Anchor and drill semi-active damping method and system for digging and anchoring all-in-one machine

Abstract

The invention provides an anchoring and drilling semi-active damping method and system for a digging and anchoring integrated machine, and the method comprises the steps: obtaining a predicted fluctuation load during the operation of a cutting structure through constructing a cutting surface coal rock distribution recognition model and a cutting load prediction model, and then determining a predicted vibration characteristic frequency and vibration amplitude according to the predicted fluctuation load, thereby achieving the semi-active damping of the anchoring and drilling of the digging and anchoring integrated machine. And comparing the predicted vibration characteristic frequency and the vibration amplitude with the preset vibration characteristic frequency and the corresponding vibration amplitude so as to determine an error signal, and finally processing the error signal to obtain a vibration damping control quantity so as to control the magneto-rheological damper to perform semi-active vibration damping control. The influence of machine body vibration on a drilling frame and a temporary support is effectively reduced, the anchor drilling precision is improved, and meanwhile manual participation is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of rapid underground excavation in coal mines, and in particular to a semi-active vibration elimination method and system for an anchor drill of an integrated excavator and anchor machine. Background Art

[0002] At present, the mechanization degree of coal mines in my country is relatively high, and mechanized mining has been basically realized. The supporting equipment and processes are relatively mature, and are gradually moving towards the field of automation and intelligence. The integrated digging and anchoring machine is widely used as the core equipment for rapid mining and forming of tunnels. Its characteristics are that it combines the functions of the tunnel boring machine and the anchoring machine, and the tunneling work and anchoring work can be carried out in parallel, thereby improving work efficiency and reducing the time consumption of tunnel support operations. During the tunneling process, due to the complex and changeable underground geological conditions and the changes in the hardness of coal and rock, the body of the integrated digging and anchoring machine will vibrate violently when working, which will affect the anchoring work, causing the anchor drill to deviate from the pre-drilling position during the anchoring operation, and have a great impact on the drilling process. Therefore, how to quickly and accurately carry out the anchoring and drilling support work, and avoid the problem of unstable anchor drilling system due to body vibration during the digging and supporting operation of the integrated digging and anchoring machine, is a key problem that needs to be solved urgently for the rapid tunneling. Summary of the invention

[0003] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a semi-active vibration elimination method for an anchor drill of an integrated digging and anchoring machine, comprising:

[0004] S1: constructing a coal-rock distribution recognition model for a cutting section, and determining the location of the cutting mechanism of the anchor-digger and the coal-rock hardness information at the corresponding location based on the coal-rock distribution recognition model for the cutting section, wherein the coal-rock distribution recognition model for the cutting section includes a multi-source signal detection module, a signal feature extraction module, a deep learning and model training module, a coal-rock property determination module, and a coal-rock distribution determination module for the excavation section;

[0005] S2: constructing a cutting load prediction model according to the coal-rock hardness information and the cutting tooth information of the cutting mechanism of the anchor-mining machine, and predicting the fluctuating load based on the cutting load prediction model, and then determining the predicted vibration characteristic frequency and vibration amplitude based on the fluctuating load, including a horizontal load prediction module and a vertical load prediction module;

[0006] S3: comparing the predicted vibration characteristic frequency and vibration amplitude with the preset vibration characteristic frequency and corresponding vibration amplitude to determine an error signal;

[0007] S4: performing fuzzy processing on the error signal, and then performing data conversion on the fuzzy processed data using a neural network controller to obtain a vibration reduction control amount;

[0008] S5: Control the magnetorheological damper to perform semi-active vibration control based on the vibration reduction control amount. When the control is completed, obtain real-time vibration data, compare the real-time vibration data with the preset vibration characteristic frequency and vibration amplitude, and when an error occurs, repeat steps S4 and S5.

[0009] Optionally, predicting the vibration characteristic frequency and the vibration amplitude based on the fluctuating load specifically includes: obtaining the natural frequency of the anchoring and mining machine during the cutting process by modal analysis using dynamic analysis software; and predicting the vibration characteristic frequency and the vibration amplitude based on the natural frequency and the fluctuating load.

[0010] Optionally, the cutting section coal and rock distribution identification model is specifically as follows: a multi-source signal detection module is used to collect the operating data of the digging and anchoring machine, and the operating data of the digging and anchoring machine includes but is not limited to cutting height data, trenching displacement data, trenching cylinder pressure data, and cutting lifting cylinder pressure data; a signal feature extraction module is used to extract features from the operating data of the digging and anchoring machine to obtain corresponding feature values; a deep learning and model training module is used to identify the properties and hardness of coal and rock according to the extracted feature values; a coal and rock property determination module is used to classify rocks and coal according to the results of the deep learning and model training module; a tunneling section coal and rock distribution determination module is used to determine the coal and rock distribution position according to the classification results and the height and displacement data of the cutting mechanism of the digging and anchoring machine.

[0011] Optionally, the load prediction model is specifically:

[0012]

[0013] Among them, F x is the horizontal front and rear cutting load, F y is the vertical cutting load, F z is the horizontal cutting load, i is the number of teeth involved in cutting, θ i is the angle data of the i-th pick, F ia is the cutting resistance of a single pick, F ib is the traction resistance of a single pick, F ic It is the lateral driving force exerted on a single pick.

[0014] Optionally, the cutting resistance and traction resistance of a single pick are obtained based on a coal-rock distribution identification model of the cutting section, specifically:

[0015] F ia =23×v×(f×10) 0.785

[0016] F ib =7.37×v×(f×10) 1.051

[0017] F ic =(0.1~0.2)×F ia

[0018] Among them, v is the combined speed of cutting lifting and pushing, and f is the coal rock hardness obtained based on the coal rock distribution identification model of the cutting section.

[0019] According to the second aspect, the present invention provides a semi-active vibration elimination system for an anchor drill of an integrated mining and anchoring machine, which can execute the method of the first aspect mentioned above, including: a drill rig electromagnetic vibration isolation subsystem, a temporary support electromagnetic vibration isolation subsystem and an image acquisition device; the drill rig electromagnetic vibration isolation subsystem includes a drill rig, a first magnetorheological vibration damper, a vibration sensor and a first bottom valve, which are used to perform semi-active vibration elimination on the drill rig; the temporary support electromagnetic vibration isolation subsystem includes a temporary support body, a second magnetorheological vibration damper, a hydraulic cylinder and a second bottom valve, which are used to perform semi-active vibration elimination on the temporary support body; the image acquisition device is used to collect coal and rock image data for constructing a coal and rock distribution recognition model for the cut section.

[0020] Optionally, the image acquisition device includes but is not limited to a camera, a groove displacement sensor and a pick height sensor.

[0021] Optionally, the electromagnetic vibration isolation subsystem of the drilling rig is specifically as follows: a first magnetorheological shock absorber is installed on the drilling rig, a first bottom valve is arranged at the bottom of the inner cylinder of the first magnetorheological shock absorber, and a vibration sensor is electrically connected to the first magnetorheological shock absorber and an image acquisition device; the first magnetorheological shock absorber performs semi-active vibration elimination control according to data acquired by the vibration sensor and the image acquisition device, and the first bottom valve is used to adjust the flow direction of the magnetorheological fluid of the first magnetorheological shock absorber.

[0022] Optionally, a temporary support electromagnetic vibration isolation subsystem is specifically as follows: a temporary support body is mechanically connected to a second magnetorheological shock absorber, a second bottom valve is arranged at the bottom of an inner cylinder of the second magnetorheological shock absorber, a hydraulic cylinder is arranged side by side with the second magnetorheological shock absorber and is connected to the temporary support body, and the second magnetorheological shock absorber is electrically connected to an image acquisition device; the temporary support body mechanism is lifted to a desired height by the hydraulic cylinder, the second magnetorheological shock absorber performs semi-active vibration reduction control according to data collected by the image acquisition device, and the second bottom valve is used to adjust the flow direction of the magnetorheological fluid of the second magnetorheological shock absorber.

[0023] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0024] 1. The integrated drilling and anchoring machine can achieve accurate positioning and stable drilling in the working conditions full of vibration during digging and supporting, which can greatly improve the accuracy of anchor drilling and the efficiency of anchor work.

[0025] 2. The temporary support device arranged on the body of the drilling and anchoring machine is improved, and magnetorheological vibration dampers are used for semi-active vibration reduction, so that the corresponding components are close to and support the top wall. It can be suitable for top walls of regular shapes, avoid resonance with the vibration of the fuselage, and prevent the collapse of the top. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0028] Figure 1 This is a general implementation diagram of the semi-active vibration elimination system of the anchor drill of the integrated digging and anchoring machine of the present disclosure;

[0029] Figure 2 It is a schematic diagram of the electromagnetic vibration isolation subsystem of the drilling rig according to an embodiment of the present disclosure;

[0030] Figure 3 It is a schematic diagram of a temporary support electromagnetic vibration isolation subsystem according to an embodiment of the present disclosure;

[0031] Figure 4 It is a schematic structural diagram of a single-rod double-tube magnetorheological vibration absorber according to an embodiment of the present disclosure;

[0032] Figure 5 This is a schematic diagram of the bottom valve structure of an embodiment of the present disclosure;

[0033] Figure 6 This is a flowchart of the semi-active vibration elimination method of the anchor drill of the integrated digging and anchoring machine according to the embodiment of the present disclosure;

[0034] Figure 7 It is a schematic diagram of a coal-rock distribution identification model for a cut section according to an embodiment of the present disclosure;

[0035] Figure 8 The vibration suppression control process of the magnetorheological damper according to the embodiment of the present disclosure;

[0036] Fig. 9 This is an example diagram of semi-active vibration cancellation control according to an embodiment of the present disclosure;

[0037] Fig.10 This is an example diagram of semi-active vibration cancellation control according to an embodiment of the present disclosure.

[0038] In the figure: 1-image acquisition device, 2-vibration sensor, 3-drilling frame, 4-first magnetorheological damper, 5-first bottom valve, 6-hydraulic cylinder, 7-temporary support body, 8-second magnetorheological damper, 9-second bottom valve. DETAILED DESCRIPTION

[0039] In conjunction with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. 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 implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0040] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0041] At present, the main ways to improve the stability of the anchor drilling system are airborne temporary support devices and some other single drilling rig stabilization devices. The airborne temporary support device can also solve the problem of unstable roof falling during the support process. However, the current airborne temporary support device has a relatively complex lifting structure, and the pin shaft needs to be manually inserted and pulled out for fixing during use, which is relatively inconvenient. Therefore, there is a need for a method and system that can reduce manual participation and effectively reduce the impact of fuselage vibration on the drilling rig 3 and the temporary support device.

[0042] According to an embodiment of the present invention, a semi-active vibration elimination system for an anchor drill of an integrated digging and anchoring machine is provided, which is used to implement a semi-active vibration elimination method for an anchor drill of an integrated digging and anchoring machine. The overall implementation diagram of the system is shown in FIG. Figure 1 As shown, it specifically includes: a drilling frame 3 electromagnetic vibration isolation subsystem, a temporary support electromagnetic vibration isolation subsystem and an image acquisition device 1;

[0043] The electromagnetic vibration isolation subsystem of the drilling rig 3 includes the drilling rig 3, a first magnetorheological vibration damper 4, a vibration sensor 2 and a first bottom valve 5, and is used for semi-active vibration elimination of the drilling rig 3;

[0044] The temporary support electromagnetic vibration isolation subsystem includes a temporary support body 7, a second magnetorheological vibration damper 8, a hydraulic cylinder 6 and a second bottom valve 9, and is used to perform semi-active vibration isolation on the temporary support body 7;

[0045] The image acquisition device 1 is used to acquire coal-rock image data for constructing a coal-rock distribution recognition model for a cut section.

[0046] Optionally, the image acquisition device 1 includes but is not limited to a camera, a groove displacement sensor and a pick height sensor.

[0047] In this embodiment, a camera is installed above the cutting arm to identify and monitor the surrounding geological conditions. A trenching displacement sensor and a cutting tooth height sensor are installed above the cutting arm to monitor the trenching displacement data and cutting speed data of the drilling and anchoring machine in real time during the cutting process.

[0048] Optionally, the electromagnetic vibration isolation subsystem of the drilling rig 3 is specifically as follows: the first magnetorheological vibration damper 4 is installed on the drilling rig 3, the first bottom valve 5 is arranged at the bottom of the inner cylinder of the first magnetorheological vibration damper 4, the vibration sensor 2 is electrically connected to the first magnetorheological vibration damper 4 and the image acquisition device 1; the first magnetorheological vibration damper 4 performs semi-active vibration elimination control according to the data obtained by the vibration sensor 2 and the image acquisition device 1, and the first bottom valve 5 is used to adjust the flow direction of the magnetorheological fluid of the first magnetorheological vibration damper 4.

[0049] In this embodiment, Figure 2 As shown, the drill rig 3 and the vibration sensor 2 are installed on the drill rig 3 support of the drilling and anchoring machine, and the first magnetorheological vibration damper 4 is installed between the drill rig 3 and the drill rig 3 support. The first magnetorheological vibration damper 4 performs semi-active vibration reduction control according to the data collected by the vibration sensor 2 and the image acquisition device 1.

[0050] Optionally, a temporary support electromagnetic vibration isolation subsystem is provided, specifically: a temporary support body 7 is mechanically connected to a second magnetorheological vibration damper 8, a second bottom valve 9 is arranged at the bottom of an inner cylinder of the second magnetorheological vibration damper 8, a hydraulic cylinder 6 is arranged side by side with the second magnetorheological vibration damper 8 and is connected to the temporary support body 7, and the second magnetorheological vibration damper 8 is electrically connected to the image acquisition device 1; the temporary support body 7 is lifted to a desired height by the hydraulic cylinder 6, the second magnetorheological vibration damper 8 performs semi-active vibration reduction control according to data collected by the image acquisition device 1, and the second bottom valve 9 is used to adjust the flow direction of the magnetorheological fluid of the second magnetorheological vibration damper 8.

[0051] In this embodiment, Figure 3As shown, the second magnetorheological damper 8 is mechanically fixed to the temporary support body 7. The second magnetorheological damper 8 performs semi-active vibration reduction control according to the data collected by the vibration sensor 2 and the image acquisition device 1. The temporary support body 7 is lifted to a predetermined height by the hydraulic cylinder 6. Under the premise of preventing damage to the top coal and rock, the temporary support body 7 is always in close contact with the tunnel roof under the condition of full vibration during excavation and support, thereby ensuring the overall stiffness of the drilling and anchoring machine during the excavation and support process.

[0052] In this embodiment, the first magnetorheological damper 4 and the second magnetorheological damper 8 are single-rod double-tube magnetorheological dampers, and the vibration sensor 2 and the vibration sensor 2 are three-axis piezoelectric acceleration vibration sensors 2. The present invention is not limited to this, as long as the corresponding functions can be achieved.

[0053] In this embodiment, Figure 4 As shown, the single-rod double-cylinder magnetorheological shock absorber has an inner cylinder and an outer cylinder. The inner cylinder is filled with magnetorheological fluid. During the movement of the piston, the magnetorheological fluid in the inner cylinder changes the viscosity of the magnetorheological fluid through the magnetorheological shock absorption control valve assembled in the piston, thereby causing a pressure difference in the fluid flow and thus generating a damping force proportional to the controllable magnetic field. The outer cylinder is used to protect the internal components of the shock absorber and transfer heat from the shock absorber fluid to the surrounding environment. A bottom valve is arranged at the bottom of the inner cylinder.

[0054] In this embodiment, Figure 5 As shown, the bottom valve is used to adjust the flow of the magnetorheological fluid between the inner cylinder and the outer cylinder during the recovery and compression process. When the piston rod enters the first magnetorheological damper 4, the magnetorheological fluid flows from the inner cylinder into the outer cylinder through the compression valve in the first bottom valve 5. The flow rate of the magnetorheological fluid flowing from the inner cylinder into the outer cylinder is equal to the volume discharged when the piston rod enters the inner cylinder. When the piston rod is withdrawn from the first magnetorheological damper 4, the magnetorheological fluid flows into the inner cylinder through the return valve in the first bottom valve 5.

[0055] The present invention improves the temporary support device currently arranged on the body of the drilling and anchoring machine, and improves the lifting mode from the current common "hydraulic cylinder 6 + support rod" to the "hydraulic cylinder 6 + magnetorheological shock absorber" mode. The magnetorheological shock absorber is used to perform semi-active vibration reduction so that the component is tightly attached to and supported by the top wall. It can be suitable for top walls of regular shapes, avoid resonance with the vibration of the fuselage, and prevent the top from being damaged and collapsed.

[0056] According to an embodiment of the present invention, a method for semi-active vibration elimination of an anchor drill of an integrated drilling and anchoring machine is provided, which can be applied to the semi-active vibration elimination system of the anchor drill of an integrated drilling and anchoring machine in the above-mentioned embodiment. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0057] In this embodiment, a semi-active vibration elimination method for an anchor drill of an integrated drilling and anchoring machine is provided, which can be used in mobile terminals such as mobile phones, tablet computers, integrated industrial computers, etc. Figure 6 : is a flowchart of the semi-active vibration elimination method of the anchor drill of the integrated digging and anchoring machine according to an embodiment of the present invention, such as Figure 6 As shown, the process specifically includes the following steps:

[0058] S1: Construct a coal-rock distribution recognition model for the cutting section, and determine the coal-rock hardness information of the location of the cutting mechanism of the excavator and anchor machine and the corresponding position based on the coal-rock distribution recognition model for the cutting section. The coal-rock distribution recognition model for the cutting section includes a multi-source signal detection module, a signal feature extraction module, a deep learning and model training module, a coal-rock property determination module, and a coal-rock distribution determination module for the excavation section.

[0059] Optional, such as Figure 7 As shown, the coal-rock distribution identification model of the cutting section is specifically as follows: the multi-source signal detection module is used to collect the operation data of the digging and anchoring machine, and the operation data of the digging and anchoring machine includes but is not limited to cutting height data, trenching displacement data, trenching cylinder pressure data, and cutting lifting cylinder pressure data; the signal feature extraction module is used to extract features from the operation data of the digging and anchoring machine to obtain corresponding feature values; the deep learning and model training module is used to identify the properties and hardness of coal and rock according to the extracted feature values; the coal and rock property determination module is used to classify rocks and coal according to the results of the deep learning and model training module; the coal and rock distribution determination module of the excavation section is used to determine the coal and rock distribution position according to the classification results and the height and displacement data of the cutting mechanism of the digging and anchoring machine.

[0060] In this embodiment, the cutting height data, groove displacement data and real-time vibration data of the anchoring and digging machine are collected by the cutting height sensor, the groove displacement sensor and the anchoring and protecting base three-way vibration sensor 2, and the cutting current data, the groove cylinder pressure data and the cutting lifting cylinder pressure data of the anchoring and digging machine are recorded. The corresponding up and down swing cutting speed and drum cutting amount characteristic values, groove cutting speed characteristic values, suitable characteristic values ​​and frequency domain characteristic values, current average value and peak-to-peak value, groove cylinder pressure average value and peak-to-peak value, cutting lifting cylinder pressure average value and peak-to-peak value are obtained through feature extraction. The above-mentioned characteristic values ​​as well as the average value and peak-to-peak value are input into the deep learning and model training module. The deep neural network is used for learning and training to identify the properties and hardness of coal and rock, distinguish between rock and coal, and then determine the corresponding rock distribution position and coal distribution position according to the data collected by the groove displacement sensor and the cutting height sensor.

[0061] S2: Construct a cutting load prediction model according to the coal rock hardness information and the cutting tooth information of the cutting mechanism of the integrated mining and anchoring machine, and predict the fluctuating load based on the cutting load prediction model, and then determine the predicted vibration characteristic frequency and vibration amplitude based on the fluctuating load, which includes a horizontal load prediction module and a vertical load prediction module.

[0062] In this embodiment, the cutting load prediction model is specifically:

[0063]

[0064] Among them, F x is the horizontal front and rear cutting load, F y is the vertical cutting load, F z is the horizontal cutting load, i is the number of teeth involved in cutting, θ i is the angle data of the i-th pick, F ia is the cutting resistance of a single pick, F ib is the traction resistance of a single pick, F ic It is the lateral driving force exerted on a single pick.

[0065] In this embodiment, during the grooving process, when it is detected that the cutting current suddenly changes to 1.2 times the no-load current, the drum of the integrated mining and anchoring machine begins to contact the coal wall, achieving the cutting and grooving conditions, and then the grooving displacement is measured by the grooving displacement sensor, and the number and azimuth of the cutting teeth involved are calculated based on the arrangement of the drum cutting teeth.

[0066] In this embodiment, the trenching depth is measured by a trenching displacement sensor, and the number and azimuth of the cutting teeth involved in the up and down swing of the drum are obtained based on the trenching depth, and the pushing speed or lifting speed during cutting and the hardness of the coal rock at the drum are determined.

[0067] The cutting resistance and traction resistance of a single pick are obtained based on the coal-rock distribution identification model of the cutting section, specifically:

[0068] F ia =23×v×(f×10) 0.785

[0069] F ib =7.37×v×(f×10) 1.051

[0070] F ic =(0.1~0.2)×F ia

[0071] Among them, v is the combined speed of cutting lifting and pushing, and f is the coal rock hardness obtained based on the coal rock distribution identification model of the cutting section.

[0072] Optionally, the vibration characteristic frequency and the vibration amplitude are determined based on the fluctuating load, specifically including: obtaining the natural frequency of the drilling and anchoring machine during the cutting process through modal analysis using dynamic analysis software; and determining the vibration characteristic frequency and the vibration amplitude based on the natural frequency and the fluctuating load.

[0073] In this embodiment, the dynamic analysis model can be Ansys finite element analysis software or Adams mechanical dynamics automatic analysis software. The dynamic analysis software is used to obtain the first 6 natural frequencies of the cutting system through modal analysis, and then the predicted fluctuating load is used as a boundary condition and input into the three-dimensional model of the drilling and anchoring machine. The predicted vibration characteristic frequency and vibration amplitude are determined based on the natural frequency and fluctuating load.

[0074] S3: Compare the predicted vibration characteristic frequency and vibration amplitude with the preset vibration characteristic frequency and corresponding vibration amplitude to determine an error signal.

[0075] In this embodiment, after the error signal is determined, the error signal is differentiated, and then the error signal and the differential of the error signal are input into the fuzzy controller.

[0076] S4: fuzzy processing is performed on the error signal, and then the fuzzy processed data is converted using a neural network controller to obtain a vibration reduction control amount.

[0077] In this embodiment, the error signal and the differential of the error signal are converted into fuzzy quantities, and then the fuzzy quantities are converted through fuzzy algorithms, and then decisions are made based on neural network adaptive control rules to obtain accurate control quantities. Fuzzy algorithms establish a relationship between discrete accurate quantities and fuzzy quantities, and determine the membership of each element in the domain to each fuzzy quantity.

[0078] S5: Control the magnetorheological damper to perform semi-active vibration control based on the vibration reduction control amount. When the control is completed, obtain real-time vibration data, compare the real-time vibration data with the preset vibration characteristic frequency and vibration amplitude, and when an error occurs, repeat steps S4 and S5.

[0079] In this embodiment, Figure 8 The figure shows the vibration suppression control process of the magnetorheological damper. When the cutting system generates vibration, the corresponding sensor equipment collects the vibration signal, controls it to receive the knife vibration signal, and then converts the vibration signal into the control current of the magnetorheological valve inside the magnetorheological damper. By controlling the opening of the magnetorheological valve, the viscosity of the magnetorheological fluid is changed, thereby adjusting the magnetic field strength, resulting in a pressure difference in the fluid flow, and thus generating a damping force proportional to the controllable magnetic field, thereby suppressing the vibration.

[0080] In this embodiment, Fig. 9 , Fig.10As shown, after the semi-active vibration cancellation control is completed, the cutting system of the anchor mining machine is in a stable state and can stably perform grooving and cutting operations. During the grooving and cutting process, the hardness of the coal rock continues to change, and it is necessary to continuously collect real-time vibration data and compare the real-time vibration data with the preset vibration characteristic frequency and vibration amplitude. When there is an error between the two, it indicates that the environment in which the cutting system is located has changed and the vibration needs to be fine-tuned. Therefore, steps S4 and S5 are repeated to achieve semi-active vibration cancellation of the entire grooving and cutting process.

[0081] The present invention obtains the predicted fluctuating load when the cutting structure is running by constructing a coal-rock distribution identification model for the cutting section and a cutting load prediction model, and then determines the predicted vibration characteristic frequency and vibration amplitude according to the predicted fluctuating load, and then compares the predicted vibration characteristic frequency and vibration amplitude with the preset vibration characteristic frequency and the corresponding vibration amplitude to determine the error signal, and finally processes the error signal to obtain the vibration reduction control amount, thereby controlling the magnetorheological vibration absorber to perform semi-active vibration reduction control, effectively reducing the influence of the fuselage vibration on the drill rig 3 and the temporary support, improving the anchor drilling accuracy, and reducing manual participation.

[0082] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A semi-active vibration elimination method for anchor drilling of an integrated drilling and anchoring machine, characterized in that: include: S1: constructing a coal-rock distribution recognition model for a cutting section, and determining the location of the cutting mechanism of the anchor-digger and the coal-rock hardness information at the corresponding location based on the coal-rock distribution recognition model for the cutting section, wherein the coal-rock distribution recognition model for the cutting section includes a multi-source signal detection module, a signal feature extraction module, a deep learning and model training module, a coal-rock property determination module, and a coal-rock distribution determination module for the excavation section; S2: constructing a cutting load prediction model according to the coal-rock hardness information and the cutting tooth information of the cutting mechanism of the anchor-mining machine, and predicting the fluctuating load based on the cutting load prediction model, and then determining the predicted vibration characteristic frequency and vibration amplitude based on the fluctuating load, including a horizontal load prediction module and a vertical load prediction module; S3: comparing the predicted vibration characteristic frequency and vibration amplitude with the preset vibration characteristic frequency and corresponding vibration amplitude to determine an error signal; S4: performing fuzzy processing on the error signal, and then performing data conversion on the fuzzy processed data using a neural network controller to obtain a vibration reduction control amount; S5: Control the magnetorheological damper to perform semi-active vibration control based on the vibration reduction control amount. When the control is completed, obtain real-time vibration data, compare the real-time vibration data with the preset vibration characteristic frequency and vibration amplitude, and when an error occurs, repeat steps S4 and S5.

2. The semi-active vibration elimination method for anchor drill of an integrated digging and anchoring machine according to claim 1 is characterized in that: Determining the predicted vibration characteristic frequency and vibration amplitude based on the fluctuating load specifically includes: The natural frequency of the anchor-digger in the cutting process is obtained by modal analysis using dynamic analysis software; A predicted vibration characteristic frequency and vibration amplitude are determined based on the natural frequency and the fluctuating load.

3. The semi-active vibration elimination method for anchor drill of an integrated digging and anchoring machine according to claim 1 is characterized in that: The coal-rock distribution identification model of the cut section is specifically: The multi-source signal detection module is used to collect the operation data of the integrated digging and anchoring machine, and the operation data of the integrated digging and anchoring machine includes but is not limited to cutting height data, trenching displacement data, trenching cylinder pressure data, and cutting lifting cylinder pressure data; The signal feature extraction module is used to extract features from the operating data of the anchoring and digging machine to obtain corresponding feature values; The deep learning and model training module is used to identify coal and rock properties and hardness based on the extracted feature values; The coal and rock property determination module is used to classify rocks and coal based on the results of the deep learning and model training modules; The coal and rock distribution determination module of the excavation section is used to determine the coal and rock distribution position according to the classification results and the height and displacement data of the cutting mechanism of the excavation and anchoring machine.

4. The semi-active vibration elimination method for anchor drill of an integrated digging and anchoring machine according to claim 1 is characterized in that: The cutting load prediction model is specifically: Among them, F x is the horizontal front and rear cutting load, F y is the vertical cutting load, F z is the horizontal cutting load, i is the number of teeth involved in cutting, θ i is the angle data of the i-th pick, F ia is the cutting resistance of a single pick, F ib is the traction resistance of a single pick, F ic It is the lateral driving force exerted on a single pick.

5. The semi-active vibration elimination method for anchor drill of an integrated digging and anchoring machine according to claim 4 is characterized in that: The cutting resistance and traction resistance of a single pick are obtained based on the coal-rock distribution identification model of the cutting section, specifically: F ia =23×v×(f×10) 0.785 F ib =7.37×v×(f×10) 1.051 F ic =(0.1~0.2)×F ia Among them, v is the combined speed of cutting lifting and pushing, and f is the coal rock hardness obtained based on the coal rock distribution identification model of the cutting section.

6. A semi-active vibration elimination system for anchor drilling of an integrated drilling and anchoring machine, capable of executing the method described in any one of claims 1 to 5, characterized in that: include: Drilling frame (3) electromagnetic vibration isolation subsystem, temporary support electromagnetic vibration isolation subsystem and image acquisition device (1); The electromagnetic vibration isolation subsystem of the drilling frame (3) comprises a drilling frame (3), a first magnetorheological vibration damper (4), a vibration sensor (2) and a first bottom valve (5), and is used for semi-actively absorbing vibration of the drilling frame (3); The temporary support electromagnetic vibration isolation subsystem comprises a temporary support body (7), a second magnetorheological vibration damper (8), a hydraulic cylinder (6) and a second bottom valve (9), and is used for semi-actively absorbing vibration of the temporary support body (7); The image acquisition device (1) is used to acquire coal-rock image data and to construct a coal-rock distribution recognition model for a cut section.

7. The semi-active vibration elimination system for anchor drilling of an integrated digging and anchoring machine according to claim 6 is characterized in that: The image acquisition device (1) includes, but is not limited to, a camera, a groove displacement sensor, and a pick height sensor.

8. The semi-active vibration elimination system for anchor drilling of an integrated drilling and anchoring machine according to claim 6 is characterized in that: The electromagnetic vibration isolation subsystem of the drilling rig (3) is specifically: The first magnetorheological damper (4) is installed on the drilling frame (3), the first bottom valve (5) is arranged at the bottom of the inner cylinder of the first magnetorheological damper (4), and the vibration sensor (2) is electrically connected to the first magnetorheological damper (4) and the image acquisition device (1); The first magnetorheological damper (4) performs semi-active vibration elimination control according to data acquired by the vibration sensor (2) and the image acquisition device (1), and the first bottom valve (5) is used to adjust the flow direction of the magnetorheological fluid of the first magnetorheological damper (4).

9. The semi-active vibration elimination system for anchor drilling of an integrated drilling and anchoring machine according to claim 6, characterized in that: Temporary support electromagnetic vibration isolation subsystem, specifically: The temporary support body (7) is mechanically connected to the second magnetorheological damper (8), the second bottom valve (9) is arranged at the bottom of the inner cylinder of the second magnetorheological damper (8), the hydraulic cylinder (6) and the second magnetorheological damper (8) are arranged side by side and connected to the temporary support body (7), and the second magnetorheological damper (8) is electrically connected to the image acquisition device (1); The temporary support body (7) mechanism is lifted to a desired height by a hydraulic cylinder (6), the second magnetorheological damper (8) performs semi-active vibration reduction control according to data collected by the image collection device (1), and the second bottom valve (9) is used to adjust the flow direction of the magnetorheological fluid of the second magnetorheological damper (8).

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