Roadway drilling cutting device and rock burst early warning multi-parameter measuring method

Abstract

The invention relates to the technical field of roadway rock burst drilling cutting method early warning, in particular to a roadway drilling cutting device.A drill rod propelling mechanism comprises a synchronizing wheel set, the synchronizing wheel set comprises a first synchronizing wheel and a second synchronizing wheel, and the first synchronizing wheel and the second synchronizing wheel are both in sliding connection with a connecting assembly through rotating shafts; a tension rod is arranged between two rotating shafts of the first synchronous wheel and the second synchronous wheel, the portion, on one side of the groove-shaped structure, of the conveying belt is fixedly connected with the connecting assembly, and the portion, on the other side of the groove-shaped structure, of the conveying belt is connected with the drill rod rotating mechanism. The displacement of the propelling oil cylinder is half of the actual propelling displacement; drilling operation can be carried out by crossing structures such as a conveying belt in a roadway; the punching operation requirements of any angle and any height can be met, transmission is conducted through a worm gear and a worm, and it is effectively guaranteed that the posture is fixed after the angle is adjusted; and the device can be in a top-to-ground state.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of roadway rock burst drilling cuttings method early warning, in particular to a roadway drilling cuttings device and a rock burst early warning multi-parameter measurement method. BACKGROUND

[0002] With the increase of mining depth, disasters such as rock burst occur more and more frequently. Rock burst has suddenness and strong destructive nature, which poses a significant threat to the safety of miners, the stability of the roadway, and the integrity of mining equipment. Therefore, it is urgent to determine the rock burst tendency in advance to prevent its development and serious consequences. Compared with high-cost technologies such as microseismic monitoring and ground stress drilling testing, the drilling cuttings method has the outstanding features of simple equipment, convenient operation, strong real-time performance, low single-hole monitoring cost, and no need to interrupt production. It is especially suitable for small and medium-sized mines or complex geological conditions. The drilling cuttings method can also guide the optimization of roadway layout, support design, and mining rhythm, reduce resource waste caused by blind pressure relief operations, reduce equipment wear and tear and downtime losses, and achieve double improvement of safety and economic benefits. Specifically, the drilling cuttings method is to drill a small-diameter hole into the coal body and detect the change of powder discharge per unit hole depth during drilling to reflect the accumulation of elastic strain energy in the coal body. This method can provide a strong basis for understanding the stress concentration degree, peak size, and location of the coal body to determine the risk level of rock burst and achieve the purpose of rock burst early warning, thereby gaining valuable window period for adjusting mining plans for several hours to several days.

[0003] Currently, the drilling cuttings equipment used in rock burst mines mainly includes handheld drills (such as Chinese patents CN112647856A, CN110242280B, and CN205689133U) and large drills (such as Chinese patent CN203347686U). The handheld drill mainly performs drilling operations by manual moving. Since the strength, pushing speed, and drilling stability of each worker are different, the data obtained by different workers at the same drilling point are different, which affects the accuracy of the drilling cuttings method. Moreover, manual drilling has high labor intensity, large dust, and long operation time. Most importantly, in the stress concentration area in front of the roadway working face, the effective space becomes narrow due to the installation of anti-rockburst support and other equipment. It is difficult for both handheld drills and large drills to perform stable and accurate drilling in the narrow space, and it is difficult to achieve drilling at different heights and angles.

[0004] Meanwhile, through a large amount of research, it is found that, on the basis of measuring the drill cuttings discharged by the unit hole depth in the traditional drill cuttings method, combined with the detection of the drill pipe torque, the accuracy of the early warning of the rock burst risk can be improved; meanwhile, the changes of the drill cuttings temperature, the drill pipe torque, the rotating speed and the feeding speed can also indirectly affect the accuracy of the rock burst early warning, and the current drill cuttings method does not consider the above factors, and the drill cuttings equipment does not have the condition of detecting the above parameters. SUMMARY

[0005] The content of the present application is to provide a roadway drill cuttings device and a rock burst early warning multi-parameter measurement method, which can overcome some or some defects of the prior art.

[0006] According to the roadway drill cuttings device of the present application, the drill pipe rotating mechanism, the drill pipe advancing mechanism and the rack are included, and the drill pipe rotating mechanism is characterized in that:

[0007] The drill pipe advancing mechanism includes a synchronous wheel set, the synchronous wheel set includes a first synchronous wheel and a second synchronous wheel, the first synchronous wheel and the second synchronous wheel are both connected with the connecting assembly through the rotating shafts and are connected in a sliding manner, the first synchronous wheel and the second synchronous wheel can rotate relative to the connecting assembly, a tension rod is arranged between the two rotating shafts of the first synchronous wheel and the second synchronous wheel, the same conveying belt is arranged on the first synchronous wheel and the second synchronous wheel, a stable groove structure is formed through the tension rod, one side of the conveying belt in the groove structure is fixedly connected with the connecting assembly, and the other side of the conveying belt in the groove structure is connected with the drill pipe rotating mechanism.

[0008] Preferably, the connecting assembly includes a guide frame, the synchronous wheel set is arranged inside the guide frame and can slide relatively, a push-pull oil cylinder is arranged on one side of the guide frame, the drill pipe rotating mechanism is fixedly connected with the first connecting plate above the conveying belt, and the guide frame is fixedly connected with the second connecting plate on the plane of the guide frame below the conveying belt; the push-pull oil cylinder is arranged on the guide frame, and the piston rod of the push-pull oil cylinder is connected with the rotating shaft of the first synchronous wheel.

[0009] Preferably, the connecting assembly further includes a first rotating piece, the guide frame is in a guide connection with the fixed guide block on the first rotating piece through a lower guide slope, a cross-belt sliding oil cylinder is arranged on one side of the guide frame, and the guide frame is driven to slide relative to the rack in the drill pipe feeding direction through the cross-belt sliding oil cylinder.

[0010] Preferably, the hinge block of the cross-belt sliding oil cylinder on the first rotating piece is provided with a slope matched with the lower guide slope, and the hinge block is embedded in the middle of the fixed guide block.

[0011] Preferably, the rotating mechanism comprises a main hydraulic motor, an output shaft of the main hydraulic motor is provided with a drill rod connector for connecting with a drill rod, the main hydraulic motor is arranged on a main support frame, the conveying belt is actually fixedly connected with a bottom end of the main support frame, and a connecting slide rail matched with an upper guide slope on the guide frame is arranged on the main support frame.

[0012] Preferably, the connecting assembly further comprises a posture adjusting device, the posture adjusting device comprises a pitching assembly, the pitching assembly comprises a first rotating piece, one end of the first rotating piece is slidably connected with the guide frame, the other end of the first rotating piece is connected with a pitching hydraulic motor through a worm gear, and the first rotating piece is rotatably connected with a pitching support piece through a bearing.

[0013] Preferably, the posture adjusting device further comprises a horizontal rotating assembly, the horizontal rotating assembly comprises a horizontal rotating plate, a stand and a lifting oil cylinder are arranged above the horizontal rotating plate, and the horizontal rotating plate is rotatably connected with a rack and is connected with a horizontal hydraulic motor through a worm gear.

[0014] Preferably, a track chassis is arranged below the rack, first support jacks are arranged at four corners of the rack, second support jacks are arranged at top ends of the stands, and fastening claw plates are arranged at lower ends of the first support jacks and upper ends of the second support jacks.

[0015] A rock burst pre-warning multi-parameter measurement method, the method is based on a roadway drilling cuttings device, and the method comprises the following steps.

[0016] A, pressure sensors are arranged at an inlet and an outlet of the main hydraulic motor, so as to obtain a pressure difference between the inlet and the outlet, and the real-time torque of the drill rod is further obtained by using the displacement of the main hydraulic motor and the transmission efficiency;

[0017] B, a rotating speed sensor is arranged on an output shaft of the main hydraulic motor, so as to obtain the actual rotating speed of the drill rod;

[0018] C, a displacement sensor is arranged on the push-pull oil cylinder, so as to obtain the displacement of the push-pull oil cylinder, further obtain the displacement of the drill rod, and obtain the feed speed of the drill rod according to the measurement time and the displacement difference.

[0019] Preferably, the speed sensor used in step B is a pulse type Hall sensor, specifically, a driving sleeve is arranged on the output shaft of the main hydraulic motor, a convex point is arranged outside the driving sleeve, a proximity switch is arranged at the convex point, the proximity switch signal is recorded by a high-speed acquisition instrument, the total number of pulses, the measurement time and the rotating speed of the drill rod are measured according to the number of pulses per revolution.

[0020] Compared with the prior art, the present application has at least the following beneficial effects:

[0021] ①Due to the arrangement of the synchronous wheel set, the push-pull oil cylinder has a smaller size under the condition of meeting the displacement of the drill rod pushing mechanism, so that it becomes possible to perform drilling construction in the narrow effective space of the stress concentration area in front of the roadway working face;

[0022] ②The sliding of the guide frame relative to the rack makes the operation point closer to the surrounding rock of the roadway, and the drilling operation can be performed across the transport belt and other structures inside the roadway, further making full use of more available space in the narrow space, and further making it more possible to perform drilling construction in the narrow effective space of the stress concentration area in front of the roadway working face;

[0023] ③The attitude adjusting device can meet the drilling operation requirements of any angle and any height, and the transmission through the worm and gear effectively ensures the attitude fixing after the adjustment angle is completed;

[0024] ④The present application can be in a "top and earth" state, ensuring that all parts except the working mechanism are in a stable state, facilitating the movement of the present application when it needs to be moved, and facilitating the drilling and construction personnel to operate in the operation room, which can avoid inhaling a large amount of dust. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is an embodiment schematic diagram of the present application;

[0026] Figure 2 is a main working structure schematic diagram of the present application;

[0027] Figure 3 is a partial front view of the drill rod pushing mechanism of the present application when located at the front end;

[0028] Figure 4 is a partial top view of the drill rod pushing mechanism of the present application when located at the rear end;

[0029] Figure 5 is Figure 4 is a cross-sectional view at A-A;

[0030] Figure 6 is a partial perspective view of the cross-belt sliding oil cylinder when fully extended. DETAILED DESCRIPTION

[0031] In order to further understand the content of the present application, the present application is described in detail in combination with the drawings and examples. It should be understood that the examples are only used to explain the present application and are not limiting.

[0032] Example 1

[0033] As Figures 1-6As shown, a roadway drilling device comprises a drill rod rotating mechanism 200, a drill rod advancing mechanism 300 and a rack 100, the drill rod rotating mechanism 200 is arranged on the drill rod advancing mechanism 300 and drives the centrally arranged drill rod 250 to rotate, the drill rod advancing mechanism 300 is used to drive the drill rod rotating mechanism 200 and the drill rod 250 to move forward and backward, the drill rod advancing mechanism 300 is arranged on a connecting assembly, and the connecting assembly is connected with the rack 100;

[0034] The drill rod advancing mechanism 300 comprises a synchronous wheel set 310, the synchronous wheel set 310 comprises a first synchronous wheel 311 and a second synchronous wheel 312, the first synchronous wheel 311 and the second synchronous wheel 312 are both slidably connected with the connecting assembly through shafts, and the first synchronous wheel 311 and the second synchronous wheel 312 can rotate relative to the connecting assembly, a tension rod 314 is arranged between the two shafts of the first synchronous wheel 311 and the second synchronous wheel 312, and the same transmission belt 313 is arranged on the first synchronous wheel 311 and the second synchronous wheel 312, the transmission belt 313 forms a stable groove structure through the tension rod 314, one side of the transmission belt 313 in the groove structure is fixedly connected with the connecting assembly, and the other side of the transmission belt 313 in the groove structure is connected with the drill rod rotating mechanism 200, in the drawings of the present application, the drill rod rotating mechanism 200 is fixedly connected with the first connecting plate 315 above the transmission belt 313, the connecting assembly comprises a guide rack 400, and the second connecting plate 316 is fixedly connected on the plane of the guide rack 400 below the transmission belt 313; a push-pull oil cylinder 320 is arranged on the guide rack 400, the piston rod of the push-pull oil cylinder 320 is connected with the shaft of the first synchronous wheel 311, and the synchronous wheel set 310 is driven to slide forward and backward on the rack 100 by controlling the extension and retraction of the push-pull oil cylinder 320, so that the feed movement of the drill rod in the forward and backward directions is completed.

[0035] In this way, the push-pull oil cylinder 320 can provide sufficient power for the feed of the drill rod, and at the same time, due to the arrangement of the synchronous wheel set 310, the push-pull oil cylinder 320 has a smaller size under the condition of meeting the displacement of the drill rod advancing mechanism 300, so that it is possible to perform drilling construction in the narrow effective space of the stress concentration area in front of the roadway working face, because the synchronous wheel set 310 forms a dynamic pulley mechanism principle through the stable groove structure formed by the tension rod 314 under the pushing of the push-pull oil cylinder 320, the entire groove structure slides relative to the connecting assembly, and one side of the transmission belt 313 in the groove structure is fixedly connected with the rack 100, in the sliding process of the entire groove structure, the first synchronous wheel 311 and the second synchronous wheel 312 will rotate relative to the transmission belt 313, and the drill rod rotating mechanism 200 on the other side of the transmission belt 313 will slide twice, in the drawings of the present application, the tension rod 314 is arranged as a hydraulic cylinder, so as to adjust the tension of the transmission belt 313.

[0036] In order to further improve the use performance of the present application, the connecting assembly comprises a guide frame 400, the synchronous wheel set 310 is arranged inside the guide frame 400 and can slide relatively, and the push-pull oil cylinder 320 is arranged on one side of the guide frame 400.

[0037] The connecting assembly further comprises a first rotating part 511, the guide frame 400 is in guiding connection with the fixed guide block 440 on the first rotating part 511 through the lower guiding slope 421, and the cross-belt sliding oil cylinder 410 is arranged on one side of the guide frame 400, and the guide frame 400 is driven to slide in the drill rod feeding direction relative to the rack 100 through the cross-belt sliding oil cylinder 410.

[0038] In order to further reduce the size of the present application, the hinge block 430 of the cross-belt sliding oil cylinder 410 on the first rotating part 511 is provided with a slope matched with the lower guiding slope 421, and the hinge block 430 is embedded in the middle of the fixed guide block 440.

[0039] In this way, in the actual construction process, it is often necessary to cross the transport belt and other structures inside the roadway to perform drilling operations, the sliding of the guide frame 400 relative to the rack 100 makes the operation point closer to the surrounding rock of the roadway, further makes full use of more available space in the narrow space, and further makes it more possible to perform drilling construction in the narrow effective space of the stress concentration area in front of the roadway working face.

[0040] The rotating mechanism 200 comprises a main hydraulic motor 210, the output shaft of the main hydraulic motor 210 is provided with a drill rod connecting head 220, the drill rod connecting head 220 is used for being connected with a drill rod 250, the main hydraulic motor 210 is arranged on a main support frame 230, and the conveying belt 313 is actually fixedly connected with the bottom end of the main support frame 230.

[0041] The connecting assembly further comprises a posture adjusting device 500, the posture adjusting device 500 comprises a pitching assembly 510, the pitching assembly 510 comprises a first rotating part 511, one end of the first rotating part 511 is in sliding connection with the guide frame 400, the other end of the first rotating part 511 is connected with a pitching hydraulic motor 512 through a worm gear, and simultaneously, the first rotating part 511 is in rotary connection with a pitching support 513 through a bearing.

[0042] In this way, the first rotating member 511 and the guide frame 400 can be fixed at any angle in the pitch direction after the angle is adjusted through the transmission of the worm and gear.

[0043] The posture adjusting device 500 further comprises a lifting assembly 520, the lifting assembly 520 comprising a lifting oil cylinder 521 arranged between the pitch support 513 and the frame 100, and the lifting oil cylinder 521 is controlled to extend or retract to adjust the height of the pitch assembly 510 and the drill rod foundation, so as to meet the drilling purpose at different surrounding rock heights. In order to ensure the stability of lifting and the ability to withstand the large drilling reaction force, a stand 522 is arranged on the side of the lifting oil cylinder 521, and the pitch support 513 is slidingly connected to the stand 522. In this embodiment, the stand 522 is arranged on both sides of the lifting oil cylinder 521, and the lifting oil cylinder 521 and the two stands 522 are coplanar.

[0044] The posture adjusting device 500 further comprises a horizontal rotation assembly 530, the horizontal rotation assembly 530 comprising a horizontal rotation plate 531, the stand 522 and the lifting oil cylinder 521 being arranged above the horizontal rotation plate 531, and the horizontal rotation plate 531 being rotationally connected to the frame 100 below and connected to a horizontal hydraulic motor through a worm and gear. The horizontal hydraulic motor drives the horizontal rotation plate 531, the lifting assembly 520, the pitch assembly 510, the drill rod rotating mechanism 200, the drill rod advancing mechanism 300 and the drill rod 250 to rotate horizontally, so as to meet the drilling requirement at different angles in the horizontal direction.

[0045] A track chassis 110 is arranged below the frame 100, a first supporting jack 120 is arranged at each corner of the frame 100, a second supporting jack 130 is arranged at the top end of the stand 522, an oil tank, a pump station, a control system and an operating room are further arranged on the frame 100, and a fastening claw disc 140 is arranged at the lower end of the first supporting jack 120 and the upper end of the second supporting jack 130.

[0046] In this way, during drilling construction, the first supporting jack 120 is controlled to extend so that the fastening claw disc 140 is clamped to the roadway floor and the track chassis 110 is suspended, and then the posture adjusting device 500 adjusts the posture of the drill rod, and when the drill rod is adjusted to the appropriate position, the second supporting jack 130 is controlled to extend so that the fastening claw disc 140 is clamped to the roadway top plate, so that the posture adjusting device 500 is in a state of "touching the sky and standing on the earth", and all parts except the working mechanism are in a stable state. When it is necessary to move, the posture adjusting device 500 is convenient to move, and the drilling construction personnel can operate in the operating room, so that a large amount of dust can be avoided.

[0047] In addition, the application also provides a rock burst early warning multi-parameter measurement method, which is based on the roadway drill cuttings device and includes the following steps:

[0048] A, pressure sensors are arranged at the liquid inlet and the liquid return port of the main hydraulic motor 210 to obtain the pressure difference ΔP (Pa) of the liquid inlet and the liquid return port. At present, the parameter is measured by a speed and torque instrument, which has a complex structure and occupies a large space, and is difficult to apply in a narrow space. The measurement method of the application can greatly simplify the structure, making it possible to use the drilling method to early warn rock burst in a narrow space, and further obtain the real-time torque T (N.m) of the drill rod by using the following formula with the displacement V (m 3 / rev) of the main hydraulic motor 210 and the transmission efficiency η.

[0049]

[0050] B, a speed sensor is arranged on the output shaft of the main hydraulic motor 210 to obtain the actual speed r (rpm) of the drill rod.

[0051] C, a displacement sensor is arranged on the push-pull oil cylinder 320 to obtain the displacement x of the push-pull oil cylinder 320, further obtain the drill rod displacement 2x, and obtain the drill rod feed speed v (m / s) according to the measurement time T and the displacement difference 2Δx.

[0052] Further, the speed sensor used in step B is a pulse Hall sensor. Specifically, a driving sleeve is arranged on the output shaft of the main hydraulic motor 210, and a convex point is arranged outside the driving sleeve. A proximity switch is arranged at the convex point. The proximity switch signal is recorded by a high-speed acquisition instrument. The number of pulses n per revolution, the total number of pulses N, and the measurement time T (s) are measured. Then, the speed r (rpm) of the drill rod 250 is obtained according to the following formula, and the expression is:

[0053]

[0054] In step C, the displacement sensor used is a magnetostrictive displacement sensor arranged inside the push-pull oil cylinder 320.

[0055] The above description of the application and its embodiments is illustrative and not limiting. The drawings shown in the drawings are only one of the embodiments of the application, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by the above description, without departing from the spirit of the application, similar structural forms and embodiments can be designed without creative design, which should be within the protection scope of the application.

Claims

1. A tunnel drilling device, comprising a drill rod rotating mechanism (200), a drill rod propulsion mechanism (300) and a frame (100), characterized in that: The drill rod propulsion mechanism (300) includes a synchronous wheel group (310), and the synchronous wheel group (310) includes a first synchronous wheel (311) and a second synchronous wheel (312). The first synchronous wheel (311) and the second synchronous wheel (312) are both slidably connected to the connecting assembly via a rotating shaft, and the first synchronous wheel (311) and the second synchronous wheel (312) are both capable of rotating relative to their connecting assembly. A tension rod (314) is provided between the two rotating shafts of the first synchronous wheel (311) and the second synchronous wheel (312). The first synchronous wheel (311) and the second synchronous wheel (312) are provided with a same conveyor belt (313), and a stable trough structure is formed by the tension rod (314). The conveyor belt (313) is fixedly connected to the connecting assembly on one side of the trough structure, and the conveyor belt (313) is connected to the drill rod rotating mechanism (200) on the other side of the trough structure.

2. A tunnel drilling device according to claim 1, characterized in that: The connecting assembly comprises a guide frame (400), the synchronous wheel group (310) is arranged inside the guide frame (400) and can slide relative to it, the push-pull oil cylinder (320) is arranged on one side of the guide frame (400), fixedly connected to the drill rod rotating mechanism (200) above the conveyor belt (313) through a first connecting plate (315), and fixedly connected to the plane of the guide frame (400) below the conveyor belt (313) through a second connecting plate (316); a push-pull oil cylinder (320) is provided on the guide frame (400), and the piston rod of the push-pull oil cylinder (320) is connected to the rotating shaft of the first synchronous wheel (311).

3. A tunnel drilling device according to claim 2, characterized in that: The connecting assembly further comprises a first rotating member (511), the guide frame (400) is connected to a fixed guide block (440) on the first rotating member (511) via a lower guide inclined surface (421), and a cross-belt sliding oil cylinder (410) is provided on one side of the guide frame (400), and the cross-belt sliding oil cylinder (410) drives the guide frame (400) to slide relative to the frame (100) in the drill rod feeding direction.

4. A tunnel cuttings drilling device according to claim 3, characterized in that: The hinge block (430) on the first rotating member (511) and the sliding oil cylinder (410) is provided with an inclined surface that cooperates with the lower guide inclined surface (421), and the hinge block (430) is embedded in the middle of the fixed guide block (440).

5. The tunnel drilling device according to claim 1, characterized in that: The rotating mechanism (200) includes a main hydraulic motor (210), an output shaft of the main hydraulic motor (210) is provided with a drill rod connector (220), and the drill rod connector (220) is used to connect to the drill rod (250). The main hydraulic motor (210) is arranged on a main support frame (230), and the conveyor belt (313) is actually fixedly connected to the bottom end of the main support frame (230). The main support frame (230) is provided with a connecting slide rail (240) that cooperates with an upper guide inclined surface (420) on a guide frame (400).

6. The tunnel drilling device according to claim 1, characterized in that: The connection assembly further includes a posture adjustment device (500), the posture adjustment device (500) includes a pitch assembly (510), and the pitch assembly (510) includes a first rotating member (511), one end of the first rotating member (511) is in sliding connection with the guide frame (400), and the other end of the first rotating member (511) is connected to the pitch hydraulic motor (512) through a worm gear. At the same time, the first rotating member (511) is in rotational connection with the pitch support member (513) through a bearing.

7. A tunnel cuttings device according to claim 6, characterized in that: The posture adjustment device (500) further comprises a horizontal rotation assembly (530), wherein the horizontal rotation assembly (530) comprises a horizontal rotation plate (531), a column (522) and a lifting cylinder (521) are provided above the horizontal rotation plate (531), and the horizontal rotation plate (531) is rotatably connected to the frame (100) below the horizontal rotation plate (531) and connected to a horizontal hydraulic motor via a worm gear.

8. A tunnel cuttings drilling device according to claim 1, characterized in that: A crawler chassis (110) is provided below the frame (100), first supporting jacks (120) are provided at the four corners of the frame (100), a second supporting jack (130) is also provided at the top of the column (522), and a fastening claw plate (140) is provided at the lower end of the first supporting jack (120) and the upper end of the second supporting jack (130).

9. A multi-parameter measurement method for rock burst warning, based on the tunnel drilling device described in claim 5, characterized in that: The following steps are involved: A. Pressure sensors are provided at the liquid inlet and liquid return port of the main hydraulic motor (210) to obtain the pressure difference between the liquid inlet and the liquid return port, and the displacement and transmission efficiency of the main hydraulic motor (210) are used to further obtain the real-time torque of the drill pipe; B. A rotation speed sensor is provided on the output shaft of the main hydraulic motor (210) to obtain the actual rotation speed of the drill pipe; C. A displacement sensor is provided on the push-pull oil cylinder (320) to obtain the displacement of the push-pull oil cylinder (320), further obtain the displacement of the drill rod, and obtain the feed speed of the drill rod based on the measurement time and displacement difference.

10. The multi-parameter measurement method for rock burst warning according to claim 9, characterized in that: The speed sensor used in step B is a pulsed Hall sensor. Specifically, a drive sleeve is provided on the output shaft of the main hydraulic motor (210), and a convex point is provided on the outer side of the drive sleeve. A proximity switch is provided at the convex point. The proximity switch signal is recorded by a high-speed data acquisition instrument, and the total number of pulses is measured based on the number of pulses per revolution and the measurement time, thereby obtaining the rotation speed of the drill rod (250).

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