Power hydraulic control system of double-arm drill jumbo for tunnel surrounding rock construction

Abstract

The application relates to the field of power hydraulic control systems, in particular to a power hydraulic control system of a double-arm rock drilling jumbo for tunnel surrounding rock construction, which comprises a collection module, an analysis module and a control module. The application collects state characteristic parameters of two oil pumps and state characteristic parameters of two drilling arm devices through the collection module; analyzes oil pump state characteristic representation values and drilling arm device state characteristic representation values through the analysis module; and divides fault risk levels based on the oil pump state characteristic representation values through the control module. Based on the division result, the safe operation state of the two drilling arms is monitored. The application associates and analyzes the oil pump state characteristic parameters and the drilling arm state characteristic parameters, accurately divides the fault level tendency, significantly improves the accuracy of the power hydraulic control system, reduces the occurrence of sudden stoppage, and further improves the equipment operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of power hydraulic control systems, and more particularly to a power hydraulic control system for a double-arm rock drilling rig used in tunnel surrounding rock construction. Background Technology

[0002] With the expansion of tunnel engineering scale and the increasing complexity of construction environment, the performance of the twin-arm rock drilling rig, as the core equipment for tunnel surrounding rock construction, directly affects construction efficiency and safety. This places more precise demands on the automation level and reliability of its power hydraulic control system, and its operating status directly affects drilling efficiency, equipment life and construction safety.

[0003] However, while traditional control systems can achieve basic pressure regulation and motion control, they suffer from technical bottlenecks in multi-parameter collaborative monitoring, fault early warning, and intelligent decision-making, making it difficult to meet the demands of modern tunnel construction for refined equipment management. Furthermore, traditional systems often rely on human experience for fault diagnosis and maintenance decisions, making it difficult to respond quickly in the high-pressure, high-dust environments of tunnel construction. This can easily lead to project delays or even safety accidents due to equipment downtime or sudden malfunctions. This current technological situation restricts the efficient and stable operation of drilling rigs under complex geological conditions, necessitating an intelligent hydraulic control system capable of integrating multi-source data, dynamically assessing system status, and providing tiered early warning.

[0004] Chinese Patent Publication No. CN118997659A discloses a rock drilling rig based on dual-arm operation. This invention relates to the field of rock drilling equipment technology, specifically disclosing a rock drilling rig based on dual-arm operation, comprising: a vehicle body, on which a rock drilling arm is mounted, the rock drilling arm being provided with two rock drilling arms, each rock drilling arm being provided with a hydraulic cylinder, a positioning ring being provided at the end of each rock drilling arm, and a positioning assembly being provided at the end of each rock drilling arm. The positioning assembly includes a positioning shell, positioning rods, and a first drive mechanism. The positioning shell is disposed on the rock drilling arm and located around the positioning ring, and a plurality of positioning rods are spaced apart around the positioning shell. The positioning rods are telescopic rods, and the first drive mechanism is used to drive the positioning rods to extend or retract. The positioning rods can abut against the drilling face. The rock drilling rig based on dual-arm operation of this invention can increase the gripping ability of the rock drilling arms through the positioning rods, thereby preventing the rock drilling arms from deviating during drilling.

[0005] Therefore, it is evident that the existing technology has the following problems:

[0006] Existing technologies do not take into account the problem of frequent sudden downtime due to differences in the risk assessment of oil pump failure of rock drilling rigs, which leads to low operating efficiency of drilling arm equipment. Summary of the Invention

[0007] To address this issue, the present invention provides a power hydraulic control system for a double-arm drilling rig used in tunnel surrounding rock construction, which overcomes the problem in the prior art where frequent sudden shutdowns due to differences in the risk assessment of oil pump failures in the drilling rig lead to low operating efficiency of the drilling arm equipment.

[0008] To achieve the above objectives, the present invention provides a power hydraulic control system for a double-arm drilling rig used in tunnel surrounding rock construction, comprising:

[0009] The data acquisition module is used to collect the oil pump status characteristic parameters of each oil pump of the rock drilling rig during the historical period, and to collect the drill arm equipment status characteristic parameters of each drill arm of the rock drilling rig during the historical period.

[0010] An analysis module, which is connected to the acquisition module, is used to obtain the status characteristic parameters of each oil pump in the historical period, and to analyze the status characteristic value of the oil pump based on the status characteristic parameters of each oil pump.

[0011] Used to obtain the state characteristic parameters of each drill arm equipment in the historical period, and to analyze the state characteristic representation value of the drill arm equipment based on the state characteristic parameters of each drill arm equipment.

[0012] The control module, which is connected to both the acquisition module and the analysis module, is used to acquire the status characteristic values ​​of each oil pump and to classify the fault risk level tendency based on the status characteristic values ​​of each oil pump.

[0013] Based on the aforementioned fault risk level tendency, monitor the safe operating status of each drill arm, including:

[0014] Obtain the state characteristic representation value of the drill arm equipment, and determine whether there is an abnormality in the drill arm equipment based on the difference between each state characteristic representation value of the drill arm equipment and a predetermined state characteristic representation value threshold.

[0015] Alternatively, the variance of the state characteristic values ​​of each drill arm can be used to determine whether there is an abnormality in the drill arm equipment, so as to determine whether to activate the alarm device.

[0016] The oil pump status characteristics parameters include oil cleanliness, oil level, and temperature; the drill arm equipment status characteristics parameters include drilling speed and impact force.

[0017] Furthermore, the analysis module is used to analyze the pump state characteristic characterization values ​​based on each of the pump state characteristic parameters, including:

[0018] Obtain the oil cleanliness, oil level, and temperature of each of the aforementioned oil pumps within the historical period;

[0019] The ratio of the oil cleanliness of each oil pump within a single cycle to a predetermined oil cleanliness threshold is determined as the first oil pump state characteristic parameter of each oil pump.

[0020] The ratio of a predetermined oil level threshold to the oil level of each oil pump within a single cycle is determined as the second oil pump state characteristic parameter of each oil pump.

[0021] The ratio of the temperature of each oil pump in a single cycle to a predetermined temperature threshold is determined as the third oil pump state characteristic parameter of each oil pump.

[0022] The weighted summation of the first oil pump state characteristic parameter, the second oil pump state characteristic parameter, and the third oil pump state characteristic parameter is determined as the oil pump state characteristic characterization value.

[0023] Furthermore, the control module is used to classify the failure risk level tendency based on the state characteristic values ​​of each oil pump, including:

[0024] The difference between the oil pump state characteristic characterization value and the predetermined oil pump state characteristic characterization value threshold is determined as the oil pump state characteristic characterization difference.

[0025] If the difference in the oil pump condition characteristics is greater than or equal to the predetermined oil pump condition characteristics difference threshold, it is determined to be a first-level fault risk tendency.

[0026] If the difference in the oil pump condition characteristics is less than the predetermined oil pump condition characteristics difference threshold, it is determined to be a second-level risk tendency of failure.

[0027] Furthermore, the analysis module is used to analyze the state characteristic values ​​of the drill arm equipment based on the state characteristic parameters of each drill arm equipment, including,

[0028] Obtain the drilling speed and impact force of each drill arm within the historical period;

[0029] The ratio of the drilling speed of each drill arm within a single cycle to a predetermined drilling speed threshold is determined as the first drill arm equipment state characteristic parameter.

[0030] The ratio of the impact force of each drill arm in a single cycle to a predetermined impact force threshold is determined as the second drill arm equipment state characteristic parameter.

[0031] The sum of the state characteristic parameters of the first drill arm and the state characteristic parameters of the second drill arm is determined as the state characteristic representation value of the drill arm.

[0032] Furthermore, the control module is used to determine whether an anomaly exists based on the difference between the state characteristic representation value of each drill arm and a predetermined threshold value for the state characteristic representation value of the drill arm, including:

[0033] The difference between the state characteristic representation value of each drill arm equipment and the predetermined state characteristic representation value threshold is determined as the state characteristic representation difference of the drill arm equipment;

[0034] If the difference in the status characteristics of each drill arm is less than or equal to a predetermined difference threshold, it is determined that there is an anomaly.

[0035] Furthermore, the control module is used to determine whether an anomaly exists based on the variance of the state characteristic values ​​of each drill arm device, including:

[0036] Analyze the variance of the state characteristic values ​​of each drill arm equipment;

[0037] If the variance of the state characteristic values ​​of each drill arm is greater than or equal to the variance threshold, then an anomaly is determined to exist.

[0038] Furthermore, the control module is used to continue monitoring the safe operating status of the two drill arms based on the partitioning results, including,

[0039] If the fault is classified as the first risk level, the state characteristic value of the drill arm equipment is obtained. Based on the difference between each state characteristic value of the drill arm equipment and the predetermined state characteristic value threshold, it is determined whether there is an abnormality, so as to determine whether to immediately stop the machine for maintenance.

[0040] If the fault is classified as a second-risk level, the variance of the state characteristic values ​​of each drill arm equipment is used to determine whether an anomaly exists, so as to determine whether an alarm is triggered and prompt manual maintenance is required.

[0041] Furthermore, the control module is used to determine that there is an abnormality based on the state characteristics of each drill arm device, where the difference is less than or equal to a predetermined difference threshold, and then immediately stops the machine for maintenance.

[0042] Furthermore, the control module is used to determine if there is an anomaly based on the variance of the state characteristic characterization value of each drill arm device being greater than or equal to a variance threshold, and then trigger an alarm to prompt that manual maintenance is required.

[0043] Furthermore, it also includes a display for displaying data monitored by the acquisition module, the analysis module, and the control module.

[0044] Compared with existing technologies, the beneficial effects of this invention are as follows: This invention provides a power hydraulic control system for a dual-arm drilling rig used in tunnel surrounding rock construction. The system uses a data acquisition module to collect real-time data on the cleanliness, level, and temperature of the dual oil pumps, providing a comprehensive data foundation for subsequent analysis. Real-time data on the drilling speed and impact force of the dual drill arms allows for real-time monitoring of the drill arms' operating status. An analysis module analyzes the characteristic values ​​of individual oil pumps, providing accurate feedback on the pump status. Similarly, analyzing the characteristic values ​​of individual drill arms accurately reflects their operating status. The control module categorizes fault risk levels based on the oil pump characteristic values, and the system prioritizes monitoring the operational safety of the dual drill arms according to these risk levels. If a fault is determined to be at the first risk level, the system determines whether an anomaly is present by comparing the drill arm's characteristic value with a preset threshold, thus determining whether a shutdown for maintenance is necessary. If a fault is determined to be at the second risk level, the system analyzes the fluctuation range of the drill arm's characteristic values ​​to determine whether an alarm is needed and prompts manual inspection. This invention analyzes the correlation between the oil pump status characteristics and the drill arm status characteristics to accurately classify fault levels, significantly improve the accuracy of the power hydraulic control system, reduce the occurrence of sudden shutdowns, and thus improve equipment operating efficiency.

[0045] In particular, this invention uses an analysis module to quantitatively assess the actual state of three key parameters of the oil pump: oil cleanliness, oil level, and temperature. It generates pump status characteristic values ​​using a ratio calculation and weighted fusion method. The system uses the ratio of oil cleanliness to a preset cleanliness threshold as the first parameter, reflecting the degree of oil contamination; the ratio of the oil level threshold to the actual oil level as the second parameter, assessing the risk of abnormal oil level; and the ratio of temperature to a temperature threshold as the third parameter, measuring the risk of overheating. The three parameters are weighted and summed to determine the pump status characteristic value, which can simultaneously reflect complex failure modes such as single parameter exceeding limits and multiple parameter deviations, thereby accurately quantifying the real-time health status of the oil pump and providing a reliable basis for subsequent risk classification and maintenance decisions.

[0046] In particular, this invention, through a control module, classifies fault risk levels based on the characteristic values ​​of the oil pump's status. When the difference between the characteristic value of the oil pump's status and a predetermined threshold reaches or exceeds a predetermined threshold, the system can quickly determine that the oil pump is in the first fault risk level. At this time, it triggers deep monitoring of the drill arm equipment status, accurately identifies anomalies, and decisively shuts down for maintenance. When the difference does not reach the threshold, the system determines that the oil pump is in the second fault risk level. At this time, the system maintains monitoring of the drill arm equipment status fluctuations to detect potential hazards. This hierarchical processing mechanism achieves refined management of fault risks, enabling rapid response in the first risk scenario and reducing unnecessary downtime intervention in low-risk scenarios, effectively improving the accuracy of the power hydraulic control system and increasing equipment operating efficiency.

[0047] In particular, this invention, through its analysis module, analyzes the state characteristic values ​​of the drill arm based on its state characteristic parameters. This transforms the actual working performance of the drill arm into quantifiable comprehensive indicators, enabling precise assessment of its operating status. The system calculates the ratios of drilling speed and impact force to predetermined thresholds, converting these ratios into standardized characteristic parameters. These parameters are then summed to form the state characteristic values ​​of the drill arm. Combined with the oil pump's state risk level, this provides more accurate guidance for fault diagnosis when the characteristic values ​​deviate from the normal range. Attached Figure Description

[0048] Figure 1 This is a structural block diagram of the power hydraulic control system of a double-arm rock drilling rig used for tunnel surrounding rock construction according to an embodiment of the present invention;

[0049] Figure 2 The embodiments of the present invention provide a logical decision diagram for analyzing the characteristic values ​​of oil pump state based on the aforementioned oil pump state characteristic parameters;

[0050] Figure 3 This invention provides a logical judgment diagram for classifying fault risk levels based on the characteristic values ​​of each oil pump's state;

[0051] Figure 4 The embodiments of the present invention provide a logical decision diagram for analyzing the state characteristic representation values ​​of the drill arm equipment based on the state characteristic parameters of each drill arm equipment. Detailed Implementation

[0052] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0053] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0054] Please see Figure 1 The diagram shown is a structural block diagram of the power hydraulic control system of a double-arm rock drilling rig for tunnel surrounding rock construction according to an embodiment of the present invention. The present invention provides a power hydraulic control system for a double-arm rock drilling rig for tunnel surrounding rock construction, comprising:

[0055] The data acquisition module is used to collect the oil pump status characteristic parameters of each oil pump of the rock drilling rig during the historical period, and to collect the drill arm equipment status characteristic parameters of each drill arm of the rock drilling rig during the historical period.

[0056] An analysis module, which is connected to the acquisition module, is used to obtain the status characteristic parameters of each oil pump in the historical period, and to analyze the status characteristic value of the oil pump based on the status characteristic parameters of each oil pump.

[0057] Used to obtain the state characteristic parameters of each drill arm equipment in the historical period, and to analyze the state characteristic representation value of the drill arm equipment based on the state characteristic parameters of each drill arm equipment.

[0058] The control module, which is connected to both the acquisition module and the analysis module, is used to acquire the status characteristic values ​​of each oil pump and to classify the fault risk level tendency based on the status characteristic values ​​of each oil pump.

[0059] Based on the aforementioned fault risk level tendency, monitor the safe operating status of each drill arm, including:

[0060] Obtain the state characteristic representation value of the drill arm equipment, and determine whether there is an abnormality in the drill arm equipment based on the difference between each state characteristic representation value of the drill arm equipment and a predetermined state characteristic representation value threshold.

[0061] Alternatively, the variance of the state characteristic values ​​of each drill arm can be used to determine whether there is an abnormality in the drill arm equipment, so as to determine whether to activate the alarm device.

[0062] The oil pump status characteristics parameters include oil cleanliness, oil level, and temperature; the drill arm equipment status characteristics parameters include drilling speed and impact force.

[0063] It is understood that the power hydraulic control system provided by the present invention performs parameter analysis and graded fault determination on the operating status of the two oil pumps of the dual-arm rock drilling rig and the corresponding drill arm.

[0064] In this embodiment, the cleanliness of the oil is monitored in real time by an oil contamination sensor; the oil level is monitored in real time by a liquid level sensor; the temperature is monitored in real time by a temperature sensor; the drilling speed is monitored in real time by a rotation speed sensor; and the impact force is monitored in real time by a pressure sensor. The collected data is uploaded and stored in the acquisition module of this system in real time for subsequent data retrieval and analysis by other modules of the system.

[0065] This invention uses a data acquisition module to collect real-time data on the cleanliness, level, and temperature of the dual oil pumps, providing a comprehensive data foundation for subsequent analysis. It also collects real-time data on the drilling speed and impact force of the dual drill arms, enabling real-time monitoring of the drill arms' operating status. An analysis module analyzes the characteristic values ​​of each individual oil pump, providing precise feedback on their status. Similarly, analyzing the characteristic values ​​of each individual drill arm accurately reflects its operating status. A control module categorizes fault risk levels based on the pump characteristic values, prioritizing the monitoring of the dual drill arms' operational safety according to these risk levels. If a fault is classified as a first-risk level, the system compares the drill arm's characteristic value with a preset threshold to determine if an anomaly is present and whether a shutdown for maintenance is necessary. If a fault is classified as a second-risk level, the system analyzes the fluctuation range of the drill arm's characteristic values ​​to determine whether an alarm is needed and prompts manual inspection. This invention analyzes the correlation between the oil pump status characteristics and the drill arm status characteristics to accurately classify fault levels, significantly improve the accuracy of the power hydraulic control system, reduce the occurrence of sudden shutdowns, and thus improve equipment operating efficiency.

[0066] Please see Figure 2 As shown, this is a logic decision diagram for analyzing the oil pump state characteristic representation value based on each of the oil pump state characteristic parameters according to an embodiment of the present invention. The process by which the analysis module of the present invention analyzes the oil pump state characteristic representation value based on each of the oil pump state characteristic parameters includes:

[0067] Obtain the oil cleanliness, oil level, and temperature of each of the aforementioned oil pumps within the historical period;

[0068] The ratio of the oil cleanliness of each oil pump within a single cycle to a predetermined oil cleanliness threshold is determined as the first oil pump state characteristic parameter of each oil pump.

[0069] The ratio of a predetermined oil level threshold to the oil level of each oil pump within a single cycle is determined as the second oil pump state characteristic parameter of each oil pump.

[0070] The ratio of the temperature of each oil pump in a single cycle to a predetermined temperature threshold is determined as the third oil pump state characteristic parameter of each oil pump.

[0071] The weighted summation of the first oil pump state characteristic parameter, the second oil pump state characteristic parameter, and the third oil pump state characteristic parameter is determined as the oil pump state characteristic characterization value.

[0072] In this embodiment, the oil cleanliness threshold is obtained in advance, and the oil cleanliness data of the equipment during a safe operating period of one month is collected and its average value is calculated; the oil level threshold is obtained in advance, and the oil level data of the equipment during a safe operating period of one month is collected and its average value is calculated; the temperature threshold is obtained in advance, and the oil pump temperature data of the equipment during a safe operating period of one month is collected and its average value is calculated.

[0073] In this embodiment, the state characteristic parameters of the first oil pump, the state characteristic parameters of the second oil pump, and the state characteristic parameters of the third oil pump are calculated within a single cycle. The single cycle is set to 5 minutes.

[0074] In this embodiment, the first, second, and third oil pump state characteristic parameters are weighted and summed to determine the oil pump state characteristic representation value. Weights are calculated based on the standard deviations of the oil pump state characteristic parameters, with each weight equal to the standard deviation divided by the sum of the standard deviations of all parameters. Based on these weights, a weighted sum is generated to produce the final representation value, which is equal to the sum of all characteristic parameter values ​​multiplied by their corresponding weights.

[0075] This invention uses an analysis module to quantitatively assess the actual state of three key parameters of an oil pump: oil cleanliness, oil level, and temperature. It generates pump status characteristic values ​​using a ratio calculation and weighted fusion method. The system uses the ratio of oil cleanliness to a preset cleanliness threshold as the first parameter, reflecting the degree of oil contamination; the ratio of the oil level threshold to the actual oil level as the second parameter, assessing the risk of abnormal oil level; and the ratio of temperature to a temperature threshold as the third parameter, measuring the risk of overheating. The weighted summation of these three parameters determines the pump status characteristic value, simultaneously reflecting complex failure modes such as single parameter exceedance and multi-parameter coordinated deviation. This accurately quantifies the real-time health status of the oil pump, providing a reliable basis for subsequent risk classification and maintenance decisions.

[0076] Please see Figure 3 As shown, this is a logic diagram for classifying fault risk level tendencies based on the state characteristic values ​​of each oil pump according to an embodiment of the present invention. The process by which the control module of the present invention classifies fault risk level tendencies based on the state characteristic values ​​of each oil pump includes:

[0077] The difference between the oil pump state characteristic characterization value and the predetermined oil pump state characteristic characterization value threshold is determined as the oil pump state characteristic characterization difference.

[0078] If the difference in the oil pump condition characteristics is greater than or equal to the predetermined oil pump condition characteristics difference threshold, it is determined to be a first-level fault risk tendency.

[0079] If the difference in the oil pump condition characteristics is less than the predetermined oil pump condition characteristics difference threshold, it is determined to be a second-level risk tendency of failure.

[0080] In this embodiment, the predetermined threshold value for oil pump condition characteristics is calculated as the average of the oil pump condition characteristic values ​​collected over a one-month historical period during safe operation. The predetermined threshold value for oil pump condition characteristic difference is 10% of the oil pump condition characteristic value threshold value.

[0081] This invention, through a control module, categorizes fault risk levels based on the characteristic values ​​of the oil pump's status. When the difference between the characteristic value and a predetermined threshold reaches or exceeds a predetermined threshold, the system quickly determines that the oil pump is in the first fault risk level, triggering in-depth monitoring of the drill arm's status to accurately identify anomalies and decisively shut down for maintenance. When the difference does not reach the threshold, the system determines that the oil pump is in the second fault risk level, maintaining monitoring of the drill arm's status fluctuations to detect potential hazards. This tiered processing mechanism achieves refined management of fault risks, enabling rapid response in the first risk scenario and reducing unnecessary downtime in low-risk scenarios, effectively improving the accuracy of the power hydraulic control system and increasing equipment operating efficiency.

[0082] Please see Figure 4 As shown, this is a logic decision diagram for analyzing the state characteristic representation value of the drill arm equipment based on the state characteristic parameters of each drill arm equipment according to an embodiment of the present invention. The process by which the analysis module of the present invention analyzes the state characteristic representation value of the drill arm equipment based on the state characteristic parameters of each drill arm equipment includes:

[0083] Obtain the drilling speed and impact force of each drill arm within the historical period;

[0084] The ratio of the drilling speed of each drill arm within a single cycle to a predetermined drilling speed threshold is determined as the first drill arm equipment state characteristic parameter.

[0085] The ratio of the impact force of each drill arm in a single cycle to a predetermined impact force threshold is determined as the second drill arm equipment state characteristic parameter.

[0086] The sum of the state characteristic parameters of the first drill arm and the state characteristic parameters of the second drill arm is determined as the state characteristic representation value of the drill arm.

[0087] In this embodiment, the drilling speed threshold is obtained in advance, and the drilling speed data of the equipment during a safe operation period of one month is collected and its average value is calculated; the impact force threshold is obtained in advance, and the impact force data of the equipment during a safe operation period of one month is collected and its average value is calculated.

[0088] In this embodiment, the state characteristic parameters of the first drill arm and the state characteristic parameters of the second drill arm are calculated within a single cycle. The single cycle is set to 5 minutes.

[0089] This invention, through an analysis module, analyzes the state characteristic values ​​of the drill arm based on its state feature parameters. This transforms the actual working performance of the drill arm into quantifiable comprehensive indicators, enabling precise assessment of its operating status. The system calculates the ratios of drilling speed and impact force to predetermined thresholds, converting these into standardized feature parameters, which are then summed to form the state characteristic values ​​of the drill arm. Combined with the oil pump's state risk level, this provides more accurate guidance for fault diagnosis when the characteristic values ​​deviate from the normal range.

[0090] Specifically, the control module is used to determine whether an anomaly exists based on the difference between the state characteristic representation value of each drill arm and a predetermined threshold value for the state characteristic representation value of the drill arm, including:

[0091] The difference between the state characteristic representation value of each drill arm equipment and the predetermined state characteristic representation value threshold is determined as the state characteristic representation difference of the drill arm equipment;

[0092] If the difference in the status characteristics of each drill arm is less than or equal to a predetermined difference threshold, it is determined that there is an anomaly.

[0093] In this embodiment, the predetermined threshold for the state characteristic representation value of the drill arm equipment is calculated as the average of the state characteristic representation values ​​of the drill arm equipment during safe operation over a one-month historical period. The predetermined threshold for the difference in the state characteristic representation value of the drill arm equipment is 2% of the threshold for the state characteristic representation value of the drill arm equipment.

[0094] Specifically, the control module is used to determine whether an anomaly exists based on the variance of the state characteristic values ​​of each drill arm device, including:

[0095] Analyze the variance of the state characteristic values ​​of each drill arm equipment;

[0096] If the variance of the state characteristic values ​​of each drill arm is greater than or equal to the variance threshold, then an anomaly is determined to exist.

[0097] In this embodiment, the variance threshold of the state characteristic representation value of the drill arm equipment is obtained in advance and is the mean variance of the state characteristic representation value of the drill arm equipment within a safe operating cycle of 1 month.

[0098] Specifically, the control module is used to continue monitoring the safe operating status of the two drill arms based on the partitioning results, including,

[0099] If the fault is classified as the first risk level, the state characteristic value of the drill arm equipment is obtained. Based on the difference between each state characteristic value of the drill arm equipment and the predetermined state characteristic value threshold, it is determined whether there is an abnormality, so as to determine whether to immediately stop the machine for maintenance.

[0100] If the fault is classified as a second-risk level, the variance of the state characteristic values ​​of each drill arm equipment is used to determine whether an anomaly exists, so as to determine whether an alarm is triggered and prompt manual maintenance is required.

[0101] Specifically, the control module is used to determine that there is an abnormality based on the state characteristics of each drill arm device, where the difference is less than or equal to a predetermined difference threshold, and then immediately stops the machine for maintenance.

[0102] Specifically, the control module is used to determine that there is an anomaly based on the variance of the state characteristic values ​​of each drill arm device being greater than or equal to a variance threshold, and then trigger an alarm to prompt that manual maintenance is required.

[0103] Specifically, it also includes a display for displaying data monitored by the acquisition module, the analysis module, and the control module.

[0104] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0105] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A power hydraulic control system for a double-arm rock drilling rig used in tunnel surrounding rock construction, characterized in that, include: The data acquisition module is used to collect the oil pump status characteristic parameters of each oil pump of the rock drilling rig during the historical period, and to collect the drill arm equipment status characteristic parameters of each drill arm of the rock drilling rig during the historical period. An analysis module, which is connected to the acquisition module, is used to obtain the status characteristic parameters of each oil pump in the historical period, and to analyze the status characteristic value of the oil pump based on the status characteristic parameters of each oil pump. Used to obtain the state characteristic parameters of each drill arm equipment in the historical period, and to analyze the state characteristic representation value of the drill arm equipment based on the state characteristic parameters of each drill arm equipment. The control module, which is connected to both the acquisition module and the analysis module, is used to acquire the status characteristic values ​​of each oil pump and to classify the fault risk level tendency based on the status characteristic values ​​of each oil pump. The control module is used to classify fault risk levels. include, The difference between the oil pump state characteristic characterization value and the predetermined oil pump state characteristic characterization value threshold is determined as the oil pump state characteristic characterization difference. Among them, the first risk level of failure is a condition where the difference in the oil pump status characteristics is greater than or equal to a predetermined oil pump status characteristics difference threshold. The second risk level of failure is characterized by the difference in the oil pump condition characteristics being less than the predetermined threshold for the difference in oil pump condition characteristics. Based on the aforementioned fault risk level tendency, monitor the safe operating status of each drill arm, including: Obtain the state characteristic representation value of the drill arm equipment, and determine whether there is an abnormality in the drill arm equipment based on the difference between each state characteristic representation value of the drill arm equipment and a predetermined state characteristic representation value threshold. Alternatively, the variance of the state characteristic values ​​of each drill arm can be used to determine whether there is an abnormality in the drill arm equipment, so as to determine whether to activate the alarm device. The control module is used to continue monitoring the safe operating status of the two drill arms based on the partitioning results, including: Under the condition of the first risk level of failure, the state characteristic characterization value of the drill arm equipment is obtained, and the difference between each state characteristic characterization value of the drill arm equipment and the predetermined state characteristic characterization value threshold is used to determine whether there is an abnormality, so as to determine whether to immediately stop the machine for maintenance. Under the condition of the second risk level of failure, the variance of the characteristic values ​​of each drill arm equipment status is used to determine whether there is an anomaly, so as to determine whether to trigger an alarm and prompt manual maintenance. The oil pump status characteristics parameters include oil cleanliness, oil level, and temperature; the drill arm equipment status characteristics parameters include drilling speed and impact force.

2. The power hydraulic control system of the double-arm drilling rig for tunnel surrounding rock construction according to claim 1, characterized in that, The analysis module is used to analyze the characteristic values ​​of the oil pump's condition, including: Obtain the oil cleanliness, oil level, and temperature of each of the aforementioned oil pumps within the historical period; The ratio of the oil cleanliness of each oil pump within a single cycle to a predetermined oil cleanliness threshold is determined as the first oil pump state characteristic parameter of each oil pump. The ratio of a predetermined oil level threshold to the oil level of each oil pump within a single cycle is determined as the second oil pump state characteristic parameter of each oil pump. The ratio of the temperature of each oil pump in a single cycle to a predetermined temperature threshold is determined as the third oil pump state characteristic parameter of each oil pump. The weighted summation of the first oil pump state characteristic parameter, the second oil pump state characteristic parameter, and the third oil pump state characteristic parameter is determined as the oil pump state characteristic characterization value.

3. The power hydraulic control system of the double-arm drilling rig for tunnel surrounding rock construction according to claim 1, characterized in that, The analysis module is used to analyze the state characteristic values ​​of the drill arm equipment based on the state characteristic parameters of each drill arm equipment, including, Obtain the drilling speed and impact force of each drill arm within the historical period; The ratio of the drilling speed of each drill arm within a single cycle to a predetermined drilling speed threshold is determined as the first drill arm equipment state characteristic parameter. The ratio of the impact force of each drill arm in a single cycle to a predetermined impact force threshold is determined as the second drill arm equipment state characteristic parameter. The sum of the state characteristic parameters of the first drill arm and the state characteristic parameters of the second drill arm is determined as the state characteristic representation value of the drill arm.

4. The power hydraulic control system of the double-arm drilling rig for tunnel surrounding rock construction according to claim 1, characterized in that, The control module is used to determine whether an anomaly exists based on the difference between the state characteristic value of each drill arm and a predetermined threshold value for the state characteristic value of the drill arm, including: The difference between the state characteristic representation value of each drill arm equipment and the predetermined state characteristic representation value threshold is determined as the state characteristic representation difference of the drill arm equipment; If the difference in the status characteristics of each drill arm is less than or equal to a predetermined difference threshold, it is determined that there is an anomaly.

5. The power hydraulic control system of the double-arm drilling rig for tunnel surrounding rock construction according to claim 1, characterized in that, The control module is used to determine whether there is an anomaly based on the variance of the state characteristic values ​​of each drill arm device, including: Analyze the variance of the state characteristic values ​​of each drill arm equipment; If the variance of the state characteristic values ​​of each drill arm is greater than or equal to the variance threshold, then an anomaly is determined to exist.

6. The power hydraulic control system of the double-arm rock drilling rig for tunnel surrounding rock construction according to claim 4, characterized in that, The control module is used to determine that there is an abnormality based on the state characteristics of each drill arm device, where the difference is less than or equal to a predetermined difference threshold, and then immediately stops the machine for maintenance.

7. The power hydraulic control system of the double-arm drilling rig for tunnel surrounding rock construction according to claim 1, characterized in that, The control module is used to determine if there is an abnormality based on the variance of the state characteristic values ​​of each drill arm device being greater than or equal to a variance threshold, and then trigger an alarm to indicate that manual maintenance is required.

8. The power hydraulic control system of the double-arm drilling rig for tunnel surrounding rock construction according to claim 1, characterized in that, It also includes a display for displaying data monitored by the acquisition module, the analysis module, and the control module.

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