Electro-hydraulic integrated anchor rod drilling machine control system and method

Abstract

The application discloses an electro-hydraulic integrated anchor rod drilling machine control system and method, and the system comprises a man-machine operation station, an electromagnetic valve control box and an anchor rod drilling machine which are sequentially connected. The electromagnetic valve control box of the electro-hydraulic integrated anchor rod drilling machine control system is directly installed on the anchor rod drilling machine through a hydraulic distribution disc, the number of oil pipes connected between a traditional manual reversing valve group and the anchor rod drilling machine can be reduced, the abrasion of the oil pipes caused by dragging of the oil pipes during actions of various mechanisms of the anchor rod drilling machine is avoided, and the safety hidden dangers caused by the disorder of the oil pipes to miners and equipment are eliminated.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of coal mine underground roadway drilling and anchoring, and particularly relates to an electro-hydraulic integrated anchor rod drilling machine control system and method. BACKGROUND

[0002] A coal mine anchor rod drilling machine includes hydraulic actuators such as supports, short feeders, long feeders, anchor rod clamps, drill boxes, front and rear tilting mechanisms, and left and right tilting mechanisms. Each actuator needs a hydraulic cylinder to extend and retract, and each hydraulic cylinder needs two oil pipes connected to a manual hydraulic reversing valve to realize the extension and retraction of the hydraulic cylinder by manually operating the valve rod.

[0003] Currently, the coal mine anchor rod drilling machine has the following problems in use:

[0004] 1. The anchor rod drilling machine has many actuators, and the manual hydraulic reversing valves configured for the actuators are also many, which makes the operation cumbersome, complicated, and prone to misoperation.

[0005] 2. The manual hydraulic reversing valve group is connected to more than twenty hydraulic oil pipes, which leads to disorganized arrangement of the oil pipes, and the oil pipes are easily dragged during the operation of each mechanism, which easily causes the oil pipes to wear and break. SUMMARY

[0006] In view of the above problems in the prior art, the electro-hydraulic integrated anchor rod drilling machine control system and method provided by the present application solves the problems of cumbersome operation, complexity, low safety, and misoperation caused by too many actuators of the anchor rod drilling machine.

[0007] To achieve the above-mentioned purposes, the technical solution adopted by the present application is as follows: an electro-hydraulic integrated anchor rod drilling machine control system, comprising a man-machine operation station, an electromagnetic valve control box, and an anchor rod drilling machine connected in sequence.

[0008] The anchor rod drilling machine includes a main frame, a support mechanism hydraulic cylinder, a feeding mechanism hydraulic cylinder, a drill box hydraulic motor, and a clamp mechanism. The bottom of the support mechanism hydraulic cylinder is fixedly arranged at the top end of the main frame (301), the top of the support mechanism hydraulic cylinder is movably connected with the fixed part of the clamp mechanism, the rotating output end of the drill box hydraulic motor is movably connected with the anchor rod of the anchor rod drilling machine and drives the anchor rod to rotate, the fixed connection end of the drill box hydraulic motor is connected with the movable end of the feeding mechanism hydraulic cylinder, and the fixed connection end of the feeding mechanism hydraulic cylinder is arranged at the bottom of the main frame.

[0009] The man-machine operation station is used to send the execution conditions and related data of each mechanism of the anchor rod drilling machine to the upper computer, and also used to provide power supply for the electromagnetic valve control box; the electromagnetic valve control box is used to control the internal oil circuit of the main frame; and the anchor rod drilling machine is used to drill according to the control of the man-machine operation station.

[0010] Further, the electromagnetic valve control box is connected with the main frame through the flow distribution disc.

[0011] The beneficial effect of the above further scheme is that the electromagnetic valve control box is directly installed on the anchor rod drilling machine through the hydraulic flow distribution disc, which can reduce the number of oil pipes connected with the traditional manual reversing valve group and the anchor rod drilling machine.

[0012] Further, the man-machine operation station comprises a housing, a first power module, a computer board and a first communication module arranged in the housing; the first power module, the computer board and the first communication module are connected in sequence.

[0013] The man-machine operation station further comprises a display and a key panel arranged on the front of the housing.

[0014] The display is connected with the first power module and the computer board respectively, and the key panel is connected with the computer board.

[0015] The beneficial effect of the above further scheme is that the display of the man-machine operation station can display the top plate supporting force of the supporting mechanism hydraulic cylinder, the feeding thrust of the feeding mechanism hydraulic cylinder, the feeding speed of the drilling chamber motor feeding mechanism and the output torque of the drilling chamber hydraulic motor, for the operator to read, compare and analyze.

[0016] Further, the man-machine operation station further comprises an electrical locking handle arranged on the side of the housing; the electrical locking handle is connected with the key panel.

[0017] The beneficial effect of the above further scheme is that the electrical locking handle has a self-resetting function and has an electrical locking function with the key panel on the man-machine operation station.

[0018] Further, the electromagnetic valve control box comprises a second power module, a second communication module, a control board, an electromagnetic hydraulic reversing valve module, an inlet hydraulic oil pressure sensor, a feeding hydraulic cylinder flow sensor, a drilling chamber motor inlet oil pressure sensor, a drilling chamber motor outlet oil pressure sensor and a drilling chamber motor oil discharge flow sensor.

[0019] The control board is connected with the second power module, the second communication module, the electromagnetic hydraulic reversing valve module, the drilling chamber motor inlet oil pressure sensor, the drilling chamber motor outlet oil pressure sensor and the drilling chamber motor oil discharge flow sensor respectively.

[0020] Further, the electromagnetic valve control box is provided with a hydraulic oil inlet and a hydraulic oil return port; the hydraulic oil inlet and the hydraulic oil return port are connected with the inlet and the return port of the electromagnetic hydraulic reversing valve module one by one respectively.

[0021] The electromagnetic hydraulic reversing valve module comprises a support electromagnetic hydraulic reversing valve, a feeding electromagnetic hydraulic reversing valve, a jaw electromagnetic hydraulic reversing valve and a drill carriage motor electromagnetic hydraulic reversing valve.

[0022] The hydraulic oil inlet and the hydraulic oil return are connected with the electromagnetic hydraulic reversing valves corresponding to the respective actuators of the anchor drill, and the supply direction of the hydraulic oil is changed after the electromagnetic hydraulic reversing valves are actuated to realize the actuation of the hydraulic cylinders of the respective actuators of the anchor drill.

[0023] An electro-hydraulic integrated anchor drill control method comprises the following steps:

[0024] S1, sending an operation signal to the electromagnetic valve control box according to the drilling demand through the man-machine operation station;

[0025] S2, controlling the anchor drill to drill according to the operation signal received by the electromagnetic valve control box.

[0026] Further, the step S2 is specifically:

[0027] The control board of the electromagnetic valve control box receives the operation signal, drives the support electromagnetic hydraulic reversing valve to actuate, switches the oil inlet and return directions of the support mechanism hydraulic cylinder of the anchor drill, and controls the extension or shortening of the support mechanism hydraulic cylinder.

[0028] The control board in the electromagnetic valve control box drives the feeding electromagnetic hydraulic reversing valve to actuate, controls the extension or shortening of the feeding mechanism hydraulic cylinder of the anchor drill, and completes the feeding advance during drilling by the drill carriage motor.

[0029] The control board in the electromagnetic valve control box drives the jaw electromagnetic hydraulic reversing valve to actuate, controls the clamping or loosening of the jaw mechanism of the anchor drill.

[0030] The control board in the electromagnetic valve control box drives the drill carriage motor electromagnetic hydraulic reversing valve to actuate, controls the forward rotation or reverse rotation of the drill carriage hydraulic motor of the anchor drill, and further drives the anchor rod to rotate to drill.

[0031] Further, in the step S2, the inlet hydraulic oil pressure sensor of the electromagnetic valve control box monitors the supply oil pressure p of the inlet hydraulic oil circuit, and calculates the thrust F of each mechanism hydraulic cylinder; wherein the expression for calculating the thrust F of each mechanism hydraulic cylinder is specifically:

[0032]

[0033] In the formula, D is the piston disc diameter, d is the piston rod diameter, and p is the inlet hydraulic oil pressure.

[0034] The electromagnetic valve control box receives the oil supply pressure p of the import hydraulic oil circuit through the control panel in the box, and transmits the oil supply pressure p to the computer board in the human-computer operation station through the communication module, and then calculates the roof support force of the support mechanism hydraulic cylinder when the support mechanism hydraulic cylinder is elongated or shortened, and the feeding thrust of the feeding mechanism hydraulic cylinder, and the calculation result is directly displayed on the display of the human-computer operation station.

[0035] The beneficial effect of the further scheme is that the operator can judge whether the roof support of the roof bolting machine is firm according to the numerical value of the roof support force.

[0036] The beneficial effect of the further scheme is that the operator can judge whether the roof support of the roof bolting machine is firm according to the numerical value of the roof support force.

[0037] (1) The electromagnetic valve control box of the electro-hydraulic integrated roof bolting machine control system is directly installed on the roof bolting machine through the hydraulic flow distribution disc, which can reduce the number of oil pipes connected between the traditional manual reversing valve group and the roof bolting machine, avoid the wear of the oil pipes caused by dragging the oil pipes during the operation of each mechanism of the roof bolting machine, and eliminate the safety hazards caused by the disorder of the oil pipes to the miners and equipment.

[0038] (2) The electromagnetic valve control box of the electro-hydraulic integrated roof bolting machine control system is provided with a plurality of pressure and flow sensors, which can monitor the flow and pressure of the hydraulic cylinder of the actuator and the hydraulic motor of the drilling chamber. The computer board in the human-computer operation station can collect each flow value and pressure value through communication, and calculate the roof support force of the roof bolting machine, the feeding speed and thrust of the feeding mechanism, and the output torque and speed of the drilling chamber motor. The computer board in the human-computer operation station can display the calculated values on the display for the operator to check. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 It is a structural diagram of the electro-hydraulic integrated roof bolting machine control system.

[0040] Figure 2 It is a connection system diagram of the human-computer operation station of the present application.

[0041] Figure 3 It is a connection system diagram of the electromagnetic valve control box of the present application.

[0042] Figure 4 It is a flow chart of the electro-hydraulic integrated roof bolting machine control method.

[0043] 1, human-computer operation station; 2, electromagnetic valve control box; 3, roof bolting machine; 101, electrical locking handle; 201, flow distribution disc; 301, main frame; 302, support mechanism hydraulic cylinder; 303, feeding mechanism hydraulic cylinder; 304, drilling chamber hydraulic motor; 305, clamping jaw mechanism. DETAILED DESCRIPTION

[0044] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0045] Example 1:

[0046] like Figure 1 As shown, in one embodiment of the present invention, an electro-hydraulic integrated anchor drilling rig control system includes a human-machine operation station 1, a solenoid valve control box 2, and an anchor drilling rig 3 connected in sequence.

[0047] The anchor drilling rig 3 includes a main frame 301, a support mechanism hydraulic cylinder 302, a feed mechanism hydraulic cylinder 303, a drill chamber hydraulic motor 304, and a gripper mechanism 305. The bottom of the support mechanism hydraulic cylinder 302 is fixedly mounted on the top of the main frame 301. The top of the support mechanism hydraulic cylinder 302 is movably connected to the fixed part of the gripper mechanism 305. The rotation output end of the drill chamber hydraulic motor 304 is movably connected to the anchor bolt of the anchor drilling rig 3 and drives the anchor bolt to rotate. The fixed connection end of the drill chamber hydraulic motor 304 is connected to the movable end of the feed mechanism hydraulic cylinder 303. The fixed connection end of the feed mechanism hydraulic cylinder 303 is located at the bottom of the main frame 301.

[0048] The human-machine interface station 1 is used to send the execution status and related data of each mechanism of the anchor drilling rig 3 to the host computer, and also to provide power to the solenoid valve control box 2; the solenoid valve control box 2 is used to control the internal oil circuit of the main frame 301; the anchor drilling rig 3 is used to drill holes according to the control of the human-machine interface station 1; the main frame 301 is used to connect the solenoid valve oil circuits of each mechanism of the main frame 301 to the internal oil circuit of the main frame 301; the hydraulic cylinder 302 of the support mechanism is used to adjust the height of the support mechanism; the hydraulic cylinder 303 of the feed mechanism is used to drive the anchor rod of the anchor drilling rig 3 to drill; the hydraulic motor 304 of the drill chamber is used to drive the anchor rod of the anchor drilling rig 3 to rotate; the gripper mechanism 305 is used to grip the anchor rod.

[0049] The solenoid valve control box 2 is connected to the main frame 301 via the distribution plate 201.

[0050] like Figure 2 As shown, the human-machine operation station 1 includes a housing and a first power module, a computer board, and a first communication module disposed inside the housing; the first power module, the computer board, and the first communication module are connected in sequence.

[0051] The man-machine operation station 1 further comprises a display and a key panel arranged on the front of the shell;

[0052] The display is connected with the first power module and the computer board respectively, and the key panel is connected with the computer board.

[0053] The first power module is used for receiving an external power supply to supply power to the computer board, the display and the electromagnetic valve control box 2.

[0054] The man-machine operation station 1 further comprises an electrical locking handle 101 arranged on the side of the shell; the electrical locking handle 101 is connected with the key panel. The display is connected with the computer board through a data line, and can display the execution conditions of each mechanism of the anchor rod drilling machine; the hydraulic oil pressure and flow of the hydraulic cylinder and the hydraulic motor of each mechanism are displayed. The first communication module is connected with the upper computer and the electromagnetic valve control box 2 through a communication line to realize data communication between the man-machine operation station 1 and the upper computer and data communication between the man-machine operation station 1 and the electromagnetic valve control box 2. The key panel is used for the operation of the staff, and is connected with the computer board through a wire harness to provide the operation information of the staff to the computer board.

[0055] The electrical locking handle 101 has a self-resetting function, and has an electrical locking function with the key panel on the man-machine operation station 1; when an operator rotates the handle with one hand and keeps it in the on position, the key on the man-machine operation station 1 operated with the other hand can work. When the operator leaves the electrical locking handle 101 with one hand, the handle is automatically reset, and the key operated with the other hand does not work. This function can effectively prevent personnel from misoperation.

[0056] As shown in Figure 3 The electromagnetic valve control box 2 comprises a second power module, a second communication module, a control board, an electromagnetic hydraulic reversing valve module, an inlet hydraulic oil pressure sensor, a feeding hydraulic cylinder flow sensor, a drill chamber motor inlet oil pressure sensor, a drill chamber motor outlet oil pressure sensor and a drill chamber motor oil discharge flow sensor;

[0057] The control board is connected with the second power module, the second communication module, the electromagnetic hydraulic reversing valve module, the drill chamber motor inlet oil pressure sensor, the drill chamber motor outlet oil pressure sensor and the drill chamber motor oil discharge flow sensor respectively.

[0058] The electromagnetic valve control box 2 is provided with a hydraulic oil inlet and a hydraulic oil return, and the hydraulic oil inlet and the hydraulic oil return are connected with the oil inlet and the oil return of the electromagnetic hydraulic reversing valve module respectively;

[0059] The electromagnetic hydraulic reversing valve module comprises a supporting electromagnetic hydraulic reversing valve, a feeding electromagnetic hydraulic reversing valve, a clamping jaw electromagnetic hydraulic reversing valve and a drill chamber motor electromagnetic hydraulic reversing valve.

[0060] The hydraulic oil inlet and return port are connected to the corresponding electromagnetic hydraulic directional valves of each actuator of the anchor drilling rig. After the electromagnetic hydraulic directional valves are activated, they change the supply direction of hydraulic oil to realize the action of the hydraulic cylinders of each mechanism of the anchor drilling rig.

[0061] Example 2:

[0062] This embodiment describes the implementation method of the drilling and anchoring electro-hydraulic control system;

[0063] like Figure 4 As shown in this embodiment, a drilling and anchoring electro-hydraulic control method includes the following steps:

[0064] S1. The human-machine operation station 1 sends an operation signal to the solenoid valve control box 2 according to the drilling requirements;

[0065] S2. Based on the operation signal received by the solenoid valve control box 2, control the anchor drilling machine 3 to perform drilling.

[0066] Step S2 specifically involves:

[0067] The control board of the solenoid valve control box 2 receives the operation signal, drives the support solenoid hydraulic reversing valve to switch the oil inlet and return direction of the hydraulic cylinder 302 of the support mechanism of the anchor drilling rig 3, and controls the extension or retraction of the hydraulic cylinder 302 of the support mechanism.

[0068] The control board in the solenoid valve control box 2 drives the feed solenoid hydraulic reversing valve to extend or retract the hydraulic cylinder 303 of the feed mechanism of the anchor drilling machine 3, thereby completing the feed propulsion when the drill chamber motor is drilling.

[0069] The control board inside the solenoid valve control box 2 drives the gripper solenoid hydraulic reversing valve to operate, thereby controlling the clamping or loosening of the gripper mechanism 305 of the anchor drilling machine 3.

[0070] The control board inside the solenoid valve control box 2 drives the electromagnetic hydraulic reversing valve of the drill chamber motor to control the forward or reverse rotation of the drill chamber hydraulic motor 304 of the anchor drilling rig 3, thereby driving the anchor bolt to rotate for drilling.

[0071] In step S2, the thrust F of each mechanism's hydraulic cylinder is calculated based on the oil supply pressure p monitored by the inlet hydraulic oil pressure sensor of the solenoid valve control box 2. The specific expression for calculating the thrust F of each mechanism's hydraulic cylinder is as follows:

[0072]

[0073] In the formula, D is the piston disc diameter; d is the piston rod diameter; and p is the inlet hydraulic oil pressure.

[0074] The control board in the electromagnetic valve control box 2 receives the oil supply pressure p of the import hydraulic oil way, and transmits to the computer board in the human-computer operation station 1 through the communication module, and then calculates the roof support force when the support mechanism hydraulic cylinder 302 is elongated or shortened, and the feeding thrust of the feeding mechanism hydraulic cylinder 303, and the calculation result is directly displayed on the display of the human-computer operation station 1, and the operator can judge whether the roof support of the roof bolting machine is firm according to the numerical value of the roof support force.

[0075] The electromagnetic valve control box 2 is also provided with a feeding mechanism flow sensor, which can monitor the oil flow q of the feeding mechanism hydraulic cylinder 303, and the feeding speed v of the hydraulic cylinder can be calculated according to the value of the oil flow q; wherein the expression of the feeding speed v of the hydraulic cylinder is specifically:

[0076]

[0077] The control board in the electromagnetic valve control box 2 receives the oil flow of the feeding hydraulic cylinder, and transmits to the computer board in the human-computer operation station 1 through the communication module. The computer board of the human-computer operation station 1 calculates the feeding speed of the feeding mechanism of the roof bolting machine, and the calculation result is directly displayed on the display of the human-computer operation station 1 for the operator to read and refer.

[0078] When the roof bolting machine drills, the feeding thrust of the feeding mechanism hydraulic cylinder has an increasing relationship with the hardness and strength of the coal seam of the roadway roof; the feeding speed has a decreasing relationship with the hardness and strength of the coal seam; and the output torque of the drilling chamber hydraulic motor 304 has a linear increasing relationship with the hardness and strength of the coal seam. According to the above relationship, when the roof bolting machine drills the coal seam with high hardness and strength, the feeding thrust increases, the feeding speed decreases, and the motor output torque increases; when the roof bolting machine drills the coal seam with low hardness and strength, the feeding thrust decreases, the feeding speed increases, and the motor output torque decreases. Therefore, the operator can read and master the feeding thrust, the feeding speed and the drilling chamber motor output torque of each anchor drilling through the display of the human-computer operation station 1, and can compare the related values of each anchor drilling, that is, can master the hardness and strength of the coal seam of the roadway roof at different positions. The operator can increase the number of anchors and deepen the drilling anchor depth according to the mastered situation.

[0079] The electromagnetic valve control box 2 of the electro-hydraulic integrated roof bolting machine control system is directly installed on the roof bolting machine 3 through the hydraulic flow distribution disc 201, which can reduce the number of oil pipes connected between the traditional manual reversing valve group and the roof bolting machine 3, avoid the wear of the oil pipes caused by dragging the oil pipes when the various mechanisms of the roof bolting machine are moving, and eliminate the safety hazards to the miners and equipment caused by the disorder of the oil pipes.

[0080] The solenoid control box 2 of the electro-hydraulic integrated anchor rod drilling machine control system of the present application is provided with a plurality of pressure and flow sensors, which can monitor the flow and pressure of the hydraulic cylinder of the actuator and the hydraulic motor 304 of the drilling cabin. The computer board in the human-computer operation station 1 can collect each flow value and pressure value through communication, and can calculate the roof support force of the anchor rod drilling machine, the feeding speed and thrust of the feeding mechanism, and the output torque and speed of the drilling cabin motor. The computer board in the human-computer operation station 1 can display the calculated values on the display for the operator to check.

[0081] In the description of the present application, it should be understood that the terms "center", "thickness", "upper", "lower", "horizontal", "top", "bottom", "inner", "outer", "radial" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implying the number of technical features indicated. Therefore, the features limited by "first", "second", "third" can explicitly or implicitly include one or more of the features.

Claims

1. An electro-hydraulic integrated roof bolter control system, characterized in that, It comprises a man-machine operation station (1), an electromagnetic valve control box (2) and an anchor rod drilling machine (3) connected in sequence. The anchor rod drilling machine (3) comprises a main frame (301), a supporting mechanism hydraulic cylinder (302), a feeding mechanism hydraulic cylinder (303), a drilling compartment hydraulic motor (304) and a clamping jaw mechanism (305); the bottom of the supporting mechanism hydraulic cylinder (302) is fixedly arranged at the top end of the main frame (301); the top of the supporting mechanism hydraulic cylinder (302) is movably connected with the fixed part of the clamping jaw mechanism (305); the rotating output end of the drilling compartment hydraulic motor (304) is movably connected with the anchor rod of the anchor rod drilling machine (3) and drives the anchor rod to rotate; the fixed connection end of the drilling compartment hydraulic motor (304) is connected with the movable end of the feeding mechanism hydraulic cylinder (303); and the fixed connection end of the feeding mechanism hydraulic cylinder (303) is arranged at the bottom of the main frame (301). The man-machine operation station (1) is used for sending the execution conditions and related data of each mechanism of the anchor rod drilling machine (3) to an upper computer and providing power supply for the electromagnetic valve control box (2); the electromagnetic valve control box (2) is used for controlling the internal oil circuit of the main frame (301); and the anchor rod drilling machine (3) is used for drilling according to the control of the man-machine operation station (1). The electromagnetic valve control box (2) is connected with the main frame (301) through a flow distribution disc (201). The man-machine operation station (1) comprises a shell, a first power module, a computer board and a first communication module arranged in the shell; and the first power module, the computer board and the first communication module are connected in sequence. The man-machine operation station (1) further comprises a display and a key board arranged on the front of the shell. The display is connected with the first power module and the computer board respectively, and the key board is connected with the computer board. The electromagnetic valve control box (2) comprises a second power module, a second communication module, a control board, an electromagnetic hydraulic reversing valve module, an inlet hydraulic oil pressure sensor, a feeding hydraulic cylinder flow sensor, a drilling compartment motor inlet oil pressure sensor, a drilling compartment motor outlet oil pressure sensor and a drilling compartment motor oil discharge flow sensor. The control board is connected with the second power module, the second communication module, the electromagnetic hydraulic reversing valve module, the drilling compartment motor inlet oil pressure sensor, the drilling compartment motor outlet oil pressure sensor and the drilling compartment motor oil discharge flow sensor respectively.

2. Electro-hydraulic integrated roof bolter control system according to claim 1, characterized in that, The man-machine operation station (1) further comprises an electrical locking handle (101) arranged on the side of the shell; and the electrical locking handle (101) is connected with the key board.

3. The electro-hydraulic integrated roof bolter control system of claim 1, wherein, The electromagnetic valve control box (2) is provided with a hydraulic oil inlet and a hydraulic oil return; the hydraulic oil inlet and the hydraulic oil return are connected with the oil inlets and the oil returns of the electromagnetic hydraulic reversing valve module respectively. The electromagnetic hydraulic reversing valve module comprises a supporting electromagnetic hydraulic reversing valve, a feeding electromagnetic hydraulic reversing valve, a clamping jaw electromagnetic hydraulic reversing valve and a drilling compartment motor electromagnetic hydraulic reversing valve.

4. An electro-hydraulic integrated roof bolter control method for the electro-hydraulic integrated roof bolter control system of any one of claims 1-3, characterized in that, The method comprises the following steps: S1, sending an operation signal to the electromagnetic valve control box (2) through the man-machine operation station (1) according to the drilling demand. S2, according to the operation signal received by the electromagnetic valve control box (2), control the anchor drill (3) to drill.

5. The electro-hydraulically integrated roof bolter control method of claim 4, wherein, The step S2 is specifically: Through the control panel of the electromagnetic valve control box (2), the operation signal is received, the supporting electromagnetic hydraulic reversing valve is driven to act, the oil inlet and return direction of the supporting mechanism hydraulic cylinder (302) of the anchor drill (3) is switched, and the elongation or shortening of the supporting mechanism hydraulic cylinder (302) is controlled; Through the control panel in the electromagnetic valve control box (2), the feeding electromagnetic hydraulic reversing valve is driven to act, the elongation or shortening of the feeding mechanism hydraulic cylinder (303) of the anchor drill (3) is controlled, and the feeding advance during the drilling of the drill compartment motor is completed; Through the control panel in the electromagnetic valve control box (2), the jaw electromagnetic hydraulic reversing valve is driven to act, the clamping or loosening of the jaw mechanism (305) of the anchor drill (3) is controlled; Through the control panel in the electromagnetic valve control box (2), the drill compartment motor electromagnetic hydraulic reversing valve is driven to act, the forward rotation or reverse rotation of the drill compartment hydraulic motor (304) of the anchor drill (3) is controlled, and then the anchor rod is rotated to drill.

6. The electro-hydraulically integrated roof bolter control method of claim 5, wherein, In the step S2, the oil supply pressure of the inlet hydraulic oil circuit is monitored according to the inlet hydraulic oil pressure sensor of the electromagnetic valve control box (2) p The thrust force F of each mechanism hydraulic cylinder is calculated; wherein the expression for calculating the thrust force F of each mechanism hydraulic cylinder is specifically: wherein D is the piston disc diameter; d is the piston rod diameter; p is the inlet hydraulic oil pressure; The control board in the electromagnetic valve control box (2) receives the oil supply pressure of the import hydraulic oil circuit p , and transmits the calculation results of the roof support force when the support mechanism hydraulic cylinder (302) is extended or shortened and the feed thrust of the feed mechanism hydraulic cylinder (303) to the computer board in the human-computer operation station (1) through the communication module, and the calculation results are directly displayed on the display of the human-computer operation station (1).

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