A coal and rock configuration method for exploring the deviation mechanism of the drilling trajectory of a shock-proof drilling robot

Abstract

The present invention relates to a coal and rock configuration method for exploring the deviation mechanism of the drilling trajectory of a shock prevention drilling robot. The compressive strength of the test coal and rock blocks to be configured is determined based on the similarity theory; the coal and rock blocks are configured based on the obtained compressive strength; when configuring the coal and rock blocks, unweathered coal and rock mined from shallow coal mines are selected at the construction site, the coal blocks and rock blocks are mixed, and the powders of the coal blocks and rock blocks and a binder are filled in the gaps between the coal blocks and rock blocks to solidify the coal blocks and rock blocks into test coal and rock blocks; the test coal and rock blocks with different hardnesses after cutting are configured to form anisotropic coal and rock blocks, and a test coal wall similar to natural coal and rock is obtained. The present invention can truly simulate the pressure relief process of the coal and rock drilling of the shock prevention drilling robot, and reduces the difference from the actual underground coal and rock conditions.

Description

Technical Field

[0001] The present invention relates to a coal and rock configuration method for exploring the deviation mechanism of the drilling trajectory of an anti-bumping drilling robot, belonging to the technical field of mining machinery. Background Technique

[0002] In recent years, with the increase of coal mining depth and intensity in China, some coal mines have evolved from low-gas mines to high-gas outburst mines, from non-rock burst danger to weak or strong rock burst, and the hydrogeological type has evolved from simple to complex or extremely complex.

[0003] During the drilling process of the anti-bumping drilling robot for rock burst mines, the force on the drill pipe mechanism is extremely complex. As the drilling depth increases, the drill pipe mechanism deviates from the original drilling direction, causing the phenomenon of sticking during the drilling process. The deviation of the drilling trajectory directly affects the pressure relief effect, restricts the working efficiency and even increases the safety risk. In addition to the buckling instability properties of the drill pipe itself, equipment installation, drill tool structure, etc., the coal seam geological conditions play a dominant role in the main factors affecting the deviation of the drilling trajectory, including coal seam anisotropy, hard and soft interbeds, coal seam angle, etc. In actual working conditions, the coal seam geology and surrounding rock stress are complex and variable, and the interaction constraints between the drill pipe and the coal wall environment show obvious non-uniformity, anisotropy and time-varying discontinuity. These significant characteristics make it very difficult to study the deviation mechanism of the drilling trajectory, and this problem has not been well solved at present. To improve the research on the deviation mechanism of the drilling trajectory, new theories and methods are urgently needed for coal and rock configuration simulation experiments to reduce the difference from the actual underground coal and rock conditions. Summary of the Invention

[0004] The present invention provides a coal and rock configuration method for exploring the deviation mechanism of the drilling trajectory of an anti-bumping drilling robot, which truly simulates the coal seam geological conditions and reduces the difference from the actual underground coal and rock conditions.

[0005] The technical solution adopted by the present invention to solve its technical problems is:

[0006] A coal and rock configuration method for exploring the deviation mechanism of the drilling trajectory of an anti-bumping drilling robot includes the following steps:

[0007] Step S1: Determine the compressive strength of the test coal and rock blocks to be configured based on the similarity theory;

[0008] Step S2: Configure the coal and rock blocks based on the compressive strength obtained in step S1;

[0009] Step S21: Select unweathered coal and rock mined from a shallow coal mine at the construction site to be constructed, and determine the toughness coefficient of the unweathered coal and rock in the laboratory as the characteristic index of the typical coal and rock trial production;

[0010] Step S22: Mix the coal blocks and rock blocks, and fill the gaps between the coal blocks and rock blocks with the powders of the coal blocks and rock blocks and the binder to solidify the coal blocks and rock blocks into blocks to form test coal-rock blocks;

[0011] Step S23: Configure test coal-rock blocks with different hardnesses according to the typical coal-rock trial production characteristic indexes obtained in Step S21;

[0012] Step S24: Process the test coal-rock blocks and cut them into the shapes required for the test;

[0013] Step S25: Configure the cut test coal-rock blocks with different hardnesses to form anisotropic coal-rock blocks;

[0014] Step S3: Conduct an effectiveness verification on the formed anisotropic coal-rock blocks according to the compressive strength obtained in Step S1, that is, extract partial specimens of different coal-rock block configurations for uniaxial compressive tests to complete the final configuration of the test coal-rock blocks;

[0015] As a further preference of the present invention, the specific steps for determining the compressive strength of the test coal-rock blocks to be configured based on the similarity theory in Step S1 are as follows:

[0016] Step S11: Simplify the drilling movement of the anti-bumping drilling robot in the test coal-rock blocks into a form of rotating shaft rotation;

[0017] Step S12: Convert the force of the rotating shaft rotation into the sum of the bending moment and the torque;

[0018] Step S13: Conduct a bending moment calculation. Assume that the drill bit of the anti-bumping drilling robot is only subjected to a concentrated load passing through the axis center, then the bending moment M is obtained from the drill pipe material of the anti-bumping drilling robot;

[0019] Step S14: Conduct a torque calculation. The calculation formula is

[0020]

[0021] In the formula, T is the torque, with the unit of N·mm; P is the transmitted power, with the unit of kw; n is the rotational speed of the drill pipe of the anti-bumping drilling robot, with the unit of r / min;

[0022] Step S15: Conduct an equivalent bending moment calculation. The calculation formula is

[0023]

[0024] In the formula, M ca is the equivalent bending moment, M is the bending moment, T is the torque, α is the one-way rotation angle, and take α = 0.6;

[0025] Step S16: Based on the calculated equivalent bending moment, conduct calculations based on the similarity theory

[0026]

[0027] As a further preference of the present invention, the binder in step S22 is selected as mortar, which is evenly poured into the gaps between the coal blocks and the rock blocks;

[0028] The mortar includes cement, river sand, lime paste and clay, and the cement, river sand, lime paste and clay are mixed with water to form binders with different hardnesses;

[0029] The binders with different hardnesses are evenly poured into the gaps between the coal blocks and the rock blocks to form test coal-rock blocks with different hardnesses;

[0030] As a further preference of the present invention, the cement, river sand, lime paste and clay are configured according to the mass ratio to form binders with different hardnesses;

[0031] Among them, when the mass ratio of cement, river sand, lime paste and clay is 1:5:0.2:1, a binder of M10 type is formed;

[0032] When the mass ratio of cement, river sand, lime paste and clay is 1:10:1.5:1.5, a binder of M25 type is formed;

[0033] When the mass ratio of cement, river sand, lime paste and clay is 1:8:0.8:1, a binder of M50 type is formed;

[0034] When the mass ratio of cement, river sand, lime paste and clay is 1:6:0.4:1.5, a binder of M75 type is formed;

[0035] As a further preference of the present invention, the hardness of the M10 type binder is lower than that of the M25 type binder, the hardness of the M25 type binder is lower than that of the M50 type binder, and the hardness of the M50 type binder is lower than that of the M75 type binder;

[0036] As a further preference of the present invention, when the mass ratio of the coal block to the rock block is 1:0.25, the M10 type binder is used for bonding to form type A coal-rock blocks;

[0037] When the mass ratio of the coal block to the rock block is 1:0.5, the M25 type binder is used for bonding to form type B coal-rock blocks;

[0038] When the mass ratio of the coal block to the rock block is 1:0.75, the M50 type binder is used for bonding to form type C coal-rock blocks;

[0039] When the mass ratio of the coal block to the rock block is 1:1, the M75 type binder is used for bonding to form type D coal-rock blocks;

[0040] The hardness of Class A coal rock blocks is lower than that of Class B coal rock blocks, the hardness of Class B coal rock blocks is lower than that of Class C coal rock blocks, and the hardness of Class C coal rock blocks is lower than that of Class D coal rock blocks;

[0041] As a further preference of the present invention, the Class A coal rock blocks, Class B coal rock blocks, Class C coal rock blocks and Class D coal rock blocks are arranged and combined to form a coal rock block configuration with alternating hardness or an inclined layered coal rock block configuration;

[0042] As a further preference of the present invention, in the coal rock block configuration with alternating hardness, the Class A coal rock blocks, Class B coal rock blocks, Class C coal rock blocks and Class D coal rock blocks are arranged in sequence to form a coal rock block configuration with hardness ranging from soft to hard, and the size of each coal rock block is 400mm×400mm×750mm;

[0043] Or the Class D coal rock blocks, Class C coal rock blocks, Class B coal rock blocks and Class A coal rock blocks are arranged in sequence to form a coal rock block configuration with hardness ranging from hard to soft, and the size of each coal rock block is 400mm×400mm×750mm;

[0044] Or the Class A coal rock blocks, Class B coal rock blocks, Class C coal rock blocks, Class B coal rock blocks, Class D coal rock blocks and Class A coal rock blocks are arranged in sequence to form a coal rock block configuration with hardness ranging from soft to hard and then from hard to soft, and the size of each coal rock block is 400mm×400mm×500mm;

[0045] Or the Class C coal rock blocks, Class A coal rock blocks, Class D coal rock blocks, Class B coal rock blocks, Class C coal rock blocks and Class D coal rock blocks are arranged in sequence to form a coal rock block configuration with hardness ranging from hard to soft and then from soft to hard, and the size of each coal rock block is 400mm×400mm×500mm;

[0046] In the inclined layered coal rock block configuration, the Class A coal rock blocks or Class B coal rock blocks or Class C coal rock blocks or Class D coal rock blocks are arranged at an inclination angle of 45° relative to the side of the coal rock block;

[0047] As a further preference of the present invention, in step S24, the test coal rock blocks are processed and cut into a cuboid shape required for the test

[0048] Through the above technical solutions, compared with the prior art, the present invention has the following beneficial effects:

[0049] 1. The coal rock configuration method for exploring the deviation mechanism of the drilling trajectory of the rockburst prevention drilling robot provided by the present invention selects natural coal rock as the sampling and analysis specimen, and can obtain more real main material parameters such as the elastic modulus, Poisson's ratio, compressive strength and density of natural coal rock;

[0050] 2. The coal-rock configuration method provided by the present invention for exploring the deviation mechanism of the drilling trajectory of the anti-bumping drilling robot, based on the similarity theory, uses coal blocks, rock blocks, and mortar as basic materials to configure simulated coal-rock. By different ratios, a test coal wall similar to natural coal-rock is obtained, further reducing the difference from the actual underground coal-rock situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The present invention will be further described below with reference to the drawings and embodiments.

[0052] Figure 1 is a schematic diagram of a typical coal block provided by the present invention;

[0053] Figure 2 is a schematic diagram of a typical crushed stone provided by the present invention;

[0054] Figure 3 is a schematic diagram of mortar provided by the present invention;

[0055] Figures 4a - 4d is a schematic diagram of Class A coal-rock blocks, Class B coal-rock blocks, Class C coal-rock blocks, and Class D coal-rock blocks provided by the present invention;

[0056] Figures 5a - 5d is a schematic diagram of the configuration of coal-rock blocks with alternating hard and soft layers provided by the present invention;

[0057] Figure 6 is a schematic diagram of the configuration of inclined layered coal-rock blocks provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0058] Now, the present invention will be further described in detail with reference to the drawings. In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as "left side", "right side", "upper part", "lower part", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. "First", "second", etc. do not represent the importance of the components, so they cannot be understood as a limitation to the present invention. The specific dimensions adopted in this embodiment are only for illustrative purposes of the technical solution and do not limit the protection scope of the present invention.

[0059] As described in the background art, if a coal-rock configuration simulation test is to be carried out, the most important factor is actually the setting of the coal seam geological conditions. The closer the design of the coal seam geological conditions is to the real situation, the smaller the difference between the test results of simulating the coal-rock drilling and pressure relief process of the anti-bumping drilling robot and the actual underground coal-rock situation. Therefore, the experimenter thought of selecting natural coal-rock as the drilling object, but due to the influence of the drilling depth, it is impossible to directly obtain large-sized natural coal-rock for the experiment.

[0060] Based on this, the present application provides a coal-rock configuration method for exploring the deflection mechanism of the drilling trajectory of a shock-prevention drilling robot. Using the natural coal-rock at the sampling test site as the test base material, a test environment closer to the real situation is configured, including the following steps:

[0061] Step S1: Determine the compressive strength of the test coal-rock blocks to be configured based on the similarity theory. The reason for using the similarity theory to configure the coal-rock blocks here is that during the drilling process of the drilling robot, there is a large deviation between the feeding direction and the direction of the drill bit force, resulting in a lateral deflection force on the drill pipe mechanism, causing it to deflect during drilling and deviate from the original drilling trajectory. The main reason is that the coal seam geological structure has anisotropic characteristics, that is, the parameters such as strength, Poisson's ratio, and density are inconsistent in different directions for each layer. To carry out coal-rock drilling tests for rock bursts and explore the influence of coal-rock anisotropy on the drilling trajectory, it is necessary to select different compressive strength values based on the compressive strength of the test coal-rock blocks calculated by the similarity ratio to prepare various coal-rock configuration blocks to avoid the influence of coal seam anisotropy.

[0062] The method for configuring the strength of coal-rock blocks based on the similarity theory specifically includes:

[0063] Step S11: Simplify the drilling motion of the shock-prevention drilling robot in the test coal-rock blocks into a form of rotating shaft rotation;

[0064] Step S12: Convert the force of the rotating shaft rotation into the sum of bending moment and torque;

[0065] Step S13: Conduct bending moment calculation. Assume that the drill bit of the shock-prevention drilling robot only receives a concentrated load passing through the axis center, then the bending moment M is obtained through the drill pipe material of the shock-prevention drilling robot;

[0066] Step S14: Conduct torque calculation. The calculation formula is

[0067]

[0068] In the formula, T is the torque, with the unit of N·mm; P is the transmitted power, with the unit of kw; n is the rotational speed of the drill pipe of the shock-prevention drilling robot, with the unit of r / min;

[0069] Step S15: Conduct equivalent bending moment calculation. The calculation formula is

[0070]

[0071] In the formula, M ca is the equivalent bending moment, M is the bending moment, T is the torque, α is the one-way rotation angle, and α = 0.6 is taken;

[0072] Step S16: Based on the calculated equivalent bending moment, calculate based on the similarity theory

[0073]

[0074] Step S2: configuring coal rock blocks based on the compressive strength obtained in step S1; specifically:

[0075] Step S21: Select unweathered coal rock mined from a shallow coal mine at the construction site, and determine the strength coefficient f of the unweathered coal rock in the laboratory as a typical coal rock trial characteristic indicator; selecting relevant coal rock at the construction site can make the material properties of the trial-produced coal rock block closer to the actual coal rock characteristics of the deep mine, and among all the indicators of the coal rock block (elastic modulus, Poisson's ratio, compressive strength, hardness, etc. as the main reference performance indicator parameters), the strength coefficient (hardness) is the most representative.

[0076] Step S22: To approach the actual coal rock crushing mechanics mechanism, Figure 1 The small lumps of coal shown and Figure 2 The rock blocks shown are mixed, that is, coal blocks and rock blocks are mixed. These coal blocks and rock blocks are obtained from the test site, and the coal block and rock block powder and binder are filled in the gaps between the coal blocks and the rock blocks, and the coal blocks and the rock blocks are consolidated into blocks to form test coal rock blocks, which are then naturally air-dried; the binder is selected for gap treatment because particles of different sizes and shapes are configured (small pieces of coal rock (coal blocks, rock blocks) or granular coal rock (coal blocks, rock blocks)) to ensure that there are gaps in the coal rock trial blocks. Based on this, the influence mechanism of coal rock blocks of different hardness on the drilling trajectory under rock impact conditions can be simulated; and in order to avoid the coal rock configuration block being easily crushed during the application of rock impact, the surface of the coal rock configuration block is strengthened to prevent the coal rock collapse phenomenon under rock impact conditions, and mortar needs to be injected to improve the bonding force of the coal rock simulation block; here, the binder is mortar. According to the results of many experiments, the mortar includes cement, river sand, lime paste and clay, and the cement, river sand, lime paste and clay are mixed with water.

[0077] Step S23: According to the typical coal rock trial production characteristic indicators obtained in step S21, test coal rock blocks with different hardnesses are configured; in order to construct the anisotropic characteristics of the coal rock configuration blocks, different coal rock configuration blocks are required, that is, different coal rock spatial distributions are required, so the several test coal rock blocks constituting the coal rock configuration blocks need to achieve different hardnesses. The hardness here is not only the mixed hardness of coal blocks and rock blocks, but also involves the hardness of the binder. Therefore, in actual tests, it is necessary to form test coal rock blocks with different strength coefficients by adjusting the ratio of binder, coal blocks and rock blocks.

[0078] Step S24: Process the test coal rock block and cut it into the shape required for the test; generally, it is cut into a rectangular parallelepiped shape and the operation can be performed using a drilling test bench.

[0079] Step S25: Configure the cut test coal and rock blocks with different hardnesses to form anisotropic coal and rock blocks;

[0080] Step S3: Validate the effectiveness of the formed anisotropic coal and rock blocks according to the compressive strength obtained in Step S1, that is, extract partial specimens of different coal and rock block configurations for uniaxial compressive tests, obtain physical parameters such as their compressive strength, Poisson's ratio, and elastic modulus, and complete the final configuration of the test coal and rock blocks.

[0081] Example:

[0082] This application gives a preferred embodiment based on the above coal and rock configuration method to more elaborately describe the specific implementation process.

[0083] First, regarding the binder, Figure 3 As shown, when the mass ratio of cement, river sand, lime paste, and clay is 1:5:0.2:1, a binder of M10 type is formed; when the mass ratio of cement, river sand, lime paste, and clay is 1:10:1.5:1.5, a binder of M25 type is formed; when the mass ratio of cement, river sand, lime paste, and clay is 1:8:0.8:1, a binder of M50 type is formed; when the mass ratio of cement, river sand, lime paste, and clay is 1:6:0.4:1.5, a binder of M75 type is formed. For the binders obtained from the above ratios, the hardness of the M10 type binder is lower than that of the M25 type binder, the hardness of the M25 type binder is lower than that of the M50 type binder, and the hardness of the M50 type binder is lower than that of the M75 type binder.

[0084] Next is about the production of several test coal and rock blocks. When the mass ratio of coal blocks to rock blocks is 1:0.25, use the M10 type binder to bond and form Figure 4a the A-type coal and rock blocks shown; when the mass ratio of coal blocks to rock blocks is 1:0.5, use the M25 type binder to bond and form Figure 4b the B-type coal and rock blocks shown; when the mass ratio of coal blocks to rock blocks is 1:0.75, use the M50 type binder to bond and form Figure 4c the C-type coal and rock blocks shown; when the mass ratio of coal blocks to rock blocks is 1∶1, use the M75 type binder to bond and form Figure 4d the D-type coal and rock blocks shown; as shown in the following table:

[0085] raw material coal lump rock lump mortar A 1 0.25 M10 B 1 0.5 M25 C 1 0.75 M50 D 1 1 M75

[0086] Since the hardness of the test coal-rock blocks mainly depends on the mixing amount of the rock blocks, the more rock blocks there are, the greater the hardness of the coal-rock blocks will be, and the hardness of the matching binder also needs to increase. Therefore, the hardness of Class A coal-rock blocks is lower than that of Class B coal-rock blocks, the hardness of Class B coal-rock blocks is lower than that of Class C coal-rock blocks, and the hardness of Class C coal-rock blocks is lower than that of Class D coal-rock blocks.

[0087] In the prior art, usually when experimenters conduct simulations, the configuration process terminates at the acquisition of the above-mentioned multiple types of coal-rock blocks. However, in the actual underground working conditions, the arrangement of coal-rock blocks is diverse. Therefore, in order to construct the anisotropic characteristics of the coal-rock configuration blocks, different coal-rock configuration blocks, that is, different spatial distributions of coal-rock, are required. In the embodiment, Class A coal-rock blocks, Class B coal-rock blocks, Class C coal-rock blocks, and Class D coal-rock blocks are arranged and combined to form a coal-rock block configuration with alternating hardness or an inclined layered coal-rock block configuration to be closer to the actual working conditions.

[0088] In the coal-rock block configuration with alternating hardness, the embodiment gives a configuration method of four different hardness typical test coal-rock blocks similar to natural coal-rock obtained through different ratios. Figure 5a As shown, Class A coal-rock blocks, Class B coal-rock blocks, Class C coal-rock blocks, and Class D coal-rock blocks are arranged in sequence to form a coal-rock block configuration with hardness ranging from soft to hard, and the size of each coal-rock block is 400mm×400mm×750mm;

[0089] Figure 5b As shown, Class D coal-rock blocks, Class C coal-rock blocks, Class B coal-rock blocks, and Class A coal-rock blocks are arranged in sequence to form a coal-rock block configuration with hardness ranging from hard to soft, and the size of each coal-rock block is 400mm×400mm×750mm;

[0090] Figure 5c As shown, Class A coal-rock blocks, Class B coal-rock blocks, Class C coal-rock blocks, Class B coal-rock blocks, Class D coal-rock blocks, and Class A coal-rock blocks are arranged in sequence to form a coal-rock block configuration with hardness ranging from soft to hard and then from hard to soft, and the size of each coal-rock block is 400mm×400mm×500mm;

[0091] Figure 5d As shown, Class C coal-rock blocks, Class A coal-rock blocks, Class D coal-rock blocks, Class B coal-rock blocks, Class C coal-rock blocks, and Class D coal-rock blocks are arranged in sequence to form a coal-rock block configuration with hardness ranging from hard to soft and then from soft to hard, and the size of each coal-rock block is 400mm×400mm×500mm;

[0092] In the inclined layered coal-rock block configuration, Class A coal-rock blocks or Class B coal-rock blocks or Class C coal-rock blocks or Class D coal-rock blocks are arranged at a certain inclination angle relative to the side of the coal-rock blocks. Figure 6 As shown, for the inclined coal-rock configuration, taking the typical hardness Class B coal-rock blocks as an example, the inclination is taken as 45° as an example, but it is not limited to this inclination and dip angle.

[0093] It can be verified that based on the coal and rock configuration method provided in this application for exploring the deviation mechanism of the drilling trajectory of the anti-collision drilling robot, various arrangement and distribution configuration methods are given above, aiming to restore the most realistic underground coal and rock spatial distribution working conditions and improve the accuracy of the test.

[0094] Those skilled in the art of this technology can understand that unless otherwise defined, all terms (including technical terms and scientific terms) used here have the same meaning as the general understanding of those of ordinary skill in the field to which this application belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless defined as here.

[0095] The meaning of "and / or" described in this application refers to the situation where each exists alone or both exist simultaneously.

[0096] The meaning of "connection" described in this application can be a direct connection between components or an indirect connection between components through other components.

[0097] Taking the above-mentioned ideal embodiments of the present invention as an inspiration, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A coal and rock configuration method for exploring the deviation mechanism of the drilling trajectory of an anti-collision drilling robot, characterized in that: It includes the following steps: Step S1: Determine the compressive strength of the test coal and rock blocks to be configured based on the similarity theory; Step S2: Configure the coal and rock blocks based on the compressive strength obtained in Step S1; Step S21: Select unweathered coal and rock mined from shallow coal mines at the construction site to be carried out, and determine the toughness coefficient of the unweathered coal and rock in the laboratory as the typical coal and rock trial production characteristic index; Step S22: Mix the coal blocks and rock blocks, and fill the gaps between the coal blocks and rock blocks with the powder of the coal blocks and rock blocks and the binder to solidify the coal blocks and rock blocks into blocks to form test coal and rock blocks; Step S23: Configure test coal and rock blocks with different hardnesses according to the typical coal and rock trial production characteristic index obtained in Step S21; Step S24: Process the test coal and rock blocks and cut them into the shapes required for the test; Step S25: Configure the cut test coal and rock blocks with different hardnesses to form anisotropic coal and rock blocks; Step S3: Verify the effectiveness of the formed anisotropic coal and rock blocks according to the compressive strength obtained in Step S1, that is, extract partial samples of different coal and rock block configurations for uniaxial compressive tests to complete the final configuration of the test coal and rock blocks; The specific steps for determining the compressive strength of the test coal and rock blocks to be configured based on the similarity theory in Step S1 are as follows: Step S11: Simplify the drilling movement of the anti-bumping drilling robot in the test coal and rock blocks into the form of a rotating shaft rotation; Step S12: Convert the force of the rotating shaft rotation into the sum of the bending moment and the torque; Step S13: Perform bending moment calculation. Assume that the drill bit of the anti-collision drilling robot is only subjected to a concentrated load passing through the axis, then the bending moment is obtained from the drill pipe material of the anti-collision drilling robot; Step S14: Conduct torque calculation, and the calculation formula is ； In the formula, is the torque, with the unit of N.mm; is the transmitted power, with the unit of kw; is the rotational speed of the drill pipe of the anti-impulse drilling robot, with the unit of r / min; Step S15: Conduct equivalent bending moment calculation, and the calculation formula is ； In the formula, is the equivalent bending moment, is the bending moment, is the torque, is the unidirectional rotation angle, taking ; Step S16: Based on the obtained equivalent bending moment, conduct calculations based on the similarity theory 。 2. The coal and rock configuration method for exploring the deviation mechanism of the drilling trajectory of the anti-collision drilling robot according to claim 1, wherein: In Step S22, the binder selected is mortar, and it is evenly poured at the gaps between the coal blocks and rock blocks; The mortar includes cement, river sand, lime paste and clay, and the cement, river sand, lime paste and clay are mixed with water to form binders with different hardnesses; Pour the binders with different hardnesses evenly at the gaps between the coal blocks and rock blocks to form test coal and rock blocks with different hardnesses.

3. The coal and rock configuration method for exploring the deviation mechanism of the drilling trajectory of the anti-collision drilling robot according to claim 2, wherein: Configure the cement, river sand, lime paste and clay according to the mass ratio to form binders with different hardnesses; Among them, when the mass ratio of cement, river sand, lime paste and clay is 1:5:0.2:1, a binder of M10 model is formed; When the mass ratio of cement, river sand, lime paste and clay is 1:10:1.5:1.5, a binder of M25 model is formed; When the mass ratio of cement, river sand, lime paste and clay is 1:8:0.8:1, a binder of M50 model is formed; When the mass ratio of cement, river sand, lime paste and clay is 1:6:0.4:1.5, a binder of M75 model is formed.

4. The coal and rock configuration method for exploring the deviation mechanism of the drilling trajectory of the anti-collision drilling robot according to claim 3, characterized in that: The hardness of the M10 model binder is lower than that of the M25 model binder, the hardness of the M25 model binder is lower than that of the M50 model binder, and the hardness of the M50 model binder is lower than that of the M75 model binder.

5. The coal-rock configuration method for exploring the deviation mechanism of the drilling trajectory of the anti-collision drilling robot according to claim 4, characterized in that: When the mass ratio of coal blocks to rock blocks is 1:0.25, use the M10 model binder for bonding to form Class A coal and rock blocks; When the mass fraction ratio of coal blocks to rock blocks is 1:0.5, type M25 binder is used for bonding to form type B coal-rock blocks; When the mass fraction ratio of coal blocks to rock blocks is 1:0.75, type M50 binder is used for bonding to form type C coal-rock blocks; When the mass fraction ratio of coal blocks to rock blocks is 1:1, type M75 binder is used for bonding to form type D coal-rock blocks; The hardness of type A coal-rock blocks is lower than that of type B coal-rock blocks, the hardness of type B coal-rock blocks is lower than that of type C coal-rock blocks, and the hardness of type C coal-rock blocks is lower than that of type D coal-rock blocks.

6. The coal-rock configuration method for exploring the deviation mechanism of the drilling trajectory of the anti-collision drilling robot according to claim 5, characterized in that: Arrange and combine type A coal-rock blocks, type B coal-rock blocks, type C coal-rock blocks, and type D coal-rock blocks to form a coal-rock block configuration with alternating hardness or an inclined layered coal-rock block configuration.

7. The coal and rock configuration method for exploring the deviation mechanism of the drilling trajectory of the anti-collision drilling robot according to claim 6, characterized in that: In the coal-rock block configuration with alternating hardness, type A coal-rock blocks, type B coal-rock blocks, type C coal-rock blocks, and type D coal-rock blocks are arranged in sequence to form a coal-rock block configuration with hardness increasing from soft to hard, and the size of each coal-rock block is 400 mm×400 mm×750 mm; Or type D coal-rock blocks, type C coal-rock blocks, type B coal-rock blocks, and type A coal-rock blocks are arranged in sequence to form a coal-rock block configuration with hardness decreasing from hard to soft, and the size of each coal-rock block is 400 mm×400 mm×750 mm; Or type A coal-rock blocks, type B coal-rock blocks, type C coal-rock blocks, type B coal-rock blocks, type D coal-rock blocks, and type A coal-rock blocks are arranged in sequence to form a coal-rock block configuration with hardness increasing from soft to hard and then decreasing from hard to soft, and the size of each coal-rock block is 400 mm×400 mm×500 mm; Or type C coal-rock blocks, type A coal-rock blocks, type D coal-rock blocks, type B coal-rock blocks, type C coal-rock blocks, and type D coal-rock blocks are arranged in sequence to form a coal-rock block configuration with hardness decreasing from hard to soft and then increasing from soft to hard, and the size of each coal-rock block is 400 mm×400 mm×500 mm; In the inclined layered coal-rock block configuration, type A coal-rock blocks or type B coal-rock blocks or type C coal-rock blocks or type D coal-rock blocks are arranged at an inclined angle of 45° relative to the side of the coal-rock blocks.

8. The coal and rock configuration method for exploring the deviation mechanism of the drilling trajectory of the anti-collision drilling robot according to claim 1, wherein: In step S24, the test coal-rock blocks are processed and cut into the required cuboid shape for the test.

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