Detection device and method for hydraulic motor of rescue drilling machine

Abstract

The invention discloses a detection device and method for a hydraulic motor of a rescue drilling rig, the detection device comprises a power device, a feeding device, a load device, a detection device and a control module, the power device is used for providing power for the hydraulic motor to realize stepless speed change rotary motion of the hydraulic motor; the feeding device is used for realizing forward and backward reciprocating motion of the hydraulic motor; the load device is used for loading the hydraulic motor; the detection device is used for accurately measuring each working parameter of the hydraulic motor; and the control module is mainly used for processing each collected working parameter of the hydraulic motor, carrying out comprehensive analysis and summarization, carrying out quantitative calculation and comparison, and finally completing comprehensive evaluation on the performance of the hydraulic motor of the rescue drilling machine. Safety of operators can be guaranteed, working parameters of the hydraulic motor can be autonomously measured and recognized in real time, the test state of the hydraulic motor is judged, and comprehensive evaluation is completed.

Description

Technical Field

[0001] The invention belongs to the technical field of detection devices for hydraulic motors, and relates to a detection device and method for a hydraulic motor of a rescue drilling rig. Background Art

[0002] Hydraulic drive has obvious advantages over traditional mechanical transmission, such as infinitely adjustable speed, fast and frequent start and stop, large starting torque, strong overload resistance and other output advantages. Among them, the hydraulic motor of the rescue drilling rig requires good low-speed stability, wide speed regulation range, large output torque, can directly drive the equipment, and does not require additional reducer, and its application is becoming more and more extensive. However, most of the hydraulic motors of rescue drilling rigs are currently tested using no-load tests. Since the loading test requires the installation of a test room, the setting of various actuators and loads, and the arrangement of various sensors to protect the safety of operation, there is currently no suitable load loader and universal sensor for testing, and it is impossible to collect multiple working parameters at the same time. In addition, due to the large output capacity of the hydraulic motor of the rescue drilling rig, the detection capacity of the existing detection equipment is limited, the detection effect is poor, and it is impossible to process and evaluate the data of each collected parameter in real time, so it is impossible to quantitatively evaluate and compare the performance of the hydraulic motor of the rescue drilling rig, and it is impossible to complete a comprehensive evaluation. Summary of the invention

[0003] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a detection device and method for a rescue drilling rig hydraulic motor, so as to solve the problems that the existing detection equipment has limited detection capability, poor detection effect, inability to conduct quantitative evaluation and comparative study on the performance of the rescue drilling rig hydraulic motor, and inability to complete comprehensive evaluation. The present invention can greatly improve the inspection accuracy and evaluation standards of the detection and inspection equipment, improve the safety and evaluation efficiency of the overall inspection and inspection, realize real-time inspection and testing of the entire rescue drilling rig hydraulic motor, autonomously measure the working capacity and efficiency status of the hydraulic motor, identify the working parameters in real time, judge the test status of the hydraulic motor, complete quantitative evaluation and comprehensive evaluation of the performance of the rescue drilling rig hydraulic motor, and ensure the safety of operators.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve the above problems:

[0005] A detection device for a rescue drilling rig hydraulic motor includes a power device, a feeding device, a load device, a detection device and a control module; wherein:

[0006] The power device is used to provide power to the hydraulic motor to achieve stepless speed-changing rotary motion of the hydraulic motor; it includes a hydraulic oil tank, a hydraulic pump, a servo motor, a load-sensitive valve, a starter cabinet and a structural box;

[0007] The feeding device is used to realize the forward and backward reciprocating motion of the hydraulic motor; it includes a frame, a guide rail, two sets of feeding cylinders, and a support plate:

[0008] The loading device is used to load the hydraulic motor; it includes a gear transmission, a rotary load device and a linear load device;

[0009] The detection device is used to accurately measure various working parameters of the hydraulic motor; including a flow detection device, a pressure detection device, a speed detection device, a torque detection device, a displacement detection device, a mechanical detection device, a temperature detection device, and a noise detection device;

[0010] The control module is used to process the collected data of the hydraulic motor, perform comprehensive analysis and calculation, and perform numerical quantitative evaluation to obtain the final evaluation effect; it includes an input device, a controller and an output device.

[0011] The present invention also includes the following technical features:

[0012] Specifically, the hydraulic oil tank is used to provide a hydraulic oil source and is connected to the oil inlet of the hydraulic pump through a hydraulic hose; the servo motor provides power, and its output shaft is connected to the hydraulic pump input shaft through a coupling; the starting cabinet is used to start and stop the servo motor, and its output end is connected to the servo motor input end through a cable; the hydraulic pump is used to provide high-pressure oil, and its oil outlet is connected to the oil inlet of the load-sensitive valve; the load-sensitive valve is used to adjust the size and direction of the high-pressure oil, and its output oil port is connected to the oil inlet and return port of the hydraulic motor; the structural box body is a box-shaped structure formed by welding multiple groups of high-strength structural steel, and is provided with a flange connection plate for fixing the hydraulic motor.

[0013] Specifically, the frame is welded from multiple groups of fixed square steels and is used to fix the entire detection device; the guide rail is arranged on the frame; one end of the feed cylinder is connected to the support plate, and the other end is connected to the frame to realize the reciprocating sliding of the support plate and can adjust the movement speed and direction; the support plate is arranged on the guide rail and can move in a straight line, and is fixedly connected to the structural box with bolts, thereby ensuring that the structural box moves as required.

[0014] Specifically, the gear transmission body includes an input end, a transmission body, an axial interface and a tangential interface; the input end is connected to the output shaft of the hydraulic motor through a coupling to achieve the adjustment of the output torque and speed of the hydraulic motor; the transmission body adopts a planetary gear train speed change structure to achieve the adjustment of the transmission ratio;

[0015] The rotary load device includes four groups of load motors and a gearbox; the output shafts of the four groups of load motors are connected to the input shaft of the gearbox through a coupling and driven simultaneously to achieve high-capacity torque output; the output shaft of the gearbox is connected to the tangential interface through a coupling to achieve rotary load control;

[0016] The linear load device includes four groups of load cylinders and a connecting plate; the four groups of load cylinders are connected to the input shaft of the connecting plate and driven simultaneously to achieve high-capacity feed force output; the output shaft of the connecting plate is connected to the axial interface through a coupling to achieve linear load control.

[0017] Specifically, the flow detection devices are arranged in series with hydraulic joints to measure the flow at various locations: one is arranged at 50 to 100 mm from the oil inlet and outlet of the hydraulic pump; one is arranged at 100 to 150 mm from each oil outlet of the load sensitive valve; one is arranged at 20 to 50 mm from the oil inlet and outlet of the hydraulic motor; one is arranged at 20 to 50 mm from the oil inlet and outlet of the two groups of feed cylinders; one is arranged at 20 to 50 mm from the oil inlet and outlet of the four groups of load motors; one is arranged at 20 to 50 mm from the oil inlet and outlet of the four groups of load cylinders.

[0018] Specifically, the pressure detection devices are arranged in series with hydraulic joints, and are controlled in series with the flow detection devices in turn, so as to measure the pressure at various locations: one is arranged at 50 to 100 mm from the oil inlet and outlet of the hydraulic pump; one is arranged at 100 to 150 mm from each oil outlet of the load sensitive valve; one is arranged at 20 to 50 mm from the oil inlet and outlet of the hydraulic motor; one is arranged at 20 to 50 mm from the oil inlet and outlet of the two groups of feed cylinders; one is arranged at 20 to 50 mm from the oil inlet and outlet of the four groups of load motors; one is arranged at 20 to 50 mm from the oil inlet and outlet of the four groups of load cylinders.

[0019] Specifically, the speed detection device adopts a fixed concentric arrangement and is used to measure the speed at various locations: four are evenly distributed along the circumferential direction at 150 to 200 mm from the output shaft end of the servo motor; four are evenly distributed along the circumferential direction at 150 to 200 mm from the input shaft of the hydraulic pump; four are evenly distributed along the circumferential direction at 50 to 100 mm from the output shaft end of the hydraulic motor; four are evenly distributed along the circumferential direction at 50 to 100 mm from the input end of the gear transmission; four are evenly distributed along the circumferential direction at 50 to 100 mm from the tangential interface; four are evenly distributed along the circumferential direction at 50 to 100 mm from the output shaft end of the gearbox; two are evenly distributed along the circumferential direction at 50 to 100 mm from the four input shaft ends of the gearbox; two are evenly distributed along the circumferential direction at 50 to 100 mm from the output shafts of the four groups of load motors.

[0020] Specifically, the torque detection device adopts a fixed concentric arrangement to measure the torque at various locations, and is controlled in series with the speed sensor in sequence: four are evenly distributed along the circumferential direction at a distance of 150 to 200 mm from the output shaft end of the servo motor; four are evenly distributed along the circumferential direction at a distance of 150 to 200 mm from the input shaft of the hydraulic pump; four are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the output shaft end of the hydraulic motor; four are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the input end of the gear transmission; four are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the tangential interface; four are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the output shaft end of the gearbox; two are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the four input shaft ends of the gearbox; two are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the output shafts of the four groups of load motors.

[0021] Specifically, the displacement detection device is arranged by adhesive fixation and is used to measure displacements at various locations: four are symmetrically arranged at a distance of 25 to 50 mm from the four sides of the structural box; two are arranged at the center at a distance of 25 to 50 mm from the left and right sides of the support plate; four are evenly distributed in the circumferential direction at a distance of 25 to 50 mm from the output shaft end of the hydraulic motor; four are evenly distributed in the circumferential direction at a distance of 25 to 50 mm from the input end of the gear transmission body; four are evenly distributed in the circumferential direction at a distance of 25 to 50 mm from the axial interface; four are evenly distributed in the circumferential direction at a distance of 25 to 50 mm from the output shaft end of the connecting plate; two are evenly distributed in the circumferential direction at a distance of 25 to 50 mm from the four input shaft ends of the connecting plate; two are evenly distributed in the circumferential direction at a distance of 25 to 50 mm from the output shaft ends of the four groups of load cylinders.

[0022] Specifically, the mechanical detection device is arranged with adhesive fixation to measure stresses at various locations, and is controlled in series with the displacement sensors in sequence: four are symmetrically arranged at a distance of 25 to 50 mm from the four sides of the structural box; two are arranged at the center at a distance of 25 to 50 mm from the left and right sides of the support plate; four are evenly distributed in the circumferential direction at a distance of 25 to 50 mm from the output shaft end of the hydraulic motor; four are evenly distributed in the circumferential direction at a distance of 25 to 50 mm from the input end of the gear transmission; four are evenly distributed in the circumferential direction at a distance of 25 to 50 mm from the axial interface; four are evenly distributed in the circumferential direction at a distance of 25 to 50 mm from the output shaft end of the connecting plate; two are evenly distributed in the circumferential direction at a distance of 25 to 50 mm from the four input shaft ends of the connecting plate; two are evenly distributed in the circumferential direction at a distance of 25 to 50 mm from the output shaft ends of the four groups of load cylinders.

[0023] Specifically, the temperature detection device is arranged by glue connection and fixed, and is used to measure the temperature at various locations: four are arranged symmetrically at a distance of 50 to 100 mm from the four sides of the structural box; two are evenly distributed at a distance of 25 to 50 mm from the end face of the hydraulic pump; two are evenly distributed at a distance of 25 to 50 mm from the end face of the load-sensitive valve; four are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the end face of the flange connection plate of the hydraulic motor; four are symmetrically arranged at a distance of 50 to 100 mm from the four sides of the ground of the hydraulic oil tank;

[0024] The noise detection device is arranged by adhesive fixation and is used to measure noise at various locations. It is controlled in series with the temperature sensors in sequence: four are symmetrically arranged at a distance of 50 to 100 mm from the four sides of the structural box; two are evenly distributed at a distance of 25 to 50 mm from the end face of the hydraulic pump; two are evenly distributed at a distance of 25 to 50 mm from the end face of the load sensitive valve; four are evenly distributed in the circumferential direction at a distance of 25 to 50 mm from the end face of the flange connection plate of the hydraulic motor; and four are symmetrically arranged at a distance of 50 to 100 mm from the four sides of the bottom surface of the hydraulic oil tank.

[0025] Specifically, the input device is used to collect and classify all data collected by the detection device; the controller performs comprehensive calculation and analysis on all data sets, makes real-time judgments, and outputs the results to the output device; the output device displays the results.

[0026] A method for collecting and processing data using a detection device for a rescue drilling rig hydraulic motor, based on the control module, comprising:

[0027] The input device collects and processes all data: selects a sampling interval, the amount of data collected within a fixed time is N, and cleans and preprocesses the data set, including removing duplicate data, processing missing values, and processing abnormal values; then normalizes the remaining data set, calculates the mean and variance corresponding to all data sets, and can respectively obtain: the mean and variance corresponding to the data set collected by the flow detection device, the pressure detection device, the speed detection device, the torque detection device, the displacement detection device, the mechanical detection device, the temperature detection device, and the noise detection device;

[0028] Specifically, the mean and variance corresponding to the detection data of each detection device are summarized to obtain the characteristic coefficient AA of the flow detection device, the characteristic coefficient BB of the pressure detection device, the characteristic coefficient CC of the speed detection device, the characteristic coefficient DD of the torque detection device, the characteristic coefficient EE of the displacement detection device, the characteristic coefficient FF of the mechanical detection device, the characteristic coefficient GG of the temperature detection device, and the characteristic coefficient HH of the noise detection device.

[0029] Specifically, the controller calculates the above characteristic coefficients to obtain the hydraulic discrimination coefficient M1, the rotation discrimination coefficient M2, the position discrimination coefficient N1 and the remaining discrimination coefficients N2:

[0030] M1=z1AA+z2BB; M2=z3CC+z4DD (8)

[0031] In the formula: z1 and z2 are variable coefficients, both are real numbers between 0 and 1, and their sum is 1; z3 and z4 are variable coefficients, both are real numbers between 0 and 1;

[0032] N1=z5EE+z6FF; N2=z7GG+z8HH (9)

[0033] In the formula: z5 and z6 are variable coefficients, both are real numbers between 0 and 1, and their sum is 1; z7 and z8 are variable coefficients, both are real numbers between 0 and 1.

[0034] A method for distinguishing the state of a hydraulic motor using a detection device for a rescue drilling rig hydraulic motor, the method is based on the data processing calculation results obtained by the method for collecting and processing data using the detection device for a rescue drilling rig hydraulic motor; comprising:

[0035] The different working states of the standard specification high torque hydraulic motor were tested, including 100% comprehensive efficiency, 95% comprehensive efficiency, 90% comprehensive efficiency, 80% comprehensive efficiency and abnormal state. The detection device was used to collect data and calculate the critical discrimination coefficients corresponding to different states, that is, the hydraulic critical discrimination coefficients M 1a 、M 1b 、M 1c 、M 1d 、M 1e , and M 1a >M 1b >M 1c >M 1d >M 1e , the critical coefficients of rotation discrimination are M 2a 、M 2b 、M 2c 、M 2d 、M 2e , and M 2a >M 2b >M 2c >M 2d >M 2e , the position discrimination critical coefficients are N 1a 、N 1b 、N 1c 、N 1d 、N 1e , and N 1a >N 1b >N 1c >N 1d >N 1e , the other critical coefficients are N2a 、N 2b 、N 2c 、N 2d 、N 2e , and N 2a >N 2b >N 2c >N 2d >N 2e ; The judgment rules are:

[0036] By judging the calculated hydraulic discrimination coefficient M1 and the hydraulic discrimination critical coefficient M 1a 、M 1b 、M 1c 、M 1d 、M 1e The shortest distance is used to determine the test state to which the hydraulic discrimination coefficient M1 belongs. Similarly, the rotation discrimination coefficient M2, the position discrimination critical coefficient N1 and the remaining discrimination critical coefficients N2 are used to determine the test states to which they belong. When three or four discrimination coefficients belong to the same test state, the motor is determined to be in that test state.

[0037] When the above judgment conditions are not met, the absolute discrimination coefficient corresponding to each test state is calculated respectively, that is, the absolute discrimination coefficient T of 100% comprehensive efficiency a for:

[0038] T a =x1(M1-M 1a ) 2 +x2(M2-M 2a ) 2 +x3(N1-N 1a ) 2 +x4(N2-N 2a ) 2

[0039] Where: x1, x2, x3, x4 are variable coefficients, all real numbers between 0 and 1, and their sum is 1;

[0040] Similarly, the absolute discrimination coefficient T of 95% comprehensive efficiency is calculated. b , absolute discrimination coefficient T for 90% comprehensive efficiency c , the absolute discrimination coefficient T of 80% comprehensive efficiency d , the absolute discrimination coefficient T of abnormal state e ;

[0041] By comparing T a , T b , T c , T d , T eThe smallest value is selected as the test state corresponding to the absolute discrimination coefficient.

[0042] A measuring method for a detection device for a rescue drilling rig hydraulic motor, characterized in that the method is based on the data collection and processing method and the discrimination method; comprising:

[0043] Step 1: Check the connection form and structural dimensions of the hydraulic motor to be measured, and configure the corresponding hydraulic joints and hydraulic hoses. Connect the rescue drilling rig hydraulic motor to be measured to the structural box with bolts, and connect the oil inlet and outlet to the oil outlet of the load sensing valve through hydraulic hoses. Perform a test run to ensure that the hydraulic motor runs smoothly and reliably.

[0044] Step 2: The rotary motion of the hydraulic motor is realized by the power device, and the rotation speed of the hydraulic motor is adjusted by the servo motor; the reciprocating motion of the hydraulic motor is realized by adjusting the feeding device, and the motion speed and direction are adjusted, and the load device is used for loading;

[0045] Step 3: The load device loads the hydraulic motor through the rotary load device and the linear load device, and cooperates with the power device and the feed device to ensure that the hydraulic motor moves at the specified linear speed and rotation speed. The detection device collects the working parameters of the hydraulic motor and the components of the detection device in real time and transmits them to the control module;

[0046] Step 4: The control module collects, classifies and filters all the data collected by the detection device, obtains the hydraulic discrimination coefficient M1 and the rotation discrimination coefficient M2, the position discrimination coefficient N1 and the remaining discrimination coefficient N2 through comprehensive calculation and analysis, and uses the corresponding judgment rules to judge the test state of the hydraulic motor to be tested, and obtains the working state of the hydraulic motor.

[0047] Compared with the prior art, the present invention has the following technical effects:

[0048] The detection device designed by the present invention has high operating efficiency, wide application range, and greatly reduces the number of construction personnel. It can receive the working information of the hydraulic motor in real time, complete the quantitative evaluation of the performance of the hydraulic motor of the rescue drilling rig, and can be manually adjusted remotely and interactively. The automated construction efficiency is high and the operation accuracy is high. It can independently measure the working capacity and various parameters of the hydraulic motor, identify the working parameters of the hydraulic motor in real time, judge the test state of the hydraulic motor, and quickly identify the working performance of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic diagram of the composition of the detection device for the hydraulic motor of the rescue drilling rig of the present invention.

[0050] Figure 2A top view schematic diagram of the power unit.

[0051] Figure 3 This is a schematic diagram of the main view of the power unit.

[0052] Figure 4 It is a schematic diagram of the structure of the feeding device.

[0053] Figure 5 Schematic diagram of the load device.

[0054] Figure 6 It is a schematic diagram of the main view of the rotating load device.

[0055] Figure 7 A schematic side view of a rotating load device.

[0056] Figure 8 This is a schematic diagram of the structure of a linear load.

[0057] Fig. 9 This is a schematic diagram of the structure of a linear load.

[0058] Fig.10 A schematic diagram of the structure of the detection device.

[0059] Fig.11 It is a structural diagram of the control module.

[0060] The meaning of each number in the figure is:

[0061] 1 is a power device, 2 is a feed device, 3 is a load device, 4 is a detection device, 5 is a control module, 6 is a hydraulic pump, 7 is a servo motor, 8 is a load-sensitive valve, 9 is a hydraulic oil tank, 10 is a starter cabinet, 11 is a structural box, 12 is a frame, 13 is a guide rail, 14 is a support plate, 15 is a feed cylinder, 16 is a gear speed change body, 17 is a rotating load device, 18 is a linear load device, 19 is an input end, 20 is a speed change body, 21 is a tangential interface, 22 is an axial interface, 23 is a load motor, 24 is a gearbox, 25 is a load cylinder, 26 is a connecting plate, 27 is a flow detection device, 28 is a pressure detection device, 29 is a speed detection device, 30 is a torque detection device, 31 is a displacement detection device, 32 is a mechanical detection device, 33 is a temperature detection device, 34 is a noise detection device, 35 is an input device, 36 is a controller, and 37 is an output device. DETAILED DESCRIPTION

[0062] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of this application fall within the protection scope of the present invention.

[0063] Example:

[0064] like Figures 1 to 11 As shown, this embodiment provides a detection device for a rescue drilling rig hydraulic motor, including a power device 1, a feeding device 2, a load device 3, a detection device 4 and a control module 5; wherein:

[0065] The power device 1 is mainly used to provide power to the hydraulic motor to realize the stepless speed-changing rotary motion of the hydraulic motor; it includes a hydraulic oil tank 9, a hydraulic pump 6, a servo motor 7, a load-sensing valve 8, a starter cabinet 10 and a structural box 11;

[0066] The feeding device 2 is mainly used to realize the forward and backward reciprocating motion of the hydraulic motor; it includes a frame 12, a guide rail 13, two sets of feeding cylinders 15, and a support plate 14:

[0067] The load device 3 is mainly used to load the hydraulic motor; it includes a gear transmission 16, a rotary load device 17 and a linear load device 18;

[0068] The detection device 4 is mainly used to accurately measure various working parameters of the hydraulic motor; it includes a flow detection device 27, a pressure detection device 28, a speed detection device 29, a torque detection device 30, a displacement detection device 31, a mechanical detection device 32, a temperature detection device 33, and a noise detection device 34, which are arranged on various components of the hydraulic motor and the detection device;

[0069] The control module 5 is mainly used to process the collected data of the hydraulic motor, perform comprehensive analysis and calculation, and perform numerical quantitative evaluation to obtain the final evaluation effect; it includes an input device 35, a controller 36 and an output device 37.

[0070] The hydraulic oil tank 9 is mainly used to provide a hydraulic oil source and is connected to the oil inlet of the hydraulic pump 6 through a hydraulic hose; the servo motor 7 mainly provides power, and its output shaft is connected to the input shaft of the hydraulic pump 6 through a coupling; the starting cabinet 10 is mainly used to start and stop the servo motor 7, and its output end is connected to the input end of the servo motor 7 through a cable; the hydraulic pump 6 is mainly used to provide high-pressure oil, and its oil outlet is connected to the oil inlet of the load-sensitive valve 8; the load-sensitive valve 8 is used to adjust the size and direction of the high-pressure oil, and its output oil port is connected to the oil inlet and return port of the hydraulic motor; the structural box 11 is a box structure formed by welding multiple groups of high-strength structural steel, and is provided with a flange connection plate 26, which is mainly used to fix the hydraulic motor.

[0071] The frame 12 is welded from multiple groups of fixed square steels and is mainly used to fix the entire detection device; the guide rail 13 is arranged at a fixed position of the frame 12, adopts a V-shaped or rectangular structure, has a length of a determined size, and ensures a certain degree of flatness and accuracy; one end of the feed cylinder 15 is connected to the support plate 14, and the other end is connected to the fixed position of the frame 12, so as to realize the reciprocating sliding of the support plate 14 and adjust the movement speed and direction; the support plate 14 is arranged on the guide rail 13 by means of a clamping plate, and can move in a straight line, and is fixedly connected to the structural box 11 by bolts, thereby ensuring that the structural box 11 moves as required.

[0072] The gear transmission body 16 includes an input end 19, a transmission body 20, an axial interface 22 and a tangential interface 21; the input end 19 is connected to the output shaft of the hydraulic motor through a coupling to achieve the adjustment of the output torque and speed of the hydraulic motor; the transmission body 20 adopts a planetary gear train speed change structure to achieve transmission ratio adjustment; the axial interface 22 is connected to the output shaft of the connecting disk 26 of the linear load device 18; the tangential interface 21 is connected to the output shaft of the gearbox 24 of the rotating load device 17 through a coupling.

[0073] The rotating load device 17 includes four groups of load motors 23 and a gearbox 24; the output shafts of the four groups of load motors 23 are connected to the input shaft of the gearbox 24 through couplings and are driven simultaneously to achieve high-capacity torque output; the output shaft of the gearbox 24 is connected to the tangential interface 21 through a coupling to achieve rotational load control.

[0074] The linear load device 18 includes four groups of load cylinders 25 and connecting plates 26; one end of the four groups of load cylinders 25 is connected to a fixed position, and the output shaft at the other end is connected to the input shaft of the connecting plate 26, and is driven simultaneously to achieve a large-capacity feed force output; the output shaft of the connecting plate 26 is connected to the axial interface 22 through a coupling to achieve linear load control.

[0075] The flow detection devices 27 are arranged in series in each device using hydraulic joints to measure the flow at various locations: one is arranged at 50 to 100 mm from the oil inlet and outlet of the hydraulic pump 6, and the collected data are recorded as A1 and A2; one is arranged at 100 to 150 mm from each oil outlet of the load sensitive valve 8, and the collected data are recorded as A3 and A4; one is arranged at 20 to 50 mm from the oil inlet and outlet of the hydraulic motor, and the collected data are recorded as A5 and A6; one is arranged at 20 to 50 mm from the oil inlet and outlet of the two groups of feed cylinders 15, and the collected data are recorded as A7, A8, A9, A10, A111, A12, A13, A14, A15, A16, A17, A18, A19, A20, A21, A22, A23, A24, A25, A26, A27, A28, A29, A30, A31, A32, A33, A34, A35, A36, A37, A38, A39, A40, A41, A42, A43, A44, A45, A46, A47, A48, A49, A50, A51, A52, A53, A54, A55, A56, A57, A58, A59, A60, A61, A62, A63, A74, A75, A76, A77, A8 10 ; One is arranged at 20 to 50 mm from the oil inlet and outlet of the four groups of load motors 23, and the collected data is recorded as A 11 , A 12 , A 13 , A 14 , A 15 , A 16, A 17 , A 18 ; One is arranged at 25mm from the oil inlet and 20-50mm from the oil outlet of the four groups of load cylinders, and the collected data is recorded as A 19 , A 20 , A 21 , A 22 , A 23 , A 24 , A 25 , A 26 .

[0076] The pressure detection devices 28 are arranged in series in each device using hydraulic joints, and are controlled in series with the flow detection device 27 in sequence to measure the pressure at various locations: one is arranged at 50 to 100 mm from the oil inlet and outlet of the hydraulic pump 6, and the collected data are recorded as B1 and B2; one is arranged at 100 to 150 mm from each oil outlet of the load sensitive valve 8, and the collected data are recorded as B3 and B4; one is arranged at 20 to 50 mm from the oil inlet and outlet of the hydraulic motor, and the collected data are recorded as B5 and B6; one is arranged at 20 to 50 mm from the oil inlet and outlet of the two groups of feed cylinders 15, and the collected data are recorded as B7, B8, B9, B10, B11, B12, B13, B14, B15, B16, B17, B18, B19, B20, B21, B22, B23, B24, B25, B26, B27, B28, B29, B30, B31, B32, B33, B34, B35, B36, B37, B38, B39, B40, B41, B42, B43, B44, B45, B46, B47, B48, B49, B50, B51, B52, B53, B54, B55, B56, B57, B58, B59, B60, B61, B62, B63, B64, B65 10 ; One is arranged at 20 to 50 mm from the oil inlet and outlet of the four groups of load motors 23, and the collected data is recorded as B 11 , B 12 , B 13 , B 14 , B 15 , B 16 , B 17 , B 18 ; One is arranged at 20-50mm from the oil inlet and outlet of the four groups of load cylinders, and the collected data is recorded as B 19 , B 20 , B 21 , B 22 , B 23 , B 24 , B 25 , B 26 .

[0077] The speed detection device 29 is arranged in a fixed concentric manner and is used to measure the speed at various locations: four are evenly distributed along the circumferential direction at a distance of 150 to 200 mm from the output shaft end of the servo motor 7, and the collected data are recorded as C1, C2, C3, and C4; four are evenly distributed along the circumferential direction at a distance of 150 to 200 mm from the input shaft of the hydraulic pump 6, and the collected data are recorded as C5, C6, C7, and C8; four are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the output shaft end of the hydraulic motor, and the collected data are recorded as C9, C 10 , C 11 , C 12; Four points are evenly distributed along the circumferential direction at 1950 to 100 mm from the input end of the gear transmission body 16, and the collected data is recorded as C 13 , C 14 , C 15 , C 16 ; Four points are evenly distributed along the circumference at a distance of 2150 to 100 mm from the tangential interface, and the collected data is recorded as C 17 , C 18 , C 19 , C 20 ; Four points are evenly distributed along the circumference at a distance of 50 to 100 mm from the output shaft end of the gearbox 24, and the collected data is recorded as C 21 , C 22 , C 23 , C 24 ; Two are evenly distributed along the circumferential direction at 50 to 100 mm from the four input shaft ends of the gearbox 24, and the collected data is recorded as C 25 , C 26 , C 27 , C 28 , C 29 , C 30 , C 31 , C 32 ; Two are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the output shaft of the four groups of load motors 23, and the collected data is recorded as C 33 , C 34 , C 35 , C 36 , C 37 , C 38 , C 39 , C 40 .

[0078] The torque detection device 30 is arranged in a fixed concentric manner and is used to measure the torque at various locations. It is controlled in series with the speed sensor in sequence: four are evenly distributed along the circumferential direction at a distance of 150 to 200 mm from the output shaft end of the servo motor 7, and the collected data are recorded as D1, D2, D3, and D4; four are evenly distributed along the circumferential direction at a distance of 150 to 200 mm from the input shaft of the hydraulic pump 6, and the collected data are recorded as D5, D6, D7, and D8; four are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the output shaft end of the hydraulic motor, and the collected data are recorded as D9, D 10 , D 11 , D 12 ; Four points are evenly distributed along the circumferential direction at 1950 to 100 mm from the input end of the gear transmission body 16, and the collected data is recorded as D 13 , D 14 , D 15 , D 16 ; Four points are evenly distributed along the circumference at a distance of 2150 to 100 mm from the tangential interface, and the collected data is recorded as D 17 , D18 , D 19 , D 20 ; Four points are evenly distributed along the circumference at a distance of 50 to 100 mm from the output shaft end of the gearbox 24, and the collected data is recorded as D 21 , D 22 , D 23 , D 24 ; Two are evenly distributed along the circumferential direction at 50 to 100 mm from the four input shaft ends of the gearbox 24, and the collected data is recorded as D 25 , D 26 , D 27 , D 28 , D 29 , D 30 , D 31 , D 32 ; Two are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the output shaft of the four groups of load motors 23, and the collected data is recorded as D 33 , D 34 , D 35 , D 36 , D 37 , D 38 , D 39 , D 40 .

[0079] The displacement detection device 31 is arranged by glue connection and fixed, and is used to measure the displacement at various locations: four are arranged symmetrically at a distance of 25 to 50 mm from the four sides of the structural box 11, and the collected data are recorded as E1, E2, E3, and E4; two are arranged at the center of the left and right sides of the support plate 14 at a distance of 25 to 50 mm, and the collected data are recorded as E5 and E6; four are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the output shaft end of the hydraulic motor, and the collected data are recorded as E7, E8, E9, and E10. 10 ; Four points are evenly distributed along the circumferential direction at 1925-50mm from the input end of the gear transmission body 16, and the collected data is recorded as E 11 、E 12 、E 13 、E 14 ; Four points are evenly distributed along the circumference at a distance of 2225 to 50 mm from the axial interface, and the collected data is recorded as E 15 、E 16 、E 17 、E 18 ; Four points are evenly distributed along the circumferential direction at 25 to 50 mm from the output shaft end of the connecting plate 26, and the collected data is recorded as E 19 、E 20 、E 21 、E 22 ; Two points are evenly distributed along the circumferential direction at 25 to 50 mm from the four input shaft ends of the connection plate 26, and the collected data is recorded as E 23 、E 24 、E25 、E 26 、E 27 、E 28 、E 29 、E 30 ; Two sets of load cylinders are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the output shaft ends of the four sets of load cylinders 25, and the collected data is recorded as E 31 、E 32 、E 33 、E 34 、E 35 、E 36 、E 37 、E 38 .

[0080] The mechanical detection device 32 is arranged by adhesive fixation, which is used to measure the stress at various locations and is controlled in series with the displacement sensor in sequence: four are arranged symmetrically at a distance of 25 to 50 mm from the four sides of the structural box 11, and the collected data are recorded as F1, F2, F3, and F4; two are arranged at the center at a distance of 25 to 50 mm from the left and right sides of the support plate 14, and the collected data are recorded as F5 and F6; four are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the output shaft end of the hydraulic motor, and the collected data are recorded as F7, F8, F9, and F10. 10 ; Four points are evenly distributed along the circumferential direction at 1925-50mm from the input end of the gear transmission body 16, and the collected data is recorded as F 11 、F 12 、F 13 、F 14 ; Four points are evenly distributed along the circumference at a distance of 2225 to 50 mm from the axial interface, and the collected data is recorded as F 15 、F 16 、F 17 、F 18 ; Four points are evenly distributed along the circumferential direction at 25 to 50 mm from the output shaft end of the connecting plate 26, and the collected data is recorded as F 19 、F 20 、F 21 、F 22 ; Two points are evenly distributed along the circumferential direction at 25 to 50 mm from the four input shaft ends of the connection plate 26, and the collected data is recorded as F 23 、F 24 、F 25 、F 26 、F 27 、F 28 、F 29 、F 30 ; Two sets of load cylinders are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the output shaft ends of the four sets of load cylinders 25, and the collected data is recorded as F 31 、F 32 、F 33 、F 34 、F35 、F 36 、F 37 、F 38 .

[0081] The temperature detection device 33 is arranged by glue connection and fixed, and is used to measure the temperature at various locations: four are symmetrically arranged at a distance of 50 to 100 mm from the four sides of the structural box 11, and the collected data are recorded as G1, G2, G3, and G4; two are evenly distributed at a distance of 25 to 50 mm from the end face of the hydraulic pump 6, and the collected data are recorded as G5 and G6; two are evenly distributed at a distance of 25 to 50 mm from the end face of the load sensitive valve 8, and the collected data are recorded as G7 and G8; four are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the end face of the hydraulic motor flange connection plate 26, and the collected data are recorded as G9, G 10 , G 11 , G 12 ; Four symmetrically arranged at a distance of 50 to 100 mm from the four sides of the hydraulic oil tank 9, the collected data is recorded as G 13 , G 14 , G 15 , G 16 ;

[0082] The noise detection device 34 is arranged by glue connection and fixed, and is used to measure the noise at various locations. It is controlled in series with the temperature sensor in sequence: four are symmetrically arranged at a distance of 50 to 100 mm from the four sides of the structural box 11, and the collected data are recorded as H1, H2, H3, and H4; two are evenly distributed at a distance of 25 to 50 mm from the end face of the hydraulic pump 6, and the collected data are recorded as H5 and H6; two are evenly distributed at a distance of 25 to 50 mm from the end face of the load sensitive valve 8, and the collected data are recorded as H7 and H8; four are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the end face of the hydraulic motor flange connection plate 26, and the collected data are recorded as H9, H10, H11, H12, H13, H14, H15, H16, H17, H18, H19, H20, H21, H22, H23, H24, H25, H26, H27, H28, H29, H30, H31, H32, H33, H34, H35, H36, H37, H38, H39, H40, H41, H42, H43, H44, H45, H46, H47, H48, H49, H50, H51, H52, H53, H54, H55, H56, H57, H58, H59, H60, H61, H62, H63, H64, H65 10 , H 11 , H 12 ; Four are arranged symmetrically at a distance of 50 to 100 mm from the bottom of the hydraulic oil tank 9, and the collected data is recorded as H 13 , H 14 , H 15 , H 16 .

[0083] The input device 35 is mainly used to collect and classify all data collected by the detection device 4; the controller 36 performs comprehensive calculation and analysis on all data sets, makes real-time judgments, and outputs the results to the output device 37; the output device 37 mainly displays the results.

[0084] This embodiment also provides a method for collecting and processing data using a detection device for a rescue drilling rig hydraulic motor. The method is based on a control module and includes:

[0085] The input device collects and processes all the data: selects a suitable sampling interval, collects N data within a fixed time, cleans and preprocesses the data set, including removing duplicate data, processing missing values, processing outliers, etc.; then normalizes the remaining data set, calculates the mean and variance corresponding to all data sets, and then can obtain: the mean and variance corresponding to the data set collected by the flow detection device, pressure detection device, speed detection device, torque detection device, displacement detection device, mechanical detection device, temperature detection device, and noise detection device.

[0086] The mean values ​​of the data sets collected by the flow detection device are A 10 , A 20 、···、A 260 , the variances of the collected data are A 1d , A 2d 、···、A 26d The mean values ​​of the data sets collected by the pressure detection device are B 10 , B 20 、···、B 260 The variances of the collected data are B 1d , B 2d 、···、B 26d The mean values ​​of the data sets collected by the speed detection device are C 10 , C 20 、···、C 400 , the variance of the collected data is C 1d , C 2d 、···、C 40d The mean values ​​of the data sets collected by the torque detection device are D 10 , D 20 、···、D 400 , the variance of the collected data is D 1d , D 2d 、···、D 40d , the mean values ​​of the data sets collected by the displacement detection device are E 10 、E 20 、···、E 380 , the variance of the collected data is E 1d 、E 2d 、···、E 38d , the mean values ​​of the data sets collected by the mechanical detection device are F 10 、F 20 、···、F 380 , the variances of the collected data are F 1d 、F 2d 、···、F 38d The mean values ​​of the data sets collected by the temperature detection device are G 10 , G20 、···、G 160 , the variance of the collected data is G 1d , G 2d 、···、G 16d , the mean values ​​of the data sets collected by the noise detection device are H 10 , H 20 、···、H 160 , the variance of the collected data is H 1d , H 2d 、···、H 16d .

[0087] The mean and variance corresponding to the detection data of each detection device are summarized to obtain the characteristic coefficient AA of the flow detection device, the characteristic coefficient BB of the pressure detection device, the characteristic coefficient CC of the speed detection device, the characteristic coefficient DD of the torque detection device, the characteristic coefficient EE of the displacement detection device, the characteristic coefficient FF of the mechanical detection device, the characteristic coefficient GG of the temperature detection device, and the characteristic coefficient HH of the noise detection device:

[0088] The characteristic coefficient AA of the flow detection device is:

[0089]

[0090] Where: 11 , σ 12 , σ 13 , σ 14 , σ 15 , σ 16 , σ 17 , σ 18 is the weighting coefficient, ranging from 0 to 1, and the sum is 1; ε 11 , ε 12 , ε 13 , ε 14 , ε 15 , ε 16 , ε 17 , ε 18 is the variable coefficient, which is determined according to the test conditions and evaluation capabilities, and has a value between 1 and 2;

[0091] The characteristic coefficient BB of the flow detection device is:

[0092]

[0093] Where: 21 , σ 22 , σ 23 , σ 24 , σ 25 , σ 26 , σ 27 , σ 28is the weighting coefficient, ranging from 0 to 1, and the sum is 1; ε 21 , ε 22 , ε 23 , ε 24 , ε 25 , ε 26 , ε 27 , ε 28 is the variable coefficient, which is determined according to the test conditions and evaluation capabilities, and has a value between 1 and 2;

[0094] The characteristic coefficient CC of the speed detection device is:

[0095]

[0096] Where: 31 , σ 32 , σ 33 , σ 34 , σ 35 , σ 36 , σ 37 , σ 38 is the weighting coefficient, ranging from 0 to 1, and the sum is 1; ε 31 , ε 32 , ε 33 , ε 34 , ε 35 , ε 36 , ε 37 , ε 38 is the variable coefficient, which is determined according to the test conditions and evaluation capabilities, and has a value between 1 and 2;

[0097] The characteristic coefficient DD of the torque detection device is:

[0098]

[0099] Where: 41 , σ 42 , σ 43 , σ 44 , σ 45 , σ 46 , σ 47 , σ 48 is the weighting coefficient, ranging from 0 to 1, and the sum is 1; ε 41 , ε 42 , ε 43 , ε 44 , ε 45 , ε 46 , ε 47 , ε 48 is the variable coefficient, which is determined according to the test conditions and evaluation capabilities, and has a value between 1 and 2;

[0100] The characteristic coefficient EE of the displacement detection device is:

[0101]

[0102] Where: 51 , σ 52 , σ 53 , σ 54 , σ 55 , σ 56 , σ 57 , σ 58 is the weighting coefficient, ranging from 0 to 1, and the sum is 1; ε 51 , ε 52 , ε 53 , ε 54 , ε 55 , ε 56 , ε 57 , ε 58 is the variable coefficient, which is determined according to the test conditions and evaluation capabilities, and has a value between 1 and 2;

[0103] The characteristic coefficient FF of the mechanical detection device is:

[0104]

[0105] Where: 61 , σ 62 , σ 63 , σ 64 , σ 65 , σ 66 , σ 67 , σ 68 is the weighting coefficient, ranging from 0 to 1, and the sum is 1; ε 61 , ε 62 , ε 63 , ε 64 , ε 65 , ε 66 , ε 67 , ε 68 is the variable coefficient, which is determined according to the test conditions and evaluation capabilities, and has a value between 1 and 2;

[0106] The characteristic coefficient GG of the temperature detection device is:

[0107]

[0108] Where: 71 , σ 72 , σ 73 , σ 74 , σ 75 is the weighting coefficient, ranging from 0 to 1, and the sum is 1; ε 71 , ε 72 , ε 73 , ε74 , ε 75 is the variable coefficient, which is determined according to the test conditions and evaluation capabilities, and has a value between 1 and 2;

[0109] The characteristic coefficient HH of the noise detection device is:

[0110]

[0111] Where: 81 , σ 82 , σ 83 , σ 84 , σ 85 is the weighting coefficient, ranging from 0 to 1, and the sum is 1; ε 81 , ε 82 , ε 83 , ε 84 , ε 85 It is the variable coefficient, which is determined according to the detection conditions and evaluation capabilities, and its value is between 1 and 2.

[0112] The controller calculates the above characteristic coefficients to obtain the hydraulic discrimination coefficient M1, the rotation discrimination coefficient M2, the position discrimination coefficient N1 and the remaining discrimination coefficients N2:

[0113] M1=z1AA+z2BB; M2=z3CC+z4DD (9)

[0114] In the formula: z1 and z2 are variable coefficients, both are real numbers between 0 and 1, and their sum is 1; z3 and z4 are variable coefficients, both are real numbers between 0 and 1;

[0115] N1=z5EE+z6FF; N2=z7GG+z8HH (10)

[0116] In the formula: z5 and z6 are variable coefficients, both are real numbers between 0 and 1, and their sum is 1; z7 and z8 are variable coefficients, both are real numbers between 0 and 1.

[0117] This embodiment also provides a method for distinguishing the state of a hydraulic motor using a detection device for a rescue drilling rig hydraulic motor. The method is based on the data processing calculation results obtained by the method for collecting and processing data using the detection device for a rescue drilling rig hydraulic motor; the method comprises:

[0118] The different working states of the standard specification large torque hydraulic motor were tested, including 100% comprehensive efficiency, 95% comprehensive efficiency, 90% comprehensive efficiency, 80% comprehensive efficiency and abnormal state. The detection device was used to collect data, and the critical discrimination coefficients corresponding to different states were obtained through relevant calculations, that is, the hydraulic critical discrimination coefficients M 1a 、M 1b 、M1c 、M 1d 、M 1e , and M 1a >M 1b >M 1c >M 1d >M 1e , the critical coefficients of rotation discrimination are M 2a 、M 2b 、M 2c 、M 2d 、M 2e , and M 2a >M 2b >M 2c >M 2d >M 2e , the position discrimination critical coefficients are N 1a 、N 1b 、N 1c 、N 1d 、N 1e , and N 1a >N 1b >N 1c >N 1d >N 1e , the other critical coefficients are N 2a 、N 2b 、N 2c 、N 2d 、N 2e , and N 2a >N 2b >N 2c >N 2d >N 2e ; The judgment rules are:

[0119] By judging the calculated hydraulic discrimination coefficient M1 and the hydraulic discrimination critical coefficient M 1a 、M 1b 、M 1c 、M 1d 、M 1e The shortest distance is used to determine the test state to which the hydraulic discrimination coefficient M1 belongs. Similarly, the rotation discrimination coefficient M2, the position discrimination critical coefficient N1 and the remaining discrimination critical coefficients N2 are used to determine the test states to which they belong. When three or four discrimination coefficients belong to the same test state, the motor is determined to be in that test state.

[0120] When the above judgment conditions are not met, the absolute discrimination coefficient corresponding to each test state is calculated respectively, that is, the absolute discrimination coefficient T of 100% comprehensive efficiency a for:

[0121] T a =x1(M1-M 1a) 2 +x2(M2-M 2a ) 2 +x3(N1-N 1a ) 2 +x4(N2-N 2a ) 2

[0122] Where: x1, x2, x3, x4 are variable coefficients, all real numbers between 0 and 1, and their sum is 1;

[0123] Similarly, the absolute discrimination coefficient T of 95% comprehensive efficiency is calculated. b , absolute discrimination coefficient T for 90% comprehensive efficiency c , the absolute discrimination coefficient T of 80% comprehensive efficiency d , the absolute discrimination coefficient T of abnormal state e ;

[0124] By comparing T a , T b , T v , T d , T e The smallest value is selected as the test state corresponding to the absolute discrimination coefficient.

[0125] This embodiment provides a measurement method for a detection device for a rescue drilling rig hydraulic motor, which is based on the above-mentioned data collection and processing method and the discrimination method; and comprises:

[0126] Step 1: Check the connection form and structural dimensions of the hydraulic motor to be measured, and configure the corresponding hydraulic joints and hydraulic hoses. Connect the rescue drilling rig hydraulic motor to be measured to the structural box with bolts, and connect the oil inlet and outlet to the oil outlet of the load sensing valve through hydraulic hoses. Perform a test run to ensure that the hydraulic motor runs smoothly and reliably.

[0127] Step 2: The rotary motion of the hydraulic motor is realized by the power device, and the rotation speed of the hydraulic motor is adjusted by the servo motor; the reciprocating motion of the hydraulic motor is realized by adjusting the feeding device, and the motion speed and direction are adjusted, and the load device is used for loading;

[0128] Step 3: The load device loads the hydraulic motor through the rotary load device and the linear load device, and cooperates with the power device and the feed device to ensure that the hydraulic motor moves at the specified linear speed and rotation speed. The detection device collects the working parameters of the hydraulic motor and the components of the detection device in real time and transmits them to the control module;

[0129] Step 4: The control module collects, classifies and filters all the data collected by the detection device, obtains the hydraulic discrimination coefficient M1 and the rotation discrimination coefficient M2, the position discrimination coefficient N1 and the remaining discrimination coefficient N2 through comprehensive calculation and analysis, and uses the corresponding judgment rules to judge the test state of the hydraulic motor to be tested, and obtains the working state of the hydraulic motor.

[0130] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

[0131] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0132] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A detection device for a rescue drilling rig hydraulic motor, characterized in that: It comprises a power device (1), a feeding device (2), a load device (3), a detection device (4) and a control module (5); wherein: The power device (1) is used to provide power to the hydraulic motor to realize the stepless speed-changing rotary motion of the hydraulic motor; it comprises a hydraulic oil tank (9), a hydraulic pump (6), a servo motor (7), a load-sensing valve (8), a starter cabinet (10) and a structural box (11); The feeding device (2) is used to realize the forward and backward reciprocating motion of the hydraulic motor; it comprises a frame (12), a guide rail (13), two sets of feeding cylinders (15), and a support plate (14): The loading device (3) is used to load the hydraulic motor; it comprises a gear transmission (16), a rotary load device (17) and a linear load device (18); The detection device (4) is used to accurately measure various working parameters of the hydraulic motor; it includes a flow detection device (27), a pressure detection device (28), a rotation speed detection device (29), a torque detection device (30), a displacement detection device (31), a mechanical detection device (32), a temperature detection device (33), and a noise detection device (34); The control module (5) is used to process the collected data of the hydraulic motor, perform comprehensive analysis and calculation, and perform numerical quantitative evaluation to obtain the final evaluation result; it includes an input device (35), a controller (36) and an output device (37).

2. The detection device for the rescue drilling rig hydraulic motor according to claim 1, characterized in that: The hydraulic oil tank (9) is used to provide a hydraulic oil source and is connected to the oil inlet of the hydraulic pump (6) through a hydraulic hose; the servo motor (7) provides power and its output shaft is connected to the input shaft of the hydraulic pump (6) through a coupling; the starting cabinet (10) is used to start and stop the servo motor (7) and its output end is connected to the input end of the servo motor (7) through a cable; the hydraulic pump (6) is used to provide high-pressure oil and its oil outlet is connected to the oil inlet of the load-sensitive valve (8); the load-sensitive valve (8) is used to adjust the size and direction of the high-pressure oil and its oil outlet is connected to the oil inlet and return port of the hydraulic motor; the structural box (11) is a box structure formed by welding multiple groups of high-strength structural steel and is provided with a flange connection plate for fixing the hydraulic motor.

3. The detection device for the rescue drilling rig hydraulic motor according to claim 1, characterized in that: The frame (12) is welded from a plurality of fixed square steels and is used to fix the entire detection device; the guide rail (13) is arranged on the frame (12); one end of the feed cylinder (15) is connected to the support plate (14) and the other end is connected to the frame (12), so as to realize the reciprocating sliding of the support plate (14) and adjust the movement speed and direction; the support plate (14) is arranged on the guide rail (13) and can move in a straight line, and is fixedly connected to the structural box (11) by bolts, so as to ensure that the structural box (11) moves as required.

4. The detection device for the rescue drilling rig hydraulic motor according to claim 1, characterized in that: The gear transmission body (16) comprises an input end (19), a transmission body (20), an axial interface (22) and a tangential interface (21); the input end (19) is connected to the output shaft of the hydraulic motor through a coupling to achieve adjustment of the output torque and speed of the hydraulic motor; the transmission body (20) adopts a planetary gear train speed change structure to achieve adjustment of the transmission ratio; The rotary load device (17) comprises four groups of load motors (23) and a gearbox (24); the output shafts of the four groups of load motors (23) are connected to the input shaft of the gearbox (24) through a coupling and are driven simultaneously to achieve high-capacity torque output; the output shaft of the gearbox (24) is connected to the tangential interface (21) through a coupling to achieve rotary load control; The linear load device (18) comprises four groups of load cylinders (25) and a connecting disk (26); the four groups of load cylinders (25) are connected to the input shaft of the connecting disk (26) and are driven simultaneously to achieve a large-capacity feed force output; the output shaft of the connecting disk (26) is connected to the axial interface (22) through a coupling to achieve linear load control.

5. The detection device for the rescue drilling rig hydraulic motor according to claim 1, characterized in that: The flow detection devices (27) are arranged in series with hydraulic joints to measure flow at various locations; the flow detection devices (27) are arranged at the following locations: one each at 50 to 100 mm from the oil inlet and outlet of the hydraulic pump (6); one each at 100 to 150 mm from each oil outlet of the load sensitive valve (8); one each at 20 to 50 mm from the oil inlet and outlet of the hydraulic motor; one each at 20 to 50 mm from the oil inlet and outlet of the two groups of feed cylinders (15); and one each at 20 to 50 mm from the oil inlet and outlet of the four groups of load motors (23); One is arranged at a distance of 20 to 50 mm from the oil inlet and the oil outlet of each of the four groups of load oil cylinders (25).

6. The detection device for the rescue drilling rig hydraulic motor according to claim 5, characterized in that: The pressure detection devices (28) are arranged in series with hydraulic joints, and are controlled in series with the flow detection devices (27) in sequence, so as to measure the pressure at various locations. The pressure detection devices (28) are arranged at the following locations: one is arranged at a distance of 50 to 100 mm from the oil inlet and the oil outlet of the hydraulic pump (6); one is arranged at a distance of 100 to 150 mm from each oil outlet of the load sensitive valve (8); one is arranged at a distance of 20 to 50 mm from the oil inlet and the oil outlet of the hydraulic motor; one is arranged at a distance of 20 to 50 mm from the oil inlet and the oil outlet of the two groups of feed cylinders (15); and one is arranged at a distance of 20 to 50 mm from the oil inlet and the oil outlet of the four groups of load motors (23); One is arranged at a distance of 20 to 50 mm from the oil inlet and the oil outlet of each of the four groups of load oil cylinders (25).

7. The detection device for the rescue drilling rig hydraulic motor according to claim 6, characterized in that: The rotation speed detection device (29) is arranged in a fixed concentric manner and is used to measure the rotation speed at various locations; the rotation speed detection devices (29) are arranged at the following positions: four are evenly distributed along the circumferential direction at a distance of 150 to 200 mm from the output shaft end of the servo motor (7); four are evenly distributed along the circumferential direction at a distance of 150 to 200 mm from the input shaft of the hydraulic pump (6); four are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the output shaft end of the hydraulic motor; four are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the input end (19) of the gear transmission body (16); four are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the tangential interface (21); four are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the output shaft end of the gearbox (24); two are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the four input shaft ends of the gearbox (24); and two are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the output shafts of the four groups of load motors (23).

8. The detection device for the rescue drilling rig hydraulic motor according to claim 7, characterized in that: The torque detection device (30) is arranged in a fixed concentric manner and is used to measure the torque at various locations. It is controlled in series with the speed sensor in sequence. The torque detection devices (30) are arranged at the following positions: four are evenly distributed along the circumferential direction at a distance of 150 to 200 mm from the output shaft end of the servo motor (7); four are evenly distributed along the circumferential direction at a distance of 150 to 200 mm from the input shaft of the hydraulic pump (6); four are evenly distributed along the circumferential direction at a distance of 50 to 100 mm from the output shaft end of the hydraulic motor; and four are evenly distributed along the circumferential direction at a distance of 150 to 200 mm from the input shaft of the hydraulic pump (6). Four are evenly distributed along the circumferential direction at 50 to 100 mm from the input end (19) of (16); four are evenly distributed along the circumferential direction at 50 to 100 mm from the tangential interface (21); four are evenly distributed along the circumferential direction at 50 to 100 mm from the output shaft end of the gearbox (24); two are evenly distributed along the circumferential direction at 50 to 100 mm from the four input shaft ends of the gearbox (24); and two are evenly distributed along the circumferential direction at 50 to 100 mm from the output shafts of the four groups of load motors (23).

9. The detection device for the rescue drilling rig hydraulic motor according to claim 8, characterized in that: The displacement detection device (31) is arranged by adhesive fixation and is used to measure displacement at various locations; the layout positions of the displacement detection devices (31) are as follows: four are arranged symmetrically at a distance of 25 to 50 mm from the four sides of the structural box (11); two are arranged at a distance of 25 to 50 mm from the center of the left and right sides of the support plate (14); four are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the output shaft end of the hydraulic motor; four are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the input end (19) of the gear transmission body (16); four are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the axial interface (22); four are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the output shaft end of the connecting plate (26); two are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the four input shaft ends of the connecting plate (26); and two are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the output shaft ends of the four groups of load cylinders (25).

10. The detection device for the rescue drilling rig hydraulic motor according to claim 9, characterized in that: The mechanical detection device (32) is arranged by adhesive fixation, used for measuring stress at various locations, and is controlled in series with the displacement sensor in sequence; the layout positions of the mechanical detection devices (32) are as follows: four are arranged symmetrically at a distance of 25 to 50 mm from the four sides of the structural box (11); two are arranged at a distance of 25 to 50 mm from the center of the left and right sides of the support plate (14); four are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the output shaft end of the hydraulic motor; four are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the input end (19) of the gear transmission body (16); four are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the axial interface (22); four are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the output shaft end of the connecting plate (26); two are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the four input shaft ends of the connecting plate (26); and two are evenly distributed along the circumferential direction at a distance of 25 to 50 mm from the output shaft ends of the four groups of load cylinders (25).

11. The detection device for the rescue drilling rig hydraulic motor according to claim 10, characterized in that: The temperature detection devices (33) are arranged by glue connection and fixed, and are used to measure the temperature at various locations. The temperature detection devices (33) are arranged in the following positions: four are arranged symmetrically at a distance of 50 to 100 mm from the four sides of the structural box (11); two are evenly arranged at a distance of 25 to 50 mm from the end face of the hydraulic pump (6); two are evenly arranged at a distance of 25 to 50 mm from the end face of the load sensing valve (8); four are evenly arranged along the circumferential direction at a distance of 25 to 50 mm from the end face of the hydraulic motor flange connection plate (26); and four are symmetrically arranged at a distance of 50 to 100 mm from the four sides of the ground of the hydraulic oil tank (9); The noise detection device (34) is arranged by adhesive fixation, used to measure noise at various locations, and is controlled in series with the temperature sensor in sequence; the layout positions of the noise detection devices (34) are as follows: four are symmetrically arranged at a distance of 50 to 100 mm from the four sides of the structural box (11); two are evenly arranged at a distance of 25 to 50 mm from the end face of the hydraulic pump (6); two are evenly arranged at a distance of 25 to 50 mm from the end face of the load sensitive valve (8); four are evenly arranged along the circumferential direction at a distance of 25 to 50 mm from the end face of the hydraulic motor flange connection plate (26); and four are symmetrically arranged at a distance of 50 to 100 mm from the four sides of the bottom surface of the hydraulic oil tank (9).

12. The detection device for the rescue drilling rig hydraulic motor according to claim 11, characterized in that: The input device (35) is used to collect and classify all data collected by the detection device (4); the controller (36) performs comprehensive calculation and analysis on all data sets, makes real-time judgments, and outputs the results to the output device (37); the output device (37) displays the results.

13. A method for data collection and processing using the detection device for the rescue drilling rig hydraulic motor according to claim 12, characterized in that: The method is based on the control module and includes: The input device collects and processes all the data: a sampling interval is selected, the amount of data collected within a fixed time is N, and the data set is cleaned and preprocessed, including removing duplicate data, processing missing values, and processing outliers; the remaining data set is then normalized, and the mean and variance corresponding to all data sets are calculated, and the mean and variance corresponding to the data sets collected by the flow detection device, pressure detection device, speed detection device, torque detection device, displacement detection device, mechanical detection device, temperature detection device, and noise detection device can be obtained respectively.

14. The method for data collection and processing using a detection device for a rescue drilling rig hydraulic motor according to claim 13, characterized in that: The mean and variance corresponding to the detection data of each detection device are summarized to obtain the characteristic coefficient AA of the flow detection device, the characteristic coefficient BB of the pressure detection device, the characteristic coefficient CC of the speed detection device, the characteristic coefficient DD of the torque detection device, the characteristic coefficient EE of the displacement detection device, the characteristic coefficient FF of the mechanical detection device, the characteristic coefficient GG of the temperature detection device, and the characteristic coefficient HH of the noise detection device.

15. The method for data collection and processing using a detection device for a rescue drilling rig hydraulic motor according to claim 14, characterized in that: The controller calculates the above characteristic coefficients to obtain the hydraulic discrimination coefficient M1, the rotation discrimination coefficient M2, the position discrimination coefficient N1 and the remaining discrimination coefficients N2: M1=z1AA+z2BB; M2=z3CC+z4DD In the formula: z1 and z2 are variable coefficients, both are real numbers between 0 and 1, and their sum is 1; z3 and z4 are variable coefficients, both are real numbers between 0 and 1; N1=z5EE+z6FF; N2=z7GG+z8HH In the formula: z5 and z6 are variable coefficients, both are real numbers between 0 and 1, and their sum is 1; z7 and z8 are variable coefficients, both are real numbers between 0 and 1.

16. A method for determining the state of a hydraulic motor using a detection device for a rescue drilling rig hydraulic motor according to any one of claims 1 to 12, characterized in that: The method is based on the data processing calculation results obtained by the method for collecting and processing data by the detection device for the rescue drilling rig hydraulic motor according to claim 15; including: The different working states of the standard specification large torque hydraulic motor were tested, including 100% comprehensive efficiency, 95% comprehensive efficiency, 90% comprehensive efficiency, 80% comprehensive efficiency and abnormal state. The detection device was used to collect data and calculate the critical discrimination coefficients corresponding to the five different states, that is, the hydraulic discrimination critical coefficients M 1a 、M 1b 、M 1c 、M 1d 、M 1e , and M 1a >M 1b >M 1c >M 1d >M 1e , the critical coefficients of rotation discrimination are M 2a 、M 2b 、M 2c 、M 2d 、M 2e , and M 2a >M 2b >M 2c >M 2d >M 2e , the position discrimination critical coefficients are N 1a 、N 1b 、N 1c 、N 1d 、N 1e , and N 1a >N 1b >N 1c >N 1d >N 1e , the other critical discriminant coefficients are N 2a 、N 2b 、N 2c 、N 2d 、N 2e , and N 2a >N 2b >N 2c >N 2d >N 2e ; The judgment rules are: By judging the calculated hydraulic discrimination coefficient M1 and the hydraulic discrimination critical coefficient M corresponding to the five different states 1a 、M 1b 、M 1c 、M 1d 、M 1e The shortest distance is used to determine the test state to which the hydraulic discrimination coefficient M1 belongs. Similarly, the rotation discrimination coefficient M2, the position discrimination critical coefficient N1 and the remaining discrimination critical coefficients N2 are used to determine the test states to which they belong. When three or four discrimination coefficients belong to the same test state, the motor is determined to be in that test state. When the above judgment conditions are not met, the absolute discrimination coefficient corresponding to each test state is calculated respectively, that is, the absolute discrimination coefficient T of 100% comprehensive efficiency a for: T a =x1(M1-M 1a ) 2 +x2(M2-M 2a ) 2 +x3(N1-N 1a ) 2 +x4(N2-N 2a ) 2 Where: x1, x2, x3, x4 are variable coefficients, all real numbers between 0 and 1, and their sum is 1; At the same time, the absolute discrimination coefficient T of 95% comprehensive efficiency is calculated b , absolute discrimination coefficient T for 90% comprehensive efficiency c , the absolute discrimination coefficient T of 80% comprehensive efficiency d , the absolute discrimination coefficient T of abnormal state e By comparing T a 、T b 、T c 、T d 、T e The smallest value is selected as the test state corresponding to the absolute discrimination coefficient.

17. A measuring method for a detection device for a rescue drilling rig hydraulic motor according to any one of claims 1 to 12, characterized in that: The method is based on the data collection and processing method of claim 15 and the discrimination method of claim 16; and comprises: Step 1: Check the connection form and structural dimensions of the hydraulic motor to be measured, and configure the corresponding hydraulic joints and hydraulic hoses. Connect the rescue drilling rig hydraulic motor to be measured to the structural box with bolts, and connect the oil inlet and outlet to the oil outlet of the load sensing valve through hydraulic hoses. Perform a test run to ensure that the hydraulic motor runs smoothly and reliably. Step 2: The rotary motion of the hydraulic motor is realized by the power device, and the rotation speed of the hydraulic motor is adjusted by the servo motor; the reciprocating motion of the hydraulic motor is realized by adjusting the feeding device, and the motion speed and direction are adjusted, and the load device is used for loading; Step 3: The load device loads the hydraulic motor through the rotary load device and the linear load device, and cooperates with the power device and the feed device to ensure that the hydraulic motor moves at the specified linear speed and rotation speed. The detection device collects the working parameters of the hydraulic motor and the components of the detection device in real time and transmits them to the control module; Step 4: The control module collects, classifies and filters all the data collected by the detection device, obtains the hydraulic discrimination coefficient M1 and the rotation discrimination coefficient M2, the position discrimination coefficient N1 and the remaining discrimination coefficient N2 through comprehensive calculation and analysis, and uses the corresponding judgment rules to judge the test state of the hydraulic motor to be tested, and obtains the working state of the hydraulic motor.

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