A detection device and method for a hydraulic motor of a rescue drilling machine

Abstract

The application discloses a detection device and method for a rescue drilling rig hydraulic motor, and 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 various working parameters of the hydraulic motor, and the control module is mainly used for processing various collected working parameters of the hydraulic motor, comprehensively analyzing and collecting, and quantitatively calculating and comparing, and finally completing comprehensive evaluation on the performance of the rescue drilling rig hydraulic motor. The application can guarantee the safety of operators, can realize self-measurement and real-time identification of working parameters of the hydraulic motor, can judge the test state of the hydraulic motor, and can complete comprehensive evaluation.

Description

TECHNICAL FIELD

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

[0002] Hydraulic drive has obvious advantages over traditional mechanical transmission, such as infinitely adjustable speed, quick and frequent start-stop, large starting torque, strong overload resistance and other output advantages. The hydraulic motor of the rescue drilling rig requires good low-speed stability, wide speed regulation range, large output torque, direct driving of equipment and no additional speed reducer, and is increasingly widely used. However, the detection of most rescue drilling rig hydraulic motors currently adopts no-load testing. Since load testing requires the installation of a test house, the setting of various actuators and loads, and the arrangement of various sensors for operation safety, there is no suitable load loader and universal sensor for testing, multiple working parameters cannot be collected simultaneously, and the detection capacity of existing detection equipment is limited, the detection effect is poor, real-time data processing and evaluation of the collected parameters cannot be performed, the performance of the rescue drilling rig hydraulic motor cannot be quantitatively evaluated and compared, and comprehensive evaluation cannot be completed. SUMMARY

[0003] In view of the problems in the prior art, the application provides a detection device and method for a rescue drilling rig hydraulic motor, which solves the problems of limited detection capacity of existing detection equipment, poor detection effect, inability to quantitatively evaluate and compare the performance of the rescue drilling rig hydraulic motor, and inability to complete comprehensive evaluation. The application can greatly improve the detection accuracy and evaluation standard of the detection equipment, improve the safety and evaluation efficiency of the overall detection, realize real-time detection of the rescue drilling rig hydraulic motor, autonomously measure the working capacity and efficiency of the hydraulic motor, real-time identify working parameters, judge the test state 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 the operator.

[0004] To solve the above technical problems, the application adopts the following technical solutions:

[0005] A detection device for a rescue drilling rig hydraulic motor, comprising 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 for the hydraulic motor to realize stepless speed change of the hydraulic motor; the power device comprises a hydraulic oil tank, a hydraulic pump, a servo motor, a load-sensitive valve, a starting cabinet and a structure box.

[0007] The feeding device is used for realizing forward and backward reciprocating movement of the hydraulic motor; comprising a rack, a guide rail, two groups of feeding oil cylinders and a supporting plate;

[0008] The load device is used for loading the hydraulic motor; comprising a gear transmission body, a rotary load device and a linear load device;

[0009] The detection device is used for accurately measuring various working parameters of the hydraulic motor; comprising a flow detection device, a pressure detection device, a rotating 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 for processing various collected data of the hydraulic motor, performing comprehensive analysis and calculation, and carrying out numerical quantitative evaluation to obtain the final evaluation effect; comprising an input device, a controller and an output device.

[0011] The application also comprises the following technical features:

[0012] Specifically, the hydraulic oil tank is used for providing a hydraulic oil source and is connected with the oil inlet of the hydraulic pump through a hydraulic rubber pipe; the servo motor provides power, and the output shaft thereof is connected with the input shaft of the hydraulic pump through a shaft coupling; the starting cabinet is used for starting and stopping the servo motor, and the output end thereof is connected with the input end of the servo motor through a cable; the hydraulic pump is used for providing high-pressure oil, and the oil outlet thereof is connected with the oil inlet of the load-sensitive valve; the load-sensitive valve is used for adjusting the size and direction of the high-pressure oil, and the output oil outlet thereof is connected with the oil inlet and the oil return of the hydraulic motor; the structural tank body is a tank structure formed by welding multiple groups of high-strength structural steel, is provided with a flange connecting disc and is used for fixing the hydraulic motor.

[0013] Specifically, the rack is formed by welding multiple groups of fixed square steels and is used for fixing the whole detection device; the guide rail is arranged on the rack; one end of the feeding oil cylinder is connected with the supporting plate, the other end thereof is connected with the rack, the reciprocating sliding of the supporting plate is realized, and the movement speed and direction can be adjusted; the supporting plate is arranged on the guide rail and can move along a straight line, is fixedly connected with the structural tank body through bolts, so that the structural tank body can move as required.

[0014] Specifically, the gear transmission body comprises an input end, a transmission body, an axial interface and a tangential interface; the input end is connected with the output shaft of the hydraulic motor through a shaft coupling, the output torque and rotating speed of the hydraulic motor are adjusted; the transmission body adopts a planetary gear transmission structure to realize transmission ratio adjustment;

[0015] The rotary load device comprises four groups of load motors and a transmission box; the output shafts of the four groups of load motors are connected with the input shaft of the transmission box through shaft couplings and are simultaneously driven to realize large-capacity torque output; the output shaft of the transmission box is connected with the tangential interface through a shaft coupling to realize rotary load control.

[0016] The linear load device comprises four groups of load oil cylinders and a connecting disc; the four groups of load oil cylinders are connected with the input shaft of the connecting disc and are driven simultaneously to realize large-capacity force output; the output shaft of the connecting disc is connected with the axial interface through a shaft coupling to realize linear load control.

[0017] Specifically, the flow detection devices are arranged in series by using hydraulic joints, and are used for measuring the flow at each position: one is arranged at a distance of 50-100 mm from the inlet and outlet of the hydraulic pump; one is arranged at a distance of 100-150 mm from each outlet of the load-sensitive valve; one is arranged at a distance of 20-50 mm from the inlet and outlet of the hydraulic motor; one is arranged at a distance of 20-50 mm from the inlet and outlet of the two groups of feeding oil cylinders; one is arranged at a distance of 20-50 mm from the inlet and outlet of the four groups of load motors; and one is arranged at a distance of 20-50 mm from the inlet and outlet of the four groups of load oil cylinders.

[0018] Specifically, the pressure detection devices are arranged in series by using hydraulic joints, and are used for measuring the pressure at each position: one is arranged at a distance of 50-100 mm from the inlet and outlet of the hydraulic pump; one is arranged at a distance of 100-150 mm from each outlet of the load-sensitive valve; one is arranged at a distance of 20-50 mm from the inlet and outlet of the hydraulic motor; one is arranged at a distance of 20-50 mm from the inlet and outlet of the two groups of feeding oil cylinders; one is arranged at a distance of 20-50 mm from the inlet and outlet of the four groups of load motors; and one is arranged at a distance of 20-50 mm from the inlet and outlet of the four groups of load oil cylinders.

[0019] Specifically, the rotation speed detection devices are arranged in a fixed concentric manner, and are used for measuring the rotation speed at each position: four are arranged at a distance of 150-200 mm from the output shaft end of the servo motor in the circumferential direction; four are arranged at a distance of 150-200 mm from the input shaft of the hydraulic pump in the circumferential direction; four are arranged at a distance of 50-100 mm from the output shaft end of the hydraulic motor in the circumferential direction; four are arranged at a distance of 50-100 mm from the input end of the gear transmission body in the circumferential direction; four are arranged at a distance of 50-100 mm from the tangential interface in the circumferential direction; four are arranged at a distance of 50-100 mm from the output shaft end of the transmission box in the circumferential direction; two are arranged at a distance of 50-100 mm from the four input shaft ends of the transmission box in the circumferential direction; and two are arranged at a distance of 50-100 mm from the output shafts of the four groups of load motors in the circumferential direction.

[0020] Specifically, the torque detection device adopts fixed concentric arrangement for measuring torque at each position, and is in series with the rotation speed sensor for control: four are evenly distributed along the circumferential direction at a distance of 150-200 mm from the output shaft end of the servo motor; four are evenly distributed along the circumferential direction at a distance of 150-200 mm from the input shaft of the hydraulic pump; four are evenly distributed along the circumferential direction at a distance of 50-100 mm from the output shaft end of the hydraulic motor; four are evenly distributed along the circumferential direction at a distance of 50-100 mm from the input end of the gear transmission body; four are evenly distributed along the circumferential direction at a distance of 50-100 mm from the tangential interface; four are evenly distributed along the circumferential direction at a distance of 50-100 mm from the output shaft end of the transmission; two are evenly distributed along the circumferential direction at a distance of 50-100 mm from the four input shaft ends of the transmission; and two are evenly distributed along the circumferential direction at a distance of 50-100 mm from the output shafts of the four groups of load motors.

[0021] Specifically, the displacement detection device adopts a fixed arrangement for measuring displacement at each position: four are symmetrically arranged at a distance of 25-50 mm from the four edges of the structure box; two are arranged at the center at a distance of 25-50 mm from the left and right edges of the support plate; four are evenly distributed along the circumferential direction at a distance of 25-50 mm from the output shaft end of the hydraulic motor; four are evenly distributed along the circumferential direction at a distance of 25-50 mm from the input end of the gear transmission body; four are evenly distributed along the circumferential direction at a distance of 25-50 mm from the axial interface; four are evenly distributed along the circumferential direction at a distance of 25-50 mm from the output shaft end of the connecting disc; two are evenly distributed along the circumferential direction at a distance of 25-50 mm from the four input shaft ends of the connecting disc; and two are evenly distributed along the circumferential direction at a distance of 25-50 mm from the output shaft ends of the four groups of load cylinders.

[0022] Specifically, the mechanical detection device adopts a fixed arrangement for measuring stress at each position: four are symmetrically arranged at a distance of 25-50 mm from the four edges of the structure box; two are arranged at the center at a distance of 25-50 mm from the left and right edges of the support plate; four are evenly distributed along the circumferential direction at a distance of 25-50 mm from the output shaft end of the hydraulic motor; four are evenly distributed along the circumferential direction at a distance of 25-50 mm from the input end of the gear transmission body; four are evenly distributed along the circumferential direction at a distance of 25-50 mm from the axial interface; four are evenly distributed along the circumferential direction at a distance of 25-50 mm from the output shaft end of the connecting disc; two are evenly distributed along the circumferential direction at a distance of 25-50 mm from the four input shaft ends of the connecting disc; and two are evenly distributed along the circumferential direction at a distance of 25-50 mm from the output shaft ends of the four groups of load cylinders.

[0023] Specifically, the temperature detection device is arranged by adhesive fixing, which is used to measure the temperature at the following positions: four symmetrically arranged positions at a distance of 50-100 mm from the four edges of the structure box; two symmetrically arranged positions at a distance of 25-50 mm from the end face of the hydraulic pump; two symmetrically arranged positions at a distance of 25-50 mm from the end face of the load-sensitive valve; four symmetrically arranged positions at a distance of 25-50 mm from the end face of the flange connecting disc of the hydraulic motor; and four symmetrically arranged positions at a distance of 50-100 mm from the four edges of the bottom surface of the hydraulic oil tank.

[0024] The noise detection device is arranged by adhesive fixing, which is used to measure the noise at the following positions: four symmetrically arranged positions at a distance of 50-100 mm from the four edges of the structure box; two symmetrically arranged positions at a distance of 25-50 mm from the end face of the hydraulic pump; two symmetrically arranged positions at a distance of 25-50 mm from the end face of the load-sensitive valve; four symmetrically arranged positions at a distance of 25-50 mm from the end face of the flange connecting disc of the hydraulic motor; and four symmetrically arranged positions at a distance of 50-100 mm from the four edges of the bottom surface of the hydraulic oil tank.

[0025] Specifically, the input device is used to collect and classify all the data collected by the detection device; the controller is used to comprehensively calculate and analyze all the data sets and make real-time judgments, and the output device is used to output the results.

[0026] A method for collecting and processing data by the detection device of the hydraulic motor of the rescue drilling rig, which is based on the control module and includes the following steps:

[0027] The input device collects and processes all the data: selects a sampling interval, collects data in a fixed time, and the amount of data collected is N; the data set is cleaned and preprocessed, including removing duplicate data, processing missing values, and processing abnormal values; then the remaining data set is normalized, and the mean and variance of all data sets are calculated, so that the mean and variance of the data sets collected by the flow detection device, the pressure detection device, the rotation speed detection device, the torque detection device, the displacement detection device, the mechanical detection device, the temperature detection device, and the noise detection device can be obtained, respectively;

[0028] Specifically, the mean and variance of the detection data of each detection device are summarized to obtain the characteristic coefficients AA of the flow detection device, the characteristic coefficients BB of the pressure detection device, the characteristic coefficients CC of the rotation speed detection device, the characteristic coefficients DD of the torque detection device, the characteristic coefficients EE of the displacement detection device, the characteristic coefficients FF of the mechanical detection device, the characteristic coefficients GG of the temperature detection device, and the characteristic coefficients 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 coefficient N2.

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

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

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

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

[0034] A rescue drilling rig hydraulic motor detection device for hydraulic motor state discrimination method, the method is based on the data processing calculation results obtained by the method of data collection processing of the rescue drilling rig hydraulic motor detection device; including:

[0035] Test the different working states of the standard specification large torque hydraulic motor, including 100% comprehensive efficiency, 95% comprehensive efficiency, 90% comprehensive efficiency, 80% comprehensive efficiency and abnormal state 5 states; use the detection device to collect data, and calculate the critical discrimination coefficients corresponding to different states, i.e. 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 rotation discrimination critical coefficients 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 , and the remaining discrimination 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 rule is:

[0036] The distance between the hydraulic discrimination coefficient M1 calculated by judgment and the hydraulic discrimination critical coefficient M 1a , M 1b , M 1c , M 1d , M 1e , wherein the shortest distance is the test state to which the hydraulic discrimination coefficient M1 belongs, and similarly, the rotational discrimination coefficient M2, the position discrimination critical coefficient N1 and the remaining discrimination critical coefficient N2 correspond to the test state 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, i.e., the absolute discrimination coefficient T a of 100% comprehensive efficiency is calculated as follows:

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

[0039] wherein x1, x2, x3, x4 are variable coefficients, all of which are real numbers between 0 and 1, and the sum is 1.

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

[0041] By comparing T a , T b , T c , T d , T eThe minimum value of each numerical value is selected as the test state corresponding to the absolute discriminant coefficient.

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

[0043] Step one: check the connection form and structure size of the hydraulic motor to be measured, configure the corresponding hydraulic connector and hydraulic hose, connect the rescue drilling rig hydraulic motor to be measured and the structure box through bolt fixation, connect the oil inlet and oil outlet with the load sensitive valve oil outlet through the hydraulic hose, and perform trial operation to ensure that the hydraulic motor operates stably and reliably.

[0044] Step two: realize the rotary motion of the hydraulic motor through the power device, and adjust the rotary speed of the hydraulic motor by using the servo motor; realize the reciprocating motion of the hydraulic motor by adjusting the feeding device, and adjust the motion speed and direction, and simultaneously load by using the load device;

[0045] Step three: the load device loads the hydraulic motor through the rotary load and the linear load, simultaneously cooperates with the power device and the feeding device to act, ensures that the hydraulic motor acts according to the specified linear speed and rotary speed, the detection device collects the working parameters of the hydraulic motor and each component of the detection device in real time, and transmits the working parameters to the control module.

[0046] Step four: the control module collects, classifies and filters all the data collected by the detection device, obtains the hydraulic discriminant coefficient M1 and the rotary discriminant coefficient M2, the position discriminant coefficient N1 and the remaining discriminant coefficient N2 through comprehensive calculation and analysis, judges the test state of the hydraulic motor to be tested by using the corresponding judgment rule, and obtains the working state of the hydraulic motor.

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

[0048] The detection device designed in the present application has high operation efficiency, wide application range, greatly reduces the construction personnel, can receive the working information of the hydraulic motor in real time, completes the quantitative evaluation on the performance of the rescue drilling rig hydraulic motor, and simultaneously realizes remote interactive adjustment by manual, has high automatic construction efficiency and high operation precision, realizes the measurement of the working capacity and various parameters of the hydraulic motor, realizes real-time identification of the working parameters of the hydraulic motor, judges the test state of the hydraulic motor, and simultaneously can quickly identify the working performance of the motor. BRIEF DESCRIPTION OF DRAWINGS

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

[0050] Figure 2is a schematic view of the power device from above.

[0051] Figure 3 is a schematic view of the power device from the front.

[0052] Figure 4 is a schematic view of the feeding device.

[0053] Figure 5 is a schematic view of the load device.

[0054] Figure 6 is a schematic view of the rotary load device from the front.

[0055] Figure 7 is a schematic view of the rotary load device from the side.

[0056] Figure 8 is a schematic view of the linear load device.

[0057] Figure 9 is a schematic view of the linear load device.

[0058] Figure 10 is a schematic view of the detection device.

[0059] Figure 11 is a schematic view of the control module.

[0060] The meanings of the various reference numbers in the figures are as follows:

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

[0062] The following gives a specific embodiment of the present application, and it should be noted that the present application is not limited to the following specific embodiment, and any equivalent transformation made on the basis of the technical scheme of the present application falls within the protection scope of the present application.

[0063] EMBODIMENT

[0064] AsFigures 1 to 11 The embodiment shown provides a detection device for a rescue drilling rig hydraulic motor, which comprises a power device 1, a feeding device 2, a load device 3, a detection device 4 and a control module 5.

[0065] The power device 1 is mainly used for providing power for the hydraulic motor to realize stepless speed change rotary motion of the hydraulic motor, and comprises a hydraulic oil tank 9, a hydraulic pump 6, a servo motor 7, a load-sensitive valve 8, a starting cabinet 10 and a structural box 11.

[0066] The feeding device 2 is mainly used for realizing forward and backward reciprocating motion of the hydraulic motor, and comprises a rack 12, a guide rail 13, two groups of feeding oil cylinders 15 and a supporting plate 14.

[0067] The load device 3 is mainly used for loading the hydraulic motor, and comprises a gear transmission body 16, a rotary load device 17 and a linear load device 18.

[0068] The detection device 4 is mainly used for accurately measuring various working parameters of the hydraulic motor, and comprises a flow detection device 27, a pressure detection device 28, a rotating 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 the hydraulic motor and each component of the detection device.

[0069] The control module 5 is mainly used for processing various collected data of the hydraulic motor, comprehensively analyzing and calculating, and quantitatively evaluating to obtain the final evaluation effect, and comprises an input device 35, a controller 36 and an output device 37.

[0070] The hydraulic oil tank 9 is mainly used for providing a hydraulic oil source, and is connected to an oil inlet of the hydraulic pump 6 through a hydraulic rubber pipe; the servo motor 7 is mainly used for providing power, and an output shaft thereof is connected to an input shaft of the hydraulic pump 6 through a shaft coupling; the starting cabinet 10 is mainly used for starting and stopping the servo motor 7, and an output end thereof is connected to an input end of the servo motor 7 through a cable; the hydraulic pump 6 is mainly used for providing high-pressure oil, and an oil outlet thereof is connected to an oil inlet of the load-sensitive valve 8; the load-sensitive valve 8 is used for adjusting the size and direction of the high-pressure oil, and an output oil inlet thereof is connected to an oil inlet and an oil return inlet of the hydraulic motor; the structural box 11 is a box structure formed by welding multiple groups of high-strength structural steel, is provided with a flange connecting disc 26, and is mainly used for fixing the hydraulic motor.

[0071] The rack 12 is fixed by welding a plurality of square steel, mainly used for fixing the whole detection device; the guide rail 13 is arranged on the fixed position of the rack 12, adopts V-shaped or rectangular structure, the length is a determined size, and a certain flatness and precision are ensured; one end of the feeding oil cylinder 15 is connected with the supporting plate 14, the other end is connected with the fixed position of the rack 12, the reciprocating sliding of the supporting plate 14 is realized, and the movement speed and direction can be adjusted; the supporting plate 14 is arranged on the guide rail 13 by using the clamping plate, and can move along the straight line, is fixedly connected with the structure box 11 by using the bolt, so that the structure box 11 is ensured to move 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 with the output shaft of the hydraulic motor through the shaft coupling, realizes the output torque and rotation speed adjustment of the hydraulic motor; the transmission body 20 adopts the planetary gear train transmission structure, realizes the transmission ratio adjustment; the axial interface 22 is connected with the output shaft of the connecting disc 26 of the linear load device 18; the tangential interface 21 is connected with the output shaft of the transmission box 24 of the rotating load device 17 through the shaft coupling.

[0073] The rotating load device 17 includes four groups of load motors 23 and transmission boxes 24; the output shafts of the four groups of load motors 23 are connected with the input shafts of the transmission boxes 24 through the shaft couplings, are driven at the same time, realizes the large-capacity torque output; the output shaft of the transmission box 24 is connected with the tangential interface 21 through the shaft coupling, realizes the rotating load control.

[0074] The linear load device 18 includes four groups of load oil cylinders 25 and connecting discs 26; one end of the four groups of load oil cylinders 25 is connected with the fixed position, the other end output shaft is connected with the input shaft of the connecting disc 26, is driven at the same time, realizes the large-capacity feeding force output; the output shaft of the connecting disc 26 is connected with the axial interface 22 through the shaft coupling, realizes the linear load control.

[0075] The flow detection devices 27 are all arranged in series in each device through the hydraulic joints, are used for measuring the flow at each place: each is arranged at 50-100mm from the oil inlet and oil outlet of the hydraulic pump 6, the collected data are recorded as A1, A2; each is arranged at 100-150mm from each oil outlet of the load-sensitive valve 8, the collected data are recorded as A3, A4; each is arranged at 20-50mm from the oil inlet and oil outlet of the hydraulic motor, the collected data are recorded as A5, A6; each is arranged at 20-50mm from the oil inlet and oil outlet of the two groups of feeding oil cylinders 15, the collected data are recorded as A7, A8, A9, A 10 ; each is arranged at 20-50mm from the oil inlet and oil outlet of the four groups of load motors 23, the collected data are recorded as A 11 , A 12 , A 13 , A 14 , A 15 , A 16, A 17 , A 18 ; each of the four groups of load cylinders 25 is arranged with one pressure sensor 20-50 mm away from the inlet and outlet, and the collected data is recorded as A 19 , A 20 ; each of the four groups of load cylinders 25 is arranged with one pressure sensor 20-50 mm away from the inlet and outlet, and the collected data is recorded as A 21 , A 22 ; each of the four groups of load cylinders 25 is arranged with one pressure sensor 20-50 mm away from the inlet and outlet, and the collected data is recorded as A 23 , A 24 ; each of the four groups of load cylinders 25 is arranged with one pressure sensor 20-50 mm away from the inlet and outlet, and the collected data is recorded as A 25 , A 26 .

[0076] The pressure detection devices 28 are all arranged in series with hydraulic joints into each device, and are sequentially controlled with the flow detection devices 27, for measuring the pressure at each place: one is arranged 50-100 mm away from the inlet and outlet of the hydraulic pump 6, and the collected data is recorded as B1, B2; one is arranged 100-150 mm away from each outlet of the load-sensitive valve 8, and the collected data is recorded as B3, B4; one is arranged 20-50 mm away from the inlet and outlet of the hydraulic motor, and the collected data is recorded as B5, B6; one is arranged 20-50 mm away from the inlet and outlet of each of the two groups of feeding cylinders 15, and the collected data is recorded as B7, B8, B9, B 10 ; one is arranged 20-50 mm away from the inlet and outlet of each 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 20-50 mm away from the inlet and outlet of each of the four groups of load cylinders 25, 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 rotation speed detection devices 29 are arranged in a fixed concentric manner, for measuring the rotation speed at each place: four are arranged 150-200 mm away from the output shaft end of the servo motor 7 along the circumferential direction, and the collected data is recorded as C1, C2, C3, C4; four are arranged 150-200 mm away from the input shaft of the hydraulic pump 6 along the circumferential direction, and the collected data is recorded as C5, C6, C7, C8; four are arranged 50-100 mm away from the output shaft end of the hydraulic motor along the circumferential direction, and the collected data is recorded as C9, C 10 , C 11 , C 12; Distance gear shift body 16 input end 1950~100mm along the circumferential direction of four, data collection is recorded as C 13 , C 14 , C 15 , C 16 ; Distance tangential interface 2150~100mm along the circumferential direction of four, data collection is recorded as C 17 , C 18 , C 19 , C 20 ; Distance gearbox 24 output shaft end 50~100mm along the circumferential direction of four, data collection is recorded as C 21 , C 22 , C 23 , C 24 ; Distance gearbox 24 four input shaft end 50~100mm along the circumferential direction of two, data collection is recorded as C 25 , C 26 , C 27 , C 28 , C 29 , C 30 , C 31 , C 32 ; Distance four groups of load motor 23 output shaft 50~100mm along the circumferential direction of two, data collection is recorded as C 33 , C 34 , C 35 , C 36 , C 37 , C 38 , C 39 , C 40 .

[0078] Torque detection device 30 adopts fixed concentric arrangement, for measuring the torque, and speed sensor in turn in series control: distance servo motor 7 output shaft end 150~200mm along the circumferential direction of four, data collection is recorded as D1, D2, D3, D4; Distance hydraulic pump 6 input shaft 150~200mm along the circumferential direction of four, data collection is recorded as D5, D6, D7, D8; Distance hydraulic motor output shaft end 50~100mm along the circumferential direction of four, data collection is recorded as D9, D 10 , D 11 , D 12 ; Distance gear shift body 16 input end 1950~100mm along the circumferential direction of four, data collection is recorded as D 13 , D 14 , D 15 , D 16 ; Distance tangential interface 2150~100mm along the circumferential direction of four, data collection is recorded as D 17 , D18 , D 19 , D 20 ; distance 50-100mm from the output shaft end of the gearbox 24, evenly distributed in the circumferential direction, data collection is recorded as D 21 , D 22 , D 23 , D 24 ; distance 50-100mm from the four input shaft end of the gearbox 24, evenly distributed in the circumferential direction, data collection is recorded as D 25 , D 26 , D 27 , D 28 , D 29 , D 30 , D 31 , D 32 ; distance 50-100mm from the output shaft of the four groups of load motor 23, evenly distributed in the circumferential direction, data collection 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 adhesive fixation, for measuring displacement: distance 25-50mm from the four edges of the structure box 11, symmetrically arranged four, data collection is recorded as E1, E2, E3, E4; distance 25-50mm from the center of the left and right edges of the supporting plate 14, arranged two, data collection is recorded as E5, E6; distance 25-50mm from the output shaft end of the hydraulic motor, evenly distributed in the circumferential direction, data collection is recorded as E7, E8, E9, E 10 ; distance 25-50mm from the input end of the gear transmission body 16, evenly distributed in the circumferential direction, data collection is recorded as E 11 , E 12 , E 13 , E 14 ; distance 25-50mm from the axial interface 22, evenly distributed in the circumferential direction, data collection is recorded as E 15 , E 16 , E 17 , E 18 ; distance 25-50mm from the output shaft end of the connecting disc 26, evenly distributed in the circumferential direction, data collection is recorded as E 19 , E 20 , E 21 , E 22 ; distance 25-50mm from the four input shaft end of the connecting disc 26, evenly distributed in the circumferential direction, data collection is recorded as E 23 , E 24 , E25 , E 26 , E 27 , E 28 , E 29 , E 30 ; two are evenly distributed in the circumferential direction at a distance of 25-50 mm from the output shaft end of the four sets of load oil cylinders 25, and the collected data are 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 and is used to measure the stress at each position. It is sequentially connected in series with the displacement sensor for control: four are symmetrically arranged at a distance of 25-50 mm from the four edges of the structure box 11, and the collected data are recorded as F1, F2, F3, and F4; two are arranged at the center at a distance of 25-50 mm from the left and right edges of the supporting plate 14, and the collected data are recorded as F5 and F6; four are evenly distributed in the circumferential direction at a distance of 25-50 mm from the output shaft end of the hydraulic motor, and the collected data are recorded as F7, F8, F9, and F 10 ; four are evenly distributed in the circumferential direction at a distance of 25-50 mm from the input end 19 of the gear transmission body 16, and the collected data are recorded as F 11 , F 12 , F 13 , F 14 ; four are evenly distributed in the circumferential direction at a distance of 25-50 mm from the axial interface 22, and the collected data are recorded as F 15 , F 16 , F 17 , F 18 ; four are evenly distributed in the circumferential direction at a distance of 25-50 mm from the output shaft end of the connecting disc 26, and the collected data are recorded as F 19 , F 20 , F 21 , F 22 ; two are evenly distributed in the circumferential direction at a distance of 25-50 mm from the four input shaft ends of the connecting disc 26, and the collected data are recorded as F 23 , F 24 , F 25 , F 26 , F 27 , F 28 , F 29 , F 30 ; two are evenly distributed in the circumferential direction at a distance of 25-50 mm from the output shaft end of the four sets of load oil cylinders 25, and the collected data are recorded as F 31 , F 32 , F 33 , F 34 , F35 36 37 38

[0081] Temperature detection device 33 is arranged by gluing and fixing, which is used for measuring temperature at each position: four are symmetrically arranged at a distance of 50-100mm from the four sides of the structure box 11, and the collected data are recorded as G1, G2, G3 and G4; two are evenly arranged at a distance of 25-50mm from the end surface of the hydraulic pump 6, and the collected data are recorded as G5 and G6; two are evenly arranged at a distance of 25-50mm from the end surface of the load-sensitive valve 8, and the collected data are recorded as G7 and G8; four are evenly arranged along the circumferential direction at a distance of 25-50mm from the end surface of the flange connecting disc 26 of the hydraulic motor, and the collected data are recorded as G9 and G 10 11 12 Four are symmetrically arranged at a distance of 50-100mm from the four sides of the hydraulic oil tank 9, and the collected data are recorded as G 13 14 15 16

[0082] Noise detection device 34 is arranged by gluing and fixing, which is used for measuring noise at each position and is sequentially connected with the temperature sensor for control: four are symmetrically arranged at a distance of 50-100mm from the four sides of the structure box 11, and the collected data are recorded as H1, H2, H3 and H4; two are evenly arranged at a distance of 25-50mm from the end surface of the hydraulic pump 6, and the collected data are recorded as H5 and H6; two are evenly arranged at a distance of 25-50mm from the end surface of the load-sensitive valve 8, and the collected data are recorded as H7 and H8; four are evenly arranged along the circumferential direction at a distance of 25-50mm from the end surface of the flange connecting disc 26 of the hydraulic motor, and the collected data are recorded as H9 and H 10 11 12 Four are symmetrically arranged at a distance of 50-100mm from the bottom surface of the hydraulic oil tank 9, and the collected data are recorded as H 13 14 15 16

[0083] The input device 35 is mainly used for collecting and classifying all the data collected by the detection device 4; the controller 36 comprehensively calculates and analyzes all the data sets and makes real-time judgment, and outputs the results to the output device 37; and the output device 37 mainly displays the results.

[0084] The embodiment also provides a method for collecting and processing data by the detection device for the hydraulic motor of the rescue drilling rig, which is based on a control module and includes the following steps:

[0085] ​​​​​​​​​​​​​​​​The input device collects and processes all data: selects a suitable sampling interval, collects a data set of N in a fixed time, cleans and pre-processes the data set, including removing duplicate data, handling missing values, handling outliers, etc.; then normalizes the remaining data set, calculates the mean and variance of all data sets, and then calculates the mean and variance of 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 of the data set collected by the flow detection device is A 10 , A 20 ,..., A 260 , and the variance of the collected data is A 1d , A 2d ,..., A 26d , the mean of the data set collected by the pressure detection device is B 10 , B 20 ,..., B 260 , and the variance of the collected data is B 1d , B 2d ,..., B 26d , the mean of the data set collected by the speed detection device is C 10 , C 20 ,..., C 400 , and the variance of the collected data is C 1d , C 2d ,..., C 40d , the mean of the data set collected by the torque detection device is D 10 , D 20 ,..., D 400 , and the variance of the collected data is D 1d , D 2d ,..., D 40d , the mean of the data set collected by the displacement detection device is E 10 , E 20 ,..., E 380 , and the variance of the collected data is E 1d , E 2d ,..., E 38d , the mean of the data set collected by the mechanical detection device is F 10 , F 20 ,..., F 380 , and the variance of the collected data is F 1d , F 2d ,..., F 38d , the mean of the data set collected by the temperature detection device is G 10 , G20 ,..., G 160 ,..., G 1d ,..., G 2d ,..., G 16d ,..., G 10 ,..., H 20 ,..., H 160 ,..., H 1d ,..., H 2d ,..., H 16d .

[0087] The mean and variance of 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 rotation 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] wherein σ 11 , σ 12 , σ 13 , σ 14 , σ 15 , σ 16 , σ 17 , σ 18 are weighting coefficients, the values of which are 0-1 and the sum of which is 1; ε 11 , ε 12 , ε 13 , ε 14 , ε 15 , ε 16 , ε 17 , ε 18 are variable coefficients, the values of which are determined according to the detection conditions and evaluation ability, and the values of which are 1-2;

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

[0092]

[0093] wherein σ 21 , σ 22 , σ 23 , σ 24 , σ 25 , σ 26 , σ 27 , σ 28are weighting coefficients, whose values are between 0 and 1, and the sum is 1; ε 21 , ε 22 , ε 23 , ε 24 , ε 25 , ε 26 , ε 27 , ε 28 are variable coefficients, whose values are between 1 and 2, according to the detection condition and the evaluation ability;

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

[0095]

[0096] In the formula: σ 31 , σ 32 , σ 33 , σ 34 , σ 35 , σ 36 , σ 37 , σ 38 are weighting coefficients, whose values are between 0 and 1, and the sum is 1; ε 31 , ε 32 , ε 33 , ε 34 , ε 35 , ε 36 , ε 37 , ε 38 are variable coefficients, whose values are between 1 and 2, according to the detection condition and the evaluation ability;

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

[0098]

[0099] In the formula: σ 41 , σ 42 , σ 43 , σ 44 , σ 45 , σ 46 , σ 47 , σ 48 are weighting coefficients, whose values are between 0 and 1, and the sum is 1; ε 41 , ε 42 , ε 43 , ε 44 , ε 45 , ε 46 , ε 47 , ε 48 are variable coefficients, whose values are between 1 and 2, according to the detection condition and the evaluation ability;

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

[0101]

[0102] wherein: σ 51 , σ 52 , σ 53 , σ 54 , σ 55 , σ 56 , σ 57 , σ 58 are weighting coefficients, taking values from 0 to 1, and summing to 1; ε 51 , ε 52 , ε 53 , ε 54 , ε 55 , ε 56 , ε 57 , ε 58 are variable coefficients, taking values from 1 to 2, depending on the detection conditions and the evaluation capacity;

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

[0104]

[0105] wherein: σ 61 , σ 62 , σ 63 , σ 64 , σ 65 , σ 66 , σ 67 , σ 68 are weighting coefficients, taking values from 0 to 1, and summing to 1; ε 61 , ε 62 , ε 63 , ε 64 , ε 65 , ε 66 , ε 67 , ε 68 are variable coefficients, taking values from 1 to 2, depending on the detection conditions and the evaluation capacity;

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

[0107]

[0108] wherein: σ 71 , σ 72 , σ 73 , σ 74 , σ 75 are weighting coefficients, taking values from 0 to 1, and summing to 1; ε 71 , ε 72 , ε 73 , ε74 , ε 75 is a variable coefficient, and is valued according to the detection condition and the evaluation ability, and the value is between 1 and 2;

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

[0110]

[0111] In the formula: σ 81 , σ 82 , σ 83 , σ 84 , σ 85 is a weighting coefficient, the value is between 0 and 1, and the sum is 1; ε 81 , ε 82 , ε 83 , ε 84 , ε 85 is a variable coefficient, and is valued according to the detection condition and the evaluation ability, and the value is between 1 and 2.

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

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

[0114] In the formula: z1, z2 are variable coefficients, both are real numbers between 0 and 1, and the sum is 1; z3, 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, z6 are variable coefficients, both are real numbers between 0 and 1, and the sum is 1; z7, z8 are variable coefficients, both are real numbers between 0 and 1.

[0117] The embodiment also provides a method for discriminating the state of a hydraulic motor of a rescue drilling rig by using a detection device for the hydraulic motor of the rescue drilling rig, which is based on the data processing calculation result obtained by the method for collecting and processing data of the detection device for the hydraulic motor of the rescue drilling rig; the method comprises the following steps:

[0118] Test different working states of a standard specification large torque hydraulic motor, the test states include 100% comprehensive efficiency, 95% comprehensive efficiency, 90% comprehensive efficiency, 80% comprehensive efficiency and abnormal state 5 states; use the detection device to collect data, and obtain the critical discrimination coefficients corresponding to different states, i.e. the hydraulic discrimination critical coefficients M 1a , M 1b , M1c , M 1d , M 1e , and M 1a >M 1b >M 1c >M 1d >M 1e , the rotation discrimination critical coefficient 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 coefficient N 1a , N 1b , N 1c , N 1d , N 1e , and N 1a >N 1b >N 1c >N 1d >N 1e , and the remaining discrimination critical coefficients N 2a , N 2b , N 2c , N 2d , N 2e , and N 2a >N 2b >N 2c >N 2d >N 2e ; the judgment rule is:

[0119] The distance between the hydraulic discrimination coefficient M1 calculated by the judgment and the hydraulic discrimination critical coefficients M 1a , M 1b , M 1c , M 1d , M 1e , wherein the shortest distance is the test state to which the hydraulic discrimination coefficient M1 belongs, and similarly, the rotation discrimination coefficient M2, the position discrimination critical coefficient N1, and the remaining discrimination critical coefficient N2 correspond to the test state to which they belong; when three or four discrimination coefficients belong to the same test state, the motor is determined to be in the test state;

[0120] When the above judgment conditions are not met, the absolute discrimination coefficient corresponding to each test state, i.e., the absolute discrimination coefficient T a of 100% comprehensive efficiency is calculated as follows:

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

[0122] In the formula: x1, x2, x3, x4 are variable coefficients, which are real numbers between 0 and 1, and the sum is 1;

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

[0124] By comparing the values of T a , T b , T v , T d , and T e , the minimum value is selected as the test state corresponding to the absolute discriminant coefficient.

[0125] The embodiment provides a measurement method of 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; the method comprises the following steps:

[0126] Step 1: check the connection form and structural size of the hydraulic motor to be measured, configure corresponding hydraulic connectors and hydraulic rubber pipes, connect the rescue drilling rig hydraulic motor to be measured and the structural box through bolt fixation, connect the oil inlet and oil outlet to the load-sensitive valve oil outlet through the hydraulic rubber pipes, and perform trial operation to ensure that the hydraulic motor operates stably and reliably.

[0127] Step 2: realize the rotary motion of the hydraulic motor through the power device, and adjust the rotary speed of the hydraulic motor by using a servo motor; realize the reciprocating motion of the hydraulic motor by adjusting the feeding device, and adjust the motion speed and direction, and simultaneously load by using the load device.

[0128] Step 3: the load device loads the hydraulic motor by rotating the load and the linear load, simultaneously cooperates with the power device and the feeding device to act, ensures that the hydraulic motor acts according to the specified linear speed and rotary speed, the detection device collects the working parameters of the hydraulic motor and each component of the detection device in real time, and transmits the working parameters to the control module.

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

[0130] The preferred embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited to the specific details in the above-described embodiments, and various simple modifications can be made to the technical solutions of the present application within the technical concept of the present application, and these simple modifications all belong to the protection scope of the present application.

[0131] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again by the present application.

[0132] In addition, various different embodiments of the present application can also be combined in any manner, as long as it does not deviate from the idea of the present application, and it should also be considered as disclosed by the present application.

Claims

1. A detection device for a hydraulic motor of a rescue drilling rig, characterized in that, Including power device (1), feed device (2), load device (3), detection device (4) and control module (5);Among them: The power device (1) is used to provide power for the hydraulic motor, realize the stepless speed change rotary motion of the hydraulic motor;Including hydraulic oil tank (9), hydraulic pump (6), servo motor (7), load sensitive valve (8), starting cabinet (10) and structure box (11); The feed device (2) is used to realize the forward and backward reciprocating motion of the hydraulic motor;Including rack (12), guide rail (13), two groups of feed oil cylinder (15), supporting plate (14): The load device (3) is used for loading the hydraulic motor;Including gear transmission body (16), rotary load (17) and linear load (18); The detection device (4) is used for accurate measurement of each working parameter of the hydraulic motor;Including flow detection device (27), pressure detection device (28), rotating speed detection device (29), torque detection device (30), displacement detection device (31), mechanical detection device (32), temperature detection device (33), noise detection device (34); The control module (5) is used for processing the collected data of the hydraulic motor, comprehensive analysis and calculation, and numerical quantitative evaluation, and the final evaluation effect is obtained;Including input device (35), controller (36) and output device (37); The gear transmission body (16) includes input end (19), transmission body (20), axial interface (22) and tangential interface (21);The input end (19) is connected with the output shaft of the hydraulic motor through the shaft coupling, realizes the output torque and rotating speed regulation of the hydraulic motor;The transmission body (20) adopts planetary gear train transmission structure, realizes the transmission ratio adjustment; The rotary load (17) includes four groups of load motor (23) and gearbox (24);The output shaft of the four groups of load motor (23) is connected with the input shaft of the gearbox (24) through the shaft coupling, and is driven at the same time, realizes the large capacity torque output;The output shaft of the gearbox (24) is connected with the tangential interface (21) through the shaft coupling, realizes the rotary load control; The linear load (18) includes four groups of load oil cylinder (25) and connecting disc (26);The four groups of load oil cylinder (25) are connected with the input shaft of the connecting disc (26) and are driven at the same time, realize the large capacity feed force output;The output shaft of the connecting disc (26) is connected with the axial interface (22) through the shaft coupling, realizes the linear load control.

2. The detection device for a hydraulic motor of a rescue drilling rig according to claim 1, characterized in that, The hydraulic oil tank (9) is used for providing a hydraulic oil source, and is connected with an oil inlet of the hydraulic pump (6) through a hydraulic rubber pipe; the servo motor (7) provides power, and an output shaft thereof is connected with an input shaft of the hydraulic pump (6) through a shaft coupling; the starting cabinet (10) is used for starting and stopping the servo motor (7), and an output end thereof is connected with an input end of the servo motor (7) through a cable; the hydraulic pump (6) is used for providing high-pressure oil, and an oil outlet thereof is connected with an oil inlet of the load-sensitive valve (8); the load-sensitive valve (8) is used for adjusting the size and direction of the high-pressure oil, and an output oil outlet thereof is connected with an oil inlet and an oil return of the hydraulic motor; the structural box (11) is a box structure welded by multiple groups of high-strength structural steel, and is provided with a flange connecting disc for fixing the hydraulic motor.

3. The detection device for a rescue rig hydraulic motor according to claim 1, characterized in that, The rack (12) is welded by multiple groups of fixed square steels, and is used for fixing the whole detection device; the guide rail (13) is arranged on the rack (12); the feeding oil cylinder (15) is connected with the supporting plate (14) at one end and connected with the rack (12) at the other end, so as to realize the reciprocating sliding of the supporting plate (14) and adjust the movement speed and direction; the supporting plate (14) is arranged on the guide rail (13) and can move linearly, and is fixedly connected with the structural box (11) by bolts, so as to ensure that the structural box (11) moves as required.

4. The detection device for a hydraulic motor of a rescue drilling rig according to claim 1, wherein The flow detection devices (27) are arranged in series by hydraulic joints, and are used for measuring the flow at each position; each flow detection device (27) is arranged at a position 50-100 mm away from the oil inlets and oil outlets of the hydraulic pump (6), at a position 100-150 mm away from each oil outlet of the load-sensitive valve (8), at a position 20-50 mm away from the oil inlets and oil outlets of the hydraulic motor, at a position 20-50 mm away from the oil inlets and oil outlets of the two groups of feeding oil cylinders (15), at a position 20-50 mm away from the oil inlets and oil outlets of the four groups of load motors (23), and at a position 20-50 mm away from the oil inlets and oil outlets of the four groups of load oil cylinders (25).

5. The detection device for a rescue rig hydraulic motor according to claim 4, characterized in that, The pressure detection devices (28) are arranged in series by hydraulic joints, and are used for measuring the pressure at each position; each pressure detection device (28) is arranged at a position 50-100 mm away from the oil inlets and oil outlets of the hydraulic pump (6), at a position 100-150 mm away from each oil outlet of the load-sensitive valve (8), at a position 20-50 mm away from the oil inlets and oil outlets of the hydraulic motor, at a position 20-50 mm away from the oil inlets and oil outlets of the two groups of feeding oil cylinders (15), at a position 20-50 mm away from the oil inlets and oil outlets of the four groups of load motors (23), and at a position 20-50 mm away from the oil inlets and oil outlets of the four groups of load oil cylinders (25).

6. The detection device for a rescue rig hydraulic motor according to claim 5, characterized in that, The rotation speed detection device (29) is arranged in a fixed concentric manner and is used for measuring rotation speeds at different positions. The rotation speed detection device (29) is arranged at positions 150-200 mm away from the output shaft end of the servo motor (7) and is evenly distributed in the circumferential direction; is arranged at positions 150-200 mm away from the input shaft of the hydraulic pump (6) and is evenly distributed in the circumferential direction; is arranged at positions 50-100 mm away from the output shaft end of the hydraulic motor and is evenly distributed in the circumferential direction; is arranged at positions 50-100 mm away from the input end (19) of the gear transmission body (16) and is evenly distributed in the circumferential direction; is arranged at positions 50-100 mm away from the tangential interface (21) and is evenly distributed in the circumferential direction; is arranged at positions 50-100 mm away from the output shaft end of the transmission box (24) and is evenly distributed in the circumferential direction; is arranged at positions 50-100 mm away from the four input shaft ends of the transmission box (24) and is evenly distributed in the circumferential direction; and is arranged at positions 50-100 mm away from the output shaft of the four groups of load motors (23) and is evenly distributed in the circumferential direction.

7. The detection device for a rescue rig hydraulic motor according to claim 6, characterized in that, The torque detection device (30) is arranged in a fixed concentric manner and is used for measuring torques at different positions. The torque detection device (30) is arranged at positions 150-200 mm away from the output shaft end of the servo motor (7) and is evenly distributed in the circumferential direction; is arranged at positions 150-200 mm away from the input shaft of the hydraulic pump (6) and is evenly distributed in the circumferential direction; is arranged at positions 50-100 mm away from the output shaft end of the hydraulic motor and is evenly distributed in the circumferential direction; is arranged at positions 50-100 mm away from the input end (19) of the gear transmission body (16) and is evenly distributed in the circumferential direction; is arranged at positions 50-100 mm away from the tangential interface (21) and is evenly distributed in the circumferential direction; is arranged at positions 50-100 mm away from the output shaft end of the transmission box (24) and is evenly distributed in the circumferential direction; is arranged at positions 50-100 mm away from the four input shaft ends of the transmission box (24) and is evenly distributed in the circumferential direction; and is arranged at positions 50-100 mm away from the output shaft of the four groups of load motors (23) and is evenly distributed in the circumferential direction.

8. The detection device for a rescue rig hydraulic motor according to claim 7, characterized in that, The displacement detection device (31) is arranged in a fixed concentric manner and is used for measuring displacements at different positions. The displacement detection device (31) is arranged at positions 25-50 mm away from the four edges of the structure box (11) and is symmetrically arranged; is arranged at positions 25-50 mm away from the left and right edges of the supporting plate (14) and is arranged at the center; is arranged at positions 25-50 mm away from the output shaft end of the hydraulic motor and is evenly distributed in the circumferential direction; is arranged at positions 25-50 mm away from the input end (19) of the gear transmission body (16) and is evenly distributed in the circumferential direction; is arranged at positions 25-50 mm away from the axial interface (22) and is evenly distributed in the circumferential direction; is arranged at positions 25-50 mm away from the output shaft end of the connecting disc (26) and is evenly distributed in the circumferential direction; is arranged at positions 25-50 mm away from the four input shaft ends of the connecting disc (26) and is evenly distributed in the circumferential direction; and is arranged at positions 25-50 mm away from the output shaft end of the four groups of load cylinders (25) and is evenly distributed in the circumferential direction.

9. The detection device for a rescue rig hydraulic motor according to claim 8, characterized in that, The mechanical detection device (32) is arranged by adhesive fixing, used for measuring stress, and is connected in series with the displacement sensor in sequence; the positions of the mechanical detection devices (32) are as follows: four are symmetrically arranged at a distance of 25-50 mm from the four edges of the structure box (11); two are arranged at the center of the left and right edges of the supporting plate (14) at a distance of 25-50 mm; four are evenly distributed along the circumferential direction at a distance of 25-50 mm from the output shaft end of the hydraulic motor; four are evenly distributed along the circumferential direction at a distance of 25-50 mm from the input end (19) of the gear transmission body (16); four are evenly distributed along the circumferential direction at a distance of 25-50 mm from the axial interface (22); four are evenly distributed along the circumferential direction at a distance of 25-50 mm from the output shaft end of the connecting disc (26); two are evenly distributed along the circumferential direction at a distance of 25-50 mm from the four input shaft ends of the connecting disc (26); and two are evenly distributed along the circumferential direction at a distance of 25-50 mm from the output shaft ends of the four groups of load cylinders (25).

10. The detection device for a rescue rig hydraulic motor according to claim 9, characterized in that, The temperature detection device (33) is arranged by adhesive fixing, used for measuring temperature; the positions of the temperature detection devices (33) are as follows: four are symmetrically arranged at a distance of 50-100 mm from the four edges of the structure box (11); two are evenly distributed at a distance of 25-50 mm from the end face of the hydraulic pump (6); two are evenly distributed at a distance of 25-50 mm from the end face of the load-sensitive valve (8); four are evenly distributed along the circumferential direction at a distance of 25-50 mm from the end face of the flange connecting disc (26) of the hydraulic motor; and four are symmetrically arranged at a distance of 50-100 mm from the four edges of the bottom face of the hydraulic oil tank (9). The noise detection device (34) is arranged by adhesive fixing, used for measuring noise, and is connected in series with the temperature sensor in sequence; the positions of the noise detection devices (34) are as follows: four are symmetrically arranged at a distance of 50-100 mm from the four edges of the structure box (11); two are evenly distributed at a distance of 25-50 mm from the end face of the hydraulic pump (6); two are evenly distributed at a distance of 25-50 mm from the end face of the load-sensitive valve (8); four are evenly distributed along the circumferential direction at a distance of 25-50 mm from the end face of the flange connecting disc (26) of the hydraulic motor; and four are symmetrically arranged at a distance of 50-100 mm from the four edges of the bottom face of the hydraulic oil tank (9).

11. The detection device for a rescue rig hydraulic motor according to claim 10, characterized in that, The input device (35) is used for collecting and classifying all data collected by the detection device (4); the controller (36) comprehensively calculates and analyzes all data sets and makes real-time judgment, and outputs the result to the output device (37); and the output device (37) displays the result.

12. A method of data collection and processing by the detection device of claim 11 for the hydraulic motor of a rescue rig, characterized in that, The method is based on the control module, and includes: The input device collects and processes all data: selects a sampling interval, collects data in a fixed time, and the amount of data collected is N, cleans and pre-processes the data set, including removing duplicate data, processing missing values, and processing abnormal values; then, the remaining data set is normalized, the mean and variance of all data sets are calculated, and then the mean and variance of the data set collected by the flow detection device, the pressure detection device, the rotation speed detection device, the torque detection device, the displacement detection device, the mechanical detection device, the temperature detection device, and the noise detection device are obtained, respectively.

13. The method of data collection and processing by the detection device for the hydraulic motor of the rescue rig according to claim 12, characterized in that, The mean value and variance corresponding to the detection data of each detection device are summarized to obtain characteristic coefficients of the flow detection device AA、 Characteristic coefficients of the pressure detection device BB、 Characteristic coefficients of the rotation speed detection device CC、 Characteristic coefficients of the torque detection device DD、 Characteristic coefficients of the displacement detection device EE、 Characteristic coefficients of the mechanical detection device FF、 Characteristic coefficients of the temperature detection device GG、 Characteristic coefficients of the noise detection device HH .

14. The method of data collection and processing by the detection device for the hydraulic motor of the rescue rig according to claim 13, characterized in that, The controller calculates the above characteristic coefficients to obtain hydraulic discrimination coefficients M 1 and rotation discrimination coefficients M 2, position discrimination coefficients N 1 and the remaining discrimination coefficients N 2: ； In the formula: , are variable coefficients, each being a real number between 0 and 1, and the sum is 1; , are variable coefficients, each being a real number between 0 and 1; ； In the formula: , are variable coefficients, each being a real number between 0 and 1, and the sum is 1; , are variable coefficients, each being a real number between 0 and 1.

15. A method for determining the state of a hydraulic motor of a rescue rig according to any one of claims 1 to 11, characterized in that, The method is based on the data processing calculation result of the data collection and processing method of the detection device for the rescue drilling rig hydraulic motor of claim 14; comprising: The different working states of the standard specification large torque hydraulic motor are tested, the test states include 100% comprehensive efficiency, 95% comprehensive efficiency, 90% comprehensive efficiency, 80% comprehensive efficiency and abnormal state five states for testing; the data acquisition is carried out by using the detection device, and the critical discrimination coefficients corresponding to the five different states are calculated, that is, the hydraulic discrimination critical coefficients are respectively M 1a 、 M 1b 、 M 1c 、 M 1d 、 M 1e , and M 1a > M 1b > M 1c > M 1d > M 1e , the rotation discrimination critical coefficients are respectively 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 respectively N 1a 、 N 1b 、 N 1c 、 N 1d 、 N 1e , and N 1a > N 1b > N 1c > N 1d > N 1e , and the remaining discrimination critical coefficients are respectively N 2a , N 2b 、 N 2c 、 N 2d 、 N 2e , and N 2a > N 2b > N 2c > N 2d > N 2e ; the judgment rule is: By judging the calculated hydraulic discriminant coefficient M 1. Hydraulic discrimination critical coefficients corresponding to five different states M 1a , M 1b , M 1c , M 1d , M 1e The distance between the values ​​is used to determine the hydraulic discrimination coefficient, with the shortest distance being the closest. M Similarly, for the test state to which 1 belongs, the rotation discrimination coefficient can be obtained. M 2. Position discrimination coefficient N 1 and other discriminant coefficients N 2. The corresponding test states; when three or four discrimination coefficients belong to the same test state, the motor is judged to be in that test state. When the above judging condition is not satisfied, the absolute discrimination coefficients corresponding to each test state are calculated, i.e. the absolute discrimination coefficients of 100% comprehensive efficiency is: wherein: , , , are variable coefficients, each being a real number between 0 and 1, and the sum of which is 1; The absolute discrimination coefficient of 95% comprehensive efficiency is calculated The absolute discrimination coefficient of 90% comprehensive efficiency is calculated The absolute discrimination coefficient of 80% comprehensive efficiency is calculated The absolute discrimination coefficient of abnormal state is calculated By comparing , , , , The minimum value is selected as the test state corresponding to the absolute discrimination coefficient.

16. A measuring method of the detection device for the hydraulic motor of the rescue drilling rig according to any one of claims 1 to 11, characterized in that, The method is based on the data collection and processing method of claim 14 and the discrimination method of claim 15; comprising: Step one: check the connection form and structure size of the hydraulic motor to be measured, configure the corresponding hydraulic connector and hydraulic rubber pipe, connect the rescue drilling rig hydraulic motor to be measured with the structure box through bolt fixation, connect the oil inlet and oil outlet with the load sensitive valve oil outlet through the hydraulic rubber pipe, and perform trial operation to ensure stable and reliable operation of the hydraulic motor; Step two: realize the rotary motion of the hydraulic motor through the power device, and adjust the rotary speed of the hydraulic motor by using the servo motor; realize the reciprocating motion of the hydraulic motor by adjusting the feeding device, and adjust the motion speed and direction, and simultaneously load by using the load device; Step three: the load device loads the hydraulic motor through the rotary load and linear load, simultaneously cooperates with the power device and the feeding device to act, ensures the hydraulic motor to act according to the specified linear speed and rotary speed, the detection device real-time collects the working parameters of each part of the hydraulic motor and the detection device, and transmits to the control module; Step four: the control module collects, classifies and filters all data collected by the detection device, and obtains the hydraulic discrimination coefficient through comprehensive calculation and analysis M 1 and the rotation discrimination coefficient M 2, the position discrimination coefficient N 1 and the remaining discrimination coefficients N 2, the corresponding judgment rule is used to judge the test state of the hydraulic motor to be tested, and the working state of the hydraulic motor is obtained.

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