Auger mining robot and self-adaptive cutting control method

Abstract

The invention provides a twist drill mining robot and a self-adaptive cutting control method, and belongs to the technical field of mining equipment. According to the technical scheme, the auger mining robot comprises a crawler walking mechanism, a drill rod unit, a power system, a supporting device and a sliding platform device; the invention also provides a self-adaptive cutting control method, which comprises the following steps of: 1, drilling preparation and gas detection; 2, self-adaptive drilling coal mining operation is carried out; thirdly, drilling is completed, and the equipment is reset; the device has the beneficial effects that the gas concentration is detected in real time through the gas concentration sensor on the drill bit, the nitrogen injection amount is automatically adjusted, the gas concentration is effectively controlled, meanwhile, the device can dynamically adjust the rotating speed and the propelling speed of the drill bit according to changes of the drill bit load and the rock mass hardness, and the tunneling efficiency is improved; in addition, the tunneling equipment realizes modular design, so that the equipment can flexibly meet the drilling requirements of various depths.

Description

Technical Field

[0001] The present invention relates to the technical field of mining equipment, and particularly relates to a spiral drill mining robot and an adaptive cutting control method. Background Art

[0002] Coal resources are one of the main energy sources in China. With the development of the coal industry and the continuous improvement of coal mining technology and equipment levels, roadway tunneling has become a key link in coal mining. As an important process in mine construction and production, the efficiency and safety of tunneling directly affect the overall production capacity and economic benefits of coal mines. At present, the total annual newly added roadway length in China has exceeded 1.2 million kilometers, and more than 80% of them are distributed in coal mines. However, in roadway tunneling work, due to the low intelligent level of equipment, relatively traditional technical processes, and the influence of complex geological conditions, the tunneling speed is generally low, with an average tunneling speed of less than 200 meters per month, and a large number of construction workers still need to participate. This situation not only leads to low tunneling efficiency, but also brings problems of high safety risks and high construction costs, and has become an important factor restricting coal mining. Summary of the Invention

[0003] The purpose of the present invention is to overcome the problems in the background art and provide a spiral drill mining robot and an adaptive cutting control method.

[0004] In order to achieve the above invention purpose, the technical solution adopted by the present invention is specifically as follows: A spiral drill mining robot, comprising:

[0005] A crawler traveling mechanism for the stable traveling of the spiral drill mining robot in the roadway;

[0006] A drill pipe unit, including two modular-designed drills, which are detachably connected;

[0007] A power system, the power system including a propulsion oil cylinder and a rotary hydraulic motor for driving the drill bit to rotate and the drill pipe to advance;

[0008] A support device, including a fixed oil cylinder, an inclination adjustment oil cylinder and a support base, capable of adjusting the support angle and height hydraulically;

[0009] A crawler drive device for driving the crawler traveling mechanism;

[0010] A sliding platform device for the operation of replacing drill pipes, and the power device and the drill pipe unit are equipped with corresponding motor sliding platforms and drill pipe sliding platforms.

[0011] Furthermore, the drill pipe unit includes a drill bit, drill pipes, a transmission box, a high-pressure nitrogen injection system, a ventilation box, a flange plate, and connecting pin shafts. The drill bit includes a left-handed drill bit 1, a left-handed drill bit 2, a right-handed drill bit 1, and a right-handed drill bit 2. The drill pipes include left-handed drill pipes and right-handed drill pipes. The left-handed drill pipes, right-handed drill pipes, and the ventilation box adopt a modular design and are detachably connected by flange plates and connecting pin shafts composed of standard unit sections of the same specification. The tails of the left-handed drill pipes and the right-handed drill pipes are both connected to the propulsion cylinders of the power system by connecting pin shafts;

[0012] The screw drill mining robot is also equipped with a single-rail crane and a scraper conveyor to realize the movement of the unit sections of the drill pipe unit and the transportation of coal and rock;

[0013] The drill pipe sliding platform moves the lengthened unit section to the target installation position through the drill pipe sliding platform and uses connecting pin shafts and flange plates to connect the existing unit sections at the tail.

[0014] Furthermore, the high-pressure nitrogen injection system is arranged in the first-section ventilation box and includes a gas monitoring module, a control module, and a nitrogen injection module;

[0015] The gas monitoring module includes a gas concentration sensor. The gas concentration sensor is installed on the drill pipe unit and is close to the drill bit to be used for real-time detection of the gas concentration around the drill bit during drilling and sending the data to the control module;

[0016] The control module is used to compare the gas concentration signal provided by the gas monitoring module with a preset concentration threshold. When the gas concentration exceeds the set threshold, the control module will send an execution signal to the nitrogen injection module;

[0017] The nitrogen injection module includes a high-pressure nitrogen tank with a control component and a nozzle. The nozzle is close to the drill bit. The nozzle is connected to the output port of the high-pressure nitrogen tank. After receiving the execution signal from the control module, the nitrogen injection module adjusts the nitrogen output volume of the nitrogen output port of the high-pressure nitrogen tank through the control component, and the nitrogen is output through the nozzle and sprayed into the area around the drill bit to form an inert gas protection zone.

[0018] Furthermore, the power system includes a drill pipe rotation circuit, a drill pipe propulsion circuit, a fuzzy inference controller, a rotation speed sensor, a pressure sensor, and a propulsion speed sensor;

[0019] The drill pipe rotation circuit includes: an oil tank, a first filter, a first plunger pump, a first electromagnetic directional control valve, a first relief valve, and a rotary hydraulic motor. The input end of the first plunger pump is connected to the oil tank, the output end of the first plunger pump is connected to the input end of the first electromagnetic directional control valve, the output end of the first electromagnetic directional control valve is connected to the rotary hydraulic motor, the oil return end of the first electromagnetic directional control valve is connected to the oil tank, the power output end of the rotary hydraulic motor is connected to the input end of a speed reducer, and the output end of the speed reducer is connected to the drill bit;

[0020] A first relief valve is arranged between the first electromagnetic directional control valve and the rotary hydraulic motor, and a first filter is arranged between the oil tank and the first plunger pump;

[0021] The rotary speed sensor is installed on the rotary hydraulic motor. The signal output end of the rotary speed sensor is connected to the signal input end of the fuzzy inference controller, and the signal output end of the fuzzy inference controller is connected to the control end of the first electromagnetic directional control valve.

[0022] Further, the drill pipe propulsion circuit includes: a second plunger pump, a second electromagnetic directional control valve, and a propulsion oil cylinder. The input end of the second plunger pump is connected to the oil tank, the output end of the second plunger pump is connected to the input end of the second electromagnetic directional control valve, the output end of the second electromagnetic directional control valve is respectively connected to the rodless cavity and the rod chamber of the propulsion oil cylinder, the oil return end of the second electromagnetic directional control valve is connected to the oil tank, the telescopic rod of the propulsion oil cylinder is connected to a load, and the load is the drill pipe;

[0023] The propulsion speed sensor and the pressure sensor are installed on the propulsion oil cylinder and are respectively used to detect the propulsion speed and the oil cylinder pressure of the propulsion oil cylinder. The signal output ends of the propulsion speed sensor and the pressure sensor are respectively connected to the signal input end of the fuzzy inference controller, and the signal output end of the fuzzy inference controller is connected to the signal control end of the second electromagnetic directional control valve.

[0024] Further, the fuzzy inference controller includes a data acquisition unit and a fuzzy inference processing unit. The data acquisition unit is used to collect the detection information of the rotary speed sensor, the pressure sensor or the propulsion speed sensor. The data acquisition unit makes a judgment according to the detection information. The fuzzy inference processing unit performs inference processing through a fuzzy control rule base, derives a control instruction and outputs it to the first electromagnetic directional control valve or the second electromagnetic directional control valve. The first electromagnetic directional control valve or the second electromagnetic directional control valve adjusts the flow rate by changing the opening degree of its own port, adjusts the flow rate of the hydraulic oil entering the rotary hydraulic motor or the propulsion oil cylinder, and further adjusts the rotary speed of the drill pipe or the propulsion speed of the drill pipe.

[0025] Further, the specific control process of the fuzzy inference processing unit for adjusting the drill pipe propulsion speed is as follows:

[0026] The advancing speed of the drill pipe is controlled by the advancing speed of the advancing oil cylinder, and the advancing speed of the advancing oil cylinder is jointly determined by the oil flow rate Q1 of the advancing circuit and the piston area A of the advancing oil cylinder. Therefore, the advancing speed of the advancing oil cylinder The oil flow rate of the advancing circuit is the flow coefficient of the hydraulic system in the advancing circuit, is the opening degree of the second electromagnetic directional valve, and its value range is usually between 0 and 1, indicating the state of the second electromagnetic directional valve from fully closed to fully open. P1 is the oil pressure of the advancing circuit;

[0027] The fuzzy inference processing unit is responsible for adjusting the opening degree of the second electromagnetic directional valve This unit is a fuzzy PID controller, and its output will affect the opening degree of the second electromagnetic directional valve The output of the fuzzy PID controller Its core is to adjust the proportional coefficient Integral coefficient And differential coefficient These three parameters, adjusting the proportional coefficient Integral coefficient And differential coefficient These three parameters are adjusted according to the real-time error e1(t) and the error change rate Δe1(t). Therefore, the opening degree of the second electromagnetic directional valve The advancing speed of the advancing oil cylinder (3-9) is

[0028] The output of the fuzzy PID controller The adjustment is determined by the fuzzy rule base, and the rule base determines how to adjust the output according to the inputs e1(t) and Δe1(t) The fuzzy rules are defined as follows:

[0029] e1(t) ∈ {NB, NM, NS, ZO, PS, PM, PB} (Negative Big, Negative Medium, Negative Small, Zero, Positive Small, Positive Medium, Positive Big), Δe1(t) ∈ {NB, NM, NS, ZO, PS, PM, PB}. Its specific control process is as follows:

[0030] S1, Fuzzification: Convert the actual error e1(t) and the error change rate Δe1(t) into fuzzy sets;

[0031] S2, Fuzzy inference: Use the fuzzy rule base to generate a control signal, that is, the PID gain And

[0032] S3, Defuzzification: Convert the result of the fuzzy inference into an actual control quantity

[0033] Furthermore, the control process of the fuzzy inference processing unit for adjusting the rotary speed of the drill pipe is as follows:

[0034] The rotary speed of the drill pipe is controlled by a rotary hydraulic motor in the rotary circuit hydraulic system. The rotational speed of the rotary hydraulic motor is controlled by the magnitude of the hydraulic oil flow rate in the rotary circuit. The hydraulic oil flow rate in the rotary circuit is adjusted by a first electromagnetic directional valve. The opening degree of the first electromagnetic directional valve determines the oil flow rate in the rotary circuit, thereby adjusting the rotational speed of the rotary hydraulic motor. The rotational speed Q2 is the hydraulic oil flow rate in the rotary circuit, and V m is the displacement of the rotary hydraulic motor. The hydraulic oil flow rate Q2 in the rotary circuit is determined by the opening degree of the first electromagnetic directional valve. The relationship between the oil flow rate Q2, the hydraulic pressure P2 in the rotary circuit, and the opening degree of the first electromagnetic directional valve is

[0035] The fuzzy inference processing unit is responsible for adjusting the opening degree of the first electromagnetic directional valve This unit is a fuzzy PID controller, and its output will affect the opening degree of the first electromagnetic directional valve The output of the fuzzy PID controller Its core is to adjust the proportional coefficient Integral coefficient And differential coefficient These three parameters. Adjusting the proportional coefficient Integral coefficient And differential coefficient These three parameters are adjusted according to the real-time error e2(t) and the error change rate Δe2(t). Therefore, the opening degree of the first electromagnetic directional valve The rotational speed of the rotary hydraulic motor

[0036] The output of the fuzzy PID controller The adjustment is determined by the fuzzy rule base. The rule base determines how to adjust the output according to the input e2(t) and Δe2(t) The fuzzy rules are defined as follows:

[0037] e2(t) ∈ {NB, NM, NS, ZO, PS, PM, PB} (Negative Big, Negative Medium, Negative Small, Zero, Positive Small, Positive Medium, Positive Big).

[0038] Δe2(t) ∈ {NB, NM, NS, ZO, PS, PM, PB}, and its specific control process is as follows:

[0039] Step 1, Fuzzification: Convert the actual error e2(t) and the error change rate Δe2(t) into fuzzy sets;

[0040] Step 2, fuzzy inference: Generate a control signal, i.e., PID gain, using the fuzzy rule base. and

[0041] Step 3, defuzzification: Convert the result of fuzzy inference into an actual control quantity.

[0042] The present invention also provides an adaptive cutting control method, including the following steps:

[0043] The first step, drilling preparation and gas detection;

[0044] Drilling preparation: The crawler traveling mechanism is started, and the drill - mining robot is moved to a predetermined drilling operation position. When the drill - mining robot reaches the target operation point, the movement is stopped and the support device is started. The ground is supported by the fixed oil cylinder, and the angle and height of the support device are adjusted by the tilting oil cylinder to provide stable operation support for the equipment.

[0045] Gas detection: The high - pressure nitrogen injection system in the first - stage ventilation box works. The gas concentration sensor of the gas monitoring module real - time detects the gas concentration around the drill bit during the drilling process and sends the detection data to the control module. The control module compares the gas concentration signal provided by the gas monitoring module with a preset concentration threshold. When the gas concentration exceeds the set threshold, the control module sends a signal to the nitrogen injection module. The nitrogen injection module controls and increases the output flow of nitrogen, and more nitrogen is injected through the nozzles on the drill bit, so as to reduce the gas concentration and form an inert gas protection area around the drill bit.

[0046] The second step, adaptive drilling and coal mining operation;

[0047] The power system works. The drill bit is driven to rotate by the rotary hydraulic motor, and the drill rod is pushed forward by the propulsion oil cylinder to ensure that the drill bit accurately enters the coal - rock formation.

[0048] The pressure sensor real - time detects the propulsion resistance of the propulsion oil cylinder, that is, the load torque. When the load torque increases, the data acquisition unit in the fuzzy inference controller receives the load signal and judges that a rock formation is encountered suddenly. Similarly, the propulsion speed sensor sends the propulsion speed of the propulsion oil cylinder to the data acquisition unit in the fuzzy inference controller. After processing and judging, the data acquisition unit sends the data to the fuzzy inference processing unit. The fuzzy inference processing unit performs inference processing through the fuzzy control rule base, derives a control instruction and outputs it to the electromagnetic directional valve II. The electromagnetic directional valve II adjusts the flow rate by changing the port opening degree, adjusts the flow rate of the hydraulic oil entering the propulsion oil cylinder, and then adjusts the drill rod propulsion speed.

[0049] The rotary speed sensor sends the rotary speed of the drill pipe to the data acquisition unit. After processing and judgment, the data acquisition unit sends the data to the fuzzy inference processing unit. The fuzzy inference processing unit derives a control instruction through the fuzzy control rule base and outputs it to the first electromagnetic directional valve. The first electromagnetic directional valve adjusts the hydraulic oil flow rate entering the rotary hydraulic motor, thereby adjusting the rotation speed of the drill pipe.

[0050] When the drill bit reaches the limit depth of the drill pipe, the P port and the T port in the first electromagnetic directional valve and the second electromagnetic directional valve in the drill pipe rotation circuit and the drill pipe propulsion circuit are connected, and the rotary hydraulic motor and the propulsion cylinder stop working.

[0051] Step 3, completion of drilling and reset of the equipment.

[0052] When the operation is completed, the power system stops working and the drill rig stops drilling. At this time, the drill pipe is disassembled and moved back to the storage position, the high-pressure nitrogen injection system is closed, the support device is retracted, the crawler drive device is restarted, and the auger drill is moved out of the operation area through the crawler travel mechanism, preparing to return to the standby position.

[0053] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0054] 1. The auger mining robot in this application adopts an adaptive cutting control system. By adjusting the first electromagnetic directional valve and the second electromagnetic directional valve in the loop through a fuzzy inference controller, the propulsion speed and rotary speed of the drill pipe can be adaptively adjusted according to the load size, enabling the equipment to flexibly optimize the operation strategy according to the real-time working conditions. Compared with traditional equipment, this system can maintain a high-efficiency and stable tunneling speed in different geological environments such as hard rock formations, soft rock formations, and interlayer rocks, reducing downtime or efficiency reduction caused by the equipment's inability to adapt to geological changes, and significantly shortening the entire tunneling cycle.

[0055] 2. The high-pressure nitrogen injection system of the auger mining robot in this application realizes real-time monitoring of the gas concentration in the mine operation environment. The gas concentration sensor in the system monitors the gas concentration during the drilling process in real time. Once it detects that the gas concentration rises to the dangerous threshold, the system will automatically start the nitrogen injection device, increase the nitrogen flow rate, form an inert gas protection area, and effectively reduce the probability of gas explosion. This intelligent safety protection measure can greatly reduce the gas explosion risk in coal mine operations, protect the lives of miners, and ensure the safety of the operation environment.

[0056] 3. In this application, the drill pipe unit of the screw drill mining robot adopts a modular design. The drill pipes and the ventilation box unit sections are connected by flange plates and connecting pin shafts. Each unit section is easy to disassemble. The modular design of the drill pipe unit enables the equipment to have better adaptability under roadways at different depths and complex geological conditions, meeting the requirements of different working environments. At the same time, the modular structure also simplifies the equipment assembly, transportation, and maintenance processes, saving a large amount of time and labor costs and improving the overall operation efficiency.

[0057] 4. By introducing sensors and an adaptive control system, the present invention realizes real-time monitoring and adjustment of the equipment operation status. For example, the gas concentration sensor on the drill bit is used to detect the gas concentration in real time, automatically adjust the nitrogen injection volume, effectively control the gas concentration, and reduce the risk of gas explosion. At the same time, the equipment can dynamically adjust the drill bit rotation speed and the propulsion speed according to the changes in the drill bit load and the rock mass hardness, improving the tunneling efficiency. To adapt to different geological conditions and operation requirements, the tunneling equipment needs to implement a modular design. Through the modular assembly of drill pipes and the adjustable-length ventilation box assembly, the equipment can flexibly respond to the drilling requirements at various depths, improving the adaptability and flexibility of the equipment. Through continuous innovation and breakthroughs in the above technical directions, the new tunneling equipment will make significant progress in terms of intelligence, modularity, and high efficiency, helping the coal mine roadway tunneling operation to develop towards a safer, more efficient, and intelligent direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention.

[0059] Figure 1 It is a schematic structural diagram of a screw drill mining robot of this application.

[0060] Figure 2 It is a schematic structural diagram of the drill pipe unit in the screw drill mining robot of this application.

[0061] Figure 3 It is a schematic control diagram of the high-pressure nitrogen injection system in the screw drill mining robot of this application.

[0062] Figure 4 It is a schematic hydraulic diagram of the drill pipe rotation circuit in the power system of the screw drill mining robot of this application.

[0063] Figure 5 It is a schematic hydraulic diagram of the drill pipe propulsion circuit in the power system of the screw drill mining robot of this application.

[0064] Figure 6 It is a schematic working diagram of the screw drill mining robot of this application.

[0065] Figure 7It is the schematic diagram of the adaptive cutting control method for the auger mining robot in this application.

[0066] Figure 8 It is the schematic diagram of the fuzzy inference controller in the auger mining robot of this application.

[0067] Among them, the reference numerals are:

[0068] 1. Crawler traveling mechanism;

[0069] 2. Drill pipe unit; 2-1. Left-handed drill pipe; 2-2. First left-handed drill bit; 2-3. Second left-handed drill bit; 2-4. Right-handed drill pipe; 2-5. First right-handed drill bit; 2-6. Second right-handed drill bit; 2-7. Transmission case; 2-8. High-pressure nitrogen injection system; 2-9. Ventilation box; 2-10. Flange plate; 2-11. Connecting pin shaft;

[0070] 3. Power system; 3-1. Fuel tank; 3-2. First filter; 3-3. Engine; 3-4. First plunger pump; 3-5. First electromagnetic directional valve; 3-6. First relief valve; 3-7. Check valve; 3-8. Rotary hydraulic motor; 3-9. Thrust cylinder; 3-10. Fuzzy inference controller; 3-11. Pressure sensor; 3-12. Thrust speed sensor; 3-13. Rotary speed sensor; 3-14. Second filter; 3-15. Second plunger pump; 3-16. Second electromagnetic directional valve; 3-17. Second relief valve;

[0071] 4. Support device;

[0072] 5. Crawler drive device;

[0073] 6. Skid platform device. Specific implementation mode

[0074] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Of course, the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0075] Embodiment, as Figures 1 - 8 shown, this embodiment provides an auger mining robot, including:

[0076] The crawler traveling mechanism 1 is used for the stable traveling of the auger mining robot in the roadway;

[0077] The drill pipe unit 2 includes two modular-designed drilling rigs, and the two drilling rigs are detachably connected;

[0078] The power system 3 includes a thrust cylinder 3-9 and a rotary hydraulic motor 3-8, which are used to drive the drill bit to rotate and the drill pipe to advance;

[0079] The support device 4, including a fixed oil cylinder, an inclination adjustment oil cylinder and a support seat, can adjust the support angle and height hydraulically.

[0080] The crawler drive device 5 is used to drive the crawler running mechanism 1.

[0081] The slip platform device 6 is used for the operation of replacing drill pipes. The power device and the drill pipe unit 2 are equipped with corresponding motor slip platforms and drill pipe slip platforms.

[0082] The drill pipe unit 2 includes a drill bit, drill pipes, a transmission box 2-7, a high-pressure nitrogen injection system 2-8, a ventilation box 2-9, a flange plate 2-10 and a connecting pin 2-11. The drill bit includes a left-handed drill bit 1 2-2, a left-handed drill bit 2 2-3, a right-handed drill bit 1 2-5 and a right-handed drill bit 2 2-6. The drill pipes include a left-handed drill pipe 2-1 and a right-handed drill pipe 2-4. The left-handed drill pipe 2-1, the right-handed drill pipe 2-4 and the ventilation box 2-9 adopt a modular design and are detachably connected by flange plates 2-10 and connecting pins 2-11 of the same specification standard unit sections. The tails of the left-handed drill pipe 2-1 and the right-handed drill pipe 2-4 are both connected to the propulsion oil cylinder 3-9 of the power system 3 by connecting pins 2-11. When it is necessary to lengthen or shorten the drill pipes and the ventilation box 2-9, only the bolts on the flange plates 2-10 of each connecting unit section need to be loosened, and the pins and flange plates 2-10 can be removed.

[0083] The screw drill mining robot is also equipped with a single-rail crane and a scraper conveyor to realize the movement of the unit sections of the drill pipe unit 2 and the transportation of coal and rock. Specifically, when it is necessary to adjust the length of the drill pipe unit 2 and the ventilation box 2-9, the operation is as follows. When the drill mining operation requires an increase in the drilling depth, the connection state of the connecting pin 2-11 between the propulsion oil cylinder 3-9 and the tail of the last drill pipe is released, and the connection pins 2-11 and flange plates 2-10 between the tail drill pipe and the tail ventilation box 2-9 and the remaining unit sections are released. Subsequently, the power system 3 is driven by the motor slip platform to retreat along the slide rail to a preset position to reserve an operation space for the lengthening components, and the drill pipe unit section and the ventilation box 2-9 unit section to be installed are moved from the storage area to the drill pipe slip platform by using the single-rail crane.

[0084] The drill pipe sliding platform moves the extended unit section to the target installation position and connects the existing unit section at the tail using the connecting pin 2-11 and the flange plate 2-10. When it is necessary to shorten the length of the drill pipe unit 2, the unit section at the tail needs to be adjusted and disassembled. First, the mechanical connection between the tail unit to be removed and its adjacent unit is released, including loosening the flange plate 2-10 and the pin connection. The motor sliding platform drives the power system 3 to retreat to provide working space for removing the tail unit section. Subsequently, the drill pipe sliding platform moves the tail unit section to the detachable position and transfers it to the storage area through a single-girder crane. The scraper conveyor transports materials such as coal, rock, or crushed stones generated during drilling along the set track to the target position to achieve material transportation.

[0085] The high-pressure nitrogen injection system 2-8 is installed in the first ventilation box 2-9 and includes a gas monitoring module, a control module, and a nitrogen injection module. The gas monitoring module includes a gas concentration sensor, which is installed on the drill pipe unit 2 and close to the drill bit for real-time detection of the gas concentration around the drill bit during drilling and sending the data to the control module. The control module is used to compare the gas concentration signal provided by the gas monitoring module with a preset concentration threshold. When the gas concentration exceeds the set threshold, the control module sends an execution signal to the nitrogen injection module. The nitrogen injection module includes a high-pressure nitrogen tank with a control component and a nozzle. The nozzle is close to the drill bit and is connected to the output port of the high-pressure nitrogen tank. After receiving the execution signal from the control module, the nitrogen injection module adjusts the nitrogen output volume of the nitrogen output port of the high-pressure nitrogen tank through the control component, and the nitrogen is output through the nozzle and sprayed into the area around the drill bit to form an inert gas protection zone, reducing the risk of gas explosion.

[0086] The power system 3 includes a drill pipe rotation circuit, a drill pipe propulsion circuit, a fuzzy inference controller 3-10, a rotary speed sensor 3-13, a pressure sensor 3-11, and a propulsion speed sensor 3-12.

[0087] The drill pipe rotation circuit includes: an oil tank 3-1, a first filter 3-2, a first plunger pump 3-4, a first electromagnetic directional valve 3-5, a first relief valve 3-6, a rotary hydraulic motor 3-8. The input end of the first plunger pump 3-4 is connected to the oil tank 3-1, the output end of the first plunger pump 3-4 is connected to the input end of the first electromagnetic directional valve 3-5, the output end of the first electromagnetic directional valve 3-5 is connected to the rotary hydraulic motor 3-8, the oil return end of the first electromagnetic directional valve 3-5 is connected to the oil tank 3-1, the power output end of the rotary hydraulic motor 3-8 is connected to the input end of the speed reducer, and the output end of the speed reducer is connected to the drill bit; a first relief valve 3-6 is arranged between the first electromagnetic directional valve 3-5 and the rotary hydraulic motor 3-8, and a first filter 3-2 is arranged between the oil tank 3-1 and the first plunger pump 3-4; a rotary speed sensor 3-13 is installed on the rotary hydraulic motor 3-8, the signal output end of the rotary speed sensor 3-13 is connected to the signal input end of the fuzzy inference controller 3-10, and the signal output end of the fuzzy inference controller 3-10 is connected to the control end of the first electromagnetic directional valve 3-5.

[0088] The working principle of the drill pipe rotation circuit is that the first plunger pump 3-4 sucks hydraulic oil from the oil tank 3-1, pressurizes it and then transports it to the first electromagnetic directional valve 3-5. The first electromagnetic directional valve 3-5 controls the flow direction and flow rate of the hydraulic oil, and determines the rotation speed and direction of the rotary hydraulic motor 3-8. The hydraulic oil flows through the first electromagnetic directional valve 3-5 to the rotary hydraulic motor 3-8. The rotor of the rotary hydraulic motor 3-8 rotates due to the hydraulic oil pressure, driving the drill pipe to rotate. The hydraulic oil returns to the oil tank 3-1 after passing through the rotary hydraulic motor 3-8, completing a circuit cycle. One end of the drill pipe is connected to the speed reducer, and the torque is amplified by the speed reducer to drive the drill bit to rotate. The first electromagnetic directional valve 3-5 is a 4 / 3 electromagnetic directional valve with four ports: a pressure oil port P, a return oil port T, port A of the rotary hydraulic motor 3-8, and port B of the rotary hydraulic motor 3-8. When the 4 / 3 electromagnetic directional valve is in the forward rotation position, the pressure oil at port P flows through the 4 / 3 valve to port A of the rotary hydraulic motor 3-8, and the hydraulic oil flows out from port B of the rotary hydraulic motor 3-8 and through the 4 / 3 valve to the return oil port T. Port A of the rotary hydraulic motor 3-8 sucks in the pressure oil, and port B discharges the oil. The rotary hydraulic motor 3-8 rotates clockwise, thus driving the drill pipe to rotate forward; when the 4 / 3 reversing valve is in the reverse rotation position, the pressure oil at port P flows through the 4 / 3 valve to port B of the rotary hydraulic motor 3-8, and the hydraulic oil flows out from port A of the rotary hydraulic motor 3-8 and through the 4 / 3 valve to the return oil port T. Port B of the rotary hydraulic motor 3-8 sucks in the pressure oil, and port A discharges the oil. The rotary hydraulic motor 3-8 rotates counterclockwise, thus driving the drill pipe to rotate in reverse. When port P is connected to port T and there is no hydraulic oil flow between ports A and B, at this time, the hydraulic oil cannot flow into the rotary hydraulic motor 3-8, and the rotary hydraulic motor 3-8 stops rotating, and the drill pipe is in a stopped state.

[0089] The drill pipe propulsion circuit includes: plunger pump II 3-15, electromagnetic directional valve II 3-16, and propulsion cylinder 3-9. The input end of plunger pump II 3-15 is connected to the oil tank 3-1, the output end of plunger pump II 3-15 is connected to the input end of electromagnetic directional valve II 3-16. The output end of electromagnetic directional valve II 3-16 is respectively connected to the rod chamber and the rodless chamber of propulsion cylinder 3-9. The oil return end of electromagnetic directional valve II 3-16 is connected to the oil tank 3-1. The telescopic rod of propulsion cylinder 3-9 is connected to the load, and the load is the drill pipe. The propulsion speed sensor 3-12 and the pressure sensor 3-11 are installed on the propulsion cylinder 3-9 and are respectively used to detect the propulsion speed and the cylinder pressure of the propulsion cylinder 3-9. The signal output ends of the propulsion speed sensor 3-12 and the pressure sensor 3-11 are respectively connected to the signal input ends of the fuzzy inference controller 3-10. The signal output end of the fuzzy inference controller 3-10 is connected to the signal control end of electromagnetic directional valve II 3-16.

[0090] The working principle of the drill pipe propulsion circuit is that plunger pump II 3-15 sucks hydraulic oil from the oil tank 3-1, pressurizes it and then transports it to electromagnetic directional valve II 3-16. By controlling the flow direction and flow rate of the hydraulic oil through electromagnetic directional valve II 3-16, the propulsion speed and movement direction of propulsion cylinder 3-9 are determined. Electromagnetic directional valve II 3-16 uses a 4 / 3 electromagnetic directional valve and has four ports: pressure oil port P, oil return port T, port A of propulsion cylinder 3-9, and port B of propulsion cylinder 3-9. When port P is connected to port A and port B is connected to port T, at this time the hydraulic oil flows to port A of the cylinder and port B returns oil, propulsion cylinder 3-9, and the drill pipe propels forward; when port P is connected to port B and port A is connected to port T, at this time the hydraulic oil flows to port B of the cylinder and port A returns oil, propulsion cylinder 3-9, and the drill pipe retracts; when port P and port T are connected and there is no oil flow between port A and port B, at this time the cylinder stops working and the drill pipe stops moving.

[0091] The fuzzy inference controller 3-10 includes a data acquisition unit and a fuzzy inference processing unit. The data acquisition unit is used to collect the detection information of the rotary speed sensor 3-13, the pressure sensor 3-11 or the propulsion speed sensor 3-12. The data acquisition unit makes a judgment based on the detection information. The fuzzy inference processing unit conducts inference processing through the fuzzy control rule base, derives a control instruction and outputs it to electromagnetic directional valve I 3-5 or electromagnetic directional valve II 3-16. Electromagnetic directional valve I 3-5 or electromagnetic directional valve II 3-16 adjusts the flow rate by changing the opening degree of its own port, adjusts the flow rate of the hydraulic oil entering the rotary hydraulic motor 3-8 or the propulsion cylinder 3-9, and further adjusts the rotary speed of the drill pipe or the propulsion speed of the drill pipe.

[0092] The adaptive cutting control method of the auger mining robot uses fuzzy inference technology to adaptively adjust the drill pipe propulsion speed and the rotary speed. The control process is as follows:

[0093] In the drill pipe rotation circuit, the rotary speed sensor 3-13 detects the rotary speed of the drill pipe and sends it to the fuzzy inference controller 3-10. The data acquisition unit collects the rotary speed of the drill pipe. The data processing unit makes a judgment based on the rotary speed signal of the drill pipe. The fuzzy inference processing unit conducts inference processing through the fuzzy control rule base, derives a control command, and outputs it to the first electromagnetic directional valve 3-5. The first electromagnetic directional valve 3-5 adjusts the flow rate by changing the port opening, adjusts the flow rate of the hydraulic oil entering the rotary hydraulic motor 3-8, and further adjusts the rotary speed of the drill pipe.

[0094] In the drill pipe propulsion circuit, the pressure sensor 3-11 detects the propulsion resistance of the propulsion cylinder 3-9 in real time. The propulsion speed sensor 3-12 detects the rotary speed of the drill pipe and sends it to the fuzzy inference controller 3-10. The data acquisition unit collects the load torque and the drill pipe propulsion speed. The data processing unit makes a judgment based on the load torque signal. If the load torque suddenly increases, it is judged that a rock stratum has been encountered suddenly, and the propulsion speed signal is processed and sent to the fuzzy inference processing unit. The fuzzy inference processing unit conducts inference processing through the fuzzy control rule base, derives a control command, and outputs it to the second electromagnetic directional valve 3-16. The second electromagnetic directional valve 3-16 adjusts the flow rate by changing the port opening, adjusts the flow rate of the hydraulic oil entering the propulsion cylinder 3-9, and further adjusts the drill pipe propulsion speed.

[0095] The specific control process of the fuzzy inference processing unit for adjusting the drill pipe propulsion speed is as follows:

[0096] The drill pipe propulsion speed is controlled by the propulsion speed of the propulsion cylinder, and the propulsion speed of the propulsion cylinder is jointly determined by the hydraulic oil flow rate Q1 in the propulsion circuit and the piston area A of the propulsion cylinder. Therefore, the propulsion speed of the propulsion cylinder The hydraulic oil flow rate in the propulsion circuit is the flow coefficient of the hydraulic system in the propulsion circuit, is the opening of the second electromagnetic directional valve, and its value range is usually between 0 and 1, indicating the state of the second electromagnetic directional valve from fully closed to fully open. P1 is the oil pressure in the propulsion circuit;

[0097] The fuzzy inference processing unit is responsible for adjusting the opening of the second electromagnetic directional valve 3-16 This unit is a fuzzy PID controller, and its output will affect the opening of the second electromagnetic directional valve 3-16 The output of the fuzzy PID controller Its core is to adjust the proportional coefficient Integral coefficient And differential coefficient These three parameters, adjusting the proportional coefficient Integral coefficient And differential coefficient These three parameters are adjusted according to the real-time error e1(t) and the error change rate Δe1(t). Therefore, the opening degree of the electromagnetic reversing valve 3-16 The advancing speed of the advancing oil cylinder 3-9 is

[0098] The output of the fuzzy PID controller is adjusted and determined by the fuzzy rule base. The rule base determines how to adjust the output according to the inputs e1(t) and Δe1(t) The fuzzy rules are defined as follows:

[0099] e1(t) ∈ {NB, NM, NS, ZO, PS, PM, PB} (Negative Big, Negative Medium, Negative Small, Zero, Positive Small, Positive Medium, Positive Big), Δe1(t) ∈ {NB, NM, NS, ZO, PS, PM, PB}. The specific control process is as follows:

[0100] S1, Fuzzification: Convert the actual error e1(t) and the error change rate Δe1(t) into fuzzy sets;

[0101] S2, Fuzzy inference: Use the fuzzy rule base to generate a control signal, that is, the PID gain and

[0102] S3, Defuzzification: Convert the result of fuzzy inference into an actual control quantity

[0103] The control process of the fuzzy inference processing unit for adjusting the rotary speed of the drill pipe is as follows:

[0104] The rotary speed of the drill pipe is controlled by the rotary hydraulic motor 3-8 in the rotary circuit hydraulic system. The rotational speed of the rotary hydraulic motor 3-8 is controlled by the magnitude of the hydraulic oil flow in the rotary circuit. The hydraulic oil flow in the rotary circuit is adjusted by the electromagnetic reversing valve 3-5. The opening degree of the electromagnetic reversing valve 3-5 determines the oil flow in the rotary circuit, and thus adjusts the rotational speed of the rotary hydraulic motor 3-8. The rotational speed of the rotary hydraulic motor 3-8 Q2 is the hydraulic oil flow in the rotary circuit, and V m is the displacement of the rotary hydraulic motor 3-8. The hydraulic oil flow Q2 in the rotary circuit is determined by the opening degree of the electromagnetic reversing valve 1 The relationship between the oil flow Q2, the hydraulic pressure P2 in the rotary circuit, and the opening degree of the electromagnetic reversing valve 3-5 is

[0105] The fuzzy inference processing unit is responsible for adjusting the opening degree of the electromagnetic reversing valve 3-5 This unit is a fuzzy PID controller, and its output will affect the opening degree of the electromagnetic reversing valve 3-5 Output of the fuzzy PID controller Its core is to adjust the proportional coefficient Integral coefficient And differential coefficient These three parameters, adjust the proportional coefficient Integral coefficient And differential coefficient These three parameters are adjusted according to the real-time error e2(t) and the error change rate Δe2(t). Therefore, the opening of the electromagnetic reversing valve 3-5 Rotary hydraulic motor 3-8 speed

[0106] Output of the fuzzy PID controller The adjustment is determined by the fuzzy rule base, and the rule base determines how to adjust the output according to the inputs e2(t) and Δe2(t) The fuzzy rules are defined as follows:

[0107] e2(t) ∈ {NB, NM, NS, ZO, PS, PM, PB} (Negative Big, Negative Medium, Negative Small, Zero, Positive Small, Positive Medium, Positive Big). Δe2(t) ∈ {NB, NM, NS, ZO, PS, PM, PB}, and its specific control process is as follows:

[0108] Step 1, Fuzzification: Convert the actual error e2(t) and the error change rate Δe2(t) into fuzzy sets;

[0109] Step 2, Fuzzy inference: Use the fuzzy rule base to generate a control signal, that is, the PID gain And

[0110] Step 3, Defuzzification: Convert the result of the fuzzy inference into an actual control quantity

[0111] The whole working process of this auger mining robot is as follows:

[0112] The first step is drilling preparation and gas detection;

[0113] The crawler traveling mechanism 1 starts, and the mobile drilling and mining robot is moved to the predetermined drilling operation position. When the drilling and mining robot reaches the target operation point, the movement stops and the support device 4 is started. The ground is supported by the fixed oil cylinder, and the angle and height of the support device 4 are adjusted by the inclination adjustment oil cylinder to provide stable operation support for the equipment and ensure the stability and accuracy during the drilling process. The high-pressure nitrogen injection system 2-8 in the first ventilation box 2-9 works. The gas concentration sensor of the gas monitoring module continuously detects the gas concentration around the drill bit during the drilling process and sends the detected data to the control module. The control module compares the gas concentration signal provided by the gas monitoring module with the preset concentration threshold. When the gas concentration exceeds the set threshold, the control module sends a signal to the nitrogen injection module. The nitrogen injection module controls and increases the output flow of nitrogen, and more nitrogen is injected through the nozzles on the drill bit, thereby reducing the gas concentration and forming an inert gas protection zone around the drill bit to reduce the gas concentration and prevent the occurrence of gas explosion.

[0114] Step 2: Adaptive drilling and coal mining operation;

[0115] The power system 3 works. The drill bit is driven to rotate by the rotary hydraulic motor 3-8, and the drill pipe is pushed forward by the propulsion oil cylinder 3-9 to ensure that the drill bit accurately enters the coal and rock stratum.

[0116] The pressure sensor 3-11 continuously detects the propulsion resistance of the propulsion oil cylinder 3-9, that is, the load torque. When the load torque increases, the data acquisition unit in the fuzzy inference controller 3-10 receives the load signal and determines that a rock stratum is encountered suddenly. Similarly, the propulsion speed sensor 3-12 sends the propulsion speed of the propulsion oil cylinder 3-9 to the data acquisition unit in the fuzzy inference controller 3-10. After processing and judgment by the data acquisition unit, the data is sent to the fuzzy inference processing unit. The fuzzy inference processing unit performs inference processing through the fuzzy control rule base, derives a control instruction and outputs it to the second electromagnetic directional valve 3-16. The second electromagnetic directional valve 3-16 adjusts the flow rate by changing the port opening degree, adjusts the flow rate of the hydraulic oil entering the propulsion oil cylinder 3-9, and further adjusts the drill pipe propulsion speed.

[0117] The rotary speed sensor 3-13 sends the rotary speed of the drill pipe to the data acquisition unit. After processing and judgment by the data acquisition unit, the data is sent to the fuzzy inference processing unit. The fuzzy inference processing unit derives a control instruction through the fuzzy control rule base and outputs it to the first electromagnetic directional valve 3-5. The first electromagnetic directional valve 3-5 adjusts the flow rate of the hydraulic oil entering the rotary hydraulic motor 3-8, and further adjusts the drill pipe rotation speed.

[0118] When the drill bit reaches the limit depth of the drill pipe, the electromagnetic directional control valves I 3-5 and II 3-16 in the drill pipe rotation circuit and the drill pipe propulsion circuit are controlled to connect the P port and the T port, and the rotary hydraulic motor 3-8 and the propulsion oil cylinder 3-9 stop working; the connection pins 2-11 and the flange plates 2-10 connecting the last drill pipe and the last ventilation box 2-9 to the remaining unit sections are disconnected. Subsequently, the power system 3 is driven by the motor sliding platform to retreat along the slide rail to a preset position to reserve an operating space for the lengthening components. The drill pipe unit section and the ventilation box 2-9 unit section to be installed are moved from the storage area to the drill pipe sliding platform by using a single-girder crane. The drill pipe sliding platform moves the lengthening unit section to the target installation position and uses the connection pins 2-11 and the flange plates 2-10 to connect the existing unit sections at the tail. Thus, the drill pipe lengthening work is completed. This process will continue to cycle until the drilling depth meets the operation requirements.

[0119] Step 3: Completion of drilling and reset of the equipment;

[0120] When the operation is completed, the power system 3 stops working and the drill rig stops drilling. At this time, the drill pipe is disassembled and moved back to the storage position, the high-pressure nitrogen injection system 2-8 is closed, the support device 4 is retracted, the crawler drive device 5 is restarted, and the auger drill is moved out of the operation area through the crawler travel mechanism 1 and is ready to return to the standby position.

[0121] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A helical drill mining robot, characterized in that, Comprising: A crawler traveling mechanism (1) for the stable traveling of the auger mining robot in the roadway; A drill pipe unit (2) including two drills designed in a modular manner, and the two drills are detachably connected; A power system (3), the power system (3) includes a propulsion cylinder (3-9) and a rotary hydraulic motor (3-13) for driving the drill bit to rotate and the drill pipe to advance; A support device (4) including a fixed cylinder, an inclination adjustment cylinder and a support base, capable of adjusting the support angle and height hydraulically; A crawler drive device (5) for driving the crawler traveling mechanism (1); A sliding platform device (6) for replacing the drill pipe. The power device and the drill pipe unit (2) are equipped with corresponding motor sliding platforms and drill pipe sliding platforms.

2. The helical drill mining robot according to claim 1, wherein The drill pipe unit (2) includes a drill bit, drill pipes, a transmission box (2-7), a high-pressure nitrogen injection system (2-8), a ventilation box (2-9), a flange plate (2-10) and a connecting pin shaft (2-11). The drill bit includes a left-handed drill bit one (2-2), a left-handed drill bit two (2-3), a right-handed drill bit one (2-5) and a right-handed drill bit two (2-6). The drill pipes include a left-handed drill pipe (2-1) and a right-handed drill pipe (2-4). The left-handed drill pipe (2-1), the right-handed drill pipe (2-4) and the ventilation box (2-9) are designed in a modular manner and are detachably connected by the flange plate (2-10) and the connecting pin shaft (2-11). The tail of the left-handed drill pipe (2-1) and the tail of the right-handed drill pipe (2-4) are both connected to the propulsion cylinder (3-9) of the power system (3) by the connecting pin shaft (2-11); The auger mining robot is also equipped with a single-track crane and a scraper conveyor to realize the movement of the unit sections of the drill pipe unit (2) and the transportation of coal and rock; The drill pipe sliding platform moves the lengthening unit section to the target installation position through the drill pipe sliding platform, and uses the connecting pin shaft (2-11) and the flange plate (2-10) to connect the existing unit section at the tail; 3. The auger mining robot according to claim 2, wherein, The high-pressure nitrogen injection system (2-8) is arranged in the first ventilation box (2-9) and includes a gas monitoring module, a control module and a nitrogen injection module; The gas monitoring module includes a gas concentration sensor. The gas concentration sensor is installed on the drill pipe unit (2) and is close to the drill bit, and is used for real-time detection of the gas concentration around the drill bit during the drilling process and sending the data to the control module; The control module is used to compare the gas concentration signal provided by the gas monitoring module with a preset concentration threshold. When the gas concentration exceeds the set threshold, the control module sends an execution signal to the nitrogen injection module; The nitrogen injection module includes a high-pressure nitrogen tank with a control component and a nozzle. The nozzle is close to the drill bit. The nozzle is connected to the output port of the high-pressure nitrogen tank. After receiving the execution signal from the control module, the nitrogen injection module adjusts the nitrogen output of the nitrogen output port of the high-pressure nitrogen tank through the control component, and nitrogen is output through the nozzle and sprayed into the area around the drill bit to form an inert gas protection zone.

4. The auger mining robot according to claim 3, wherein The power system (3) includes a drill pipe rotation circuit, a drill pipe propulsion circuit, a fuzzy inference controller (3-10), a rotary speed sensor (3-13), a pressure sensor (3-11), and a propulsion speed sensor (3-12); The drill pipe rotation circuit includes: an oil tank (3-1), a first filter (3-2), a first plunger pump (3-4), a first electromagnetic directional valve (3-5), a first overflow valve (3-6), and a rotary hydraulic motor (3-8). The input end of the first plunger pump (3-4) is connected to the oil tank (3-1), the output end of the first plunger pump (3-4) is connected to the input end of the first electromagnetic directional valve (3-5), the output end of the first electromagnetic directional valve (3-5) is connected to the rotary hydraulic motor (3-8), the oil return end of the first electromagnetic directional valve (3-5) is connected to the oil tank (3-1), the power output end of the rotary hydraulic motor (3-8) is connected to the input end of a speed reducer, and the output end of the speed reducer is connected to the drill bit; A first overflow valve (3-6) is provided between the first electromagnetic directional valve (3-5) and the rotary hydraulic motor (3-8), and a first filter (3-2) is provided between the oil tank (3-1) and the first plunger pump (3-4); The rotary speed sensor (3-13) is installed on the rotary hydraulic motor (3-8). The signal output end of the rotary speed sensor (3-13) is connected to the signal input end of the fuzzy inference controller (3-10), and the signal output end of the fuzzy inference controller (3-10) is connected to the control end of the first electromagnetic directional valve (3-5).

5. The auger mining robot according to claim 4, characterized in that, The drill pipe propulsion circuit includes: a second plunger pump (3-15), a second electromagnetic directional valve (3-16), and a propulsion oil cylinder (3-9). The input end of the second plunger pump (3-15) is connected to the oil tank (3-1), the output end of the second plunger pump (3-15) is connected to the input end of the second electromagnetic directional valve (3-16), the output end of the second electromagnetic directional valve (3-16) is respectively connected to the rod chamber and the rodless chamber of the propulsion oil cylinder (3-9), the oil return end of the second electromagnetic directional valve (3-16) is connected to the oil tank (3-1), the telescopic rod of the propulsion oil cylinder (3-9) is connected to a load, and the load is a drill pipe; The propulsion speed sensor (3-12) and the pressure sensor (3-11) are installed on the propulsion oil cylinder (3-9) and are respectively used to detect the propulsion speed and the oil cylinder pressure of the propulsion oil cylinder (3-9). The signal output ends of the propulsion speed sensor (3-12) and the pressure sensor (3-11) are respectively connected to the signal input end of the fuzzy inference controller (3-10), and the signal output end of the fuzzy inference controller (3-10) is connected to the signal control end of the second electromagnetic directional valve (3-16).

6. The helical drill mining robot according to claim 5, characterized in that, The fuzzy inference controller (3-10) includes a data acquisition unit and a fuzzy inference processing unit. The data acquisition unit is used to collect the detection information of the rotary speed sensor (3-13), the pressure sensor (3-11) or the propulsion speed sensor (3-12). The data acquisition unit makes a judgment based on the detection information. The fuzzy inference processing unit performs inference processing through a fuzzy control rule base, derives a control instruction, and outputs it to the first electromagnetic reversing valve (3-5) or the second electromagnetic reversing valve (3-16). The first electromagnetic reversing valve (3-5) or the second electromagnetic reversing valve (3-16) adjusts the flow rate by changing the opening degree of its own port, adjusts the hydraulic oil flow rate entering the rotary hydraulic motor (3-8) or the propulsion cylinder (3-9), and further adjusts the rotary speed of the drill pipe or the propulsion speed of the drill pipe.

7. A spiral drill mining robot according to claim 6, wherein, The specific control process of the fuzzy inference processing unit for adjusting the drill pipe propulsion speed is as follows: The advancing speed of the drill pipe is controlled by the advancing speed of the advancing oil cylinder (3-9), and the advancing speed of the advancing oil cylinder (3-9) is jointly determined by the oil flow rate Q1 of the advancing circuit and the piston area A of the advancing oil cylinder. Therefore, the advancing speed of the advancing oil cylinder (3-9) The oil flow rate of the advancing circuit is the flow coefficient of the hydraulic system in the advancing circuit. is the opening degree of the second electromagnetic directional valve (3-16), and its value range is usually between 0 and 1, indicating the state of the second electromagnetic directional valve (3-16) from fully closed to fully open. P1 is the oil pressure of the advancing circuit; The fuzzy inference processing unit is responsible for adjusting the opening degree of the second electromagnetic reversing valve (3-16). This unit is a fuzzy PID controller, and its output will affect the opening degree of the second electromagnetic reversing valve (3-16). The output of the fuzzy PID controller its core is to adjust the proportional coefficient integral coefficient and differential coefficient These three parameters, the proportional coefficient integral coefficient and differential coefficient These three parameters are adjusted according to the real-time error e1(t) and the error change rate Δe1(t). Therefore, the opening degree of the second electromagnetic reversing valve (3-16). The advancing speed of the advancing oil cylinder (3-9) is The output of the fuzzy PID controller is adjusted by a fuzzy rule base, which determines how to adjust the output according to the inputs e1(t) and Δe1(t). The fuzzy rules are defined as follows: e1(t) ∈ {NB, NM, NS, ZO, PS, PM, PB} (Negative Big, Negative Medium, Negative Small, Zero, Positive Small, Positive Medium, Positive Big), Δe1(t) ∈ {NB, NM, NS, ZO, PS, PM, PB}, and its specific control process is as follows: S1, Fuzzification: Convert the actual error e1(t) and the error change rate Δe1(t) into fuzzy sets; S2, Fuzzy inference: Generate a control signal, i.e., PID gains, using a fuzzy rule base and S3, Defuzzification: Convert the result of fuzzy inference into an actual control quantity 8. The helical drill mining robot according to claim 6, wherein, The control process of the fuzzy inference processing unit for adjusting the drill pipe rotary speed is as follows: The rotation speed of the drill pipe is controlled by the rotary hydraulic motor (3-8) in the rotary circuit hydraulic system. The rotation speed of the rotary hydraulic motor (3-8) is controlled by the magnitude of the hydraulic oil flow rate in the rotary circuit. The hydraulic oil flow rate in the rotary circuit is adjusted by the first electromagnetic directional valve (3-5). The opening degree of the first electromagnetic directional valve (3-5) determines the oil flow rate in the rotary circuit, thereby adjusting the rotation speed of the rotary hydraulic motor (3-8). The rotation speed of the rotary hydraulic motor (3-8) Q2 is the hydraulic oil flow rate in the rotary circuit, V m is the displacement of the rotary hydraulic motor (3-8). The hydraulic oil flow rate Q2 in the rotary circuit is determined by the opening degree of the first electromagnetic directional valve (3-5) The relationship between the oil flow rate Q2, the hydraulic pressure P2 in the rotary circuit, and the opening degree of the first electromagnetic directional valve (3-5) is The fuzzy inference processing unit is responsible for adjusting the opening degree of the first electromagnetic reversing valve (3-5). This unit is a fuzzy PID controller, and its output will affect the opening degree of the first electromagnetic reversing valve (3-5). The output of the fuzzy PID controller Its core is to adjust the proportional coefficient Integral coefficient And differential coefficient These three parameters, adjusting the proportional coefficient Integral coefficient And differential coefficient These three parameters are adjusted according to the real-time error e2(t) and the error change rate Δe2(t). Therefore, the opening degree of the first electromagnetic reversing valve (3-5). The rotational speed of the rotary hydraulic motor (3-8) The output of the fuzzy PID controller is adjusted by a fuzzy rule base, which determines how to adjust the output based on the inputs e2(t) and Δe2(t). The fuzzy rules are defined as follows: e2(t) ∈ {NB, NM, NS, ZO, PS, PM, PB} (Negative Big, Negative Medium, Negative Small, Zero, Positive Small, Positive Medium, Positive Big). Δe2(t) ∈ {NB, NM, NS, ZO, PS, PM, PB}, and its specific control process is as follows: Step 1, Fuzzification: Convert the actual error e2(t) and the error change rate Δe2(t) into fuzzy sets; Step 2, fuzzy inference: Generate a control signal, i.e., PID gains, using a fuzzy rule base and Step 3, defuzzification: Convert the result of fuzzy inference into an actual control quantity 9. An adaptive cutting control method, which is based on a helical drill mining robot according to any one of claims 1-8, characterized in that It includes the following steps: The first step, Drilling preparation and gas detection; Drilling preparation: The crawler travel mechanism (1) starts, moves the drill mining robot to the predetermined drilling operation position. When the drill mining robot reaches the target operation point, stop moving and start the support device (4), support the ground through the fixed cylinder, and the tilt cylinder adjusts the angle and height of the support device (4) to provide stable operation support for the equipment; Gas detection: The high-pressure nitrogen injection system (2-8) in the first ventilation box (2-9) works. The gas concentration sensor of the gas monitoring module real-time detects the gas concentration around the drill bit during the drilling process, and sends the detection data to the control module. The control module compares the gas concentration signal provided by the gas monitoring module with the preset concentration threshold. When the gas concentration exceeds the set threshold, the control module sends a signal to the nitrogen injection module. The nitrogen injection module controls and increases the output flow rate of nitrogen, and more nitrogen is injected through the nozzle on the drill bit, so as to reduce the gas concentration and form an inert gas protection area around the drill bit; The second step, Adaptive drilling coal mining operation; The power system (3) works, drives the drill bit to rotate through the rotary hydraulic motor (3-8), and drives the drill pipe to advance through the propulsion cylinder (3-9) to ensure that the drill bit accurately enters the coal and rock stratum; The pressure sensor (3-11) detects the propulsion resistance of the propulsion cylinder (3-9) in real time, that is, the load torque. When the load torque increases, the data acquisition unit in the fuzzy inference controller (3-10) receives the load signal and determines that a rock stratum has been encountered suddenly. Similarly, the propulsion speed sensor (3-12) sends the propulsion speed of the propulsion cylinder (3-9) to the data acquisition unit in the fuzzy inference controller (3-10). After processing and judgment by the data acquisition unit, the data is sent to the fuzzy inference processing unit. The fuzzy inference processing unit performs inference processing through the fuzzy control rule base, derives a control instruction, and outputs it to the second electromagnetic directional valve (3-16). The second electromagnetic directional valve (3-16) adjusts the flow rate by changing the port opening degree, adjusts the flow rate of the hydraulic oil entering the propulsion cylinder (3-9), and then adjusts the drill pipe propulsion speed; The rotary speed sensor (3-13) sends the rotary speed of the drill pipe to the data acquisition unit. After processing and judgment by the data acquisition unit, the data is sent to the fuzzy inference processing unit. The fuzzy inference processing unit derives a control instruction through the fuzzy control rule base and outputs it to the first electromagnetic directional valve (3-5). The first electromagnetic directional valve (3-5) adjusts the flow rate of the hydraulic oil entering the rotary hydraulic motor (3-8), and then adjusts the rotary speed of the drill pipe; When the drill bit reaches the limit depth of the drill pipe, the P port and the T port in the first electromagnetic directional valve (3-5) and the second electromagnetic directional valve (3-16) in the drill pipe rotation circuit and the drill pipe propulsion circuit are connected, and the rotary hydraulic motor (3-8) and the propulsion cylinder (3-9) stop working; The third step is to complete drilling and reset the equipment; When the operation is completed, the power system (3) stops working and the drill rig stops drilling. At this time, the drill pipe is disassembled and moved back to the storage position, the high-pressure nitrogen injection system (2-8) is closed, the support device (4) is retracted, the crawler drive device (5) is restarted, and the auger drill is moved out of the operation area through the crawler travel mechanism (1) and is ready to return to the standby position.

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