A hydraulic control system for automatic rod connection and disconnection of a raise boring machine

Abstract

The invention discloses a hydraulic control system for automatically connecting and unloading rods of a well drilling rig, and specifically relates to the technical field of hydraulic control, comprising a slewing control unit for controlling the rotation of a slewing motor; a propulsion control unit for controlling the movement of a propulsion oil cylinder; a connecting rod speed regulating unit and a unloading rod speed regulating unit for respectively adjusting the speed of downward and upward movement; a connecting rod reversing unit and a unloading rod reversing unit for controlling the direction of the oil cylinder; a control unit operation button; a monitoring and evaluation unit for real-time monitoring of operating information and evaluation of safety; a feedback and early warning unit for generating feedback and early warning signals to ensure safe operation; a monitoring unit for displaying and recording operating status; the invention realizes fully automated operation of connecting and unloading rods, reduces manual intervention, and improves work efficiency; the monitoring and evaluation unit monitors various operating information in the process of connecting and unloading rods in real time, and performs safety evaluation, and dynamically selects the most suitable evaluation model to ensure real-time performance and accuracy under different working conditions, and ensures the safety of hydraulic control operation.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic control, and more particularly to a hydraulic control system for automatically connecting and disconnecting rods of a raise boring machine. Background Art

[0002] With the development of intelligent and unmanned mines, raise drills are also moving towards intelligence and unmanned operation. During the operation of the raise drill, because the equipment load is the rock layer, the rock layer hardness varies, and the operating force of the operator using the equipment varies, the pressure will be high and low. Excessive pressure will cause drill jamming and damage to the equipment. The existing rod connection and disconnection technology is mostly manual operation, which is prone to errors during operation, resulting in damage to the drill rod thread or other structural parts, and requires more labor costs. Therefore, a hydraulic control system for automatic rod connection and disconnection of the raise drill is proposed to solve the above problems. Summary of the invention

[0003] To achieve the above object, the present invention provides the following technical solutions:

[0004] A hydraulic control system for automatically connecting and disconnecting rods of a raise drilling rig, comprising a slewing control unit, a propulsion control unit, a connecting rod speed regulating unit, a disconnecting rod speed regulating unit, a connecting rod reversing unit, a disconnecting rod reversing unit, a button control unit, a monitoring and evaluation unit, and a feedback and early warning unit;

[0005] The swing control unit is used to control the rotation of the swing motor;

[0006] The propulsion control unit is used to control the up and down movement of the propulsion cylinder;

[0007] The connecting rod speed regulating unit is used to adjust the speed during downward movement;

[0008] The unloading rod speed regulating unit is used to adjust the speed during upward movement;

[0009] Both the connecting rod reversing unit and the unloading rod reversing unit are used to control the direction of the cylinder;

[0010] The button control unit is used to operate the rod attachment and rod removal buttons;

[0011] The monitoring and evaluation unit is used to monitor the operation information during the process of connecting and unloading the rod in real time, and to conduct safety evaluation, obtain the safety evaluation value and transmit it to the feedback unit;

[0012] The feedback warning unit generates corresponding feedback signals and warning signals according to the safety assessment value to ensure the safety of operation;

[0013] The slewing control unit, the propulsion control unit, the connecting rod speed regulating unit, the unloading rod speed regulating unit, the connecting rod reversing unit, and the unloading rod reversing unit decide whether to execute the preset safety strategy according to the feedback signal generated by the feedback warning unit.

[0014] In a preferred embodiment, the slewing control unit controls the slewing motor to rotate clockwise for receiving the rod and to rotate counterclockwise for unloading the rod.

[0015] In a preferred embodiment, the propulsion control unit controls the up and down movement of the oil cylinder through the connecting rod reversing unit and the unloading rod reversing unit, thereby realizing the automatic operation of the connecting rod and the unloading rod.

[0016] In a preferred embodiment, both the connecting rod speed regulating unit and the unloading rod speed regulating unit can be manually adjusted to preset the movement speed to match the rotation speed, thereby achieving synchronous movement during the connecting rod and unloading rod process.

[0017] In a preferred embodiment, when the rod connecting button is pressed, the rotation control unit controls the rotation motor to rotate clockwise, and at the same time the propulsion control unit controls the oil cylinder to move downward, thereby realizing automatic rod connecting; when the rod unloading button is pressed, the rotation control unit controls the rotation motor to rotate counterclockwise, and at the same time the propulsion control unit controls the oil cylinder to move upward, thereby realizing automatic rod unloading.

[0018] In a preferred embodiment, the control unit is provided with a rod connecting button and a rod unloading button, and the rod connecting and rod unloading processes can be completed by pressing the rod connecting button and the rod unloading button respectively.

[0019] In a preferred embodiment, a hydraulic control system for automatically connecting and disconnecting a rod of a raise boring machine further includes a monitoring unit for displaying and recording an operating status, so that an operator can monitor and trace various parameters in the process of connecting and disconnecting the rod in real time.

[0020] In a preferred embodiment, the monitoring and evaluation unit includes a trained multivariable nonlinear model and a trained neural network model, and fuzzy reasoning is performed based on various performance indicators of the monitoring and evaluation unit to determine whether to use the multivariable nonlinear model or the neural network model to generate a safety assessment value.

[0021] In a preferred embodiment, when the multivariable nonlinear model is used, the pressure Pi of the hydraulic point in the hydraulic system, the movement speed Vi of the rotary motor and the propulsion cylinder, and the current position Li of the propulsion cylinder are respectively acquired in real time, and the safety assessment is performed using the collected real-time data: Ei=α*f(Pi)+β*g(Vi)+γ*h(Li); Ei is the safety assessment value, f(Pi)=a1*Pi 2 +b1*Pi+c1; g(Vi)=a2*Vi 2 +b2*Vi+c2;h(Li)=a3*Li2 +b3*Li+c3; α, β, and γ are weight coefficients, representing the importance of pressure, velocity, and position in the evaluation, respectively; a1, b1, c1, a2, b2, c2, a3, b3, and c3 are fitting parameters, which are determined during model training based on historical data and experimental results;

[0022] When the neural network model is in use, it obtains the pressure Pi of the hydraulic point in the hydraulic system, the movement speed Vi of the rotary motor and the thrust cylinder, and the current position Li of the thrust cylinder in real time and transmits them to the neural network model as a combination of independent variables. Then the neural network model generates a safety assessment value Ei according to the logic determined by historical data and experimental results during model training.

[0023] In a preferred embodiment, the feedback warning unit generates a corresponding feedback signal and a warning signal according to the safety assessment value, which means: obtaining a safety assessment value Ei, presetting a safe numerical range in which the safety assessment value Ei should be located, and when the safety assessment value Ei is within the safe numerical range, generating a positive feedback signal and a first-class warning signal; when the safety assessment value Ei is not within the safe numerical range, generating a negative feedback signal and a second-class warning signal.

[0024] Technical effects and advantages of the present invention:

[0025] The present invention realizes the full automation of connecting and unloading rods through the slewing control unit, the propulsion control unit, the connecting rod speed regulating unit, the unloading rod speed regulating unit, the connecting rod reversing unit and the unloading rod reversing unit, reduces manual intervention and improves work efficiency. The monitoring and evaluation unit monitors various operation information in the process of connecting and unloading rods in real time and performs safety evaluation. Through the feedback signal and the early warning signal generated by the feedback early warning unit, the system can adjust the operation status in time, prevent potential risks and ensure operation safety.

[0026] The present invention uses fuzzy reasoning methods to dynamically select the most suitable evaluation model (multivariable nonlinear model or neural network model) according to current performance indicators (such as CPU usage, response time), ensuring real-time performance and accuracy under different working conditions, and improving the adaptability and flexibility of the system. The fuzzy reasoning system combines multivariable nonlinear models and neural network models to perform intelligent selection and evaluation based on real-time data, realizing intelligent control of the system and improving the scientificity and reliability of decision-making.

[0027] The present invention can accurately reflect the real-time status of the system, quickly respond to various changes, and improve the real-time and accuracy of the system by collecting data such as pressure, speed and position in real time, and combining multivariable nonlinear models or neural network models for evaluation. Through automation and intelligent control, the system can more accurately perform rod connection and rod removal operations, reduce the wear and damage of the drill rod thread and structural parts, and extend the service life of the equipment. The early warning signal generated by the feedback early warning unit can promptly remind the operator of abnormal conditions in the system and instruct each control unit to stop operating to prevent further damage or danger, thereby improving the fault handling capability and safety of the system. The present invention ensures the coordinated operation of various components, enhances the stability and reliability of the system, and ensures the efficient operation of the borehole drilling rig under various working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to facilitate understanding by those skilled in the art, the present invention is further described below in conjunction with the accompanying drawings;

[0029] Figure 1 The present invention is a schematic diagram of a hydraulic control system for automatically connecting and disconnecting rods of a raise drilling rig. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Example 1

[0032] A hydraulic control system for automatically connecting and unloading rods on a skylight drilling rig comprises a slewing control unit, a propulsion control unit, a connecting rod speed regulating unit, a unloading rod speed regulating unit, a connecting rod reversing unit, a unloading rod reversing unit, a button control unit, a monitoring and evaluation unit, and a feedback and early warning unit; the slewing control unit is used to control the rotation of a slewing motor; the propulsion control unit is used to control the up and down movement of a propulsion oil cylinder; the connecting rod speed regulating unit is used to adjust the speed during downward movement; the unloading rod speed regulating unit is used to adjust the speed during upward movement; the connecting rod reversing unit and the unloading rod reversing unit are both used to control the direction of the oil cylinder; the button control unit is used to operate the connecting rod and unloading rod buttons; the monitoring and evaluation unit is used to monitor the operating information in the process of connecting and unloading rods in real time, and to perform safety assessment, obtain the safety assessment value and transmit it to the feedback unit; the feedback and early warning unit generates corresponding feedback signals and early warning signals according to the safety assessment value to ensure operation safety; the slewing control unit, the propulsion control unit, the connecting rod speed regulating unit, the unloading rod speed regulating unit, the connecting rod reversing unit, and the unloading rod reversing unit decide whether to execute a preset safety strategy according to the feedback signal generated by the received feedback and early warning unit.

[0033] The slewing control unit controls the slewing motor to rotate clockwise for connecting the rod and counterclockwise for unloading the rod. The propulsion control unit controls the up and down movement of the oil cylinder through the connecting rod reversing unit and the unloading rod reversing unit, thereby realizing the automatic operation of connecting and unloading the rod. Both the connecting rod speed regulating unit and the unloading rod speed regulating unit can preset the movement speed through manual adjustment to match the slewing speed, thereby realizing synchronous movement during connecting and unloading the rod. When the connecting rod button is pressed, the slewing control unit controls the slewing motor to rotate clockwise, and the propulsion control unit controls the oil cylinder to move downward to realize automatic connecting the rod; when the unloading rod button is pressed, the slewing control unit controls the slewing motor to rotate counterclockwise, and the propulsion control unit controls the oil cylinder to move upward to realize automatic unloading the rod. The control unit is provided with a connecting rod button and an unloading rod button. The connecting rod button and the unloading rod button can be pressed respectively to complete the process of connecting and unloading the rod.

[0034] The monitoring and evaluation unit includes a trained multivariable nonlinear model and a trained neural network model. Fuzzy reasoning is performed according to the performance indicators of the monitoring and evaluation unit to determine whether to use a multivariable nonlinear model or a neural network model to generate a safety assessment value. The logic of fuzzy reasoning is as follows: define input variables and output variables: the input variables include the performance indicators of the monitoring and evaluation unit, such as CPU usage, response time and other performance indicators, and the output variable is the selected model: a multivariable nonlinear model or a neural network model; define the membership function of the input variable: each input variable has three membership functions: such as CPU usage: low (Low), medium (Medium), high (High); response time: short (Short), medium (Medium), long (Long), define the membership function of the output variable: the membership function of the output variable model selection: a multivariable nonlinear model, a neural network model; define fuzzy rules based on experience and system requirements, for example: Rule 1: If the CPU usage is high and the response time is long, then select the multivariable nonlinear model. Rule 2: If the CPU usage is low and the response time is short, then select the neural network model. Rule 3: If the CPU usage is medium and the response time is medium, then select the multivariable nonlinear model. Fuzzify the performance indicators of the current system into membership, apply fuzzy reasoning through the fuzzy rule base, calculate the results of each rule, integrate the results of each rule, defuzzify, and get the final model selection. Through fuzzy reasoning, the model selection can be dynamically adjusted to ensure real-time performance and accuracy under different working conditions. Fuzzy reasoning plays an important role in the hydraulic control system of the automatic unloading rod of the skydrilling rig, helping the system to achieve intelligent and dynamic decision-making and improve the safety and efficiency of the system.

[0035] When the multivariable nonlinear model is used, the pressure Pi of the hydraulic point in the hydraulic system, the movement speed Vi of the rotary motor and the propulsion cylinder, and the current position Li of the propulsion cylinder are obtained in real time, and the safety assessment is performed using the collected real-time data: Ei=α*f(Pi)+β*g(Vi)+γ*h(Li); Ei is the safety assessment value, f(Pi)=a1*Pi 2 +b1*Pi+c1; g(Vi)=a2*Vi 2 +b2*Vi+c2;h(Li)=a3*Li 2 +b3*Li+c3; α, β, γ are all weight coefficients, representing the importance of pressure, speed and position in the assessment, respectively; a1, b1, c1, a2, b2, c2, a3, b3, c3 are all fitting parameters, determined during model training through historical data and experimental results; collect historical data of the system under different working conditions, including pressure Pi, speed Vi and position Li, as well as the corresponding safety status, train the nonlinear regression method to fit the multivariate nonlinear model, the specific steps are as follows: initialize the fitting parameters a1, b1, c1, a2, b2, c2, a3, b3, c3, use gradient descent or other optimization algorithms to minimize the objective function, adjust the fitting parameters to minimize the model error, use an independent validation data set to evaluate the accuracy of the model, and ensure the reliability of the model in practical applications, weight coefficients α, β, γ, these coefficients represent the relative importance of pressure, speed and position in safety assessment. For example, if the pressure has a greater impact on system safety, α can be set higher.

[0036] When the neural network model is in use, it obtains the pressure Pi of the hydraulic point in the hydraulic system, the movement speed Vi of the rotary motor and the propulsion cylinder, and the current position Li of the propulsion cylinder in real time. The pressure Pi of the hydraulic point in the hydraulic system is measured by a pressure sensor, the movement speed Vi of the rotary motor and the propulsion cylinder is measured by a speed sensor, and the current position Li of the propulsion cylinder is measured by a position sensor. The collected real-time data is normalized to the same range for neural network processing. Neural network design: Construct a multi-layer feedforward neural network, including an input layer, a hidden layer, and an output layer. The input layer contains three nodes, which receive the pressure Pi of the hydraulic point in the hydraulic system, the movement speed Vi of the rotary motor and the propulsion cylinder, and the current position Li of the propulsion cylinder. The hidden layer can contain several nodes and layers, and ReLU is used as the activation function. The output layer contains one node and outputs the safety assessment value E i. The neural network is trained using historical data, and the loss function is minimized by the gradient descent algorithm. The loss function can choose the mean square error. The pressure Pi of the hydraulic point in the hydraulic system, the movement speed Vi of the rotary motor and the propulsion cylinder, and the current position Li of the propulsion cylinder are transmitted to the neural network model as a combination of independent variables. Then the neural network model generates a safety assessment value Ei according to the logic determined during model training based on historical data and experimental results. The operating principle is: when the rod connection button is pressed, the system first collects the current pressure, speed and position data, and calculates the real-time safety assessment value Ei through the neural network model. If the safety assessment value Ei is normal, the rotary control module and the propulsion control module perform the rod connection operation according to the preset parameters; if the safety assessment value Ei is abnormal, the system stops the operation to ensure safety. Rod unloading process: When the rod unloading button is pressed, the system also performs real-time data collection and evaluation, and calculates the safety assessment value Ei through the neural network model. According to the evaluation results, the system operates normally or stops the rod unloading operation to ensure the safety of the drill rod thread and structural parts during the operation.

[0037] The feedback warning unit generates corresponding feedback signals and warning signals according to the safety assessment value, which means: obtaining the safety assessment value Ei, presetting the safety value interval that the safety assessment value Ei should be in, generating positive feedback signals and a type of warning signal when the safety assessment value Ei is in the safety value interval, and generating negative feedback signals and a type of warning signal when the safety assessment value Ei is not in the safety value interval. The safety assessment value Ei is the real-time safety state assessment value of the system, and its size has the following meanings: normal state (positive feedback signal and a type of warning signal): when E is in the safety value interval [Emin, Emax], the system operates normally. The feedback warning unit generates a positive feedback signal to instruct each control unit to operate according to the preset parameters, and at the same time generates a type of warning signal to inform the operator that the system state is normal and no additional measures are required; warning state (negative feedback signal and a type of warning signal): when Ei exceeds the safety value interval, the system has potential risks, and the feedback warning unit generates a negative feedback signal to instruct each control unit to stop operating to reduce the risk, and at the same time generates a type of warning signal to remind the operator that the system is abnormal and needs to pay attention and take corresponding measures. For example, if the safety value interval is [10,50] and the current safety assessment value E i=35, then Ei is within the safety value interval, the feedback warning unit generates a positive feedback signal, the system operates according to normal parameters, and a first-class warning signal is generated to inform the operator that the system status is normal. If the current safety assessment value E i=55, then Ei exceeds the safety value interval, the feedback warning unit generates a negative feedback signal, and each control unit stops running to reduce the risk, such as the slewing control unit and the propulsion control unit, and a second-class warning signal is generated to remind the operator that the system is abnormal and needs attention.

[0038] Example 2

[0039] A hydraulic control system for automatically connecting and disconnecting rods of a raise drilling rig, comprising a slewing control unit, a propulsion control unit, a connecting rod speed regulating unit, a disconnecting rod speed regulating unit, a connecting rod reversing unit, a disconnecting rod reversing unit, a button control unit, a monitoring and evaluation unit, and a feedback and early warning unit;

[0040] The swing control unit is used to control the rotation of the swing motor;

[0041] The propulsion control unit is used to control the up and down movement of the propulsion cylinder;

[0042] The connecting rod speed regulating unit is used to adjust the speed during downward movement;

[0043] The unloading rod speed regulating unit is used to adjust the speed during upward movement;

[0044] Both the connecting rod reversing unit and the unloading rod reversing unit are used to control the direction of the cylinder;

[0045] The button control unit is used to operate the rod attachment and rod removal buttons;

[0046] The monitoring and evaluation unit is used to monitor the operation information during the process of connecting and unloading the rod in real time, and to conduct safety evaluation, obtain the safety evaluation value and transmit it to the feedback unit;

[0047] The feedback warning unit generates corresponding feedback signals and warning signals according to the safety assessment value to ensure the safety of operation;

[0048] The slewing control unit, propulsion control unit, connecting rod speed regulating unit, unloading rod speed regulating unit, connecting rod reversing unit, and unloading rod reversing unit decide whether to execute the preset safety strategy according to the feedback signal generated by the feedback warning unit received; for example: control unit response: positive feedback signal: after receiving the positive feedback signal, the control unit (slewing control, propulsion control, connecting rod speed regulating, unloading rod speed regulating, connecting rod reversing, unloading rod reversing unit) operates normally according to the preset parameters and strategies and performs connecting rod or unloading rod operation. Negative feedback signal: after receiving the negative feedback signal, the control unit immediately stops the relevant operation to prevent further damage or danger. The specific execution steps are as follows: slewing control unit: stop the rotation of the slewing motor. Propulsion control unit: stop the up and down movement of the propulsion cylinder. Connecting rod speed regulating unit: stop adjusting the oil flow and speed. Unloading rod speed regulating unit: stop adjusting the oil flow and speed. Connecting rod reversing unit: stop reversing operation. Unloading rod reversing unit: stop reversing operation.

[0049] The monitoring unit is used to display and record the operating status, so that the operator can monitor and trace various parameters in the process of connecting and unloading the rod in real time. The monitoring unit, the slewing control unit, the propulsion control unit, the connecting rod speed regulating unit, the unloading rod speed regulating unit, the connecting rod reversing unit, the unloading rod reversing unit, the button control unit, the monitoring and evaluation unit, and the feedback and early warning unit are communicated with each other.

[0050] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions.

[0051] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0052] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0053] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0054] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A hydraulic control system for automatically connecting and disconnecting rods of a raise boring machine, characterized in that: It includes a slewing control unit, a propulsion control unit, a connecting rod speed regulating unit, a discharging rod speed regulating unit, a connecting rod reversing unit, a discharging rod reversing unit, a button control unit, a monitoring and evaluation unit, and a feedback warning unit; The swing control unit is used to control the rotation of the swing motor; The propulsion control unit is used to control the up and down movement of the propulsion cylinder; The connecting rod speed regulating unit is used to adjust the speed during downward movement; The unloading rod speed regulating unit is used to adjust the speed during upward movement; Both the connecting rod reversing unit and the unloading rod reversing unit are used to control the direction of the cylinder; The button control unit is used to operate the rod attachment and rod removal buttons; The monitoring and evaluation unit is used to monitor the operation information during the process of connecting and unloading the rod in real time, and to conduct safety evaluation, obtain the safety evaluation value and transmit it to the feedback and early warning unit; The feedback warning unit generates corresponding feedback signals and warning signals according to the safety assessment value to ensure the safety of operation; The slewing control unit, the propulsion control unit, the connecting rod speed regulating unit, the unloading rod speed regulating unit, the connecting rod reversing unit, and the unloading rod reversing unit decide whether to execute the preset safety strategy according to the feedback signal generated by the feedback warning unit; When the rod connection button is pressed, the slewing control unit controls the slewing motor to rotate clockwise, and the propulsion control unit controls the oil cylinder to move downward to achieve automatic rod connection; when the rod unloading button is pressed, the slewing control unit controls the slewing motor to rotate counterclockwise, and the propulsion control unit controls the oil cylinder to move upward to achieve automatic rod unloading; The monitoring and evaluation unit includes a trained multivariable nonlinear model and a trained neural network model. Fuzzy reasoning is performed based on various performance indicators of the monitoring and evaluation unit to determine whether to use the multivariable nonlinear model or the neural network model to generate a safety assessment value. When the multivariable nonlinear model is used, the pressure Pi of the hydraulic point in the hydraulic system, the movement speed Vi of the rotary motor and the propulsion cylinder, and the current position Li of the propulsion cylinder are acquired in real time, and the collected real-time data are used for safety assessment: ; Ei is the safety assessment value, ; ; α, β, and γ are weight coefficients, representing the importance of pressure, speed, and position in the evaluation, respectively; a1, b1, c1, a2, b2, c2, a3, b3, and c3 are fitting parameters, which are determined during model training based on historical data and experimental results; When the neural network model is in use, it obtains the pressure Pi of the hydraulic point in the hydraulic system, the movement speed Vi of the rotary motor and the thrust cylinder, and the current position Li of the thrust cylinder in real time and transmits them to the neural network model as a combination of independent variables. The neural network model then generates a safety assessment value Ei based on the logic determined during model training according to historical data and experimental results.

2. A hydraulic control system for automatically connecting and disconnecting rods of a raise boring machine according to claim 1, characterized in that: The slewing control unit controls the slewing motor to rotate clockwise for receiving the rod and to rotate counterclockwise for unloading the rod.

3. A hydraulic control system for automatically connecting and disconnecting rods of a raise boring machine according to claim 2, characterized in that: The propulsion control unit controls the up and down movement of the oil cylinder through the connecting rod reversing unit and the unloading rod reversing unit, thereby realizing the automatic operation of connecting rod and unloading rod.

4. A hydraulic control system for automatically connecting and disconnecting rods of a raise boring machine according to claim 3, characterized in that: Both the rod receiving speed regulating unit and the rod unloading speed regulating unit can be manually adjusted to preset the movement speed to match the rotation speed, thereby achieving synchronous movement during the rod receiving and unloading process.

5. The hydraulic control system for automatically connecting and disconnecting rods of a raise boring machine according to claim 4, characterized in that: The control unit is provided with a rod connecting button and a rod unloading button, and the process of connecting and unloading the rod can be completed by pressing the rod connecting button and the rod unloading button respectively.

6. A hydraulic control system for automatically connecting and disconnecting rods of a raise boring machine according to claim 5, characterized in that: It also includes a monitoring unit for displaying and recording the operating status, allowing operators to monitor and trace various parameters in the process of connecting and unloading the rod in real time.

7. A hydraulic control system for automatically connecting and disconnecting rods of a raise boring machine according to claim 6, characterized in that: The feedback warning unit generates corresponding feedback signals and warning signals according to the safety assessment value, which means: obtaining the safety assessment value Ei, presetting a safe numerical range in which the safety assessment value Ei should be located, and when the safety assessment value Ei is within the safe numerical range, generating a positive feedback signal and a first-class warning signal; when the safety assessment value Ei is not within the safe numerical range, generating a negative feedback signal and a second-class warning signal.

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