Supporting shoe type bundling down-the-hole hammer for pilot shaft excavation of long inclined shaft and excavation method

Abstract

The invention provides a gripper shoe type cluster down-the-hole hammer for excavation of a pilot shaft of a long inclined shaft and an excavation method. The gripper shoe type cluster down-the-hole hammer comprises a fixed column, a drill rod is arranged in the fixed column, and a crushing cutterhead is arranged at the end of the drill rod and located at the end of the fixed column; a plurality of walking supporting mechanisms and a plurality of supporting shoe mechanisms are arranged on the fixed column; the supporting shoe mechanism is used for supporting, adjusting and moving the fixing column, and the walking supporting mechanism is used for auxiliary supporting and adjusting. Equipment self-walking and equipment angle adjustment are completed through combined action of the walking supporting mechanism and the gripper shoe mechanism, ultra-deep inclined shaft construction can be conveniently completed at a time, efficiency is higher, operation is more convenient, construction straightness is guaranteed, and deflection is avoided; in the excavation process, the excavation direction is monitored in real time, the excavation angle is adjusted in real time, the excavation quality is guaranteed, and follow-up construction is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of long inclined shaft pilot shaft excavation, and particularly relates to a support-boot type cluster down-the-hole hammer for long inclined shaft pilot shaft excavation and an excavation method. Background Art

[0002] The construction of a pumped-storage inclined shaft is a key link in the construction of a pumped-storage power station. It mainly involves excavating an inclined passage in a mountain or underground to connect the upper reservoir and the lower reservoir, so as to realize the water body transportation during the process of electric energy storage and release.

[0003] At present, the mature construction methods for pumped-storage inclined shafts include the full-face construction method, the raise boring method and the drill and blast method. Among them, the full-face construction method usually uses an open-type TBM or a shield machine, but the investment cost is huge when used.

[0004] The raise boring method and the drill and blast method have certain advantages in terms of technical maturity. The general working process is to first install a raise boring machine at the top of the inclined shaft to drill a pilot hole, and then ream the hole from bottom to top to form a pilot shaft. However, due to factors such as its own equipment technology and the gravity of the drill pipe, the drill pipe of the raise boring machine will deviate from the movement track when encountering hard rock during the construction process, which cannot guarantee the straightness and deviation rate of the inclined shaft pilot shaft, resulting in the one-time construction distance not exceeding 400 meters. For ultra-deep inclined shafts, a horizontal tunnel needs to be used for transition, and the crushing efficiency is low, and the drill pipe is easy to break, increasing the construction difficulty and cost. Summary of the Invention

[0005] The main purpose of the present invention is to provide a support-boot type cluster down-the-hole hammer for long inclined shaft pilot shaft excavation and an excavation method, so as to solve the problems of the support-boot type cluster down-the-hole hammer for long inclined shaft pilot shaft excavation and the excavation method.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A support-boot type cluster down-the-hole hammer for long inclined shaft pilot shaft excavation, including a fixed column. A drill pipe is arranged inside the fixed column, and a crushing cutter head is arranged at the end of the drill pipe. The crushing cutter head is located at the end of the fixed column;

[0008] A plurality of walking support mechanisms and a plurality of support-boot mechanisms are arranged on the fixed column;

[0009] The support-boot mechanism is used to support, adjust and move the fixed column, and the walking support mechanism is used for auxiliary support and adjustment.

[0010] In a preferred solution, a plurality of rolling cutters and a plurality of impact hammers are arranged on the end face of the crushing cutter head.

[0011] In a preferred solution, the support-boot mechanism includes a movable sleeve slidably sleeved outside the fixed column, and fixed seats are arranged on both sides of the movable sleeve, and the fixed seats are symmetrically arranged;

[0012] The fixed seat is provided with a third oil cylinder, and the output end of the third oil cylinder is provided with a supporting shoe;

[0013] On both sides of the fixed column, there are several first connecting blocks, and on the side surface of the supporting shoe, there are several second connecting blocks;

[0014] A fourth oil cylinder is arranged between the first connecting block and the second connecting block, and the fourth oil cylinder is hinged to the first connecting block and the second connecting block.

[0015] In a preferred solution, the walking support mechanism includes a fixed sleeve fixedly connected to the fixed column, and on both sides of the fixed sleeve, there are first oil cylinders;

[0016] One end of the first oil cylinder is connected to the fixed sleeve through a hinge shaft, and the other end is connected with a supporting plate through a hinge shaft;

[0017] On the side of the fixed sleeve away from the supporting plate, there is a second oil cylinder, and the output end of the second oil cylinder is provided with a top plate.

[0018] In a preferred solution, at one end of the fixed column away from the crushing cutter head, there is a monitoring structure for monitoring the movement track;

[0019] Among them, the monitoring structure includes a fixed frame and several first signal transmitters arranged at the end of the fixed column;

[0020] On the side of the fixed frame close to the fixed column, there is a first signal receiving board;

[0021] On the side of the fixed frame away from the fixed column, there is a connecting plate, the connecting plate is provided with a fixing plate, and the fixing plate is provided with several mounting holes;

[0022] On the side of the fixed frame away from the fixed column, there are two fixing blocks, the two fixing blocks are movably connected to the connecting plate, and the connecting plate is located between the two fixing blocks;

[0023] One side of the connecting plate is connected to one of the fixing blocks through a damping shaft, on the other side of the connecting plate, there is a threaded rod, the threaded rod passes through the other fixing block, and the part of the threaded rod in contact with the fixing block is not threaded and is a cylindrical rod body, and the threaded rod is coaxial with the damping shaft;

[0024] A knob is threadedly connected to the threaded rod;

[0025] At the end of the fixed column, there is a second signal receiving board, and on the side of the fixed frame close to the fixed column, there is a second signal transmitter;

[0026] The second signal receiving board is located at the center of the end face of the fixed column, and the second signal transmitter is located at the center of the first signal receiving board;

[0027] On both the first signal receiving board and the second signal receiving board, there are several signal receivers.

[0028] A method for excavating a long inclined shaft pilot shaft is as follows:

[0029] S1. Plan the excavation direction and position of the long inclined shaft pilot shaft, and use a drilling rig to excavate the initial section of the pilot shaft at the excavation position.

[0030] S2. Remove the drilling rig, the down-the-hole hammer enters the initial section of the pilot shaft, and install the monitoring mechanism.

[0031] S3. The down-the-hole hammer excavates, and the excavation direction is monitored and controlled in real time through the monitoring mechanism.

[0032] S4. The excavation is completed.

[0033] In the preferred solution, S2 includes:

[0034] S21. Adjust the angle of the fixing frame, and start the first signal transmitter and the second signal transmitter.

[0035] S22. The first signal receiving board receives the signal transmitted by the first signal transmitter, so that the position where the first signal receiving board receives the signal corresponds one-to-one with the position of the first signal transmitter.

[0036] S23. Make the central position of the second signal receiving board receive the signal transmitted by the second signal transmitter.

[0037] S24. Fix the position of the fixing frame, and the control system records the initial position data.

[0038] In the preferred solution, S3 includes:

[0039] S31. Every time interval Δt, collect the signal strength and position information received by each signal receiver on the first signal receiving board and the second signal receiving board.

[0040] Let the signal strength of the j-th signal receiver on the first signal receiving board collected at the i-th time step be The position coordinate is

[0041] The signal strength of the k-th signal receiver on the second signal receiving board is The position coordinate is

[0042] S32. Preprocess the collected signal data to remove noise and outliers.

[0043] S33. Define the deviation vectors of the signal receiving positions on the first signal receiving board and the second signal receiving board relative to the initial position.

[0044] The deviation vector of the j-th signal receiver on the first signal receiving board is

[0045] The deviation vector of the k-th signal receiver on the second signal receiving board is

[0046] where and are the initial position coordinates respectively;

[0047] Taking into account the deviation vectors of all signal receivers, calculate the overall direction deviation index θ, and make the direction deviation index at the current time step be θ i ;

[0048] S34. Construct a multi-layer perceptron (MLP) neural network model;

[0049] S35. According to the direction deviation index θ i+1 predicted by the neural network model for the next time step, combined with the current direction deviation index θ i , calculate the correction angle Δθ to be adjusted;

[0050]

[0051] where K p 、K i and K d are the proportional, integral and differential coefficients respectively;

[0052] According to the calculated correction angle Δθ, adjust the actions of the support shoe mechanism and the walking support mechanism, so as to change the excavation direction of the down-the-hole hammer and achieve real-time correction.

[0053] In the preferred solution, in S32, the sliding average filtering algorithm is adopted to smooth the signal strength. For the signal strength of the j-th signal receiver on the first signal receiving board, the filtered signal strength is:

[0054]

[0055] For the signal strength of the k-th signal receiver on the second signal receiving board, the filtered signal strength is:

[0056]

[0057] where n is the size of the sliding window;

[0058] In S33, calculate the deviation angle θ S of the signal receiving board, and adopt the weighted average method, and the weights are determined according to the signal strength:

[0059]

[0060] where N1 and N 2 are the numbers of signal receivers on the first signal receiving board and the second signal receiving board respectively;

[0061] The comprehensive direction deviation index θ = θ S ;

[0062] In S34, construct a multi-layer perceptron (MLP) neural network model, and use the direction deviation index θ at the current time step i , the direction deviation indexes θ at the previous m time steps i-1 , θ i-2 , …, θ i-m and data such as signal strength as inputs to predict the direction deviation index θ at the next time step i+1 ;

[0063] The input layer of the neural network has m + 2 neurons, the hidden layer is set with h neurons, the output layer has 1 neuron, the activation function of the hidden layer adopts the ReLU function, and the output layer adopts the linear activation function;

[0064] Use historical data to train the neural network model, and use the stochastic gradient descent algorithm to update the parameters; the training objective is to minimize the mean square error between the predicted value and the actual value:

[0065]

[0066] where T is the number of training data, is the predicted direction deviation index, is the actual direction deviation index.

[0067] In the preferred solution, in S3, use a laser rangefinder to measure the distance data between the down-the-hole hammer and the guide shaft wall, and let the laser ranging data collected at the i-th time step be L i , representing the straight-line distance between the down-the-hole hammer and the guide shaft wall;

[0068] In S32, perform filtering processing on the laser ranging data L i to obtain the smoothed ranging data

[0069]

[0070] In S33, calculate the deviation angle θ between the down-the-hole hammer and the guide shaft wall according to the laser ranging data l :

[0071]

[0072] where R is the designed radius of the guide shaft;

[0073] The deviation angle θ of the signal receiving board s and the deviation angle θ of the laser ranging l are weighted and fused to obtain a comprehensive direction deviation index θ:

[0074] θ = w s ·θ s + w l ·θ l ;

[0075] where w s and w l are the weight coefficients of the signal receiving board and the laser ranging respectively, and satisfy w s + w l = 1.

[0076] The present invention provides a support-boot type cluster down-the-hole hammer and an excavation method for long inclined shaft pilot shaft excavation. By adopting the above scheme, the following beneficial effects are achieved:

[0077] 1. The walking support mechanism and the support-boot mechanism cooperate to complete the self-walking of the equipment, which is convenient for completing the construction of ultra-deep inclined shafts at one time, with higher efficiency and more convenient operation.

[0078] 2. The walking support mechanism and the support-boot mechanism cooperate to complete the angle adjustment of the equipment, ensuring the straightness of the construction and avoiding skew.

[0079] 3. The crushing cutter head adopts a combined structure design of hob and impact hammer. On the one hand, the hob quickly cuts into the rock mass to form micro-cracks, and on the other hand, the impact hammer impacts the rock mass to accelerate the crack propagation of a single hob, and at the same time connects the cracks between numerous hobs to form volume damage, greatly improving the crushing efficiency;

[0080] 4. The deviation correction action is automatically completed during the excavation process, without manual adjustment, with more convenient operation and higher efficiency.

[0081] 5. The excavation direction is monitored in real time during the excavation process, and the excavation angle is adjusted in real time, ensuring the quality of the excavation and facilitating subsequent construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] The following further describes the present invention with reference to the drawings and embodiments:

[0083] Figure 1 is a schematic structural diagram of the present invention;

[0084] Figure 2 is a schematic structural diagram of the present invention;

[0085] Figure 3 is a front view structural diagram of the present invention;

[0086] Figure 4It is a schematic structural diagram of the support shoe mechanism described in the present invention;

[0087] Figure 5 It is a schematic structural diagram of the walking support mechanism described in the present invention;

[0088] Figure 6 It is a schematic structural diagram of the monitoring mechanism described in the present invention;

[0089] Figure 7 It is a schematic cross-sectional structural diagram of the monitoring mechanism described in the present invention;

[0090] Figure 8 It is a schematic structural diagram of the end face of the crushing cutter head of the present invention.

[0091] In the figure:

[0092] Fixed column 1, crushing cutter head 2, hob 201, impact hammer head 202, walking support mechanism 3, fixed sleeve 301, first oil cylinder 302, support plate 303, hinge shaft 304, second oil cylinder 305, top plate 306, support shoe mechanism 4, movable sleeve 401, fixed seat 402, third oil cylinder 403, support shoe 404, first connecting block 405, second connecting block 406, fourth oil cylinder 407, drill pipe 5, monitoring mechanism 6, first signal transmitter 601, fixed frame 602, first signal receiving board 603, connecting plate 604, fixing plate 605, mounting hole 606, fixing block 607, damping shaft 608, threaded rod 609, knob 610, second signal receiving board 611, second signal transmitter 612. Detailed implementation manners

[0093] Embodiment 1:

[0094] As Figure 1 、 2 、3, 4, 5 and 8 show, a support shoe type clustered down-the-hole hammer for long inclined shaft pilot shaft excavation, including a fixed column 1, a drill pipe 5 is arranged inside the fixed column 1. During use, the drill pipe 5 is connected to an external power source. The drill pipe 5 preferably adopts an existing pneumatic drill pipe. A crushing cutter head 2 is arranged at the end of the drill pipe 5, and the crushing cutter head 2 is located at the end of the fixed column 1;

[0095] During use, the drill pipe 5 starts to drive the crushing cutter head 2 to rotate, and the crushing cutter head 2 works for excavation.

[0096] In a preferred embodiment, a plurality of hob cutters 201 and a plurality of impact hammers 202 are provided on the end face of the crushing cutter head 2; during the rotation and advancement of the down-the-hole hammer, the hob cutters 201 first come into contact with the rock. As the crushing cutter head 2 rotates, the hob cutters 201 roll on the rock surface, exerting extrusion and shearing forces on the rock to form initial fragmentation and tiny cracks. The impact hammers 202 periodically impact the rock during the rotation of the crushing cutter head 2 to further fragment the rock, connecting the cracks between numerous hob cutters to form volumetric damage, greatly improving the fragmentation efficiency. The impact hammers 202 and the hob cutters 201 adopt existing structures, and the impact hammers 202 are preferably hammers driven by an electric motor.

[0097] Based on the relationship among the size of the transition region of the crushing cutter head 2, the radius of the transition arc, and the range of the installation inclination angle, the profile of its cross-section is determined. Based on the principle of equal life, the polar radii of the center cutter and the positive cutter are arranged. Based on the principle of equal wear, the inclination angle of the side cutter is arranged to improve the fragmentation performance of the cutter and extend the service life of the cutter.

[0098] In a further embodiment, a plurality of traveling support mechanisms 3 and a plurality of shoe support mechanisms 4 are provided on the fixed column 1;

[0099] The shoe support mechanism 4 is used to support, adjust, and move the fixed column 1, and the traveling support mechanism 3 is used for auxiliary support and adjustment.

[0100] Among them, the shoe support mechanism 4 includes a movable sleeve 401 slidably sleeved outside the fixed column 1. Fixed seats 402 are provided on both sides of the movable sleeve 401, and the fixed seats 402 are symmetrically arranged;

[0101] The fixed seat 402 is provided with a third oil cylinder 403. The output end of the third oil cylinder 403 is provided with a shoe 404. The third oil cylinder 403 is an existing oil cylinder and is connected and controlled in an existing manner;

[0102] A plurality of first connection blocks 405 are provided on both sides of the fixed column 1, and a plurality of second connection blocks 406 are provided on the side surface of the shoe 404;

[0103] A fourth oil cylinder 407 is provided between the first connection block 405 and the second connection block 406. The fourth oil cylinder 407 is hinged to the first connection block 405 and the second connection block 406. The fourth oil cylinder 407 is an existing oil cylinder and is connected and controlled in an existing manner.

[0104] During use, when it is necessary to fix the position of the down-the-hole hammer, the third oil cylinder 403 is supplied with oil through the hydraulic system, causing its piston rod to extend, pushing the support shoes 404 into close contact with the well wall, and providing a stable supporting force. If it is necessary to adjust the angle or direction of the fixing column 1, control the expansion and contraction of the third oil cylinder 403, and the third oil cylinder 403 cooperates. For example, when it is necessary to tilt the fixing column 1 to one side, the third oil cylinder 403 on one side extends, and the third oil cylinder 403 on the other side contracts, realizing the adjustment of the position of the fixing column 1. The front and rear support shoe mechanisms 4 cooperate with each other, and the distance subsidy corresponding to the expansion and contraction of the third oil cylinder 403 can realize the adjustment of the angle of the fixing column 1.

[0105] Further, the traveling support mechanism 3 includes a fixed sleeve 301 fixedly connected to the fixing column 1, and first oil cylinders 302 are provided on both sides of the fixed sleeve 301;

[0106] One end of the first oil cylinder 302 is connected to the fixed sleeve 301 through a hinge shaft 304, and the other end is connected to a support plate 303 through a hinge shaft 304;

[0107] A second oil cylinder 305 is provided on the side of the fixed sleeve 301 away from the support plate 303, and a top plate 306 is provided at the output end of the second oil cylinder 305.

[0108] During use, when the first oil cylinder 302 and the second oil cylinder 305 extend to make the support plate 303 and the top plate 306 abut against the guide well wall, the support and stability of the down-the-hole hammer can be completed. At the same time, by controlling the lengths of different first oil cylinders 302 and second oil cylinders 305, the height and angle of the fixing column 1 can be controlled. Combined with the adjustment of the support shoe mechanism 4, the direction of the down-the-hole hammer can be controlled. The cooperation between the oil cylinders during specific angle changes is controlled by the existing method in combination with the following method.

[0109] When the down-the-hole hammer needs to move, first, the support shoes 404 provide a supporting force, then the first oil cylinder 302 and the second oil cylinder 305 are retracted to make the support plate 303 and the top plate 306 away from the guide well wall, and then the fourth oil cylinder 407 is extended, which can push the fixing column 1 and the connected cutting head 2 to slide forward relative to the movable sleeve 401, thus completing the movement of the down-the-hole hammer, and then the first oil cylinder 302 and the second oil cylinder 305 are reset to be stable again.

[0110] The first oil cylinder 302, the second oil cylinder 305, the third oil cylinder 403, and the fourth oil cylinder 407 are all existing oil cylinders that can stop immediately.

[0111] In a further embodiment, as Figure 1 、 2 、shown in 6 and 7, a monitoring structure 6 is provided at one end of the fixing column 1 away from the cutting head 2 for monitoring the movement track;

[0112] Among them, the monitoring structure 6 includes a fixing frame 602 and a plurality of first signal transmitters 601 arranged at the end of the fixing column 1;

[0113] On one side of the fixing frame 602 close to the fixing column 1, a first signal receiving board 603 is provided;

[0114] On the side of the fixing frame 602 away from the fixing column 1, a connecting plate 604 is provided. The connecting plate 604 is provided with a fixing plate 605, and the fixing plate 605 is provided with a plurality of mounting holes 606;

[0115] The fixing plate 605 is installed on an existing support frame set on the ground, such as a scaffolding or other frame. It is possible to fix the fixing plate 605 to the frame by using screws to pass through the mounting holes 606. The frame needs to be ensured to be stable.

[0116] On the side of the fixing frame 602 away from the fixing column 1, two fixing blocks 607 are provided. The two fixing blocks 607 are movably connected to the connecting plate 604, and the connecting plate 604 is located between the two fixing blocks 607;

[0117] One side of the connecting plate 604 is connected to one of the fixing blocks 607 through a damping shaft 608. On the other side of the connecting plate 604, a threaded rod 609 is provided. The threaded rod 609 passes through the other fixing block 607. The part of the threaded rod 609 in contact with the fixing block 607 is not threaded and is a cylindrical rod body. The threaded rod 609 is coaxial with the damping shaft 608;

[0118] A knob 610 is threadedly connected to the threaded rod 609. After adjusting the angle of the first signal receiving board 603, tighten the knob 610 to clamp and fix the fixing block 607 by the knob 610 and the connecting plate 604 to complete the fixation. Conversely, the fixation can be cancelled;

[0119] At the end of the fixing column 1, a second signal receiving board 611 is provided. On the side of the fixing frame 602 close to the fixing column 1, a second signal transmitter 612 is provided;

[0120] The second signal receiving board 611 is located at the center of the end face of the fixing column 1, and the second signal transmitter 612 is located at the center of the first signal receiving board 603;

[0121] A plurality of signal receivers are provided on both the first signal receiving board 603 and the second signal receiving board 611. The signal receivers are preferably photodiodes.

[0122] Among them, the first signal transmitter 601 and the second signal transmitter 612 are preferably signal transmitters with a high range, such as a laser transmitter and an infrared laser transmitter, etc.

[0123] Embodiment 2:

[0124] A long inclined shaft pilot shaft excavation method includes the following steps:

[0125] S1. Plan the excavation direction and position of the long inclined shaft pilot shaft, and use a drilling rig to excavate the initial section of the pilot shaft at the excavation position;

[0126] S2. Remove the drilling rig, the down-the-hole hammer enters the initial section of the pilot shaft, and install the monitoring mechanism:

[0127] S21. Adjust the angle of the fixing frame 602, and start the first signal transmitter 601 and the second signal transmitter 612;

[0128] S22. The first signal receiving board 603 receives the signal emitted by the first signal transmitter 601, so that the position where the first signal receiving board 603 receives the signal corresponds one by one to the position of the first signal transmitter 601;

[0129] If the actual positions of multiple first signal transmitters 601 are a square with a side length of 3 mm, then adjust the position of the first signal receiving board 603 so that the position where the first signal receiving board 603 receives the signal is also a square with a side length of 3 mm; at this time, the plane where the first signal receiving board 603 is located is perpendicular to the advancing direction of the down-the-hole hammer.

[0130] S23. Make the center position of the second signal receiving board 611 receive the signal emitted by the second signal transmitter 612;

[0131] It is used to determine the center position of the second signal receiving board 611.

[0132] S24. Fix the position of the fixing frame 602, and the control system records the initial position data

[0133] S3. The down-the-hole hammer excavates, and the excavation direction is monitored and controlled in real time through the monitoring mechanism;

[0134] S4. The excavation is completed.

[0135] In the preferred solution, in S3, it includes:

[0136] S31. Every time interval Δt, collect the signal strength and position information received by each signal receiver on the first signal receiving board 603 and the second signal receiving board 611;

[0137] Let the signal strength of the j-th signal receiver on the first signal receiving board 603 collected at the i-th time step be The position coordinate is

[0138] The signal strength of the k-th signal receiver on the second signal receiving board 611 is The position coordinate is

[0139] S32. Preprocess the collected signal data to remove noise and outliers;

[0140] Adopt a moving average filtering algorithm to smooth the signal intensity. For the signal intensity of the j-th signal receiver on the first signal receiving board 603, the filtered signal intensity is:

[0141]

[0142] For the signal intensity of the k-th signal receiver on the second signal receiving board 611, the filtered signal intensity is:

[0143]

[0144] where n is the size of the moving window;

[0145] S33. Define the deviation vectors of the signal receiving positions on the first signal receiving board 603 and the second signal receiving board 611 relative to the initial positions;

[0146] The deviation vector of the j-th signal receiver on the first signal receiving board 603 is

[0147] The deviation vector of the k-th signal receiver on the second signal receiving board 611 is

[0148] where and are the initial position coordinates respectively;

[0149] Comprehensively consider the deviation vectors of all signal receivers and calculate the overall direction deviation index θ, making the direction deviation index at the current time step be θ i ;

[0150] S34. Construct a multi-layer perceptron MLP neural network model;

[0151] Take the direction deviation index θ at the current time step i , the direction deviation indices θ at the previous m time steps i-1 , θ i-2 , …, θ i-m and data such as signal intensity as inputs to predict the direction deviation index θ at the next time step i+1 ;

[0152] The input layer of the neural network has m + 2 neurons, the hidden layer is set with h neurons, the output layer has 1 neuron, the activation function of the hidden layer adopts the ReLU function, and the output layer adopts a linear activation function;

[0153] The neural network model is trained using historical data, and the random gradient descent algorithm is used for parameter update; the training objective is to minimize the mean square error between the predicted value and the actual value:

[0154]

[0155] where T is the number of training data, is the predicted direction deviation index, is the actual direction deviation index;

[0156] S35. According to the direction deviation index θ i+1 predicted by the neural network model for the next time step, combined with the current direction deviation index θ i , calculate the correction angle Δθ that needs to be adjusted;

[0157]

[0158] where K p , K i and K d are the proportional, integral, and differential coefficients respectively, which are determined according to the actual situation and can be optimized through experiments and debugging;

[0159] According to the calculated correction angle Δθ, adjust the actions of the support shoe mechanism 4 and the walking support mechanism 3, so as to change the excavation direction of the down-the-hole hammer and achieve real-time correction.

[0160] In S33, calculate the deviation angle θ S of the signal receiving board, and adopt the method of weighted average, where the weights are determined according to the signal strength:

[0161]

[0162] where N 1 and N 2 are the numbers of signal receivers on the first signal receiving board 603 and the second signal receiving board 611 respectively;

[0163] The comprehensive direction deviation index θ = θ S .

[0164] During the use process, through the above method, automatic correction can be carried out on the down-the-hole hammer during the excavation process, thus avoiding the skew of the excavated pilot shaft, ensuring the excavation quality, and facilitating subsequent construction.

[0165] In a further embodiment, in S3, a laser rangefinder is also used to measure the distance data between the down-the-hole hammer and the guide shaft wall. Let the laser ranging data collected at the i-th time step be L i , representing the straight-line distance between the down-the-hole hammer and the guide shaft wall;

[0166] In S32, the laser ranging data L i is filtered to obtain the smoothed ranging data

[0167]

[0168] In S33, based on the laser ranging data the deviation angle θ between the down-the-hole hammer and the pilot shaft wall is calculated l :

[0169]

[0170] where R is the designed radius of the pilot shaft;

[0171] The deviation angle θ of the signal receiving board s and the deviation angle θ of the laser ranging l are weighted and fused to obtain the comprehensive direction deviation index θ:

[0172] θ = w s ·θ s + w l ·θ l ;

[0173] where, w s and w l are the weight coefficients of the signal receiving board and the laser ranging respectively, satisfying w s + w l = 1, and the weight coefficients can be adjusted according to the actual engineering requirements.

[0174] During the deviation correction process, further auxiliary tests are carried out by a laser rangefinder, which increases the accuracy of deviation correction and is more convenient for control.

[0175] The above embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations to the present invention. The protection scope of the present invention should be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, the equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A gripper-type cluster down-the-hole hammer for long inclined shaft pilot excavation, characterized by: It comprises a fixed column (1), a drill rod (5) is arranged inside the fixed column (1), a crushing cutter disc (2) is arranged at the end of the drill rod (5), and the crushing cutter disc (2) is located at the end of the fixed column (1); A plurality of walking support mechanisms (3) and a plurality of shoe support mechanisms (4) are provided on the fixed column (1); The shoe support mechanism (4) is used for supporting, adjusting and moving the fixed column (1), and the walking support mechanism (3) is used for auxiliary support and adjustment.

2. According to claim 1, a gripper-type cluster down-the-hole hammer for long inclined shaft pilot excavation is characterized by: The end surface of the crushing cutter disc (2) is provided with a plurality of roller cutters (201) and a plurality of impact hammer heads (202).

3. According to claim 1, a gripper-type cluster down-the-hole hammer for long inclined shaft pilot excavation is characterized by: The shoe support mechanism (4) comprises a movable sleeve (401) slidably sleeved on the outside of the fixed column (1), and fixed seats (402) are provided on both sides of the movable sleeve (401), and the fixed seats (402) are symmetrically arranged; The fixing seat (402) is provided with a third oil cylinder (403), and the output end of the third oil cylinder (403) is provided with a support shoe (404); A plurality of first connection blocks (405) are provided on both sides of the fixing column (1), and a plurality of second connection blocks (406) are provided on the side of the support shoe (404); A fourth oil cylinder (407) is provided between the first connecting block (405) and the second connecting block (406), and the fourth oil cylinder (407) is hinged to the first connecting block (405) and the second connecting block (406).

4. The gripper-type cluster down-the-hole hammer for long inclined shaft pilot excavation according to claim 1 is characterized by: The walking support mechanism (3) comprises a fixing sleeve (301) fixedly connected to the fixing column (1), and first oil cylinders (302) are provided on both sides of the fixing sleeve (301); One end of the first oil cylinder (302) is connected to the fixed sleeve (301) via a hinge shaft (304), and the other end is connected to a support plate (303) via a hinge shaft (304); A second oil cylinder (305) is provided on one side of the fixing sleeve (301) away from the supporting plate (303), and a top plate (306) is provided at the output end of the second oil cylinder (305).

5. The gripper-type cluster down-the-hole hammer for long inclined shaft pilot excavation according to claim 1 is characterized by: A monitoring structure (6) is provided at one end of the fixed column (1) away from the crushing disc (2) for monitoring the movement trajectory; The monitoring structure (6) includes a fixing frame (602) and a plurality of first signal transmitters (601) arranged at the end of the fixing column (1); A first signal receiving plate (603) is provided on one side of the fixing frame (602) close to the fixing column (1); A connecting plate (604) is provided on a side of the fixing frame (602) away from the fixing column (1), the connecting plate (604) is provided with a fixing plate (605), and the fixing plate (605) is provided with a plurality of mounting holes (606); Two fixing blocks (607) are provided on one side of the fixing frame (602) away from the fixing column (1), the two fixing blocks (607) are movably connected to the connecting plate (604), and the connecting plate (604) is located between the two fixing blocks (607); One side of the connecting plate (604) is connected to one of the fixed blocks (607) via a damping shaft (608), and a threaded rod (609) is provided on the other side of the connecting plate (604). The threaded rod (609) passes through another fixed block (607). The portion where the threaded rod (609) contacts the fixed block (607) is not provided with threads and is a cylindrical rod body. The threaded rod (609) is coaxial with the damping shaft (608). A knob (610) is threadedly connected to the threaded rod (609); A second signal receiving plate (611) is provided at the end of the fixed column (1), and a second signal transmitter (612) is provided on a side of the fixed frame (602) close to the fixed column (1); The second signal receiving plate (611) is located at the center of the end surface of the fixing column (1), and the second signal transmitter (612) is located at the center of the first signal receiving plate (603); A plurality of signal receivers are disposed on the first signal receiving board (603) and the second signal receiving board (611).

6. A method for excavating a long inclined shaft pilot shaft, characterized in that The method of using a gripper-type cluster down-the-hole hammer for long inclined shaft pilot well excavation as claimed in any one of claims 1 to 5 further comprises the following steps: S1. Plan the excavation direction and position of the long inclined shaft pilot shaft, and use a drilling rig to excavate the initial section of the pilot shaft at the excavation position; S2. Remove the drilling rig, and install the monitoring mechanism after the down-the-hole hammer enters the initial section of the pilot well; S3, down-the-hole hammer excavation, real-time monitoring and control of excavation direction through monitoring mechanism; S4. Excavation completed.

7. A method for excavating a long inclined shaft pilot shaft according to claim 6, Its characteristics are that S2 includes: S21, adjusting the angle of the fixing frame (602), and starting the first signal transmitter (601) and the second signal transmitter (612); S22, the first signal receiving board (603) receives the signal transmitted by the first signal transmitter (601), so that the position where the first signal receiving board (603) receives the signal corresponds to the position of the first signal transmitter (601); S23, making the center position of the second signal receiving board (611) receive the signal transmitted by the second signal transmitter (612); S24, fixing the position of the fixing frame (602), and the control system records the initial position data.

8. A long inclined shaft pilot excavation method according to claim 6, characterized in that S3 comprises: S31, collecting signal strength and position information received by each signal receiver on the first signal receiving board (603) and the second signal receiving board (611) at every time interval Δt; Suppose the signal strength of the jth signal receiver on the first signal receiving board (603) collected at the i-th time step is The position coordinates are The signal strength of the kth signal receiver on the second signal receiving board (611) is The position coordinates are S32, preprocessing the collected signal data to remove noise and outliers; S33, defining a deviation vector of a signal receiving position on the first signal receiving board (603) and the second signal receiving board (611) relative to an initial position; The deviation vector of the jth signal receiver on the first signal receiving board (603) is The deviation vector of the kth signal receiver on the second signal receiving board (611) is in and are the initial position coordinates respectively; Taking into account the deviation vectors of all signal receivers, the overall direction deviation index θ is calculated, so that the direction deviation index of the current time step is θ i ; S34. Build a multi-layer perceptron (MLP) neural network model; S35, the direction deviation index θ of the next time step predicted by the neural network model i+1 , combined with the current direction deviation indicator θ i , calculate the correction angle Δθ that needs to be adjusted; Among them, K p , K i and K d are the proportional, integral and differential coefficients respectively; According to the calculated deviation correction angle Δθ, the actions of the support shoe mechanism (4) and the walking support mechanism (3) are adjusted, thereby changing the excavation direction of the down-the-hole hammer and achieving real-time deviation correction.

9. A method for excavating a long inclined shaft pilot shaft according to claim 8, characterized in that: In S32, a sliding average filtering algorithm is used to smooth the signal strength. For the signal strength of the jth signal receiver on the first signal receiving board (603), the signal strength after filtering is for: The signal strength of the kth signal receiver on the second signal receiving board (611) is: for: Where n is the size of the sliding window; In S33, the deviation angle θ of the signal receiving board is calculated S , using the weighted average method, the weight is determined according to the signal strength: Wherein, N1 and N2 are the numbers of signal receivers on the first signal receiving board (603) and the second signal receiving board (611), respectively; Comprehensive direction deviation index θ=θ S ; In S34, a multi-layer perceptron (MLP) neural network model is constructed to transform the direction deviation index θ of the current time step i , the directional deviation index θ of the first m time steps i-1 ,θ i-2 ,…,θ i-m And signal strength and other data as input, predict the direction deviation indicator θ for the next time step i+1 ; The input layer of the neural network has m+2 neurons, the hidden layer has h neurons, and the output layer has 1 neuron. The activation function of the hidden layer uses the ReLU function, and the output layer uses the linear activation function. The neural network model is trained using historical data and the stochastic gradient descent algorithm is used to update the parameters; the training goal is to minimize the mean square error between the predicted value and the actual value: Where T is the number of training data, is the predicted direction deviation index, θ t actual It is the actual directional deviation indicator.

10. A long inclined shaft pilot excavation method according to claim 9, characterized in that: In S3, a laser rangefinder is used to measure the distance data between the down-the-hole hammer and the guide well wall. Let the laser distance measurement data collected at the i-th time step be L i , represents the straight-line distance between the down-the-hole hammer and the pilot well wall; In S32, the laser distance measurement data L i Perform filtering to obtain smoothed ranging data In S33, according to the laser ranging data Calculate the deviation angle θ between the down-the-hole hammer and the guide shaft wall l : Where R is the design radius of the pilot well; The deviation angle θ of the signal receiving board s The deviation angle θ from the laser rangefinder l Perform weighted fusion to obtain the comprehensive direction deviation index θ: θ=w s ·i s +w l ·i l ; Among them, w s and w l are the weight coefficients of the signal receiving board and laser ranging, respectively, satisfying w s +w l =1.

Images