A spiral drilling mining robot and an adaptive cutting control method

Abstract

This invention provides a spiral drilling mining robot and an adaptive cutting control method, belonging to the field of mining equipment technology. The technical solution is as follows: a spiral drilling mining robot includes a tracked walking mechanism, a drill rod unit, a power system, a support device, and a sliding platform device; this invention also provides an adaptive cutting control method, including the following steps: first, borehole preparation and gas detection; second, adaptive borehole mining operation; third, drilling completion and equipment reset; the beneficial effects of this invention are: this invention uses a gas concentration sensor on the drill bit to detect the gas concentration in real time and automatically adjusts the nitrogen injection volume, effectively controlling the gas concentration. Simultaneously, the equipment can dynamically adjust the drill bit rotation speed and propulsion speed according to changes in drill bit load and rock hardness, improving tunneling efficiency; furthermore, the tunneling equipment features a modular design, enabling the equipment to flexibly cope with drilling requirements at various depths.

Description

Technical Field

[0001] This invention relates to the field of mining equipment technology, and in particular to a spiral drilling mining robot and an adaptive cutting control method. Background Technology

[0002] Coal resources are one of my country's main energy sources. With the development of the coal industry and the continuous improvement of coal mining technology and equipment, tunneling has become a crucial 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. Currently, my country adds over 120,000 kilometers of tunnels annually, with more than 80% located in coal mines. However, due to the low level of equipment intelligence, traditional technology, and complex geological conditions, tunneling speeds are generally low, averaging less than 200 meters per month, requiring a large number of construction workers. This situation not only leads to low tunneling efficiency but also brings high safety risks and high construction costs, becoming a significant factor restricting coal mining. Summary of the Invention

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

[0004] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: a spiral drilling mining robot, comprising:

[0005] Tracked walking mechanism, used for the stable movement of auger drilling mining robots in tunnels;

[0006] The drill pipe unit consists of two modularly designed drill rigs that can be detachably connected.

[0007] The power system includes a propulsion cylinder and a rotary hydraulic motor for driving the drill bit to rotate and the drill rod to advance.

[0008] The support device includes a fixed hydraulic cylinder, an adjustable hydraulic cylinder, and a support base, which can adjust the support angle and height hydraulically.

[0009] Track drive unit, used to drive the track traveling mechanism;

[0010] The sliding platform device is used for changing drill pipes. The power unit and 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, a drill pipe, a transmission box, a high-pressure nitrogen injection system, a ventilation box, a flange plate, and a connecting pin. The drill bit includes a left-hand drill bit one, a left-hand drill bit two, a right-hand drill bit one, and a right-hand drill bit two. The drill pipe includes a left-hand drill pipe and a right-hand drill pipe. The left-hand drill pipe, the right-hand drill pipe, and the ventilation box adopt a modular design and are detachably connected by standard unit sections of the same specifications through flange plates and connecting pins. The tail ends of the left-hand drill pipe and the right-hand drill pipe are both connected to the propulsion cylinder of the power system by connecting pins.

[0012] The spiral drilling mining robot is also equipped with a monorail and a scraper conveyor to enable the movement of drill pipe unit sections and the transportation of coal and rock;

[0013] The drill pipe sliding platform moves the extended unit section to the target installation position and connects the existing tail unit section using connecting pins and flange plates.

[0014] Furthermore, the high-pressure nitrogen injection system is installed inside the first 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, which is installed on the drill pipe unit and positioned close to the drill bit. It is used to detect the gas concentration around the drill bit in real time during drilling and send 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 control components and a nozzle. The nozzle is located 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 of the high-pressure nitrogen tank through the control components. The nitrogen is then sprayed through the nozzle into the area around the drill bit, forming 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 filter, a plunger pump, a solenoid directional valve, an overflow valve, and a rotary hydraulic motor. The input end of the plunger pump is connected to the oil tank, the output end of the plunger pump is connected to the input end of the solenoid directional valve, the output end of the solenoid directional valve is connected to the rotary hydraulic motor, the return end of the solenoid directional valve is connected to the oil tank, the power output end of the rotary hydraulic motor is connected to the input end of the reducer, and the output end of the reducer is connected to the drill bit.

[0020] An overflow valve is provided between the electromagnetic directional valve and the rotary hydraulic motor, and a filter is provided between the oil tank and the plunger pump.

[0021] The rotation speed sensor is mounted on the rotation hydraulic motor. The signal output terminal of the rotation speed sensor is connected to the signal input terminal of the fuzzy inference controller. The signal output terminal of the fuzzy inference controller is connected to the control terminal of the electromagnetic directional valve.

[0022] Furthermore, the drill pipe propulsion circuit includes: a second plunger pump, a second solenoid directional valve, and a propulsion 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 solenoid directional valve, the output end of the second solenoid directional valve is connected to the rod chamber and the rodless chamber of the propulsion cylinder respectively, the return end of the second solenoid directional valve is connected to the oil tank, and the telescopic rod of the propulsion cylinder is connected to the load, wherein the load is the drill pipe.

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

[0024] Furthermore, the fuzzy inference controller includes a data acquisition unit and a fuzzy inference processing unit. The data acquisition unit is used to collect detection information from the rotation speed sensor, pressure sensor, or propulsion speed sensor. The data acquisition unit makes judgments based on the detection information. The fuzzy inference processing unit performs inference processing through a fuzzy control rule base, derives control commands, and outputs them to electromagnetic directional valve one or electromagnetic directional valve two. Electromagnetic directional valve one or electromagnetic directional valve two adjusts the flow rate by changing the opening of its own port, thereby adjusting the flow rate of hydraulic oil entering the rotary hydraulic motor or propulsion cylinder, and thus adjusting the drill rod rotation speed or drill rod propulsion speed.

[0025] Furthermore, the specific control process for adjusting the drill pipe advance speed by the fuzzy inference processing unit is as follows:

[0026] The drill pipe advance speed is controlled by the advance speed of the hydraulic cylinder, which in turn is determined by the hydraulic oil flow rate Q1 in the advance circuit and the piston area A of the hydraulic cylinder. Therefore, the advance speed of the hydraulic cylinder... Propulsion loop hydraulic oil flow rate It is the flow coefficient of the hydraulic system in the propulsion circuit. P1 is the opening degree of the second solenoid directional valve, which usually ranges from 0 to 1. It represents the state of the second solenoid directional valve from fully closed to fully open. P1 is the oil pressure of the propulsion circuit.

[0027] The fuzzy inference processing unit is responsible for adjusting the opening of the second electromagnetic directional valve. This unit is a fuzzy PID controller, and its output... It will affect the opening degree of the second solenoid directional valve. The output of the fuzzy PID controller Its core is adjusting the proportional coefficient. Integral coefficient and differential coefficients These three parameters are used to adjust the scaling factor. Integral coefficient and differential coefficients These three parameters are adjusted based on the real-time error e1(t) and the rate of change of error Δe1(t), therefore the opening degree of the electromagnetic reversing valve II is... The propulsion speed of the hydraulic cylinder (3-9) is

[0028] The output of the fuzzy PID controller The adjustment is determined by a fuzzy rule base, which determines how to adjust the output based on the input e1(t) and Δe1(t). The fuzzy rule is defined as follows:

[0029] e1(t)∈{NB,NM,NS,ZO,PS,PM,PB}(negative large, negative medium, negative small, zero, small positive, medium positive, large positive), Δe1(t)∈{NB,NM,NS,ZO,PS,PM,PB}, and its specific control process is as follows:

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

[0031] S2, Fuzzy Inference: Uses a fuzzy rule base to generate control signals, i.e., PID gain. and

[0032] S3, Defuzzification: Converting the results of fuzzy inference into actual control quantities.

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

[0034] The rotational speed of the drill pipe is controlled by a rotary hydraulic motor in the rotary hydraulic circuit system. The rotational speed of the rotary hydraulic motor is controlled by the flow rate of the hydraulic oil in the rotary circuit. The flow rate of the hydraulic oil in the rotary circuit is regulated by solenoid directional valve one. The opening degree of solenoid directional valve one determines the flow rate of oil in the rotary circuit, thereby regulating the rotational speed of the rotary hydraulic motor. Q2 is the fluid flow rate in the rotary loop, V m The displacement of the rotary hydraulic motor, and the hydraulic oil flow rate Q2 in the rotary circuit, are determined by the opening degree of the solenoid directional valve. The relationship between oil flow rate Q2, rotary circuit oil pressure P2, and the opening degree of the solenoid directional valve is determined as follows:

[0035] The fuzzy inference processing unit is responsible for adjusting the opening of the electromagnetic directional valve one. This unit is a fuzzy PID controller, and its output is... It will affect the opening degree of the solenoid directional valve one. The output of the fuzzy PID controller Its core is adjusting the proportional coefficient. Integral coefficient and differential coefficients These three parameters are used to adjust the scaling factor. Integral coefficient and differential coefficients These three parameters are adjusted based on the real-time error e2(t) and the rate of change of error Δe2(t), therefore the opening degree of the electromagnetic directional valve one... Rotary hydraulic motor speed

[0036] The output of the fuzzy PID controller The adjustment is determined by a fuzzy rule base, which specifies how to adjust the output based on the input e2(t) and Δe2(t). The fuzzy rule is defined as follows:

[0037] e2(t)∈{NB,NM,NS,ZO,PS,PM,PB}(negative large, negative medium, negative small, zero, small positive, medium positive, large positive).

[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 rate of change of error Δe2(t) into fuzzy sets;

[0040] Step 2, Fuzzy Inference: Use a fuzzy rule base to generate control signals, i.e., PID gain. and

[0041] Step 3, Defuzzification: Convert the results of fuzzy inference into actual control quantities.

[0042] The present invention also provides an adaptive cut-off control method, comprising the following steps:

[0043] The first step is borehole preparation and gas detection;

[0044] Drilling preparation: The tracked walking mechanism is started, and the drilling robot is moved to the predetermined drilling operation position. When the drilling robot reaches the target operation point, it stops moving and the support device is started. The ground is supported by the fixed cylinder, and the angle adjustment cylinder is used to adjust the angle and height of the support device to provide stable operation support for the equipment.

[0045] Gas detection: The high-pressure nitrogen injection system in the first ventilation box is working. The gas concentration sensor of the gas monitoring module detects the gas concentration around the drill bit in real time during drilling 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 of nitrogen, and more nitrogen is injected into the nozzle on the drill bit, thereby reducing the gas concentration and forming an inert gas protection zone around the drill bit.

[0046] The second step is adaptive borehole mining operations;

[0047] The power system operates by using a rotary hydraulic motor to drive the drill bit to rotate, and a propulsion cylinder to drive the drill rod forward, ensuring that the drill bit accurately enters the coal and rock strata.

[0048] The pressure sensor detects the propulsion resistance of the propulsion cylinder in real time, which is also the load torque. When the load torque increases, the data acquisition unit in the fuzzy inference controller receives the load signal and determines that a rock layer has been encountered. Similarly, the propulsion speed sensor sends the propulsion speed of the propulsion 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 and derives the control command output to the second electromagnetic directional valve. The second electromagnetic directional valve adjusts the flow rate by changing the port opening, thereby adjusting the flow rate of hydraulic oil entering the propulsion cylinder and thus adjusting the drill pipe propulsion speed.

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

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

[0051] The third step is to complete drilling and reset the equipment.

[0052] Once the work is completed, the power system stops working, the drilling rig stops drilling, the drill rod is disassembled and moved back to its storage position, the high-pressure nitrogen injection system is shut off, the support device is retracted, the crawler drive device is restarted, and the auger drilling rig moves out of the work area via the crawler walking mechanism, ready 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 spiral drilling robot in this application adopts an adaptive cutting control system. By adjusting the electromagnetic reversing valve one and electromagnetic reversing valve two in the fuzzy inference controller, the drill rod advance speed and drill rod rotation speed can be adaptively adjusted according to the load size. This allows 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 layers, soft rock layers and interbedded 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 spiral drilling robot in this application enables real-time monitoring of gas concentration in the mine working environment. The gas concentration sensor in the system monitors the gas concentration in real time during the drilling process. Once the gas concentration is detected to rise to the dangerous threshold, the system will automatically start the nitrogen injection device, increase the nitrogen flow rate, and form an inert gas protection zone, effectively reducing the probability of gas explosion. This intelligent safety protection measure can greatly reduce the risk of gas explosion in coal mine operations, protect the lives of miners, and ensure the safety of the working environment.

[0056] 3. The drill pipe unit of the spiral drilling robot in this application adopts a modular design. The drill pipe and ventilation box unit sections are connected by flange plates and connecting pins. Each unit section is easy to disassemble. The modular design of the drill pipe unit makes the equipment more adaptable to roadways of different depths and complex geological conditions, meeting the needs of different working environments. At the same time, the modular structure also simplifies the assembly, transportation and maintenance process of the equipment, saving a lot of time and labor costs and improving the overall operating efficiency.

[0057] 4. This invention, by introducing sensors and an adaptive control system, enables real-time monitoring and adjustment of the equipment's operating status. For example, a gas concentration sensor on the drill bit detects the gas concentration in real time and automatically adjusts the nitrogen injection volume, effectively controlling the gas concentration and reducing the risk of gas explosion. Simultaneously, the equipment can dynamically adjust the drill bit speed and propulsion speed based on changes in drill bit load and rock hardness, improving tunneling efficiency. To adapt to different geological conditions and operational needs, the tunneling equipment requires a modular design. Modular assembly of drill rods and adjustable-length ventilation box components allow the equipment to flexibly handle drilling needs at various depths, improving its adaptability and flexibility. Through continuous innovation and breakthroughs in these technological directions, the new tunneling equipment will achieve significant progress in intelligence, modularity, and efficiency, helping coal mine roadway tunneling operations develop towards a safer, more efficient, and intelligent direction. Attached Figure Description

[0058] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0059] Figure 1 This is a structural schematic diagram of a spiral drilling mining robot according to this application.

[0060] Figure 2 This is a schematic diagram of the drill pipe assembly structure in the spiral drilling mining robot of this application.

[0061] Figure 3 This is a schematic diagram of the control principle of the high-pressure nitrogen injection system in the spiral drilling mining robot of this application.

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

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

[0064] Figure 6 This is a schematic diagram of the operation of the auger drilling mining robot in this application.

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

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

[0067] The attached figures are labeled as follows:

[0068] 1. Tracked walking mechanism;

[0069] 2. Drill pipe assembly; 2-1. Left-hand drill pipe; 2-2. Left-hand drill bit one; 2-3. Left-hand drill bit two; 2-4. Right-hand drill pipe; 2-5. Right-hand drill bit one; 2-6. Right-hand drill bit two; 2-7. Transmission box; 2-8. High-pressure nitrogen injection system; 2-9. Ventilation box; 2-10. Flange plate; 2-11. Connecting pin;

[0070] 3. Power System; 3-1. Oil Tank; 3-2. Filter 1; 3-3. Engine; 3-4. Piston Pump 1; 3-5. Solenoid Directional Valve 1; 3-6. Relief Valve 1; 3-7. Check Valve; 3-8. Rotary Hydraulic Motor; 3-9. Propulsion Cylinder; 3-10. Fuzzy Inference Controller; 3-11. Pressure Sensor; 3-12. Propulsion Speed ​​Sensor; 3-13. Rotation Speed ​​Sensor; 3-14. Filter 2; 3-15. Piston Pump 2; 3-16. Solenoid Directional Valve 2; 3-17. Relief Valve 2;

[0071] 4. Supporting device;

[0072] 5. Track drive unit;

[0073] 6. Sliding platform device. Detailed Implementation

[0074] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. Of course, the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0075] Examples, such as Figures 1-8 As shown, this embodiment provides a spiral drilling mining robot, including:

[0076] Tracked walking mechanism 1 is used for the stable movement of the auger drilling mining robot in the tunnel;

[0077] Drill pipe unit 2 includes two modularly designed drilling rigs that can be detachably connected.

[0078] Power system 3 includes propulsion cylinder 3-9 and rotary hydraulic motor 3-8, which are used to drive drill bit rotation and drill rod propulsion;

[0079] Support device 4 includes a fixed hydraulic cylinder, an adjustable hydraulic cylinder, and a support base, which can adjust the support angle and height hydraulically.

[0080] Track drive unit 5 is used to drive track walking mechanism 1;

[0081] The sliding platform device 6 is used for changing drill pipes. The power unit and drill pipe unit 2 are equipped with corresponding motor sliding platforms and drill pipe sliding platforms.

[0082] The drill pipe unit 2 includes drill bits, 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 bits include left-hand drill bit 1 2-2, left-hand drill bit 2-3, right-hand drill bit 1 2-5, and right-hand drill bit 2-6. The drill pipes include left-hand drill pipe 2-1 and right-hand drill pipe 2-4. The left-hand drill pipe 2-1, right-hand drill pipe 2-4, and ventilation box 2-9 adopt a modular design, which consists of standard unit sections of the same specification that can be detachably connected by flange plates 2-10 and connecting pins 2-11. The tail of the left-hand drill pipe 2-1 and the tail of the right-hand drill pipe 2-4 are both connected to the propulsion 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 ventilation box 2-9, it is only necessary to loosen the bolts on the flange plates 2-10 of each connecting unit section and remove the pins and flange plates 2-10.

[0083] The auger drilling mining robot is also equipped with a monorail crane and a scraper conveyor to move the drill rod unit 2 and transport coal and rock. Specifically, when the length of the drill rod unit 2 and the ventilation box 2-9 needs to be adjusted, the operation is as follows: when the drilling operation requires increasing the drilling depth, the connection between the propulsion cylinder 3-9 and the tail section of the drill rod connecting pin 2-11 is released, and the connection between the tail section of the drill rod and the tail section of the ventilation box 2-9 and the other unit sections is released. Then, the power system 3 is driven to retreat along the slide rail to the preset position by the motor sliding platform to reserve operating space for the extension component. The drill rod unit section and the ventilation box 2-9 unit section to be added are moved from the storage area to the drill rod sliding platform using the monorail crane.

[0084] The drill pipe sliding platform moves the extended unit section to the target installation position, connecting the existing tail unit section using connecting pin 2-11 and flange plate 2-10. When the length of the drill pipe unit 2 needs to be shortened, the tail unit section needs to be adjusted and disassembled. First, the mechanical connection between the tail unit section to be removed and its adjacent unit sections is released, including loosening flange plate 2-10 and pin connection. The motor-driven sliding platform drives the power system 3 to move backward, providing working space for removing the tail unit section. Subsequently, the drill pipe sliding platform moves the tail unit section to a detachable position and transfers it to the storage area via a monorail crane. The scraper conveyor transports materials such as coal, rock, or gravel generated during drilling along a set track to the target location, realizing material transportation.

[0085] The high-pressure nitrogen injection system 2-8 is located inside 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 positioned close to the drill bit. It is used to detect the gas concentration around the drill bit in real time during drilling and send the 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 an execution signal to the nitrogen injection module. The nitrogen injection module includes a high-pressure nitrogen tank with control components and a nozzle. The nozzle is positioned close to the drill bit and 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 from the nitrogen output port of the high-pressure nitrogen tank through the control components. The nitrogen is then sprayed through the nozzle into the area around the drill bit, forming an inert gas protection zone and 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 rotation speed sensor 3-13, a pressure sensor 3-11, and a propulsion speed sensor 3-12.

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

[0088] The working principle of the drill pipe rotation circuit is as follows: the plunger pump 3-4 draws hydraulic oil from the oil tank 3-1, pressurizes it, and delivers it to the solenoid directional valve 3-5. The solenoid directional valve 3-5 controls the flow direction and flow rate of the hydraulic oil, and determines the speed and direction of the rotary hydraulic motor 3-8. The oil flows through the solenoid directional valve 3-5 to the rotary hydraulic motor 3-8. The rotor of the rotary hydraulic motor 3-8 rotates due to the 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 one circuit cycle. One end of the drill pipe is connected to the reducer, which amplifies the torque and drives the drill bit to rotate. The solenoid directional valve 3-5 is a 4 / 3 solenoid directional valve with four ports: pressure port P, return port T, rotary hydraulic motor 3-8 port A, and rotary hydraulic motor 3-8 port B. When the 4 / 3 solenoid directional valve is in the forward position, the pressure oil at port P flows through... Hydraulic oil flows through the 4 / 3 valve to port A of the rotary hydraulic motor 3-8. Hydraulic oil flows out from port B of the rotary hydraulic motor 3-8 and through the 4 / 3 valve to the return port T. Port A of the rotary hydraulic motor 3-8 draws in pressurized oil, and port B discharges oil. The rotary hydraulic motor 3-8 rotates clockwise, thus driving the drill pipe to rotate forward. When the 4 / 3 directional valve is in the reverse position, pressurized oil at port P flows through the 4 / 3 valve to port B of the rotary hydraulic motor 3-8. Hydraulic oil flows out from port A of the rotary hydraulic motor 3-8 and through the 4 / 3 valve to the return port T. Port B of the rotary hydraulic motor 3-8 draws in pressurized oil, and port A discharges 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, there is no hydraulic oil flow between ports A and B. At this time, hydraulic oil cannot flow into the rotary hydraulic motor 3-8, the rotary hydraulic motor 3-8 stops rotating, and the drill pipe is in a stopped state.

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

[0090] The working principle of the drill pipe propulsion circuit is as follows: the plunger pump 3-15 draws hydraulic oil from the oil tank 3-1, pressurizes it, and delivers it to the solenoid directional valve 3-16. The solenoid directional valve 3-16 controls the flow direction and flow rate of the hydraulic oil to determine the propulsion speed and direction of the propulsion cylinder 3-9. The solenoid directional valve 3-16 is a 4 / 3 solenoid directional valve with four ports: pressure port P, return port T, propulsion cylinder 3-9 port A, and propulsion cylinder 3-9 port B. When port P is connected to port A and port B is connected to port T, the hydraulic oil flows to port A of the cylinder, and returns through port B, thus propulsing the cylinder 3-9 and advancing the drill pipe. When port P is connected to port B and port A is connected to port T, the hydraulic oil flows to port B of the cylinder, and returns through port A, thus propulsing the cylinder 3-9 and retracting the drill pipe. When port P is connected to port T and there is no oil flow between ports A and B, 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 detection information from the rotation speed sensor 3-13, pressure sensor 3-11, or propulsion speed sensor 3-12. The data acquisition unit makes judgments based on the detection information. The fuzzy inference processing unit performs inference processing through the fuzzy control rule base and derives control commands to output to the solenoid directional valve 1 3-5 or solenoid directional valve 2 3-16. The solenoid directional valve 1 3-5 or solenoid directional valve 2 3-16 adjusts the flow rate by changing the opening of its own port, thereby adjusting the flow rate of hydraulic oil entering the rotary hydraulic motor 3-8 or propulsion cylinder 3-9, and thus adjusting the drill rod rotation speed or drill rod propulsion speed.

[0092] The adaptive cutting control method for auger drilling mining robots uses fuzzy inference technology to adaptively adjust the drill pipe's advance speed and rotation speed. The control process is as follows:

[0093] In the drill pipe rotation circuit, the rotation speed sensor 3-13 detects the drill pipe rotation speed and sends it to the fuzzy inference controller 3-10. The data acquisition unit collects the drill pipe rotation speed, the data processing unit makes a judgment based on the drill pipe rotation speed signal, and the fuzzy inference processing unit performs inference processing through the fuzzy control rule base to derive control commands and output them to the solenoid directional valve 3-5. The solenoid directional valve 3-5 adjusts the flow rate by changing the port opening, thereby adjusting the flow rate of hydraulic oil entering the rotary hydraulic motor 3-8 and thus adjusting the drill pipe rotation speed.

[0094] In the drill pipe propulsion circuit, pressure sensor 3-11 detects the propulsion resistance of propulsion cylinder 3-9 in real time, propulsion speed sensor 3-12 detects the drill pipe rotation speed and sends it to fuzzy inference controller 3-10, data acquisition unit collects load torque and drill pipe propulsion speed, data processing unit makes judgment based on load torque signal, if load torque suddenly increases, it is judged as encountering rock formation, and the propulsion speed signal is processed and sent to fuzzy inference processing unit, fuzzy inference processing unit performs inference processing through fuzzy control rule base, derives control command output to electromagnetic directional valve 3-16, electromagnetic directional valve 3-16 adjusts the flow by changing port opening, adjusts the flow of hydraulic oil entering propulsion cylinder 3-9, and thus adjusts drill pipe propulsion speed.

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

[0096] The drill pipe advance speed is controlled by the advance speed of the hydraulic cylinder, which in turn is determined by the hydraulic oil flow rate Q1 in the advance circuit and the piston area A of the hydraulic cylinder. Therefore, the advance speed of the hydraulic cylinder... Propulsion loop hydraulic oil flow rate It is the flow coefficient of the hydraulic system in the propulsion circuit. P1 is the opening degree of the second solenoid directional valve, which usually ranges from 0 to 1. It represents the state of the second solenoid directional valve from fully closed to fully open. P1 is the oil pressure of the propulsion circuit.

[0097] The fuzzy inference processing unit is responsible for adjusting the opening degree of electromagnetic directional valve 2 (3-16). This unit is a fuzzy PID controller, and its output... This will affect the opening degree of the solenoid directional valve 2 3-16. The output of the fuzzy PID controller Its core is adjusting the proportional coefficient. Integral coefficient and differential coefficients These three parameters are used to adjust the scaling factor. Integral coefficient and differential coefficients These three parameters are adjusted based on the real-time error e1(t) and the rate of change of error Δe1(t), thus affecting the opening degree of the electromagnetic directional valve 3-16. The propulsion speed of hydraulic cylinders 3-9 is

[0098] The output of the fuzzy PID controller The adjustment is determined by a fuzzy rule base, which determines how to adjust the output based on the input e1(t) and Δe1(t). The fuzzy rule is defined as follows:

[0099] e1(t)∈{NB,NM,NS,ZO,PS,PM,PB}(negative large, negative medium, negative small, zero, small positive, medium positive, large positive), Δe1(t)∈{NB,NM,NS,ZO,PS,PM,PB}, and its specific control process is as follows:

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

[0101] S2, Fuzzy Inference: Uses a fuzzy rule base to generate control signals, i.e., PID gain. and

[0102] S3, Defuzzification: Converting the results of fuzzy inference into actual control quantities.

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

[0104] The rotational 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 flow rate of the hydraulic oil in the rotary circuit. The flow rate of the hydraulic oil in the rotary circuit is regulated by the solenoid directional valve 3-5. The opening degree of the solenoid directional valve 3-5 determines the flow rate of the oil in the rotary circuit, thereby regulating the rotational speed of the rotary hydraulic motor 3-8. Q2 is the fluid flow rate in the rotary loop, V m To determine 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 solenoid directional valve 1. The relationship between oil flow rate Q2, rotary circuit oil pressure P2, and the opening degree of solenoid directional valve -3-5 is determined as follows:

[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 is... This will affect the opening degree of the solenoid directional valve 3-5. The output of the fuzzy PID controller Its core is adjusting the proportional coefficient. Integral coefficient and differential coefficients These three parameters are used to adjust the scaling factor. Integral coefficient and differential coefficients These three parameters are adjusted based on the real-time error e2(t) and the rate of change of error Δe2(t), thus affecting the opening degree of the electromagnetic directional valve 3-5. Rotary hydraulic motor 3-8 speed

[0106] The output of the fuzzy PID controller The adjustment is determined by a fuzzy rule base, which specifies how to adjust the output based on the input e2(t) and Δe2(t). The fuzzy rule is defined as follows:

[0107] e2(t)∈{NB,NM,NS,ZO,PS,PM,PB}(negative large, negative medium, negative small, zero, small positive, medium positive, large positive). Δe2(t)∈{NB,NM,NS,ZO,PS,PM,PB}, its specific control process is as follows:

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

[0109] Step 2, Fuzzy Inference: Use a fuzzy rule base to generate control signals, i.e., PID gain. and

[0110] Step 3, Defuzzification: Convert the results of fuzzy inference into actual control quantities.

[0111] The entire working process of this spiral drilling mining robot is as follows:

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

[0113] The tracked walking mechanism 1 is activated, moving the drilling robot to the predetermined drilling operation position. When the drilling robot reaches the target operation point, it stops moving and activates the support device 4. The ground is supported by the fixed hydraulic cylinder, and the angle adjustment hydraulic cylinder adjusts the angle and height of the support device 4 to provide stable operation support for the equipment, ensuring stability and accuracy during the drilling process. The high-pressure nitrogen injection system 2-8 in the first ventilation box 2-9 is activated. The gas concentration sensor of the gas monitoring module detects the gas concentration around the drill bit in real time 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 of nitrogen, injecting more nitrogen into the nozzle 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 gas explosion.

[0114] The second step is adaptive borehole mining operations;

[0115] The power system 3 operates by driving the drill bit to rotate via the rotary hydraulic motor 3-8 and the propulsion cylinder 3-9 to drive the drill rod forward, ensuring that the drill bit accurately enters the coal and rock strata.

[0116] Pressure sensor 3-11 detects the propulsion resistance of propulsion cylinder 3-9 in real time, which is also the load torque. When the load torque increases, the data acquisition unit in fuzzy inference controller 3-10 receives the load signal and determines that a rock layer has been encountered. Similarly, propulsion speed sensor 3-12 sends the propulsion speed of propulsion cylinder 3-9 to the data acquisition unit in fuzzy inference controller 3-10. 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 and derives control commands to output to electromagnetic directional valve 3-16. Electromagnetic directional valve 3-16 adjusts the flow rate by changing the port opening, thereby adjusting the flow rate of hydraulic oil entering propulsion cylinder 3-9 and thus adjusting the drill rod propulsion speed.

[0117] The rotation speed sensor 3-13 sends the drill pipe rotation speed to the data acquisition unit. After processing and judging, the data acquisition unit sends the data to the fuzzy inference processing unit. The fuzzy inference processing unit derives the control command through the fuzzy control rule base and outputs it to the electromagnetic directional valve 3-5. The electromagnetic directional valve 3-5 adjusts the flow of hydraulic oil into the rotary hydraulic motor 3-8, thereby adjusting the drill pipe rotation speed.

[0118] When the drill bit reaches the limit depth of the drill pipe, the P port and T port of the electromagnetic reversing valve 3-5 and electromagnetic reversing valve 3-16 in the control circuit of the drill pipe rotation and the control circuit of the drill pipe are connected, and the rotary hydraulic motor 3-8 and the propulsion cylinder 3-9 stop working; the connection between the tail section drill pipe and the tail section ventilation box 2-9 and the other unit sections is disconnected from the connection pin 2-11 and flange plate 2-10. Then, the power system 3 is driven to retreat along the slide rail to the preset position by the motor sliding platform to reserve operating space for the extension component. The drill pipe unit section and ventilation box 2-9 unit section to be added are moved from the storage area to the drill pipe sliding platform by the monorail crane. The drill pipe sliding platform moves the extension unit section to the target installation position. The existing tail section is connected by the connecting pin 2-11 and flange plate 2-10. The drill pipe extension work is completed. This process will continue to cycle until the drilling depth reaches the operation requirements.

[0119] The third step is to complete drilling and reset the equipment.

[0120] When the work is completed, the power system 3 stops working, the drilling rig stops drilling, the drill rod is disassembled and moved back to the storage position, the high-pressure nitrogen injection system 2-8 is turned off, the support device 4 is retracted, the crawler drive device 5 is restarted, and the auger drilling rig moves out of the work area through the crawler walking mechanism 1, ready to return to the standby position.

[0121] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A spiral drilling mining robot, characterized in that, include: Tracked walking mechanism (1) is used for the stable walking of the auger drilling mining robot in the roadway; The drill pipe unit (2) includes two drill rigs with a modular design, which can be detachably connected; The power system (3) includes a propulsion cylinder (3-9) and a rotary hydraulic motor (3-8) for driving the drill bit to rotate and the drill rod to advance; The support device (4) includes a fixed cylinder, an adjustable cylinder and a support base, which can adjust the support angle and height by hydraulic means; Track drive unit (5) is used to drive track walking mechanism (1); The sliding platform device (6) is used for changing drill pipes. The power unit and drill pipe unit (2) are equipped with corresponding motor sliding platforms and drill pipe sliding platforms. The drill rod unit (2) includes a drill bit, a drill rod, 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-hand drill bit one (2-2), a left-hand drill bit two (2-3), a right-hand drill bit one (2-5), and a right-hand drill bit two (2-6). The drill rod includes a left-hand drill rod (2-1) and a right-hand drill rod (2-4). The left-hand drill rod (2-1), the right-hand drill rod (2-4), and the ventilation box (2-9) adopt a modular design and are detachably connected by standard unit sections of the same specifications through a flange plate (2-10) and a connecting pin (2-11). The tail of the left-hand drill rod (2-1) and the tail of the right-hand drill rod (2-4) are connected to the propulsion cylinder (3-9) of the power system (3) through a connecting pin (2-11). The spiral drilling mining robot is also equipped with a monorail crane and a scraper conveyor to enable the movement of the drill rod unit (2) unit sections and the transportation of coal and rock; 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 connecting pins (2-11) and flange plates (2-10); The high-pressure nitrogen injection system (2-8) is installed inside 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 rod unit (2) and close to the drill bit. It is used to detect the gas concentration around the drill bit in real time during drilling and send 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 will send an execution signal to the nitrogen injection module. The nitrogen injection module includes a high-pressure nitrogen tank with control components and a nozzle. The nozzle is located 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 of the high-pressure nitrogen tank through the control components. The nitrogen is then sprayed through the nozzle into the area around the drill bit to form an inert gas protection zone. The power system (3) includes a drill pipe rotation circuit, a drill pipe propulsion circuit, a fuzzy inference controller (3-10), a rotation 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 filter (3-2), a plunger pump (3-4), a solenoid directional valve (3-5), an overflow valve (3-6), and a rotary hydraulic motor (3-8). The input end of the plunger pump (3-4) is connected to the oil tank (3-1), the output end of the plunger pump (3-4) is connected to the input end of the solenoid directional valve (3-5), the output end of the solenoid directional valve (3-5) is connected to the rotary hydraulic motor (3-8), the return end of the solenoid 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 reducer, and the output end of the reducer is connected to the drill bit. An overflow valve (3-6) is provided between the electromagnetic reversing valve (3-5) and the rotary hydraulic motor (3-8), and a filter (3-2) is provided between the oil tank (3-1) and the plunger pump (3-4); The rotation speed sensor (3-13) is mounted on the rotation hydraulic motor (3-8). The signal output terminal of the rotation speed sensor (3-13) is connected to the signal input terminal of the fuzzy inference controller (3-10). The signal output terminal of the fuzzy inference controller (3-10) is connected to the control terminal of the electromagnetic reversing valve (3-5). The drill pipe propulsion circuit includes: a second plunger pump (3-15), a second electromagnetic directional valve (3-16), and a propulsion cylinder (3-9). The input end of the second plunger pump (3-15) is connected to the oil tank (3-1), and 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 connected to the rod chamber and the rodless chamber of the propulsion cylinder (3-9) respectively. The return end of the second electromagnetic directional valve (3-16) is connected to the oil tank (3-1), and the telescopic rod of the propulsion cylinder (3-9) is connected to the load, which is the drill pipe. The propulsion speed sensor (3-12) and pressure sensor (3-11) are installed on the propulsion cylinder (3-9) and are used to detect the propulsion speed and cylinder pressure of the propulsion cylinder (3-9) respectively. The signal output terminals of the propulsion speed sensor (3-12) and the pressure sensor (3-11) are respectively connected to the signal input terminal of the fuzzy inference controller (3-10). The signal output terminal of the fuzzy inference controller (3-10) is connected to the signal control terminal of the electromagnetic reversing valve (3-16).

2. The auger drilling mining robot according to claim 1, 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 detection information from the rotation speed sensor (3-13), pressure sensor (3-11), or propulsion speed sensor (3-12). The data acquisition unit makes judgments based on the detection information. The fuzzy inference processing unit performs inference processing through a fuzzy control rule base and derives control commands to output to electromagnetic directional valve one (3-5) or electromagnetic directional valve two (3-16). Electromagnetic directional valve one (3-5) or electromagnetic directional valve two (3-16) adjusts the flow rate by changing the opening of its own port, thereby adjusting the flow rate of hydraulic oil entering the rotary hydraulic motor (3-8) or propulsion cylinder (3-9), and thus adjusting the drill rod rotation speed or drill rod propulsion speed.

3. The auger drilling mining robot according to claim 2, characterized in that, The specific control process for adjusting the drill pipe advance speed by the fuzzy inference processing unit is as follows: The drill pipe advance speed is controlled by the advance speed of the advance cylinder (3-9), and the advance speed of the advance cylinder (3-9) is determined by the hydraulic oil flow rate in the advance circuit. and piston area of ​​propulsion cylinder The propulsion speed of the hydraulic cylinder (3-9) is determined jointly. Propulsion circuit fluid flow rate , It is the flow coefficient of the hydraulic system in the propulsion circuit. This refers to the opening degree of the solenoid directional valve two (3-16), which typically ranges from 0 to 1, representing the state of the solenoid directional valve two (3-16) from fully closed to fully open. It is the hydraulic pressure in the propulsion circuit; The fuzzy inference processing unit is responsible for adjusting the opening of the electromagnetic reversing valve (3-16). This unit is a fuzzy PID controller, and its output... This will affect the opening degree of the solenoid directional valve 2 (3-16). The output of the fuzzy PID controller Its core is adjusting the proportional coefficient. Integral coefficient and differential coefficients These three parameters are used to adjust the scaling factor. Integral coefficient and differential coefficients These three parameters are based on real-time error. and error change rate Adjustment is needed to change the opening degree of solenoid directional valve two (3-16). The propulsion speed of the hydraulic cylinder (3-9) is ; The output of the fuzzy PID controller The adjustment is determined by a fuzzy rule base, which determines how to adjust based on the input. and To adjust the output The fuzzy rules are defined as follows: (Negative large, negative medium, negative small, zero, small positive, medium positive, large positive) The specific control process is as follows: S1, Fuzzification: Transforming the actual error... and error change rate Convert to a fuzzy set; S2, Fuzzy Inference: Uses a fuzzy rule base to generate control signals, i.e., PID gain. , and ; S3, Defuzzification: Converting the results of fuzzy inference into actual control quantities. .

4. The auger drilling mining robot according to claim 3, characterized in that, The control process for adjusting the drill pipe rotation speed by the fuzzy inference processing unit is as follows: The rotational speed of the drill pipe is controlled by the rotary hydraulic motor (3-8) in the rotary hydraulic circuit system. The rotational speed of the rotary hydraulic motor (3-8) is controlled by the flow rate of the hydraulic oil in the rotary circuit. The flow rate of the hydraulic oil in the rotary circuit is regulated by the solenoid directional valve (3-5). The opening degree of the solenoid directional valve (3-5) determines the flow rate of the oil in the rotary circuit, thereby regulating the rotational speed of the rotary hydraulic motor (3-8). , For the fluid flow rate in the rotating circuit, The displacement of the rotary hydraulic motor (3-8) and the oil flow rate in the rotary circuit. The opening degree of the solenoid directional valve (3-5) Decision, oil flow rate With rotary circuit hydraulic pressure The relationship between the opening degree of the solenoid directional valve (3-5) is as follows: ; The fuzzy inference processing unit is responsible for adjusting the opening of the electromagnetic reversing valve (3-5). This unit is a fuzzy PID controller, and its output... This will affect the opening degree of the solenoid directional valve 1 (3-5). The output of the fuzzy PID controller Its core is adjusting the proportional coefficient. Integral coefficient and differential coefficients These three parameters are used to adjust the scaling factor. Integral coefficient and differential coefficients These three parameters are based on real-time error. and error change rate Adjustment is needed to change the opening degree of solenoid directional valve 1 (3-5). Rotary hydraulic motor (3-8) speed ; The output of the fuzzy PID controller The adjustment is determined by a fuzzy rule base, which determines how to adjust based on the input. and To adjust the output The fuzzy rules are defined as follows: (Negative large, negative medium, negative small, zero, small positive, medium positive, large positive) The specific control process is as follows: Step 1, fuzzification: blurring the actual error and error change rate Convert to a fuzzy set; Step 2, Fuzzy Inference: Use a fuzzy rule base to generate control signals, i.e., PID gain. , and ; Step 3, Defuzzification: Convert the results of fuzzy inference into actual control quantities. .

5. An adaptive cutting control method, the control method being based on a spiral drilling mining robot according to any one of claims 1-4, characterized in that, Includes the following steps: The first step is borehole preparation and gas detection; Drilling preparation: The track walking mechanism (1) is started, and the drilling robot is moved to the predetermined drilling operation position. When the drilling robot reaches the target operation point, it stops moving and starts the support device (4). The ground is supported by the fixed oil cylinder, and the angle adjustment oil 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) is working. The gas concentration sensor of the gas monitoring module detects the gas concentration around the drill bit in real time 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 of nitrogen, and injects more nitrogen into the nozzle on the drill bit, thereby reducing the gas concentration and forming an inert gas protection zone around the drill bit. The second step is adaptive borehole mining operations; The power system (3) works by driving the drill bit to rotate through the rotary hydraulic motor (3-8) and the propulsion cylinder (3-9) to drive the drill rod to advance, ensuring that the drill bit accurately enters the coal and rock strata; The pressure sensor (3-11) detects the propulsion resistance of the propulsion cylinder (3-9) in real time, which is also 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 layer has been encountered. 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 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 and derives the control command output to the second electromagnetic reversing valve (3-16). The second electromagnetic reversing valve (3-16) adjusts the flow rate by changing the port opening, thereby adjusting the flow rate of hydraulic oil entering the propulsion cylinder (3-9) and thus adjusting the drill rod propulsion speed. The rotation speed sensor (3-13) sends the drill rod rotation speed to the data acquisition unit. After processing and judging, the data acquisition unit sends the data to the fuzzy inference processing unit. The fuzzy inference processing unit derives the control command through the fuzzy control rule base and outputs it to the electromagnetic directional valve (3-5). The electromagnetic directional valve (3-5) adjusts the flow of hydraulic oil into the rotary hydraulic motor (3-8), thereby adjusting the drill rod rotation speed. When the drill bit reaches the limit depth of the drill pipe, the P port of the electromagnetic reversing valve one (3-5) and the electromagnetic reversing valve two (3-16) in the control circuit of the drill pipe rotation and the control circuit of the drill pipe are connected to the T port, 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 work is completed, the power system (3) stops working and the drilling rig stops drilling. At this time, the drill rod is disassembled and moved back to the storage position, the high-pressure nitrogen injection system (2-8) is turned off, the support device (4) is retracted, the crawler drive device (5) is restarted, and the auger drill moves out of the work area through the crawler walking mechanism (1) and prepares to return to the standby position.

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