescue drilling hole, along with the increasing coal mine with complex geological conditions, the coal seam and tunnel structure to be mined are more complex, the characteristics of the coal rock stratum are changeable, when the tunnel is collapsed or damaged, the traditional rescue construction equipment and the matched construction method can not complete rapid tunneling of the complex stratum, meanwhile, the whole equipment still needs to rely on auxiliary parts of more field personnel to work, the labor intensity is high, the operation environment is severe, and the construction parameters of the equipment needs to be manually adjusted. Therefore, the design and development of the double-power system for the horizontal rescue drilling machine are one of the concerns of the applicant.

Disclosure of Invention

In order to greatly reduce the labor intensity of workers, enable workers to be far away from dangerous areas, improve the safety and construction efficiency of overall construction operation, realize unmanned intelligent operation of the whole rescue drilling machine and ensure the safety of operators, the invention aims to provide a design method of a double-power system for a horizontal rescue drilling machine, so as to realize full-continuous efficient drilling operation and intelligent construction of the horizontal rescue drilling machine under autonomous control.

In order to realize the task, the invention adopts the following technical scheme:

the design method of the double-power system for the horizontal rescue drilling machine is characterized in that the method adopts main components comprising an external power device, an internal power device, an external feeding device, an internal feeding device, a breaking and dismantling device, a detection device and a control module; wherein:

the external power device is mainly used for providing torque for the outer sleeve, realizing the rotary motion of the outer sleeve and reducing the resistance in the drilling process; the hydraulic device mainly comprises 4 first hydraulic motors, 4 pinion shafts, a large gear shaft, a first box body, 2 groups of first bearings and a first connecting shaft; wherein:

The 4 hydraulic first motors are respectively connected with 4 pinion shafts by adopting couplings and serve as power input parts;

the 4 pinion shafts are uniformly arranged at the 4 circumferences of the large gear shaft and are driven by adopting meshed gears;

two ends of the large gear shaft are fixed through 2 groups of first bearings and are arranged in a first box body;

the first connecting shaft is connected with the end part of the large gear shaft through a bolt, and the output end of the first connecting shaft is connected with the sleeve through a pin shaft and the bolt;

the inner power device is mainly used for providing torque for the spiral drill rod, realizing the rotation motion of the spiral drill rod and driving the cutter head to perform the rotation motion; the device mainly comprises a second hydraulic motor, a driving shaft, 2 groups of second bearings, a second box body and a second connecting shaft; wherein:

the second hydraulic motor is connected with the driving shaft by adopting a coupler and is used as a power input part;

the two ends of the driving wheel shaft are fixed through 2 groups of second bearings and are arranged in a second box body;

the second connecting shaft is connected with the end part of the driving shaft through a bolt, and the output end of the second connecting shaft is connected with the spiral drill rod through a pin shaft and the bolt;

the external feeding device is mainly used for providing axial force for the sleeve, so that feeding, lifting and pulling of the sleeve are realized, and the drilling construction of the sleeve is completed by matching with the external power device; the device mainly comprises an outer machine body device and an outer feeding oil cylinder, wherein two ends of the outer feeding oil cylinder are respectively connected to the outer machine body device to realize feeding and lifting of an outer power device;

The inner feeding device is mainly used for providing axial force for the spiral drill rod, so that feeding, lifting and pulling of the spiral drill rod are realized, and the inner feeding device is matched with the inner power device to complete drilling construction of the spiral drill rod; the device mainly comprises an inner engine body device and an inner feeding oil cylinder, wherein two ends of the inner feeding oil cylinder are respectively connected to the inner engine body device to realize feeding and lifting of an inner power device;

the breaking device adopts a hydraulic or pneumatic mode to clean geological abnormal bodies or barriers, and selects different parameters for processing aiming at an operation object;

the detection device is mainly used for receiving the operation environment information and the working parameters of each component in real time, filtering redundancy and error information and transmitting the redundancy and error information to the control module; the device comprises a machine head detection device and a device detection device, which are respectively used for detecting the operation environment information at the front end of the machine head and the real-time working parameters of all parts, obtaining all the collected data values of the operation environment and all the collected data values of the working capacity, and filtering redundancy and error data; wherein:

the machine head detection device mainly comprises a mechanical detection device, a visual detection device and a radar detection device;

the equipment detection device comprises a torque detection device, a rotation speed detection device, a mechanical detection device and a vibration detection device, which are arranged on the external power device, the internal power device, the external feeding device and the internal feeding device;

The control module is mainly used for processing the information acquired by the detection device, carrying out comprehensive analysis and calculation to obtain a corresponding solution, and carrying out adjustment control on the whole system;

the outer power device and the inner power device are arranged on the feeding platform of the drilling machine through guide rails and keep central symmetry; the external feeding device is connected with the external power device through an external feeding oil cylinder to realize the reciprocating motion of the external power device; the inner feeding device is connected with the inner power device through an inner feeding oil cylinder to realize the reciprocating motion of the inner power device, and the inner feeding device and the inner power device run independently and are not interfered with each other; the breaking and disassembling device is arranged on a cutterhead connected with the output end of the inner power device, 4 detection devices are uniformly arranged on any radius, the detection devices are arranged on the outer power device, the inner power device, the outer feeding device, the inner feeding device and the cutterhead and the sleeve, and the control module is arranged at the side of the inner power device; becomes a double-power system for the horizontal rescue drilling machine.

According to the invention, the control module is used for processing the information acquired by the detection device, comprehensively analyzing and judging the discrimination coefficient M of the head detection device and the discrimination coefficient N of the equipment detection device by adopting a judgment rule to acquire the stratum state of the front end of the head, adjusting the working parameters of the dual-power system for the horizontal rescue drilling machine in real time, adapting to different stratum conditions, and controlling the breaking device to perform construction when encountering different geological abnormal bodies or obstacles.

Specifically, the mechanical detection device is respectively arranged at the cutter head and the sleeve head, wherein:

the end face of the cutterhead is radially arranged, 3 cutterhead faces are uniformly arranged between the distance of 5-10 mm from the edge and the circle center, and the fixed connection is adopted and is mainly used for detecting the shearing force, the axial force and the torque of a rock mass, so that corresponding data are obtained as a respectively ₁ 、a ₂ 、a ₃ 、b ₁ 、b ₂ 、b ₃ 、c ₁ 、c ₂ 、c ₃ ；

Is arranged at the radial center position of the sleeve head and is mainly used for detecting the shearing force, the axial force and the torque of rock mass, and the corresponding data set is a ₄ 、b ₄ 、c ₄ ；

The visual detection device is arranged at the center of the cutter head and is used for collecting and detecting image data of rock mass, wherein the image data comprises obstacle size, gray scale and contrast, and the corresponding data sets are d respectively ₁ 、e ₁ 、f ₁ ；

The radar detection devices are symmetrically arranged at two sides of the center of the cutter head, the distance between the radar detection devices and the center is 1/4-1/3 of the radius, the radar detection devices are mainly used for collecting point cloud data of detected rock mass, and the corresponding data set is g ₁ 、g ₂ 。

The torque detecting means is arranged in the following manner:

fixedly arranged at the output ends of the first 4 hydraulic motors, and respectively measuring corresponding output torques to be A respectively ₁ 、A ₂ 、A ₃ 、A ₄ ；

Is fixedly arranged at the output end of the large gear shaft, and the measured output torque is A ₅ ；

Fixedly arranged at the output end of the second hydraulic motor, and measuring the output torque to be A ₆ ，

An output end fixedly arranged on the first connecting shaft for measuring the output torque as torque A ₇ ；

The rotation speed detection device is arranged in the following way:

is arranged at the position 5-10 mm away from the edges of the output end bodies of the 4 first hydraulic motors, adopts a cementing form, and measures and outputs the rotation speed B respectively ₁ 、B ₂ 、B ₃ 、B ₄ ；

Is arranged at the position 5-10 mm away from the edge of the output end body of the large gear shaft, adopts a cementing form, and measures the output rotating speed B ₅ ；

Is arranged at the position 5-10 mm away from the edge of the output end body of the second hydraulic motor, adopts a cementing form and measures the rotating speed B ₆ ；

Is arranged at the position 5-10 mm away from the edge of the output end body of the first connecting shaft, adopts a cementing form and measures the rotating speed B ₇ ；

The mechanical detection device is fixedly arranged at the oil cylinder connecting pin shaft of the external feeding device and is used for measuring feeding forceC ₁ Is fixedly arranged at the oil cylinder connecting pin shaft of the inner feeding device and is used for measuring the feeding force C ₂ ；

The vibration detection device is arranged in the following way:

is arranged on 4 first hydraulic motor shells, adopts a cementing mode, adopts bilateral symmetry arrangement on each first hydraulic motor, and the measured vibration acceleration is D respectively ₁ 、D ₂ 、D ₃ 、D ₄ 、D ₅ 、D ₆ 、D ₇ 、D ₈ ；

The vibration acceleration measuring device is arranged on the large gear shaft body, adopts a cementing form, symmetrically arranges at the radial edge of the large gear shaft body and does not influence the structural form and the transmission function, and the measured vibration acceleration is D respectively ₉ 、D ₁₀ ；

Is arranged on the second hydraulic motor shell and adopts a cementing mode, the second hydraulic motor is arranged in a bilateral symmetry way, and the measured vibration acceleration is respectively D ₁₁ 、D ₁₂ ；

Is arranged on the driving shaft in a cementing mode, symmetrically arranged at the radial edge of the driving shaft and at the position which does not affect the structural mode and the transmission function, and the measured vibration acceleration is D respectively ₁₃ 、D ₁₄ 。

Further, the control module has the following functions:

data standardization is carried out on all data acquired by the machine head detection device, the number of various data sets is N, and the average value corresponding to all the data sets is calculated to be a respectively ₁₀ 、a ₂₀ 、a ₃₀ 、a ₄₀ 、b ₁₀ 、b ₂₀ 、b ₃₀ 、b ₄₀ 、c ₁₀ 、c ₂₀ 、c ₃₀ 、c ₄₀ 、d ₁₀ 、e ₁₀ 、f ₁₀ 、g ₁₀ 、g ₂₀ ；

The standard deviation corresponding to all data sets is calculated as follows: a, a _1c 、a _2c 、a _3c 、a _4c 、b _1c 、b _2c 、b _3c 、b _4c 、c _1c 、c _2c 、c _3c 、c _4c 、d _1c 、e _1c 、f _1c 、g _1c 、g _2c The discrimination coefficient M of the machine head detection device is calculated as follows:

wherein: mu (mu) ₁ 、μ ₂ 、μ ₃ 、μ ₄ 、μ ₅ 、μ ₆ 、μ ₇ Are variable coefficients, are real numbers between 0 and 1, and are 1; gamma ray ₁ 、γ ₂ 、γ ₃ 、γ ₄ 、γ ₅ 、γ ₆ 、γ ₇ For adjusting the coefficient, taking values according to the on-site rescue conditions, wherein the values are real numbers between 0 and 2;

data standardization is carried out on all data acquired by the equipment detection device, the number of various data sets is N, and the average value corresponding to all the data sets is calculated to be A respectively ₁₀ 、A ₂₀ 、A ₃₀ 、A ₄₀ 、A ₅₀ 、A ₆₀ 、A ₇₀ 、B ₁₀ 、B ₂₀ 、B ₃₀ 、B ₄₀ 、B ₅₀ 、B ₆₀ 、B ₇₀ 、C ₁₀ 、C ₂₀ 、D ₁₀ 、D ₂₀ 、D ₃₀ 、D ₄₀ 、D ₅₀ 、D ₆₀ 、D ₇₀ 、D ₈₀ 、D ₉₀ 、D ₁₀₀ 、D ₁₁₀ 、D ₁₂₀ 、D ₁₃₀ 、D ₁₄₀ ；

Calculating standard deviation corresponding to all data sets as A _1c 、A _2c 、A _3c 、A _4c 、A _5c 、A _6c 、A _7c 、B _1c 、B _2c 、B _3c 、B _4c 、B _5c 、B _6c 、B _7c 、C _1c 、C _2c 、D _1c 、D _2c 、D _3c 、D _4c 、D _5c 、D _6c 、D _7c 、D _8c 、D _9c 、D _10c 、D _11c 、D _12c 、D _13c 、D _14c ；

The discrimination coefficient N of the equipment detection device is calculated as follows:

Wherein: delta ₁ 、δ ₂ 、δ ₃ 、δ ₄ 、δ ₅ 、δ ₆ 、δ ₇ Are variable coefficients, are real numbers between 0 and 1, and are 1; epsilon ₁ 、ε ₂ 、ε ₃ 、ε ₄ 、ε ₅ 、ε ₆ 、ε ₇ For adjusting the coefficient, taking values according to the on-site rescue conditions, wherein the values are real numbers between 0 and 2;

the discrimination coefficient M of the machine head detection device and the discrimination coefficient N of the equipment device in fixed time can be obtained through the formulas (1) and (2);

the method comprises the steps of performing test construction on a typical rock stratum by using a double-power system for a horizontal rescue drilling machine, wherein the test construction is in a typical stable state, a fluctuation state and an abnormal state, acquiring operation environment information corresponding to the front end of a detection machine head and real-time working parameters of each component by using a detection device, and obtaining a discrimination coefficient M of the machine head detection device and a discrimination coefficient N of a device under different states, wherein the discrimination coefficients are respectively M _a 、M _b 、M _c And N _a 、N _b 、N _c Then, the critical discrimination coefficient is obtained as follows:

M ₁ ＝z ₁ M _a +z ₂ M _b ； N ₁ ＝z ₁ N _a +z ₂ N _b (3)

M ₂ ＝z ₃ M _b +z ₄ M _c ； N ₂ ＝z ₃ N _b +z ₄ N _c (4)

wherein: z ₁ 、z ₂ Are variable coefficients, are real numbers between 0 and 1, and are 1; z ₃ 、z ₄ Are variable coefficients, are real numbers between 0 and 1, and are 1; m is M ₁ 、M ₂ 、N ₁ 、N ₂ Critical discrimination coefficients respectively;

the maximum values collected by the detection device under the abnormal state are respectively as follows: a is that _1d 、A _2d 、A _3d 、A _4d 、A _5d 、A _6d 、A _7d 、B _1d 、B _2d 、B _3d 、B _4d 、B _5d 、B _6d 、B _7d 、C _1d 、C _2d 、D _1d 、D _2d 、D _3d 、D _4d 、D _5d 、D _6d 、D _7d 、D _8d 、D _9d 、D _10d 、D _11d 、D _12d 、D _13d 、D _14d And a _1d 、a _2d 、a _3d 、a _4d 、b _1d 、b _2d 、b _3d 、b _4d 、c _1d 、c _2d 、c _3d 、c _4d 、d _1d 、e _1d 、f _1d 、g _1d 、g _2d ；

When M is less than or equal to M ₁ When or N is less than or equal to N ₁ When the horizontal rescue drilling machine is in a stable state, the drilling stratum and equipment are judged to be in a stable state, the horizontal rescue drilling machine works normally by the double-power system, the control module does not need to adjust working parameters, and each device carries out continuous construction according to the working parameters of the previous round by default;

When M ₁ ＜M≤M ₂ And N is ₁ ＜N≤N ₂ When the drilling machine is in a fluctuation state, judging that the drilling machine meets stratum and equipment at the moment and an overload state of part of the equipment occurs, and carrying out power redistribution, adjusting working parameters of a double-power system for the horizontal rescue drilling machine, wherein a control module outputs the adjusting working parameters to an external power device, an internal power device, an external feeding device and an internal feeding device, wherein the adjusting working parameters comprise the flow and the rotating speed of 4 first hydraulic motors, the flow and the rotating speed of a second hydraulic motor, and the flow and the pressure of an external feeding oil cylinder and the flow and the pressure of an internal feeding oil cylinder;

the adjustment amount of the working parameters of each device is as follows:

wherein: ρ ₁ 、ρ ₂ Are variable coefficients, are real numbers between 0 and 1, and are 1; c (C) ₀ Is the original working parameter;

when (when)And->When the working parameters of the devices are reduced by the adjustment quantity C, and when the working parameters of the devices are in other value ranges of the interval, the working parameters of the devices are increased by the adjustment quantity C;

the conditions requiring manual adjustment include the following 2 cases:

1) When M ₂ < M or N ₂ When the number is less than N, judging that the drilling machine meets stratum and equipment at the moment is in an abnormal state, judging that the drilling machine meets geological abnormal bodies or barriers, outputting instructions to an external power device, an internal power device, an external feeding device and an internal feeding device by a control module, stopping working of the devices, outputting working parameters to a breaking and dismantling device at the moment, manually judging and identifying the barriers by using a visual detection device, and finely adjusting the working parameters of the breaking and dismantling device to clear the barriers;

2) When a certain real-time acquisition data of the detection device received by the control module is more than or equal to a corresponding maximum value, namely: a is that _1d 、A _2d 、A _3d 、A _4d 、A _5d 、A _6d 、A _7d 、B _1d 、B _2d 、B _3d 、B _4d 、B _5d 、B _6d 、B _7d 、C _1d 、C _2d 、D _1d 、D _2d 、D _3d 、D _4d 、D _5d 、D _6d 、D _7d 、D _8d 、D _9d 、D _10d 、D _11d 、D _12d 、D _13d 、D _14d And a _1d 、a _2d 、a _3d 、a _4d 、b _1d 、b _2d 、b _3d 、b _4d 、c _1d 、c _2d 、c _3d 、c _4d 、d _1d 、e _1d 、f _1d 、g _1d 、g _2d The method comprises the steps of carrying out a first treatment on the surface of the The control module immediately outputs instructions to the external power device, the internal power device, the external feeding device and the internal feeding device, so that the devices stop working, and meanwhile, the visual detection device is used for judging and identifying the obstacle manually to determine the working state;

the control module can ensure that the operation parameter coefficients of all parts of the double-power system for the horizontal rescue drilling machine are automatically adjusted according to the actual working conditions, and can also be manually and interactively finely adjusted.

Further, the control process of the control module for the double-power system for the horizontal rescue drilling machine comprises the following steps:

step 1, after assembling and debugging each device of a double-power system for a horizontal rescue drilling machine, completing initial arrangement, so that the working state of each part reaches initial construction conditions and meets the requirements;

step 2, normal drilling construction is carried out by a double-power system of the horizontal rescue drilling machine, a machine head detection device and a device detection device respectively collect all collected data values of an operation environment and all collected data values of working capacity, redundant data and error data are filtered, and the redundant data and the error data are transmitted to a control module in real time, so that the data are ensured to be completely correct;

Step 3, the control module collects data according to the detection device, performs data processing at fixed time intervals, autonomously determines the fixed time according to required precision, site construction conditions, working period requirements and the like, and when the sampled data reach N, the N is more than or equal to 100, the control module performs comprehensive analysis and calculation on the related data to obtain a discrimination coefficient M of the corresponding machine head detection device and a discrimination coefficient N of the equipment device;

step 4, judging by adopting the judging method, determining the characteristics of the rock stratum, and when the drilling meets the stratum and equipment is in a stable state, not needing to adjust working parameters; when the drill encounters stratum and equipment to be in a fluctuation state, the control module needs to automatically adjust working parameters of the double-power system; when the drill meets the stratum and the equipment is in an abnormal state, the control module controls the related devices, meanwhile, the visual detection device is used for judging and identifying the obstacle manually, and the working parameters of the breaking device are finely adjusted to clear the obstacle;

and 5, when the control module recognizes that the real-time acquired data of the detection device is more than or equal to the corresponding maximum value, the control module needs to manually judge and recognize the obstacle by using the visual detection device at the moment, and the working state is determined.

And 6, processing acquired data by the control module at fixed intervals to obtain a discrimination coefficient M of a new machine head detection device and a discrimination coefficient N of a device, so as to determine whether to adjust the working parameters of the double-power system for the horizontal rescue drilling machine, update the working parameters of the double-power head and the construction process, and ensure the whole construction speed and efficiency.

The double-power system for the horizontal rescue drilling machine designed by the method can ensure that the operation parameter coefficients of all the components are automatically adjusted according to the actual working conditions, and the whole double-power system for the horizontal rescue drilling machine can ensure that the operation parameter coefficients of all the components are automatically and controllably adjusted according to the actual working conditions, and compared with the prior art, the double-power system for the horizontal rescue drilling machine has the following technical effects:

the designed double-power system for the horizontal rescue drilling machine has the advantages of high operation efficiency, wide application range, great reduction of constructors, capability of receiving operation environment information in real time, performing drilling operation state and coal and rock stratum characteristic analysis, autonomously controlling the double-power system to perform construction, capability of adjusting working parameters of the double-power system for the horizontal rescue drilling machine in real time, adaptation to different coal and rock stratum conditions, capability of detecting and processing different geological anomalies and barriers, manual remote interaction adjustment, high automatic construction efficiency and high operation precision, and provides a new design method for design and development of the horizontal rescue drilling machine.

Drawings

FIG. 1 is a schematic diagram of a dual power system for a horizontal rescue rig according to the present invention;

FIG. 2 is a front view of the external power device;

FIG. 3 is a side view of the outer power means and outer feed means;

FIG. 4 is a front view of the internal power plant;

FIG. 5 is a side view of the inner power means and the inner feed means;

FIG. 6 is a schematic diagram of a handpiece probing device layout;

FIG. 7 is a schematic view of the arrangement of the detection means on the external power means and the external feed means;

fig. 8 is a schematic view of the arrangement of the detection means on the inner power means and the inner feed means.

The marks in the figures represent: 1. the device comprises a breaking and disassembling device, 2, an outer feeding device, 3, an outer power device, 4, an inner feeding device, 5, an inner power device, 6, a control module, 7, a detection device, 8, a first hydraulic motor, 9, a first box body, 10, a large gear shaft, 11, a small gear shaft, 12, a first bearing, 13, a first connecting shaft, 14, an outer machine body device, 15, an outer feeding oil cylinder, 16, a second hydraulic motor, 17, a second box body, 18, a driving shaft, 19, a second bearing, 20, a second connecting shaft, 21, an inner machine body device, 22, an inner feeding oil cylinder, 23, a mechanical detection device, 24, a visual detection device, 25, a radar detection device, 26, a vibration detection device, 27, a rotation speed detection device, 28, a torque detection device, 29 and a mechanical detection device.

The invention is described in further detail below with reference to the drawings and examples.

Detailed Description

The following embodiments are preferred examples, and the present invention is not limited to the following embodiments, and all additions and equivalent changes of technical features based on the technical scheme of the present application belong to the protection scope defined by the claims of the present application.

The embodiment provides a design method of a double-power system for a horizontal rescue drilling machine, which adopts main components including an external power device 3, an internal power device 5, an external feeding device 2, an internal feeding device 4, a breaking and dismantling device 1, a detection device 7 and a control module 6; wherein:

the external power device 3 is mainly used for providing torque for the outer sleeve, realizing the rotary motion of the outer sleeve and reducing the resistance in the drilling process;

the inner power device 5 is mainly used for providing torque for the spiral drill rod, realizing the rotation motion of the spiral drill rod and driving the cutter head to perform the rotation motion;

the external feeding device 2 is mainly used for providing axial force for the outer sleeve, so that feeding, lifting and pulling of the sleeve are realized, and the drilling construction of the sleeve is completed by matching with the external power device;

the inner feeding device 4 is mainly used for providing axial force for the spiral drill rod, so that feeding, lifting and pulling of the spiral drill rod are realized, and the inner feeding device is matched with the inner power device to complete drilling construction of the spiral drill rod;

The detection device 7 is mainly used for receiving the operation environment information and the working parameters of each component, filtering redundancy and error information and transmitting the redundancy and error information to the control module;

the breaking and dismantling device 1 is mainly used for cleaning geological abnormal bodies or barriers, and different parameters are selected for processing aiming at an operation object;

the control module 6 is mainly used for processing information acquired by the detection device 7, controlling the double-power system for the horizontal rescue drilling machine, and also can be manually controlled remotely to manually fine-tune parameters of part of devices.

The outer power device 3 and the inner power device 5 are arranged on a feeding platform of the drilling machine through guide rails and keep central symmetry; the external feeding device 2 is connected with the external power device 3 through an external feeding oil cylinder 15 to realize the reciprocating motion of the external power device 3; the inner feeding device 4 is connected with the inner power device 5 through an inner feeding oil cylinder 22 to realize the reciprocating motion of the inner power device 5, and the inner feeding device and the inner power device operate independently and are not interfered with each other; the breaking and disassembling device 1 is arranged on a cutter head connected with the output end of the internal power device 5, and 4 breaking and disassembling devices are uniformly arranged on any radius; the detection device 7 is arranged on the outer power device 3, the inner power device 5, the outer feeding device 2, the inner feeding device 4, the cutter disc and the sleeve, and the control module 6 is arranged at the side of the inner power device; becomes a double-power system for the horizontal rescue drilling machine.

In this embodiment, the external power device 3 mainly includes 4 first hydraulic motors 8, 4 sets of pinion shafts 11, a large gear shaft 10, a first box 9, 2 sets of first bearings 12, and a first connecting shaft 13, where the 4 first hydraulic motors 8 are respectively connected with the 4 pinion shafts 11 by using a coupling as a power input portion;

the 4 pinion shafts 11 are uniformly arranged around the large gear shaft 10 and driven by a meshing gear, two ends of the large gear shaft 10 are fixed through 2 groups of first bearings 12 and are arranged in the first box body 9, the first connecting shafts 12 are connected with the end parts of the large gear shaft 10 through bolts, replacement can be conveniently carried out, and the output ends are connected with the sleeve through pin shafts and bolts;

the internal power device 5 mainly comprises a second hydraulic motor 16, a driving shaft 18, 2 groups of second bearings 19, a second box 17 and a second connecting shaft 20, wherein the second hydraulic motor 16 is connected with the driving shaft 18 by adopting a coupler and is used as a power input part, two ends of the driving shaft 8 are fixed by the 2 groups of second bearings 19 and are arranged in the second box 17, the second connecting shaft 20 is connected with the end part of the driving shaft 18 by bolts and can be conveniently replaced, and the output end of the second connecting shaft is connected with a spiral drill rod by pin shafts and bolts;

The external feeding device 2 mainly comprises an external machine body device 14 and an external feeding oil cylinder 15, wherein two ends of the external feeding oil cylinder 15 are respectively connected to the external machine body device 14 to realize feeding and lifting of the external power device 2;

the inner feeding device 4 mainly comprises an inner machine body device 21 and an inner feeding oil cylinder 22, wherein two ends of the inner feeding oil cylinder 22 are respectively connected to the inner machine body device 21 to realize feeding and lifting of the inner power device 4;

the detecting device 7 comprises a machine head detecting device and a device detecting device, and is used for detecting the operation environment information at the front end of the machine head and the real-time working parameters of all the components, respectively obtaining all the collected data values of the operation environment and all the collected data values of the working capacity, and filtering redundant and error data;

the control module 6 is used for processing all data values acquired by the detection device 7 to obtain a discrimination coefficient M of the machine head detection device and a discrimination coefficient N of the equipment detection device, comprehensively analyzing and discriminating by adopting a discrimination rule to obtain the stratum state of the front end of the machine head, adjusting the working parameters of the power system in real time to adapt to different stratum conditions, and adopting different working parameters of the breaking and dismantling device 1 when encountering different geological anomalies or barriers;

the breaking and dismantling device 1 adopts a hydraulic cutting mode to process abnormal bodies and barriers, selects different parameters for an operation object, and processes the abnormal bodies and the barriers.

In this embodiment, the breaking and disassembling device 1 is disposed on any radius of the cutterhead connected with the output end of the internal power device, and is driven by hydraulic power, and abrasive materials are added to cut different obstacles.

The machine head detection device mainly comprises a mechanical detection device 23, a visual detection device 24 and a radar detection device 25.

The mechanical detection device 23 is respectively arranged at the cutter head and the sleeve head, wherein:

the mechanical detection devices 23 are radially arranged on the end face of the cutterhead, 3 mechanical detection devices are uniformly arranged between the distance of 5-10 mm from the edge and the circle center, and are fixedly connected and mainly used for detecting the shearing force, the axial force and the torque of the rock mass, so that corresponding data are respectively obtained as a ₁ 、a ₂ 、a ₃ 、b ₁ 、b ₂ 、b ₃ 、c ₁ 、c ₂ 、c ₃ ；

The mechanical detection device 23 is arranged at the radial center of the sleeve head and is mainly used for detecting the shearing force, the axial force and the torque of the rock mass, and the corresponding data set is a ₄ 、b ₄ 、c ₄ ；

The visual detection device 24 is arranged at the center of the cutter head and is used for collecting image data of the detected rock mass, including obstacle size, gray level and contrast, and the corresponding data sets are d respectively ₁ 、e ₁ 、f ₁ ；

The radar detection devices 25 are symmetrically arranged at two sides of the center of the cutterhead, the distance between the radar detection devices and the center is 1/4-1/3 of the radius, the radar detection devices are mainly used for collecting point cloud data of rock mass detection, and the corresponding data set is g ₁ 、g ₂ 。

The equipment detecting device comprises a torque detecting device 28, a rotating speed detecting device 27, a mechanical detecting device 23 and a vibration detecting device 26, which are arranged on the outer power device 3, the inner power device 5, the outer feeding device 2 and the outer feeding deviceOn the inner feed device 4, torque detection devices 28 are fixedly arranged at the output ends of the 4 first hydraulic motors 8, and respectively measure the corresponding output torque A ₁ 、A ₂ 、A ₃ 、A ₄ Is fixedly arranged at the output end of the large gear shaft 10, and the measured output torque is A ₅ Fixedly arranged at the output end of the second hydraulic motor 16, and measuring the output torque as A ₆ Fixedly arranged at the output end of the first connecting shaft 13, measuring the output torque as torque A ₇ ，

The rotation speed detection device 27 is arranged at the position 5-10 mm away from the edges of the output end bodies of the 4 first hydraulic motors 8 and adopts a cementing mode to respectively measure and output rotation speed as B ₁ 、B ₂ 、B ₃ 、B ₄ Is arranged at the position 5-10 mm away from the edge of the output end body of the large gear shaft 10, adopts a cementing form and measures the output rotating speed as B ₅ Is arranged at a position 5-10 mm away from the edge of the output end body of the second hydraulic motor 16, adopts a cementing form and measures the rotating speed B ₆ Is arranged at a position 5-10 mm away from the edge of the output end body of the first connecting shaft 13, adopts a cementing form and measures the rotating speed B ₇ 。

The mechanical detection device 23 is fixedly arranged at the oil cylinder connecting pin shaft of the outer feeding device 2 and is used for measuring the feeding force C ₁ Is fixedly arranged at the connecting pin shaft of the oil cylinder of the inner feeding device 4 and is used for measuring the feeding force C ₂ ；

The vibration detection devices 26 are arranged on the shells of the 4 first hydraulic motors 8, are in a cementing form, are symmetrically arranged on each first hydraulic motor 8, and measure the vibration acceleration respectively as D ₁ 、D ₂ 、D ₃ 、D ₄ 、D ₅ 、D ₆ 、D ₇ 、D ₈ The method comprises the steps of carrying out a first treatment on the surface of the Is arranged on the shaft body of the large gear shaft 10, adopts a cementing form and is symmetrically arranged at the radial edge of the shaft body of the large gear shaft 10 without influencing the structural form and the transmission function, and the measured vibration acceleration is respectively D ₉ 、D ₁₀ The method comprises the steps of carrying out a first treatment on the surface of the Is arranged on a shell of the second hydraulic motor 16, adopts a cementing form, is arranged on the second hydraulic motor 16 in a bilateral symmetry way, and the measured vibration acceleration is respectively D ₁₁ 、D ₁₂ The method comprises the steps of carrying out a first treatment on the surface of the Is arranged on the driving shaft 18 in a cementing mode and symmetrically arranged at the radial edge of the driving shaft 18 at a position which does not affect the structural mode and the transmission function, and the measured vibration acceleration is respectively D ₁₃ 、D ₁₄ 。

The control module 6 has the following functions:

data standardization is carried out on all data acquired by the machine head detection device, the number of various data sets is N, and the average value corresponding to all the data sets is calculated to be a respectively ₁₀ 、a ₂₀ 、a ₃₀ 、a ₄₀ 、b ₁₀ 、b ₂₀ 、b ₃₀ 、b ₄₀ 、c ₁₀ 、c ₂₀ 、c ₃₀ 、c ₄₀ 、d ₁₀ 、e ₁₀ 、f ₁₀ 、g ₁₀ 、g ₂₀ ；

Calculating the standard deviation corresponding to all data sets as a _1c 、a _2c 、a _3c 、a _4c 、b _1c 、b _2c 、b _3c 、b _4c 、c _1c 、c _2c 、c _3c 、c _4c 、d _1c 、e _1c 、f _1c 、g _1c 、g _2c ；

The discrimination coefficient M of the machine head detection device is calculated as follows:

wherein: mu (mu) ₁ 、μ ₂ 、μ ₃ 、μ ₄ 、μ ₅ 、μ ₆ 、μ ₇ Are variable coefficients, are real numbers between 0 and 1, and are 1; gamma ray ₁ 、γ ₂ 、γ ₃ 、γ ₄ 、γ ₅ 、γ ₆ 、γ ₇ For adjusting the coefficient, taking values according to the on-site rescue conditions, wherein the values are real numbers between 0 and 2;

data standardization is carried out on all data acquired by the equipment detection device, the number of each data set is N, and average values corresponding to all data sets are calculated respectivelyIs A ₁₀ 、A ₂₀ 、A ₃₀ 、A ₄₀ 、A ₅₀ 、A ₆₀ 、A ₇₀ 、B ₁₀ 、B ₂₀ 、B ₃₀ 、B ₄₀ 、B ₅₀ 、B ₆₀ 、B ₇₀ 、C ₁₀ 、C ₂₀ 、D ₁₀ 、D ₂₀ 、D ₃₀ 、D ₄₀ 、D ₅₀ 、D ₆₀ 、D ₇₀ 、D ₈₀ 、D ₉₀ 、D ₁₀₀ 、D ₁₁₀ 、D ₁₂₀ 、D ₁₃₀ 、D ₁₄₀ 。

Calculating standard deviation corresponding to all data sets as A _1c 、A _2c 、A _3c 、A _4c 、A _5c 、A _6c 、A _7c 、B _1c 、B _2c 、B _3c 、B _4c 、B _5c 、B _6c 、B _7c 、C _1c 、C _2c 、D _1c 、D _2c 、D _3c 、D _4c 、D _5c 、D _6c 、D _7c 、D _8c 、D _9c 、D _10c 、D _11c 、D _12c 、D _13c 、D _14c ；

The discrimination coefficient N of the equipment detection device is calculated as follows:

wherein: delta ₁ 、δ ₂ 、δ ₃ 、δ ₄ 、δ ₅ 、δ ₆ 、δ ₇ Are variable coefficients, are real numbers between 0 and 1, and are 1; epsilon ₁ 、ε ₂ 、ε ₃ 、ε ₄ 、ε ₅ 、ε ₆ 、ε ₇ For adjusting the coefficient, taking values according to the on-site rescue conditions, wherein the values are real numbers between 0 and 2;

by the above equations (1) and (2), the discrimination coefficient M of the fixed-time head detecting device and the discrimination coefficient N of the equipment device can be obtained.

The level designed by the method of the embodimentThe double-power system for the rescue drilling machine is characterized in that a typical rock stratum is subjected to test construction, the test construction is in a typical stable state, a fluctuation state and an abnormal state, the detection device is used for collecting operation environment information corresponding to the front end of a detection machine head and real-time working parameters of each component, and a discrimination coefficient M of the machine head detection device and a discrimination coefficient N of a device under different states are obtained, wherein the discrimination coefficients are respectively M _a 、M _b 、M _c And N _a 、N _b 、N _c Then, the critical discrimination coefficient is obtained as follows:

M ₁ ＝z ₁ M _a +z ₂ M _b ； N ₁ ＝z ₁ N _a +z ₂ N _b (3)

M ₂ ＝z ₃ M _b +z ₄ M _c ； N ₂ ＝z ₃ N _b +z ₄ N _c (4)

wherein: z ₁ 、z ₂ Are variable coefficients, are real numbers between 0 and 1, and are 1; z ₃ 、z ₄ Are variable coefficients, are real numbers between 0 and 1, and are 1; m is M ₁ 、M ₂ 、N ₁ 、N ₂ The critical discrimination coefficients are respectively.

The maximum values collected by the detection device 7 under the abnormal state are respectively A _1d 、A _2d 、A _3d 、A _4d 、A _5d 、A _6d 、A _7d 、B _1d 、B _2d 、B _3d 、B _4d 、B _5d 、B _6d 、B _7d 、C _1d 、C _2d 、D _1d 、D _2d 、D _3d 、D _4d 、D _5d 、D _6d 、D _7d 、D _8d 、D _9d 、D _10d 、D _11d 、D _12d 、D _13d 、D _14d And a _1d 、a _2d 、a _3d 、a _4d 、b _1d 、b _2d 、b _3d 、b _4d 、c _1d 、c _2d 、c _3d 、c _4d 、d _1d 、e _1d 、f _1d 、g _1d 、g _2d ；

When M is less than or equal to M ₁ When or N is less than or equal to N ₁ And when the drilling machine is in a stable state, judging that the stratum and the equipment meet at the moment, and the horizontal rescue drilling machine works normally by using the double-power system, wherein the control module does not need to adjust working parameters, and each device carries out continuous construction according to the working parameters of the previous round by default.

When M ₁ ＜M≤M ₂ And N is ₁ ＜N≤N ₂ When the drilling machine is in a fluctuation state, the drilling machine is judged to be in an overload state of part of devices at the moment, power redistribution is needed, the double-power system for the horizontal rescue drilling machine is regulated to work parameters, and the control module 6 outputs the regulated work parameters to the outer power device 3, the inner power device 5, the outer feeding device 2 and the inner feeding device 4, wherein the regulated work parameters comprise the flow and the rotating speed of 4 first hydraulic motors 8, the flow and the rotating speed of the second hydraulic motors 16, the flow and the pressure of the outer feeding oil cylinder 15 and the flow and the pressure of the inner feeding oil cylinder 21.

The adjustment amount of the working parameters of each device is as follows:

Wherein: ρ ₁ 、ρ ₂ Are variable coefficients, are real numbers between 0 and 1, and are 1; c (C) ₀ Is the original working parameter;

when (when)And->When the operating parameters of the devices are reduced by the adjustment amount C, and when the operating parameters of the devices are in other value ranges of the interval, the operating parameters of the devices are increased by the adjustment amount C.

The conditions requiring manual adjustment include the following 2 cases:

1) When M ₂ < M or N ₂ When the drilling time is less than N, judging that the drilling stratum and the equipment are in different conditionsIn a normal state, the control module 6 outputs instructions to the external power device 3, the internal power device 5, the external feeding device 2 and the internal feeding device 4 to stop working of the devices, and at the moment, the working parameters are output to the breaking and dismantling device 1, the visual detection device 24 is used for judging and identifying the obstacle manually, and the working parameters of the breaking and dismantling device 1 are finely adjusted to clear the obstacle.

2) When a certain real-time collected data of the detecting device 7 received by the control module 6 is greater than or equal to a corresponding maximum value (namely: a is that _1d 、A _2d 、A _3d 、A _4d 、A _5d 、A _6d 、A _7d 、B _1d 、B _2d 、B _3d 、B _4d 、B _5d 、B _6d 、B _7d 、C _1d 、C _2d 、D _1d 、D _2d 、D _3d 、D _4d 、D _5d 、D _6d 、D _7d 、D _8d 、D _9d 、D _10d 、D _11d 、D _12d 、D _13d 、D _14d And a _1d 、a _2d 、a _3d 、a _4d 、b _1d 、b _2d 、b _3d 、b _4d 、c _1d 、c _2d 、c _3d 、c _4d 、d _1d 、e _1d 、f _1d 、g _1d 、g _2d ) The control module 6 immediately outputs instructions to the external power device 3, the internal power device 5, the external feeding device 2 and the internal feeding device 4, so that the devices stop working, and meanwhile, the visual detection device 24 is used for judging and identifying the obstacle manually, so that the working state is determined.

The control module 6 can ensure that the operation parameter coefficients of all parts of the double-power system for the horizontal rescue drilling machine are automatically adjusted according to the actual working conditions, and can also be manually and interactively finely adjusted.

The control process of the control module 6 for the double-power system for the horizontal rescue drilling machine comprises the following steps:

step 1, after assembling and debugging the horizontal rescue drilling machine by using each device of the double-power system, completing initial arrangement, so that the working state of each part reaches initial construction conditions and meets the requirements;

step 2, carrying out normal drilling construction by using a double-power system of the horizontal rescue drilling machine, respectively collecting all collected data values of an operation environment and all collected data values of working capacity by a machine head detection device and a device detection device in a detection device 7, filtering redundant and error data, and transmitting the redundant and error data to a control module 6 in real time to ensure that the data are completely correct;

and 3, the control module 6 collects data according to the detection device 7, performs data processing at fixed time intervals, autonomously determines the fixed time according to the required precision, the site construction condition, the working period requirement and the like, and when the sampled data reach N (N is more than or equal to 100), the control module 6 performs comprehensive analysis and calculation on the related data to obtain a discrimination coefficient M of the corresponding machine head detection device and a discrimination coefficient N of the equipment device.

Step 4, judging by adopting the judging method, determining the characteristics of the rock stratum, and when the drilling meets the stratum and equipment is in a stable state, not needing to adjust working parameters; when the stratum and equipment are in a fluctuation state, the control module 6 needs to automatically adjust the working parameters of the double-power system for the horizontal rescue drilling machine; when the drill meets the stratum and the equipment is in an abnormal state, the control module 6 controls related devices, meanwhile, the visual detection device 24 is used for judging and identifying the obstacle manually, and the working parameters of the breaking device 1 are finely adjusted to clear the obstacle.

And 5, when the control module 6 recognizes that the real-time acquired data of the detection device 7 is more than or equal to the corresponding maximum value, the visual detection device 24 is needed to be used for judging and recognizing the obstacle manually at the moment, and the working state is determined.

And 6, processing acquired data by the control module 6 at fixed time intervals to obtain a discrimination coefficient M of a new machine head detection device and a discrimination coefficient N of an equipment device, so as to determine whether to adjust the working parameters of the double-power system for the horizontal rescue drilling machine, update the working parameters of the double-power head of the system and the construction process, and ensure the whole construction speed and efficiency.

In summary, the design method of the dual-power system for the horizontal rescue drilling machine provided by the embodiment is designed to obtain the dual-power system for the horizontal rescue drilling machine, so that the running parameter coefficients of all the components can be ensured to be adjusted automatically according to the actual working conditions, and the whole dual-power system for the horizontal rescue drilling machine can be ensured to be adjusted automatically and controllably according to the actual working conditions.

Claims (6)

1. The design method of the double-power system for the horizontal rescue drilling machine is characterized in that the method adopts main components comprising an external power device, an internal power device, an external feeding device, an internal feeding device, a breaking and dismantling device, a detection device and a control module; wherein:

the external power device is mainly used for providing torque for the outer sleeve, realizing the rotary motion of the outer sleeve and reducing the resistance in the drilling process; the hydraulic device mainly comprises 4 first hydraulic motors, 4 pinion shafts, a large gear shaft, a first box body, 2 groups of first bearings and a first connecting shaft; wherein:

the 4 hydraulic first motors are respectively connected with 4 pinion shafts by adopting couplings and serve as power input parts;

the 4 pinion shafts are uniformly arranged at the 4 circumferences of the large gear shaft and are driven by adopting meshed gears;

two ends of the large gear shaft are fixed through 2 groups of first bearings and are arranged in a first box body;

the first connecting shaft is connected with the end part of the large gear shaft through a bolt, and the output end of the first connecting shaft is connected with the sleeve through a pin shaft and the bolt;

the inner power device is mainly used for providing torque for the spiral drill rod, realizing the rotation motion of the spiral drill rod and driving the cutter head to perform the rotation motion; the device mainly comprises a second hydraulic motor, a driving shaft, 2 groups of second bearings, a second box body and a second connecting shaft; wherein:

The second hydraulic motor is connected with the driving shaft by adopting a coupler and is used as a power input part;

the two ends of the driving wheel shaft are fixed through 2 groups of second bearings and are arranged in a second box body;

the second connecting shaft is connected with the end part of the driving shaft through a bolt, and the output end of the second connecting shaft is connected with the spiral drill rod through a pin shaft and the bolt;

the external feeding device is mainly used for providing axial force for the sleeve, so that feeding, lifting and pulling of the sleeve are realized, and the drilling construction of the sleeve is completed by matching with the external power device; the device mainly comprises an outer machine body device and an outer feeding oil cylinder, wherein two ends of the outer feeding oil cylinder are respectively connected to the outer machine body device to realize feeding and lifting of an outer power device;

the inner feeding device is mainly used for providing axial force for the spiral drill rod, so that feeding, lifting and pulling of the spiral drill rod are realized, and the inner feeding device is matched with the inner power device to complete drilling construction of the spiral drill rod; the device mainly comprises an inner engine body device and an inner feeding oil cylinder, wherein two ends of the inner feeding oil cylinder are respectively connected to the inner engine body device to realize feeding and lifting of an inner power device;

the breaking device adopts a hydraulic or pneumatic mode to clean geological abnormal bodies or barriers, and selects different parameters for processing aiming at an operation object;

The detection device is mainly used for receiving the operation environment information and the working parameters of each component in real time, filtering redundancy and error information and transmitting the redundancy and error information to the control module; the device comprises a machine head detection device and a device detection device, which are respectively used for detecting the operation environment information at the front end of the machine head and the real-time working parameters of all parts, obtaining all the collected data values of the operation environment and all the collected data values of the working capacity, and filtering redundancy and error data; wherein:

the machine head detection device mainly comprises a mechanical detection device, a visual detection device and a radar detection device;

the equipment detection device comprises a torque detection device, a rotation speed detection device, a mechanical detection device and a vibration detection device, which are arranged on the external power device, the internal power device, the external feeding device and the internal feeding device;

the control module is mainly used for processing the information acquired by the detection device, carrying out comprehensive analysis and calculation to obtain a corresponding solution, and carrying out adjustment control on the whole system;

the outer power device and the inner power device are arranged on the feeding platform of the drilling machine through guide rails and keep central symmetry; the external feeding device is connected with the external power device through an external feeding oil cylinder to realize the reciprocating motion of the external power device; the inner feeding device is connected with the inner power device through an inner feeding oil cylinder to realize the reciprocating motion of the inner power device, and the inner feeding device and the inner power device run independently and are not interfered with each other; the breaking device is arranged on a cutter head connected with the output end of the internal power device, and 4 breaking devices are uniformly arranged on any radius; the detection device is arranged on the outer power device, the inner power device, the outer feeding device, the inner feeding device, the cutter disc and the sleeve, and the control module is arranged at the side of the inner power device; becomes a double-power system for the horizontal rescue drilling machine.

2. The design method of claim 1, wherein the control module is used for processing information acquired by the detection device, comprehensively analyzing and judging the discrimination coefficient M of the head detection device and the discrimination coefficient N of the equipment detection device by adopting a judgment rule to obtain the stratum state of the front end of the head, adjusting the working parameters of the dual-power system for the horizontal rescue drilling machine in real time to adapt to different stratum conditions, and controlling the breaking device to perform construction when encountering different geological anomalies or obstacles.

3. The method of claim 1, wherein the mechanical detection devices are disposed on the cutterhead and the sleeve head, respectively, wherein:

the end face of the cutterhead is radially arranged, 3 cutterhead faces are uniformly arranged between the distance of 5-10 mm from the edge and the circle center, and the fixed connection is adopted and is mainly used for detecting the shearing force, the axial force and the torque of a rock mass, so that corresponding data are obtained as a respectively ₁ 、a ₂ 、a ₃ 、b ₁ 、b ₂ 、b ₃ 、c ₁ 、c ₂ 、c ₃ ；

Is arranged at the radial center position of the sleeve head and is mainly used for detecting the shearing force, the axial force and the torque of rock mass, and the corresponding data set is a ₄ 、b ₄ 、c ₄ ；

The visual detection device is arranged at the center of the cutter head and is used for collecting and detecting image data of rock mass, wherein the image data comprises obstacle size, gray scale and contrast, and the corresponding data sets are d respectively ₁ 、e ₁ 、f ₁ ；

The radar detection devices are symmetrically arranged at two sides of the center of the cutter head, the distance between the radar detection devices and the center is 1/4-1/3 of the radius, the radar detection devices are mainly used for collecting point cloud data of detected rock mass, and the corresponding data set is g ₁ 、g ₂ 。

4. The method of claim 1, wherein the torque detecting means is arranged in the following manner:

fixedly arranged at the output ends of the first 4 hydraulic motors, and respectively measuring corresponding output torques to be A respectively ₁ 、A ₂ 、A ₃ 、A ₄ ；

Is fixedly arranged at the output end of the large gear shaft, and the measured output torque is A ₅ ；

Fixedly arranged at the output end of the second hydraulic motor, and measuring the output torque to be A ₆ ，

An output end fixedly arranged on the first connecting shaft for measuring the output torque as torque A ₇ ；

The rotation speed detection device is arranged in the following way:

is arranged at the position 5-10 mm away from the edges of the output end bodies of the 4 first hydraulic motors, adopts a cementing form, and measures and outputs the rotation speed B respectively ₁ 、B ₂ 、B ₃ 、B ₄ ；

Is arranged at the position 5-10 mm away from the edge of the output end body of the large gear shaft, adopts a cementing form, and measures the output rotating speed B ₅ ；

Is arranged at the position 5-10 mm away from the edge of the output end body of the second hydraulic motor, adopts a cementing form and measures the rotating speed B ₆ ；

Is arranged at the position 5-10 mm away from the edge of the output end body of the first connecting shaft, adopts a cementing form and measures the rotating speed B ₇ ；

The mechanical detection device is fixedly arranged at the oil cylinder connecting pin shaft of the external feeding device and is used for measuring the feeding force C ₁ Is fixedly arranged at the oil cylinder connecting pin shaft of the inner feeding device and is used for measuring the feeding force C ₂ ；

The vibration detection device is arranged in the following way:

is arranged atThe 4 first hydraulic motor shells are in cementing form, each first hydraulic motor is symmetrically arranged left and right, and the measured vibration acceleration is D respectively ₁ 、D ₂ 、D ₃ 、D ₄ 、D ₅ 、D ₆ 、D ₇ 、D ₈ ；

The vibration acceleration measuring device is arranged on the large gear shaft body, adopts a cementing form, symmetrically arranges at the radial edge of the large gear shaft body and does not influence the structural form and the transmission function, and the measured vibration acceleration is D respectively ₉ 、D ₁₀ ；

Is arranged on the second hydraulic motor shell and adopts a cementing mode, the second hydraulic motor is arranged in a bilateral symmetry way, and the measured vibration acceleration is respectively D ₁₁ 、D ₁₂ ；

Is arranged on the driving shaft in a cementing mode, symmetrically arranged at the radial edge of the driving shaft and at the position which does not affect the structural mode and the transmission function, and the measured vibration acceleration is D respectively ₁₃ 、D ₁₄ 。

5. The method of claim 1, wherein the control module has the following functionality:

data standardization is carried out on all data acquired by the machine head detection device, the number of various data sets is N, and the average value corresponding to all the data sets is calculated to be a respectively ₁₀ 、a ₂₀ 、a ₃₀ 、a ₄₀ 、b ₁₀ 、b ₂₀ 、b ₃₀ 、b ₄₀ 、c ₁₀ 、c ₂₀ 、c ₃₀ 、c ₄₀ 、d ₁₀ 、e ₁₀ 、f ₁₀ 、g ₁₀ 、g ₂₀ ；

The standard deviation corresponding to all data sets is calculated as follows: a, a _1c 、a _2c 、a _3c 、a _4c 、b _1c 、b _2c 、b _3c 、b _4c 、c _1c 、c _2c 、c _3c 、c _4c 、d _1c 、e _1c 、f _1c 、g _1c 、g _2c ；

The discrimination coefficient M of the machine head detection device is calculated as follows:

wherein: mu (mu) ₁ 、μ ₂ 、μ ₃ 、μ ₄ 、μ ₅ 、μ ₆ 、μ ₇ Are variable coefficients, are real numbers between 0 and 1, and are 1; gamma ray ₁ 、γ ₂ 、γ ₃ 、γ ₄ 、γ ₅ 、γ ₆ 、γ ₇ For adjusting the coefficient, taking values according to the on-site rescue conditions, wherein the values are real numbers between 0 and 2;

carrying out data standardization on all data acquired by the equipment detection device, wherein the number of various data sets is N, and calculating the average value corresponding to all the data sets as follows: a is that ₁₀ 、A ₂₀ 、A ₃₀ 、A ₄₀ 、A ₅₀ 、A ₆₀ 、A ₇₀ 、B ₁₀ 、B ₂₀ 、B ₃₀ 、B ₄₀ 、B ₅₀ 、B ₆₀ 、B ₇₀ 、C ₁₀ 、C ₂₀ 、D ₁₀ 、D ₂₀ 、D ₃₀ 、D ₄₀ 、D ₅₀ 、D ₆₀ 、D ₇₀ 、D ₈₀ 、D ₉₀ 、D ₁₀₀ 、D ₁₁₀ 、D ₁₂₀ 、D ₁₃₀ 、D ₁₄₀ ；

The standard deviation corresponding to all data sets is calculated as follows: a is that _1c 、A _2c 、A _3c 、A _4c 、A _5c 、A _6c 、A _7c 、B _1c 、B _2c 、B _3c 、B _4c 、B _5c 、B _6c 、B _7c 、C _1c 、C _2c 、D _1c 、D _2c 、D _3c 、D _4c 、D _5c 、D _6c 、D _7c 、D _8c 、D _9c 、D _10c 、D _11c 、D _12c 、D _13c 、D _14c ；

The discrimination coefficient N of the equipment detection device is calculated as follows:

wherein: delta ₁ 、δ ₂ 、δ ₃ 、δ ₄ 、δ ₅ 、δ ₆ 、δ ₇ Are variable coefficients, are real numbers between 0 and 1, and are 1; epsilon ₁ 、ε ₂ 、ε ₃ 、ε ₄ 、ε ₅ 、ε ₆ 、ε ₇ For adjusting the coefficient, taking values according to the on-site rescue conditions, wherein the values are real numbers between 0 and 2;

obtaining a discrimination coefficient M of the machine head detection device and a discrimination coefficient N of the equipment device in fixed time through the formulas (1) and (2);

the method comprises the steps of performing test construction on a typical rock stratum by using a double-power system for a horizontal rescue drilling machine, wherein the test construction is in a typical stable state, a fluctuation state and an abnormal state, acquiring operation environment information corresponding to the front end of a detection machine head and real-time working parameters of each component by using a detection device, and obtaining a discrimination coefficient M of the machine head detection device and a discrimination coefficient N of a device under different states, wherein the discrimination coefficients are respectively M _a 、M _b 、M _c And N _a 、N _b 、N _c Then, the critical discrimination coefficient is obtained as follows:

M ₁ ＝z ₁ M _a +z ₂ M _n ； N ₁ ＝z ₁ N _a +z ₂ N _b (3)

M ₂ ＝z ₃ M _b +z ₄ M _c ； N ₂ ＝z ₃ N _b +z ₄ N _c (4)

wherein: z ₁ 、z ₂ Are variable coefficients, are real numbers between 0 and 1, and are 1; z ₃ 、z ₄ Are variable coefficients, are real numbers between 0 and 1, and are 1; m is M ₁ 、M ₂ 、N ₁ 、N ₂ Critical discrimination coefficients respectively;

the maximum values collected by the detection device under the abnormal state are respectively as follows: a is that _1d 、A _2d 、A _3d 、A _4d 、A _5d 、A _6d 、A _7d 、B _1d 、B _2d 、B _3d 、B _4d 、B _5d 、B _6d 、B _7d 、C _1d 、C _2d 、D _1d 、D _2d 、D _3d 、D _4d 、D _5d 、D _6d 、D _7d 、D _8d 、D _9d 、D _10d 、D _11d 、D _12d 、D _13d 、D _14d And a _1d 、a _2d 、a _3d 、a _4d 、b _1d 、b _2d 、b _3d 、b _4d 、c _1d 、c _2d 、c _3d 、c _4d 、d _1d 、e _1d 、f _1d 、g _1d 、g _2d ；

When M is less than or equal to M ₁ When or N is less than or equal to N ₁ When the horizontal rescue drilling machine is in a stable state, the drilling stratum and equipment are judged to be in a stable state, the horizontal rescue drilling machine works normally by the double-power system, the control module does not need to adjust working parameters, and each device carries out continuous construction according to the working parameters of the previous round by default;

when M ₁ ＜M≤M ₂ And N is ₁ ＜N≤N ₂ When the drilling machine is in a fluctuation state, judging that the drilling machine meets stratum and equipment at the moment and an overload state of part of the equipment occurs, and carrying out power redistribution, adjusting working parameters of a double-power system for the horizontal rescue drilling machine, wherein a control module outputs the adjusting working parameters to an external power device, an internal power device, an external feeding device and an internal feeding device, wherein the adjusting working parameters comprise the flow and the rotating speed of 4 first hydraulic motors, the flow and the rotating speed of a second hydraulic motor, and the flow and the pressure of an external feeding oil cylinder and the flow and the pressure of an internal feeding oil cylinder;

the adjustment amount of the working parameters of each device is as follows:

Wherein: ρ ₁ 、ρ ₂ Are variable coefficients, are real numbers between 0 and 1, and are 1; c (C) ₀ Is the original working parameter;

when (when)And->When the working parameters of the devices are reduced by the adjustment quantity C, and when the working parameters of the devices are in other value ranges of the interval, the working parameters of the devices are increased by the adjustment quantity C;

the conditions requiring manual adjustment include the following 2 cases:

1) When M ₂ < M or N ₂ When the number is less than N, judging that the drilling machine meets stratum and equipment at the moment is in an abnormal state, judging that the drilling machine meets geological abnormal bodies or barriers, outputting instructions to an external power device, an internal power device, an external feeding device and an internal feeding device by a control module, stopping working of the devices, outputting working parameters to a breaking and dismantling device at the moment, manually judging and identifying the barriers by using a visual detection device, and finely adjusting the working parameters of the breaking and dismantling device to clear the barriers;

2) When a certain real-time acquisition data of the detection device received by the control module is more than or equal to a corresponding maximum value, namely: a is that _1d 、A _2d 、A _3d 、A _4d 、A _5d 、A _6d 、A _7d 、B _1d 、B _2d 、B _3d 、B _4d 、B _5d 、B _6d 、B _7d 、C _1d 、C _2d 、D _1d 、D _2d 、D _3d 、D _4d 、D _5d 、D _6d 、D _7d 、D _8d 、D _9d 、D _10d 、D _11d 、D _12d 、D _13d 、D _14d And a _1d 、a _2d 、a _3d 、a _4d 、b _1d 、b _2d 、b _3d 、b _4d 、c _1d 、c _2d 、c _3d 、c _4d 、d _1d 、e _1d 、f _1d 、g _1d 、g _2d The method comprises the steps of carrying out a first treatment on the surface of the The control module immediately outputs instructions to the external power device, the internal power device, the external feeding device and the internal feeding device, so that the devices stop working, and meanwhile, the visual detection device is used for judging and identifying the obstacle manually to determine the working state;

The control module can ensure that the operation parameter coefficients of all parts of the double-power system for the horizontal rescue drilling machine are automatically adjusted according to the actual working conditions, or are manually and interactively fine-tuned remotely.

6. The method of claim 1, wherein the control process of the control module for the dual power system for the horizontal rescue rig comprises the steps of:

step 1, after assembling and debugging each device of a double-power system for a horizontal rescue drilling machine, completing initial arrangement, so that the working state of each part reaches initial construction conditions and meets the requirements;

step 2, normal drilling construction is carried out by a double-power system of the horizontal rescue drilling machine, a machine head detection device and a device detection device respectively collect all collected data values of an operation environment and all collected data values of working capacity, redundant data and error data are filtered, and the redundant data and the error data are transmitted to a control module in real time, so that the data are ensured to be completely correct;

step 3, the control module collects data according to the detection device, performs data processing at fixed time intervals, autonomously determines the fixed time according to required precision, site construction conditions, working period requirements and the like, and when the sampled data reach N, the N is more than or equal to 100, the control module performs comprehensive analysis and calculation on the related data to obtain a discrimination coefficient M of the corresponding machine head detection device and a discrimination coefficient N of the equipment device;

Step 4, judging by adopting the judging method, determining the characteristics of the rock stratum, and when the drilling meets the stratum and equipment is in a stable state, not needing to adjust working parameters; when the stratum and equipment are in a fluctuation state, the control module needs to automatically adjust the working parameters of the double-power system for the horizontal rescue drilling machine; when the drill meets the stratum and the equipment is in an abnormal state, the control module controls the related devices, meanwhile, the visual detection device is used for judging and identifying the obstacle manually, and the working parameters of the breaking device are finely adjusted to clear the obstacle;

step 5, when the control module recognizes that a certain real-time acquisition data of the detection device is more than or equal to a corresponding maximum value, the control module needs to manually judge and recognize the obstacle by using the visual detection device at the moment to determine the working state;

and 6, processing acquired data by the control module at fixed intervals to obtain a discrimination coefficient M of a new machine head detection device and a discrimination coefficient N of a device, so as to determine whether to adjust the working parameters of the double-power system for the horizontal rescue drilling machine, update the working parameters of the double-power head and the construction process, and ensure the whole construction speed and efficiency.