A hydraulic control system of a mine automatic anchor withdrawing robot

Abstract

The present application relates to a kind of hydraulic control system of mining automatic anchor withdrawal robot, including hydraulic station and the system electro-hydraulic reversing valve being communicated at the oil outlet of hydraulic station, two working ports of the system electro-hydraulic reversing valve are respectively communicated anchor withdrawal device oil supply pipe and walking oil supply pipe, walking control loop and lifting control loop are communicated on the walking oil supply pipe, anchor withdrawal device oil supply pipe is communicated with anchor withdrawal electromagnetic reversing valve, two working ports of the anchor withdrawal electromagnetic reversing valve are respectively communicated with boost circuit, two boost circuits are respectively communicated with two oil ports of hydraulic anchor withdrawal device, the present application uses hydraulic pressure boost technology, utilize the area of low pressure big piston is greater than the area of high pressure small piston, low pressure will promote low pressure big piston movement and compress high pressure small piston end liquid column, generate high pressure, piston area ratio is boost ratio, anchor withdrawal robot hydraulic pressure boost device can meet anchor withdrawal device ultra-high pressure working pressure demand under the lower working pressure of its hydraulic system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of roof anchor withdrawal in coal mine, in particular to a hydraulic control system of a mine automatic anchor withdrawal robot. BACKGROUND

[0002] Anchor net cable support is a common support method for most underground mining and preparation roadway and mining roadway in coal mine, which has the advantages of good support effect, wide application range, fast construction speed, low labor intensity, etc., and can improve the strength of roadway surrounding rock by improving the self-stability of surrounding rock. Due to the influence of anchor net cable support, the roadway roof is prone to not collapse or not collapse in time after the working face advances, which leads to the increase of roof pressure or gas accumulation in fully mechanized working face. In order to ensure that the roof of the goaf collapses in time with the advance of the working face, reduce the suspended roof area of the goaf, and prevent roof accidents and gas accumulation in the goaf, it is necessary to carry out timely and effective anchor withdrawal operation on the anchor cable of the goaf roof support, and relieve the roof pressure.

[0003] In the traditional technology, the anchor withdrawal operation of the coal mine roof is mostly completed by manual holding of the anchor withdrawal device. After setting up the climbing ladder and the manual hoist, the anchor withdrawal personnel align the anchor withdrawal device to the bottom of the anchor cable with the help of the climbing ladder and the manual hoist, and then put the anchor withdrawal device on the anchor cable, and then lock it. After the personnel retreat to a safe place, high-pressure hydraulic oil is pumped into the working cavity of the anchor withdrawal device by using a manual pump or an air pump, so that the anchor withdrawal device can tension the anchor cable, and then loosen the anchor cable after the wedge-shaped spring is withdrawn, so that the tray and the top column of the anchor net cable support are free to fall, and the pressure relief treatment of the roof is completed. Due to the low efficiency, poor safety performance and large number of required personnel of the anchor withdrawal operation in the traditional anchor withdrawal technology, this situation has seriously restricted the implementation of the coal mine labor reduction and efficiency improvement strategic project and the modernization construction of coal mine. Therefore, how to realize the automatic anchor withdrawal operation in the coal mine roadway, improve the work efficiency of the anchor withdrawal operation, reduce the number of personnel required for the anchor withdrawal operation, and reduce the safety risk of the anchor withdrawal operation is a technical problem to be solved by the technical personnel in the field. SUMMARY

[0004] The present application provides a mine automatic anchor withdrawal robot hydraulic control system to solve the problems of the prior art. Under the premise of the existing anchor withdrawal technology, based on the hydraulic transmission control technology and the electric control technology, the anchor withdrawal operation requirements in the complex working conditions of large slope, many curved lanes, undulating ground, wet and slippery road surface and narrow working space in the coal mine are met, the automatic anchor withdrawal operation in the coal mine roadway is realized, the work efficiency of the automatic anchor withdrawal operation in the coal mine roadway is improved, the safety risk of the anchor withdrawal operation is reduced, and the problems of too many personnel required for the anchor withdrawal operation and low automation degree of the anchor withdrawal operation are solved.

[0005] The application is realized by the technical scheme as follows: a hydraulic control system of a mine automatic anchor withdrawing robot is provided, which comprises a hydraulic station and a system electro-hydraulic reversing valve connected to an oil outlet of the hydraulic station, two working ports of the system electro-hydraulic reversing valve are respectively connected to an anchor withdrawing device oil supply pipe and a walking oil supply pipe, the walking oil supply pipe is connected to a walking control loop and a lifting control loop, the anchor withdrawing device oil supply pipe is connected to an anchor withdrawing electromagnetic reversing valve, two working ports of the anchor withdrawing electromagnetic reversing valve are respectively connected to a pressure boosting loop, the two pressure boosting loops are respectively connected to two oil ports of a hydraulic anchor withdrawing device, the pressure boosting loop comprises two first pipes and second pipes connected in parallel between the anchor withdrawing electromagnetic reversing valve and the oil ports of the hydraulic anchor withdrawing device, the first pipe is provided with a pressure boosting device liquid filling check valve and an anchor withdrawing device liquid filling check valve which are opened in the direction of the hydraulic anchor withdrawing device, the second pipe is provided with a pressure boosting device hydraulic control check valve which is opened in the direction of the hydraulic anchor withdrawing device, the pressure boosting loop further comprises a pressure boosting cylinder and a pressure boosting device electromagnetic reversing valve, a small-diameter cavity of the pressure boosting cylinder is connected between the pressure boosting device liquid filling check valve and the anchor withdrawing device liquid filling check valve, a large-diameter cavity of the pressure boosting cylinder is connected to an oil inlet of the pressure boosting device electromagnetic reversing valve, one working port of the pressure boosting device electromagnetic reversing valve is connected to a working port of the anchor withdrawing electromagnetic reversing valve, the other working port of the pressure boosting device electromagnetic reversing valve is connected to a return oil pipe, and a control port of the pressure boosting device hydraulic control check valve is connected to the other working port of the anchor withdrawing electromagnetic reversing valve.

[0006] As an optimization, the piston area of the large-diameter cavity of the pressure boosting cylinder is more than twice the piston area of the small-diameter cavity.

[0007] As an optimization, the pressure boosting loop further comprises a pressure boosting device safety valve and a pressure boosting device pressure gauge connected to the oil ports of the hydraulic anchor withdrawing device.

[0008] As an optimization, the anchor withdrawing device oil supply pipe is connected to an auxiliary control loop, the auxiliary control loop comprises a gravity center support hydraulic cylinder, a ramp parking hydraulic cylinder and a platform leveling hydraulic cylinder, two oil ports of the gravity center support hydraulic cylinder are respectively connected to two working ports of a gravity center support electromagnetic reversing valve, two oil ports of the ramp parking hydraulic cylinder are respectively connected to two working ports of a ramp parking electromagnetic reversing valve, two oil ports of the platform leveling hydraulic cylinder are respectively connected to two working ports of a platform leveling electromagnetic reversing valve, an oil inlet of the gravity center support electromagnetic reversing valve, an oil inlet of the ramp parking electromagnetic reversing valve and an oil inlet of the platform leveling electromagnetic reversing valve are all connected to the anchor withdrawing device oil supply pipe.

[0009] As an optimization, the walking control loop comprises two walking motors, two oil ports of the walking motors are respectively connected to two working ports of a walking control electromagnetic reversing valve, and an oil inlet of the walking control electromagnetic reversing valve is connected to the walking oil supply pipe.

[0010] As optimization, the lifting control circuit comprises three lifting control hydraulic cylinders, two oil ports of the lifting control hydraulic cylinders are communicated to two working ports of a lifting control electromagnetic reversing valve respectively, and an oil inlet of the lifting control electromagnetic reversing valve is communicated to a walking oil supply pipe.

[0011] As optimization, the hydraulic station comprises a hydraulic oil tank, a variable hydraulic pump and an explosion-proof motor driving the variable hydraulic pump to rotate, the variable hydraulic pump is communicated to an oil inlet of a system electro-hydraulic reversing valve through a main oil supply pipe, the main oil supply pipe is provided with a high-pressure pipeline filter, a system check valve and an electromagnetic unloading overflow valve, and an oil inlet of the variable hydraulic pump is provided with an oil suction filter.

[0012] As optimization, an oil return port of the system electro-hydraulic reversing valve and an oil return port of the anchor withdrawing electromagnetic reversing valve are communicated to an oil inlet of a radiator electromagnetic reversing valve, one working port of the radiator electromagnetic reversing valve is communicated to the hydraulic oil tank, the other working port is communicated to the hydraulic oil tank through a hydraulic oil radiator, the hydraulic oil radiator is matched with a radiator fan of the explosion-proof motor, and the hydraulic oil tank is provided with a temperature sensor.

[0013] As optimization, the hydraulic station further comprises a liquid level sensor installed in the middle of the hydraulic oil tank and a liquid level gauge installed on the side wall of the hydraulic oil tank.

[0014] The present application has the following beneficial effects: the hydraulic pressure boosting technology is adopted, so that the anchor withdrawing robot hydraulic system can meet the super-high pressure (up to 63 MPa) working pressure requirement of the anchor withdrawing device under a lower system working pressure, the energy loss caused by the overflow of the anchor withdrawing robot hydraulic control system and the heat generated due to the system leakage are reduced, and the safety of the hydraulic control system and the failure reliability of the hydraulic components are effectively improved.

[0015] In a common hydraulic system, the working pressure required by each execution element of the hydraulic system is often inconsistent, and a pump group composed of hydraulic oil pumps of different pressure levels is generally used to achieve it. The low-pressure pump provides high-flow hydraulic oil to achieve fast forward and fast reverse of the load, and the high-pressure pump provides small-flow hydraulic oil to drive the load in the final stage. When selecting components for a hydraulic system, the components must be selected according to the highest working pressure of the components. Since the highest working pressure of the anchor pulling device is 63 MPa, which is far higher than the working pressure of 31.5 MPa of a common hydraulic pump and the working pressure of 35 MPa of a common hydraulic valve, if the components are selected according to this pressure level, it will cause the following problems: the types of pump valves and other components available for the hydraulic system of the anchor pulling robot are few, the supply cycle of the components is long, the overall oil circuit pressure of the system increases, the size of the system increases, the cost of the anchor pulling robot is high, and in terms of safety, the higher the system pressure, the lower the safety, the heat generated by the system due to leakage is also larger, and the component failure rate is much higher than that of a low-pressure system. The hydraulic pressure boosting technology effectively solves the above problems in design. The high-pressure system and the low-pressure system are completely separated. The low-pressure hydraulic oil is directly introduced into the high-pressure working chamber of the anchor pulling device after being boosted by the industrial control cycle of the hydraulic pressure boosting device, without any other high-pressure control components, greatly reducing the system cost, improving the safety, reducing the energy loss caused by overflow of the hydraulic control system of the anchor pulling robot and the heat generated due to system leakage, effectively improving the safety of the hydraulic control system and the reliability of the hydraulic component failure, and is the most ideal solution for the anchor pulling robot.

[0016] In the present application, the parking and walking switching of the mining automatic anchor pulling robot adopts a redundant design, based on the advantages of hydraulic transmission control technology and electrical control technology, so that the anchor pulling robot has two safety redundancies, hydraulic locking and electrical interlocking, between parking and walking, to prevent human error operation and ensure the safety of the anchor pulling robot on the slope.

[0017] The hydraulic control system of the mining automatic anchor pulling robot in the present application is aimed at the requirements of anchor pulling operation in complex working conditions such as large slope, many curved tunnels, undulating ground, wet and slippery road surface and narrow working space in coal mine underground, under the premise of the anchor pulling technology mastered at present, adopts hydraulic transmission control technology combined with electrical control to realize automatic anchor pulling operation in coal mine underground tunnels, improve the working efficiency of automatic anchor pulling operation in coal mine underground tunnels, reduce the safety risk of anchor pulling operation, and solve the problems of anchor pulling such as large number of personnel required, low automation degree of anchor pulling operation, etc. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The hydraulic principle diagram of the present application;

[0019] Figure 2 The pressure boosting circuit schematic diagram of the present application;

[0020] Figure 3Schematic diagram of auxiliary control loop of the application;

[0021] Figure 4 Schematic diagram of walking control loop and lifting control loop of the application;

[0022] As shown in the figure:

[0023] 1, hydraulic oil tank, 2, oil suction filter, 3, variable hydraulic pump, 4, explosion-proof motor, 5, high-pressure pipeline filter, 6, electromagnetic unloading overflow valve, 7, system pressure gauge, 8, system check valve, 9, system electro-hydraulic directional valve, 10, walking control loop, 10-1, walking control electromagnetic directional valve, 10-2, walking control balance valve, 10-3, walking motor, 11, lifting control loop, 11-1, lifting control electromagnetic directional valve, 11-2, lifting control balance valve, 11-3, lifting control hydraulic cylinder, 12, auxiliary control loop, 12-1, gravity support electromagnetic directional valve, 12-2, gravity support balance valve, 12-3, gravity support hydraulic cylinder, 12-4, slope parking electromagnetic directional valve, 12-5, slope parking balance valve, 12-6, slope parking hydraulic cylinder, 12-7, platform leveling electromagnetic directional valve, 12-8, platform leveling balance valve, 12-9, platform leveling hydraulic cylinder, 13, anchor pulling electromagnetic directional valve, 14, pressure boosting circuit, 14-1, pressure boosting device hydraulic control check valve, 14-2, pressure boosting device electromagnetic directional valve, 14-3, pressure boosting device liquid filling check valve, 14-4, anchor pulling device liquid filling check valve, 14-5, pressure boosting cylinder, 14-6, pressure boosting device safety valve, 14-7, pressure boosting device pressure gauge, 14-8, pressure boosting device pressure sensor, 14-9, first pipeline, 14-10, second pipeline, 15, anchor pulling device oil supply pipe, 16, hydraulic anchor pulling device, 17, liquid level meter, 18, air filter, 19, temperature sensor, 20, liquid level sensor, 21, bar type magnetic filter, 22, radiator electromagnetic directional valve, 23, hydraulic oil radiator, 24, walking oil supply pipe. DETAILED DESCRIPTION

[0024] In order to clearly illustrate the technical features of the present application, the present application will be described below through specific embodiments.

[0025] As Figures 1-4As shown, the hydraulic control system of an automatic anchor unloading robot for mining of the present invention includes a hydraulic station and a system electro-hydraulic reversing valve 9 connected to the oil outlet of the hydraulic station, the two working ports of the system electro-hydraulic reversing valve 9 are respectively connected to the anchor unloading device oil supply pipe 15 and the travel oil supply pipe 24, thereby switching the oil pumped out of the hydraulic station to the anchor unloading device oil supply pipe 15 and the travel oil supply pipe 24, the system electro-hydraulic reversing valve 9 is a three-position four-way solenoid valve, and the interlocking between the anchor unloading device oil supply pipe 15 and the travel oil supply pipe 24 is achieved through the system electro-hydraulic reversing valve 9, so that the hydraulic control system of the automatic anchor unloading robot for mining is provided with a parking and traveling interlocking function, which realizes the hydraulic locking of the parking and traveling of the anchor unloading robot, and enhances the safety of the anchor unloading robot's slope operation.

[0026] The travel oil supply pipe 24 is connected to the travel control circuit 10 and the lifting control circuit 11 .

[0027] like Figure 4 As shown, the walking control circuit 10 includes two walking motors 10-3, which are used to drive the tracks for walking. The two walking motors 10-3 drive the tracks on both sides respectively. The two oil ports of the walking motor 10-3 are respectively connected to the two working ports of the walking control electromagnetic reversing valve 10-1. The oil inlet of the walking control electromagnetic reversing valve 10-1 is connected to the walking oil supply pipe 24. The walking control electromagnetic reversing valve 10-1 is a three-position four-way solenoid valve, which realizes the switching of oil pressure between the two oil ports of the walking motor 10-3, thereby realizing the forward and reverse rotation of the walking motor 10-3, and then realizing the walking movements of the anchor unloading robot such as forward, backward, left turn and right turn.

[0028] A travel control balancing valve 10-2 is installed on the connecting pipeline between the travel motor 10-3 and the travel control electromagnetic reversing valve 10-1.

[0029] like Figure 4 As shown, the lifting control circuit 11 includes three lifting control hydraulic cylinders 11-3, and the two oil ports of the lifting control hydraulic cylinder 11-3 are respectively connected to the two working ports of the lifting control electromagnetic reversing valve 11-1, and the oil inlet of the lifting control electromagnetic reversing valve 11-1 is connected to the walking oil supply pipe 24. The lifting control electromagnetic reversing valve 11-1 is a three-position four-way solenoid valve, which realizes the switching of oil pressure between the two oil ports of the lifting control hydraulic cylinder 11-3, thereby realizing the extension and retraction of the lifting control hydraulic cylinder 11-3, and realizing the automatic lifting and lowering control of the mining automatic anchor undocking robot arm according to the height of the anchor undocking operation tunnel.

[0030] A lifting control balancing valve 11 - 2 is installed on the connecting pipeline between the lifting control hydraulic cylinder 11 - 3 and the lifting control electromagnetic reversing valve 11 - 1 .

[0031] The anchor remover oil supply pipe 15 is connected to an auxiliary control circuit 12. Figure 3 As shown, the auxiliary control circuit 12 includes a center of gravity support hydraulic cylinder 12-3, a ramp parking hydraulic cylinder 12-6 and a platform leveling hydraulic cylinder 12-9. The mining automatic anchor removal robot uses hydraulic cylinders to complete the center of gravity support and anti-rollover control after the robotic arm is lifted, the ramp parking anti-slip control and the leveling control of the robotic arm installation platform.

[0032] The two oil ports of the center of gravity support hydraulic cylinder 12-3 are respectively connected to the two working ports of the center of gravity support electromagnetic reversing valve 12-1, the two oil ports of the ramp parking hydraulic cylinder 12-6 are respectively connected to the two working ports of the ramp parking electromagnetic reversing valve 12-4, and the two oil ports of the platform leveling hydraulic cylinder 12-9 are respectively connected to the two working ports of the platform leveling electromagnetic reversing valve 12-7. The oil inlet of the center of gravity support electromagnetic reversing valve 12-1, the oil inlet of the ramp parking electromagnetic reversing valve 12-4 and the oil inlet of the platform leveling electromagnetic reversing valve 12-7 are all connected to the anchor remover oil supply pipe 15.

[0033] The center of gravity support electromagnetic reversing valve 12-1, ramp parking electromagnetic reversing valve 12-4 and platform leveling electromagnetic reversing valve 12-7 are all three-position four-way solenoid valves. A center of gravity support balancing valve 12-2 is installed on the pipeline between the center of gravity support hydraulic cylinder 12-3 and the center of gravity support electromagnetic reversing valve 12-1, a ramp parking balancing valve 12-5 is installed on the pipeline between the ramp parking hydraulic cylinder 12-6 and the ramp parking electromagnetic reversing valve 12-4, and a platform leveling balancing valve 12-8 is installed on the pipeline between the platform leveling hydraulic cylinder 12-9 and the platform leveling electromagnetic reversing valve 12-7.

[0034] like Figure 2 As shown, the anchor remover oil supply pipe 15 is connected to the anchor remover electromagnetic reversing valve 13, and the two working ports of the anchor remover electromagnetic reversing valve 13 are respectively connected to the boosting circuit 14, and the two boosting circuits 14 are respectively connected to the two oil ports of the hydraulic anchor remover 16. The anchor remover electromagnetic reversing valve 13 is a three-position four-way solenoid valve, which realizes the switching of the oil in the anchor remover oil supply pipe 15 to the two boosting circuits 14. When the anchor remover electromagnetic reversing valve 13 is in the middle position, the two boosting circuits 14 are connected to the oil tank through the return oil pipe.

[0035] The two booster circuits 14 are used for anchor release and anchor retraction, respectively. The booster circuit 14 for anchor release is connected to the anchor release port of the hydraulic anchor releaser 16, and the booster circuit 14 for anchor retraction is connected to the anchor retraction port of the hydraulic anchor releaser 16. When the anchor release electromagnetic reversing valve 13 transfers oil from the anchor releaser oil supply pipe 15 to the booster circuit 14 for anchor release, the anchor release operation is realized.

[0036] like Figure 2As shown, taking the right side of the pressurization circuit 14 as an example, the pressurization circuit 14 includes a first pipe 14-9 and a second pipe 14-10 which are connected in parallel to the oil port of the anchor release electromagnetic reversing valve 13 and the hydraulic anchor release 16, and in this embodiment, the first pipe 14-9 of the right side of the pressurization circuit 14 is connected to the B port of the anchor release electromagnetic reversing valve 13 and the B port of the hydraulic anchor release 16.

[0037] The first pipe 14-9 is provided with a pressurization device liquid filling check valve 14-3 and an anchor release liquid filling check valve 14-4 which are both opened to the hydraulic anchor release 16, and the second pipe 14-10 is provided with a pressurization device hydraulic control check valve 14-1 which is opened to the hydraulic anchor release 16, and the control port of the pressurization device hydraulic control check valve 14-1 is communicated with the other working port of the anchor release electromagnetic reversing valve 13, that is, the control port of the pressurization device hydraulic control check valve 14-1 in the right side of the pressurization circuit in the figure is communicated with the A port of the anchor release electromagnetic reversing valve 13, and the control port of the pressurization device hydraulic control check valve 14-1 in the left side of the pressurization circuit in the figure is communicated with the B port of the anchor release electromagnetic reversing valve 13.

[0038] The pressurization circuit 14 further includes a pressurization cylinder 14-5 and a pressurization device electromagnetic reversing valve 14-2, the pressurization cylinder 14-5 is internally provided with two pistons of different sizes, so that a small-diameter cavity and a large-diameter cavity are formed in the pressurization cylinder 14-5, and the two pistons move together to change the volumes of the small-diameter cavity and the large-diameter cavity.

[0039] The small-diameter cavity of the pressurization cylinder 14-5 is communicated between the pressurization device liquid filling check valve 14-3 and the anchor release liquid filling check valve 14-4, and the pressurization device electromagnetic reversing valve 14-2 is a two-position three-way electromagnetic valve,

[0040] The large-diameter cavity of the pressurization cylinder 14-5 is communicated to the oil inlet of the pressurization device electromagnetic reversing valve 14-2, one working port of the pressurization device electromagnetic reversing valve 14-2 is communicated with the working port of the anchor release electromagnetic reversing valve 13, and the working port of the anchor release electromagnetic reversing valve 13 is the working port connected by the pressurization circuit, and the other working port of the pressurization device electromagnetic reversing valve 14-2 is communicated with the oil return pipe to realize oil return to the oil tank.

[0041] The piston area of the large-diameter cavity of the pressurization cylinder is greater than twice the piston area of the small-diameter cavity, and the ratio of the piston areas is the pressurization ratio, so as to realize the effect of pressurization.

[0042] The pressurization circuit 14 further includes a pressurization device safety valve 14-6 and a pressurization device pressure gauge 14-7 which are communicated to the oil port of the hydraulic anchor release 16, and in this embodiment, the pressurization device safety valve 14-6 and the pressurization device pressure gauge 14-7 are both communicated to the second pipe 14-10, and the second pipe 14-10 is further provided with a pressurization device pressure sensor 14-8.

[0043] The hydraulic station comprises a hydraulic oil tank 1, a variable hydraulic pump 3, and an explosion-proof motor 4 driving the variable hydraulic pump 3 to rotate, the explosion-proof motor 4 being connected with the variable hydraulic pump 3 through a shaft coupling and driving the variable hydraulic pump 3 to rotate, and the variable hydraulic pump 3 supplying oil to each function control loop of the anchor pulling-out robot hydraulic control system, the variable hydraulic pump 3 being a constant power variable pump, and the outlet flow of the variable hydraulic pump 3 changing approximately according to a constant power curve within a certain range with the outlet pressure, so as to realize the automatic switching function of low pressure and large flow and high pressure and small flow of the anchor pulling-out robot hydraulic control system.

[0044] The variable hydraulic pump 3 is communicated with an oil inlet of a system electro-hydraulic reversing valve 9 through a main oil supply pipe, the main oil supply pipe being provided with a high pressure pipeline filter 5, a system check valve 8, and an electromagnetic unloading overflow valve 6, and the main oil supply pipe being further provided with a system pressure gauge 7.

[0045] The high pressure pipeline filter 5 is provided with a filter core pollution blockage alarm CD1 and a bypass valve, so as to improve the reliability of the hydraulic system. When the filter core is blocked by pollutants or the system oil temperature is too low, the oil inlet pressure exceeds the set value of the alarm CD1 due to factors such as flow pulsation, the alarm CD1 sends a signal to the anchor pulling-out robot electric control system, and it is prompted that the filter core should be replaced in time or the hydraulic oil temperature should be assisted to increase. If these faults cannot be handled immediately at this time, the filter bypass valve is automatically opened to protect the normal work of the high pressure pipeline filter 5 and the anchor pulling-out robot hydraulic control system.

[0046] The electromagnetic unloading overflow valve 6 is connected in parallel with each control loop of the anchor pulling-out robot hydraulic control system, and the electromagnetic unloading overflow valve 6 is energized or de-energized by the anchor pulling-out robot control system to realize the switching of the anchor pulling-out robot hydraulic control system, so as to realize the energy-saving control of the anchor pulling-out robot hydraulic control system and reduce the energy loss caused by the high pressure overflow of the anchor pulling-out robot hydraulic control system.

[0047] The oil inlet of the variable hydraulic pump 3 is provided with an oil suction filter 2, so as to filter the oil entering the variable hydraulic pump 3 from the hydraulic oil tank 1.

[0048] The hydraulic station further comprises a liquid level sensor 20 installed in the middle of the hydraulic oil tank 1 and a liquid level gauge 17 installed on the side wall of the hydraulic oil tank 1. The liquid level gauge 17 is arranged at a position above the side wall of the hydraulic oil tank 1 for observation, and the anchor pulling-out robot operator can observe; the liquid level sensor 20 transmits the liquid level value of the hydraulic oil tank 1 to the anchor pulling-out robot electric control system in real time, so as to realize the automatic protection of the low hydraulic oil level and improve the reliability of the hydraulic system.

[0049] The hydraulic oil tank 1 is also provided with a bar type magnetic filter 21 and an air filter 18. The air filter 18 can timely discharge or supplement air according to the liquid level fluctuation of the hydraulic oil tank 1, so as to solve the snorting control and air supplement purification and filtration of the hydraulic oil tank 1. The bar type magnetic filter 21 has a several times higher adsorption force than that of general magnetic materials, and has the ability to adsorb micron-level ferromagnetic pollutants under the conditions of instantaneous liquid flow impact or high flow rate, and can overcome the re-adsorption of the ferromagnetic pollutants under high-speed impact, so as to avoid the jamming or friction wear of the hydraulic components, prolong the service life of the hydraulic components and the hydraulic system, and enhance the reliability of the hydraulic control system of the anchor pulling robot.

[0050] The oil return ports of the system electro-hydraulic reversing valve 9 and the anchor pulling electromagnetic reversing valve 13 are communicated to the oil inlet port of the radiator electromagnetic reversing valve 22. The walking control electromagnetic reversing valve 10-1, the lifting control electromagnetic reversing valve 11-1, the gravity support electromagnetic reversing valve 12-1, the slope parking electromagnetic reversing valve 12-4 and the platform leveling electromagnetic reversing valve 12-7 are all communicated to the oil inlet port of the radiator electromagnetic reversing valve 22.

[0051] One working port of the radiator electromagnetic reversing valve 22 is communicated to the hydraulic oil tank 1, and the other working port is communicated to the hydraulic oil tank 1 through the hydraulic oil radiator 23. The hydraulic oil is returned to the hydraulic oil tank 1 after being radiated by the hydraulic oil radiator 23. The hydraulic oil radiator 23 is matched with the cooling fan of the explosion-proof motor 4, so that the hydraulic oil radiator 23 is radiated by the cooling fan of the explosion-proof motor 4. The hydraulic oil tank 1 is provided with a temperature sensor 19 for detecting the oil temperature in the hydraulic oil tank 1.

[0052] The anchor pulling robot can realize the heat dissipation or temperature rising control of the hydraulic oil according to the hydraulic oil temperature. When the anchor pulling robot is working, the temperature sensor 19 transmits the hydraulic oil temperature data to the anchor pulling robot electric control system in real time. When the hydraulic oil temperature is lower than the set temperature of the electric control system, the electromagnetic iron of the electromagnetic reversing valve 23 is powered on, so that the oil return of each function circuit of the hydraulic system and the oil return of the unloading overflow valve 9 do not flow through the hydraulic oil radiator but directly return to the hydraulic oil tank, and the heat energy brought by the high-pressure overflow or working oil return is used to realize the temperature rising of the hydraulic oil in the hydraulic oil tank. When the hydraulic oil temperature is higher than the set temperature of the electric control system, the electromagnetic iron of the electromagnetic reversing valve 23 is powered off, so that the oil return of each function circuit of the hydraulic system and the oil return of the unloading overflow valve 9 enter the hydraulic oil radiator 23 after the left position of the electromagnetic reversing valve 22, are radiated and then returned to the hydraulic oil tank 1, so as to realize the automatic control of the hydraulic oil temperature of the anchor pulling robot.

[0053] The use method of the present application is as follows:

[0054] The working process of the pressure boosting circuit 14 includes low-pressure filling and automatic pressure boosting.

[0055] Taking the right pressure boosting circuit 14 as an example, during the low-pressure filling process, the anchor-releasing electromagnetic reversing valve 13 is connected to the B port, the pressure boosting device electromagnetic reversing valve 14-2 connects the large-diameter cavity to the oil return pipe, the pressure boosting cylinder 14-5 large piston cavity is connected to the hydraulic oil tank 1, the hydraulic oil enters the pressure boosting circuit 14 from the P port, most of the hydraulic oil flows through the pressure boosting device filling check valve 14-3 into the pressure boosting cylinder 14-5 small piston cavity from the B port of the anchor-releasing electromagnetic reversing valve 13, and the rest enters the anchor-releasing device 16 working cavity through the pressure boosting device hydraulic control check valve 14-1, thereby completing the filling of the pressure boosting cylinder 14-5 small piston cavity and the anchor-releasing device 16 working cavity.

[0056] The automatic pressure boosting of the pressure boosting circuit 14 is that, after the low-pressure filling is completed, the anchor-releasing electromagnetic reversing valve 13 is still connected to the B port, the pressure boosting device electromagnetic reversing valve 14-2 connects the large-diameter cavity to the working port of the anchor-releasing electromagnetic reversing valve 13, the right pressure boosting device hydraulic control check valve 14-1 and the pressure boosting cylinder pressure boosting device filling check valve 14-3 and the anchor-releasing device filling check valve 14-4 are automatically closed due to pressure balance, the hydraulic oil enters the pressure boosting cylinder 14-5 large piston cavity through the pressure boosting device electromagnetic reversing valve 14-2, and the automatic pressure boosting is started, at this time, the high-pressure hydraulic oil in the pressure boosting cylinder 14-5 small piston cavity enters the anchor-releasing device 16 working cavity through the anchor-releasing device filling check valve 14-4 to complete the anchor-releasing work.

[0057] When the anchor-releasing electromagnetic reversing valve 13 is connected to the right pressure boosting circuit 14, the control port of the left pressure boosting circuit 14 pressure boosting device hydraulic control check valve 14-1 is entered through the pipeline, thereby opening the left pressure boosting circuit 14 pressure boosting device hydraulic control check valve 14-1, and the oil return of the other working cavity of the anchor-releasing device 16 is realized.

[0058] Of course, the above description is not limited to the above examples, and the technical features not described in the application can be realized by or using the prior art, which will not be described here; the above examples and drawings are only used to illustrate the technical solutions of the application and are not a limitation on the application, the application has been described in detail with reference to the preferred embodiments, and those skilled in the art should understand that the changes, modifications, additions or substitutions made by those skilled in the art within the essential scope of the application do not deviate from the purpose of the application, and should also belong to the protection scope of the claims of the application.

Claims

1. A hydraulic control system for an automatic anchor removal robot for mining, characterized by: The invention comprises a hydraulic station and a system electro-hydraulic reversing valve (9) connected to the oil outlet of the hydraulic station, wherein the two working ports of the system electro-hydraulic reversing valve (9) are respectively connected to the anchor unloader oil supply pipe (15) and the travel oil supply pipe (24), the travel oil supply pipe (24) is connected to the travel control circuit (10) and the lifting control circuit (11), the anchor unloader oil supply pipe (15) is connected to the anchor unloader electromagnetic reversing valve (13), the middle position function of the anchor unloader electromagnetic reversing valve is Y-type, and the anchor unloader is connected to the travel control circuit (10) and the lifting control circuit (11). The two working ports of the anchor electromagnetic reversing valve (13) are respectively connected to the boosting circuit (14), and the two boosting circuits (14) are respectively connected to the two oil ports of the hydraulic anchor release device (16). The boosting circuit (14) includes two first pipelines (14-9) and second pipelines (14-10) connected in parallel to the oil ports of the anchor release electromagnetic reversing valve (13) and the hydraulic anchor release device (16). The first pipeline (14-9) is equipped with a boosting valve that opens in the direction of the hydraulic anchor release device (16). The device has a liquid filling check valve (14-3) and an anchor remover liquid filling check valve (14-4), the second pipeline (14-10) is equipped with a booster device hydraulic control check valve (14-1) that opens in the direction of the hydraulic anchor remover (16), the booster circuit (14) also includes a booster cylinder (14-5) and a booster device electromagnetic reversing valve (14-2), the small diameter cavity of the booster cylinder (14-5) is connected to the booster device liquid filling check valve (14-3) and the anchor remover liquid filling check valve ( 14-4), the large-diameter cavity of the boosting cylinder (14-5) is connected to the oil inlet of the boosting device electromagnetic reversing valve (14-2), one working port of the boosting device electromagnetic reversing valve (14-2) is connected to the working port of the anchor-removing electromagnetic reversing valve (13), the other working port of the boosting device electromagnetic reversing valve (14-2) is connected to the oil return pipe, and the control port of the boosting device hydraulic control check valve (14-1) is connected to the other working port of the anchor-removing electromagnetic reversing valve (13); The anchor unloader oil supply pipe (15) is connected to an auxiliary control circuit (12), and the auxiliary control circuit (12) includes a center of gravity support hydraulic oil cylinder (12-3), a ramp parking hydraulic oil cylinder (12-6) and a platform leveling hydraulic oil cylinder (12-9). The two oil ports of the center of gravity support hydraulic oil cylinder (12-3) are respectively connected to the two working ports of the center of gravity support electromagnetic reversing valve (12-1), and the two oil ports of the ramp parking hydraulic oil cylinder (12-6) are respectively connected to the two working ports of the center of gravity support electromagnetic reversing valve (12-1). The oil ports are respectively connected to the two working ports of the ramp parking electromagnetic reversing valve (12-4), the two oil ports of the platform leveling hydraulic oil cylinder (12-9) are respectively connected to the two working ports of the platform leveling electromagnetic reversing valve (12-7), and the oil inlet of the center of gravity support electromagnetic reversing valve (12-1), the oil inlet of the ramp parking electromagnetic reversing valve (12-4) and the oil inlet of the platform leveling electromagnetic reversing valve (12-7) are all connected to the anchor release device oil supply pipe (15); The working process of the boost circuit consists of two working cycle modes: low-pressure liquid filling and automatic boosting; During the low-pressure filling process, the anchor unloading electromagnetic reversing valve is connected to port B, and the electromagnetic reversing valve of the booster device connects the large-diameter cavity to the oil return pipe, connecting the large piston cavity of the booster cylinder with the hydraulic oil tank. The hydraulic oil enters the booster circuit from port P of the booster circuit. Most of the hydraulic oil flows from port B of the anchor unloading electromagnetic reversing valve through the booster device filling check valve into the small piston cavity of the booster cylinder, and the rest flows through the booster device hydraulic control check valve into the working cavity of the anchor unloader, thus completing the filling of the small piston cavity of the booster cylinder and the working cavity of the anchor unloader. Automatic pressurization of the boost circuit is that after the low-pressure filling is completed, the anchor withdrawal electromagnetic reversing valve is still connected to port B, and the electromagnetic reversing valve of the boosting device connects the large-diameter cavity to the working port of the anchor withdrawal electromagnetic reversing valve. The hydraulic control check valve of the right boosting device and the boosting cylinder boosting device filling check valve and the anchor withdrawer filling check valve are automatically closed due to pressure balance. The hydraulic oil enters the large piston chamber of the boosting cylinder through the electromagnetic reversing valve of the boosting device and starts automatic pressurization. At this time, the high-pressure hydraulic oil in the small piston chamber of the boosting cylinder enters the working chamber of the anchor withdrawer through the anchor withdrawer filling check valve to complete the anchor withdrawal work. When the anchor withdrawing electromagnetic reversing valve is connected to the boosting circuit on the right, it enters the control port of the hydraulically controlled one-way valve of the boosting device in the boosting circuit on the left through the pipeline, thereby opening the hydraulically controlled one-way valve of the boosting device in the boosting circuit on the left, and realizing the oil return to the other working chamber of the anchor withdrawing device.

2. The hydraulic control system of the automatic anchor removal robot for mining according to claim 1 is characterized in that: The piston area of ​​the large-diameter cavity of the boosting cylinder is greater than twice the piston area of ​​the small-diameter cavity.

3. The hydraulic control system of the automatic anchor removal robot for mining according to claim 1 is characterized in that: The boosting circuit (14) further comprises a boosting device safety valve (14-6) and a boosting device pressure gauge (14-7) connected to the oil port of the hydraulic anchor remover (16).

4. The hydraulic control system of the automatic anchor removal robot for mining according to claim 1 is characterized in that: The travel control circuit (10) comprises two travel motors (10-3), the two oil ports of the travel motors (10-3) are respectively connected to the two working ports of the travel control electromagnetic reversing valve (10-1), and the oil inlet of the travel control electromagnetic reversing valve (10-1) is connected to the travel oil supply pipe (24).

5. The hydraulic control system of the automatic anchor removal robot for mining according to claim 1 is characterized in that: The lifting control circuit (11) comprises three lifting control hydraulic cylinders (11-3), the two oil ports of the lifting control hydraulic cylinders (11-3) are respectively connected to the two working ports of the lifting control electromagnetic reversing valve (11-1), and the oil inlet of the lifting control electromagnetic reversing valve (11-1) is connected to the travel oil supply pipe (24).

6. A hydraulic control system for an automatic anchor removal robot for mining according to any one of claims 1 to 5, characterized in that: The hydraulic station comprises a hydraulic oil tank (1), a variable hydraulic pump (3), and a flameproof electric motor (4) for driving the variable hydraulic pump (3) to rotate. The variable hydraulic pump (3) is connected to the oil inlet of the system electro-hydraulic reversing valve (9) through a main oil supply pipe. The main oil supply pipe is equipped with a high-pressure pipeline filter (5), a system one-way valve (8), and an electromagnetic unloading relief valve (6). The oil inlet of the variable hydraulic pump (3) is equipped with an oil suction filter (2).

7. The hydraulic control system of the automatic anchor removal robot for mining according to claim 6, characterized in that: The oil return port of the system electro-hydraulic reversing valve (9) and the oil return port of the anchor withdrawal electromagnetic reversing valve (13) are both connected to the oil inlet of the radiator electromagnetic reversing valve (22). One working port of the radiator electromagnetic reversing valve (22) is connected to the hydraulic oil tank (1), and the other working port is connected to the hydraulic oil tank (1) through the hydraulic oil radiator (23). The hydraulic oil radiator (23) is adapted to the cooling fan of the flameproof motor (4). A temperature sensor (19) is installed in the hydraulic oil tank (1).

8. The hydraulic control system of the automatic anchor removal robot for mining according to claim 6, characterized in that: The hydraulic station further comprises a liquid level sensor (20) installed in the middle of the hydraulic oil tank (1) and a liquid level meter (17) installed on the side wall of the hydraulic oil tank (1).

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