Rotary drilling rig crawler traveling synchronous control system and method

Abstract

The application provides a rotary drilling rig track walking synchronous control system and method, which comprises a walking control oil circuit, a pilot control oil circuit, a feedback control oil circuit and a controller; the pilot control oil circuit comprises a pilot pump, a foot valve group, a pressure sensor valve group, an electromagnetic valve I and a main valve; the feedback control oil circuit comprises a main pump, the main valve and an electromagnetic valve II; and the pressure sensor valve group comprises a shuttle valve group, a pressure switch I, a pressure switch II, a pressure switch III and a pressure switch IV. When the controller judges that the vehicle is in a forward direction or a backward direction, the controller sends a command signal, the electromagnetic valve coil Y01 and the electromagnetic valve coil Y02 are electrified, the electromagnetic valve I and the electromagnetic valve II act, the electromagnetic valve I action makes the pilot oil pressure of the main valve a1 and a2 equal, the electromagnetic valve II action makes the feedback pressure of the main pump one X1 and the main pump two X2 equal, and then the flow of the left walking motor and the right walking motor is consistent, so that the synchronous control of the walking speed is realized, and the vehicle deviation is avoided.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of engineering machinery, and particularly relates to a rotary drilling rig track walking synchronous control system and method. BACKGROUND

[0002] As a high-tech product in the field of engineering machinery, especially pile machinery, the rotary drilling rig has the advantages of one machine with multiple uses, high drilling efficiency, good pile quality, etc., and is widely used in the construction of infrastructure such as housing construction, road and bridge, etc. At present, the hydraulic system of the rotary drilling rig usually has two main pumps, and the two main pumps independently supply oil to the left and right walking motors. During the walking process of the rotary drilling rig, the operator needs to adjust the foot valve group to different angle positions to realize the control of the walking speed. Generally, when the foot valve is fully opened and the main pump outputs full flow, the rotary drilling rig has good straight-line walking performance.

[0003] However, in the micro-control operation of the rotary drilling rig walking, due to the difference in the output pressure of the foot valve and the difference in the load, the rotary drilling rig often deviates to one side during the walking process. At this time, the operator needs to adjust the left and right foot pedal operation angles by relying on the operation experience and observing the deviation direction of the rotary drilling rig to realize the straight-line driving function. Therefore, the prior art has the following defects: 1) The foot pedal valve operation angle is adjusted, that is, the control pressure output by the foot pedal is adjusted, the control pressure controls the action of the main valve core, and different control pressures make the opening areas of the main valve walking valve cores different, and then the oil flow from the main valve to the motor exists differences. 2) Due to the difference in the walking resistance of the left and right tracks, the motor driving load is inconsistent, and then the load sensing pressure output from the main valve to the main pump is different, and thus the pump output flow exists differences.

[0004] Therefore, in the micro-control operation of the rotary drilling rig walking, due to the difference in the control pressure and the difference in the load in the walking process, the flow to the two walking motors exists differences, and the walking deviation problem is caused. SUMMARY

[0005] The purpose of the present application is to provide a rotary drilling rig track walking synchronous control system and method, which solves the walking deviation problem caused by the difference in the output control pressure of the foot valve and the difference in the load when the rotary drilling rig walks.

[0006] A rotary drilling rig track walking synchronous control system, characterized in that it comprises:

[0007] A left walking foot pedal and a right walking foot pedal, the right walking foot pedal comprising a d1 forward oil port and a c1 reverse oil port; the left walking foot pedal comprising a d2 forward oil port and a c2 reverse oil port;

[0008] A main valve 6, a right walking motor 7, a left walking motor 8, a main pump one 3 and a main pump two 5, wherein the main valve 6 comprises:

[0009] A1 oil port, B1 oil port, b1 pilot oil port, a1 pilot oil port and LS1 feedback oil port, the A1 oil port, B1 oil port are connected with the working oil port of right walking motor 7; the b1 pilot oil port is connected with the c1 retreat oil port of right walking pedal; the a1 pilot oil port is connected with the d1 advance oil port of right walking pedal; the LS1 feedback oil port is connected with the load sensing oil port X2 of main pump two 5;

[0010] A2 oil port, B2 oil port, b2 pilot oil port, a2 pilot oil port, LS2 feedback oil port, the A2 oil port, B2 oil port are connected with the working oil port of left walking motor 8; the b2 pilot oil port is connected with the c2 retreat oil port of left walking pedal; the a2 pilot oil port is connected with the d2 advance oil port of left walking pedal; the LS2 feedback oil port is connected with the load sensing oil port X1 of main pump one 3;

[0011] Solenoid valve I 9, including A oil port, B oil port, P oil port and T oil port, the A oil port is connected to the pipeline between a1 pilot oil port and d1 advance oil port; B oil port is connected to the pipeline between b1 pilot oil port and c1 retreat oil port; P oil port is connected to the pipeline between a2 pilot oil port and d2 advance oil port; T oil port is connected to the pipeline between b2 pilot oil port and c2 retreat oil port;

[0012] Solenoid valve II 12, its P oil port is connected to the pipeline between LS1 feedback oil port and load sensing oil port X2, its B oil port is connected to the pipeline between LS2 feedback oil port and load sensing oil port X1;

[0013] And pressure sensing valve group 10 for sensing and transmitting pilot control pressure signal to controller, one part is arranged between left walking pedal and pilot oil port, pilot oil port includes b2 pilot oil port and a2 pilot oil port; another part is arranged between right walking pedal and pilot oil port, pilot oil port includes b1 pilot oil port and a1 pilot oil port;

[0014] When pressure sensing valve group 10 senses pilot control pressure signal, controller judges vehicle is in advance or retreat state, controller controls solenoid valve coil Y0113 of solenoid valve I 9 to be powered, its P oil port and A oil port are conducted, B oil port and T oil port are conducted, the pilot oil port a1 of main valve 6 and the pilot oil port a2 pressure are equal, the pilot oil port b1 and the pilot oil port b2 pressure are equal;

[0015] When pressure sensing valve group 10 senses pilot control pressure signal, controller judges vehicle is in advance or retreat state, controller controls solenoid valve coil Y0214 of solenoid valve II 12 to be powered, solenoid valve II 12 acts, its P oil port and oil B port are conducted, so that the load sensing oil port X1 of load sensing valve 301 of main pump one 3, the load sensing oil port X2 of load sensing valve 501 of main pump two 5 pressure are equal.

[0016] Preferably, the pressure sensing valve group 10 comprises: a pair of shuttle valve groups 1002, wherein:

[0017] One of the shuttle valve groups 1002 on the left side has one inlet connected to the pipeline between the a2 pilot port and the d2 forward port, and the sensing port of a pressure switch II 1003, and the other inlet is connected to the pipeline between the T port of the electromagnetic valve I 9 and the c2 retreat port, and the working port is connected to the sensing port of a pressure switch I 1001;

[0018] When the pressure switch I 1001 and the pressure switch II 1003 simultaneously output pressure signals, the controller determines that the left track is in the forward state;

[0019] One of the shuttle valve groups 1002 on the right side has one inlet connected to the pipeline between the A port of the electromagnetic valve I 9 and the d1 forward port, and the sensing port of a pressure switch IV 1005, and the other inlet is connected to the pipeline between the B port of the electromagnetic valve I 9 and the c1 retreat port, and the working port is connected to the sensing port of a pressure switch III 1004;

[0020] When the pressure switch III 1004 and the pressure switch IV 1005 simultaneously output pressure signals, the controller determines that the right track is in the forward state.

[0021] Preferably, only the pressure switch I 1001 outputs a pressure signal, and the controller determines that the left track is in the retreat state;

[0022] When only the pressure switch III 1004 outputs a pressure signal, the controller determines that the right track is in the retreat state.

[0023] Preferably, if the pressure switch I 1001, the pressure switch III 1004, the pressure switch II 1003, and the pressure switch IV 1005 detect pressure signals, it is determined that the vehicle is in the forward state;

[0024] If only the pressure switch I 1001 and the pressure switch III 1004 detect pressure signals, the controller determines that the vehicle is in the retreat state.

[0025] A rotary drilling rig track walking synchronization control method based on the rotary drilling rig track walking synchronization control system, comprising:

[0026] The forward push pedal valve group 11, when the pressure switch I 1001 and the pressure switch III 1004 detect walking pedal actions, and the pressure switch II 1003 and the pressure switch IV 1005 detect forward pressure signals, the controller determines that the vehicle is in the forward state;

[0027] When the foot valve group is pushed backward, only the pressure switch I 1001 and the pressure switch III 1004 detect the walking foot action, the controller judges that the vehicle is in the backward state;

[0028] When the vehicle is in the forward state or the backward state, the controller controls the electromagnetic valve coil Y0113 of the electromagnetic valve I 9 to be powered, the P oil port and the A oil port are communicated, the B oil port and the T oil port are communicated, the pilot oil port a1 and the pilot oil port a2 of the main valve 6 are equal in pressure, and the pilot oil port b1 and the pilot oil port b2 are equal in pressure.

[0029] At the same time, the controller controls the electromagnetic valve coil Y0214 of the electromagnetic valve II 12 to be powered, and the electromagnetic valve II 12 is actuated, the P oil port and the oil B port are communicated, so that the load sensing oil port X1 of the load sensing valve 301 of the main pump one 3 and the load sensing oil port X2 of the load sensing valve 501 of the main pump two 5 are equal in pressure.

[0030] Compared with the prior art, the advantages of the present application are that: during the running of the rotary drilling rig, the controller confirms whether the vehicle is in the forward or backward state by judging the signal state of the pressure switch I, the pressure switch II, the pressure switch III and the pressure switch IV, that is, it is considered that the vehicle needs to have the straight walking ability at this time, the controller sends instructions to make the electromagnetic valve I and the electromagnetic valve II be powered, and according to the formula Q=△P×△A, under the premise that the opening area△A of the left and right walking association valve core and the feedback△P are equal, the flow rate of the main pump output to the walking motor through the main valve is consistent, because the displacement of the left and right walking motors is the same, the rotating speed is equal, the running speed of the left and right tracks is consistent, and the straight walking ability of the rotary drilling rig is realized. BRIEF DESCRIPTION OF DRAWINGS

[0031] Fig. 1 It is a hydraulic system principle diagram of the present application;

[0032] Fig. 2 It is an electrical system principle diagram.

[0033] 1 - hydraulic oil tank, 2 - pilot pump, 3 - main pump one, 301 - load sensing valve, 4 - engine, 5 - main pump two, 501 - load sensing valve, 6 - main valve, 7 - right walking motor, 8 - left walking motor, 9 - electromagnetic valve I, 10 - pressure sensing valve group, 1001 - pressure switch I, 1002 - shuttle valve group, 1003 - pressure switch II, 1004 - pressure switch III, 1005 - pressure switch IV, 11 - foot valve group, 1101 - right walking foot, 1102 - left walking foot,

[0034] 12 - electromagnetic valve II, 13 - electromagnetic valve coil Y02, 14 - electromagnetic valve coil Y01. EMBODIMENT

[0035] The present invention will now be described in more detail with reference to the accompanying drawings, which illustrate preferred embodiments of the invention. It should be understood that those skilled in the art can modify the invention described herein while still achieving its advantageous effects. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the invention.

[0036] like Figs. 1-2 As shown, a synchronous control system for tracked movement of a rotary drilling rig includes: a movement control oil circuit, a pilot control oil circuit, a feedback control oil circuit, and a control unit.

[0037] The travel control oil circuit includes hydraulic oil tank 1, main pump 1 3, engine 4, main pump 2 (5), main valve 6, right travel motor 7, and left travel motor 8.

[0038] The pilot control oil circuit includes a pilot pump 2, a foot pedal valve assembly 11, a pressure sensing valve assembly (10), and a solenoid valve I 9. The foot pedal valve assembly 11 includes a right-walking foot pedal 1101 and a left-walking foot pedal 1102. As can be seen from the prior art, the foot pedal valve assembly 11 is existing technology.

[0039] The feedback control oil circuit includes main pump 1 (3), main pump 2 (5), main valve 6, and solenoid valve II (12).

[0040] The controller unit includes pressure switch I 1001, a pair of shuttle valve assemblies 1002, pressure switch II 1003, pressure switch III 1004, pressure switch IV 1005, and a controller.

[0041] Pilot pump 2, main pump 1 3, engine 4, main pump 2 5, main valve 6, right travel motor 7, and left travel motor 8 are all existing technologies; the connection relationship between pilot pump 2, main pump 1 3, engine 4, and main pump 2 5 is also existing technology.

[0042] Left-moving foot pedal 1102 and right-moving foot pedal 1101. Right-moving foot pedal 1101 includes a forward oil port d1 and a reverse oil port c1. Left-moving foot pedal 1102 includes a forward oil port d2 and a reverse oil port c2.

[0043] The main valve 6 includes: A1 oil port, B1 oil port, b1 pilot oil port, a1 pilot oil port and LS1 feedback oil port.

[0044] Both A1 and B1 oil ports are connected to the working oil port of the right travel motor 7; b1 pilot oil port is connected to c1 reverse oil port of the right travel pedal 1101; a1 pilot oil port is connected to the right travel pedal 1101 including d1 forward oil port; LS1 feedback oil port is connected to the load sensing oil port X2 of the main pump 2 5.

[0045] A2 oil port, B2 oil port, b2 pilot oil port, a2 pilot oil port, LS2 feedback oil port, A2 oil port and B2 oil port are connected with the working oil port of the left walking motor 8; b2 pilot oil port is connected with the c2 retreat oil port of the left walking pedal 1102; a2 pilot oil port is connected with the d2 advance oil port of the left walking pedal 1102; LS2 feedback oil port is connected with the load sensing oil port X1 of the main pump one 3.

[0046] Solenoid valve I 9, including A oil port, B oil port, P oil port and T oil port, A oil port is connected between a1 pilot oil port and d1 advance oil port; B oil port is connected between b1 pilot oil port and c1 retreat oil port; P oil port is connected between a2 pilot oil port and d2 advance oil port; T oil port is connected between b2 pilot oil port and c2 retreat oil port.

[0047] Solenoid valve II 12, its P oil port is connected between LS1 feedback oil port and load sensing oil port X2, its B oil port is connected between LS2 feedback oil port and load sensing oil port X1.

[0048] Pressure sensing valve group 10 for sensing and transmitting pilot control pressure signal to controller, one part is arranged between left walking pedal 1102 and pilot oil port, pilot oil port includes b2 pilot oil port and a2 pilot oil port; another part is arranged between right walking pedal 1101 and pilot oil port, pilot oil port includes b1 pilot oil port and a1 pilot oil port.

[0049] When pressure sensing valve group 10 senses pilot control pressure signal, controller judges vehicle is in advance or retreat state, controller controls solenoid valve coil Y01 (13) of solenoid valve I 9 to be electrified, solenoid valve I (9) acts, its P oil port and A oil port are conducted, B oil port and T oil port are conducted, the pressure of pilot oil port a1 and pilot oil port a2 of main valve (6) is equal, the pressure of pilot oil port b1 and pilot oil port b2 is equal; That is, the opening area △A of main valve left walking and right walking valve core is consistent.

[0050] When pressure sensing valve group 10 senses pilot control pressure signal, controller judges vehicle is in advance or retreat state, controller controls solenoid valve coil Y0214 of solenoid valve II 12 to be electrified, solenoid valve II 12 acts, its P oil port and oil B port are conducted, so that the load sensing oil port X1 of load valve 301 of main pump one 3 and the load sensing oil port X2 of load valve 501 of main pump two 5 are equal, that is, the load pressure sensed by load sensitive valve of main pump one 3 and main pump two 5 is consistent, that is, the pressure difference △P of both sides of load sensitive valve is consistent.

[0051] Through such control, the input flow of the right walking motor 7 and the left walking motor 8 is ensured to be equal, the left and right crawler belts of the rotary drilling rig are ensured to have the same advancing speed, and the vehicle is ensured to be in the straight walking state. Specifically, according to the formula Q=△P×△A, under the premise that the opening area △A of the left and right walking valve core and the feedback △P are equal, the flow output from the main pump to the walking motor through the main valve is consistent, the rotating speed of the left and right walking motors is equal due to the same displacement of the left and right walking motors, the advancing speed of the left and right crawler belts is consistent, and the straight walking ability of the rotary drilling rig is realized.

[0052] Specifically, the pressure sensing valve group 10 comprises: a pressure switch I 1001, a pair of shuttle valve groups 1002, a pressure switch II 1003, a pressure switch III 1004, and a pressure switch IV 1005.

[0053] The shuttle valve group 1002 on the left side has one oil inlet connected to the oil line between the a2 pilot port and the d2 forward oil port and the sensing oil port of the pressure switch II 1003, and the other oil inlet connected to the oil line between the T oil port of the electromagnetic valve I 9 and the c2 backward oil port, and the working oil port connected to the sensing oil port of the pressure switch I 1001.

[0054] When the pressure switch I 1001 and the pressure switch II 1003 simultaneously output pressure signals, the controller determines that the left crawler belt is in the forward state; only the pressure switch I 1001 outputs the pressure signal, and the controller determines that the left crawler belt is in the backward state.

[0055] The shuttle valve group 1002 on the right side has one oil inlet connected to the oil line between the A oil port of the electromagnetic valve I 9 and the d1 forward oil port and the sensing oil port of the pressure switch IV 1005, and the other oil inlet connected to the oil line between the B oil port of the electromagnetic valve I 9 and the c1 backward oil port, and the working oil port connected to the sensing oil port of the pressure switch III 1004.

[0056] The pressure switch I 1001 is used to identify whether the left walking pedal 1102 is actuated; the pressure switch III 1004 is used to identify whether the right walking pedal 1101 is actuated; the pressure switch II 1003 and the pressure switch IV 1005 are used to identify that the left crawler belt of the vehicle is in the forward direction; and the pressure switch IV 1005 is used to identify that the right crawler belt of the vehicle is in the forward direction.

[0057] When the pressure switch III 1004 and the pressure switch IV 1005 simultaneously output pressure signals, the controller determines that the right crawler belt is in the forward state. Only the pressure switch III 1004 outputs the pressure signal, and the controller determines that the right crawler belt is in the backward state.

[0058] The vehicle in the forward state means that the right crawler belt is in the forward direction and the left crawler belt is in the forward direction. The vehicle in the backward state means that the right crawler belt is in the backward state and the left crawler belt is in the backward state.

[0059] When the pressure switch I 1001, the pressure switch II 1003, the pressure switch III 1004, and the pressure switch IV 1005 all detect the pilot control pressure signal, the controller determines that the current vehicle is in the forward state.

[0060] If only the pressure switch I 1001 and the pressure switch III 1004 detect the pilot control pressure signal at the same time, the controller determines that the current vehicle is in the reverse state.

[0061] In actual operation, when the foot pedal valve group 11 is pushed forward at the same time, the pressure switch I 1001 and the pressure switch III 1004 detect the walking foot pedal action, and the pressure switch II 1003 and the pressure switch IV 1005 detect the forward pressure signal, it is determined that the vehicle is in the forward state.

[0062] The foot pedal valve group is pushed backward, only the pressure switch I 1001 and the pressure switch III 1004 detect the walking foot pedal action, and it is determined that the vehicle is in the reverse state.

[0063] The rotary drilling machine track walking synchronous control method comprises:

[0064] The foot pedal valve group 11 is pushed forward, when the pressure switch I 1001 and the pressure switch III 1004 detect the walking foot pedal action, and the pressure switch II 1003 and the pressure switch IV 1005 detect the forward pressure signal, the controller determines that the vehicle is in the forward state.

[0065] The foot pedal valve group is pushed backward, only the pressure switch I 1001 and the pressure switch III 1004 detect the walking foot pedal action, and the controller determines that the vehicle is in the reverse state.

[0066] In the forward state or the reverse state, the controller controls the electromagnetic valve coil Y01 (13) of the electromagnetic valve I 9 to be powered, the electromagnetic valve I 9 is actuated, the P oil port and the A oil port are in conduction, the B oil port and the T oil port are in conduction, the pilot oil port a1 of the main valve 6 and the pilot oil port a2 are equal in pressure, and the pilot oil port b1 and the pilot oil port b2 are equal in pressure; that is, the opening areas △A of the left walking link and the right walking link valve cores of the main valve are consistent at this time.

[0067] At the same time, the controller controls the electromagnetic valve coil Y02 (14) of the electromagnetic valve II 12 to be powered, the electromagnetic valve II 12 is actuated, the P oil port and the oil B port are in conduction, so that the load sensing oil port X1 of the load sensing valve 301 of the main pump one 3 and the load sensing oil port X2 of the load sensing valve 501 of the main pump two 5 are equal in pressure, that is, the load pressures sensed by the load sensitive valves of the main pump one 3 and the main pump two 5 are consistent, and the pressure difference △P on both sides of the load sensitive valve is consistent.

[0068] The above merely describes the preferred embodiments of the present application and does not limit the present application in any way. Any person skilled in the art can make any form of equivalent replacement or modification to the technical solutions and technical contents disclosed by the present application without departing from the scope of the technical solutions of the present application, and such changes still belong to the protection scope of the present application.

Claims

1. A synchronous control system for tracked movement of a rotary drilling rig, characterized in that it comprises: The left and right walking pedals are provided. The right walking pedal includes a forward oil port d1 and a reverse oil port c1. The left walking pedal includes a forward oil port d2 and a reverse oil port c2. The main valve (6), right travel motor (7), left travel motor (8), main pump one (3) and main pump two (5), wherein the main valve (6) includes: A1 oil port, B1 oil port, b1 pilot oil port, a1 pilot oil port and LS1 feedback oil port, wherein A1 oil port and B1 oil port are both connected to the working oil port of the right travel motor (7); b1 pilot oil port is connected to c1 reversing oil port of the right travel pedal; a1 pilot oil port is connected to the right travel pedal including d1 forward oil port; LS1 feedback oil port is connected to the load sensing oil port X2 of the main pump (5). A2 oil port, B2 oil port, b2 pilot oil port, a2 pilot oil port, LS2 feedback oil port, wherein A2 oil port and B2 oil port are both connected to the working oil port of the left travel motor (8); b2 pilot oil port is connected to c2 reversing oil port of the left travel pedal; a2 pilot oil port is connected to d2 forward oil port of the left travel pedal; LS2 feedback oil port is connected to load sensing oil port X1 of the main pump (3); Solenoid valve I (9) includes port A, port B, port P and port T. Port A is connected to the pipeline between pilot port a1 and forward port d1; port B is connected to the pipeline between pilot port b1 and reverse port c1; port P is connected to the pipeline between pilot port a2 and forward port d2; and port T is connected to the pipeline between pilot port b2 and reverse port c2. Solenoid valve II (12), its P port is connected to the pipeline between the LS1 feedback port and the load sensing port X2, and its B port is connected to the pipeline between the LS2 feedback port and the load sensing port X1. The pressure sensing valve assembly (10) is used to sense and transmit pilot control pressure signals to the controller. One part of the assembly is located between the left travel pedal and the pilot oil port, and the pilot oil port includes the b2 pilot oil port and the a2 pilot oil port. The other part is located between the right travel pedal and the pilot oil port, and the pilot oil port includes the b1 pilot oil port and the a1 pilot oil port. When the pressure sensing valve group (10) senses the pilot control pressure signal, the controller determines that the vehicle is in a forward or backward state. The controller controls the solenoid valve coil Y01 (13) of solenoid valve I (9) to be energized, and its P port is connected to the A port and its B port is connected to the T port. The pilot port a1 and pilot port a2 of the main valve (6) have equal pressure, and the pilot port b1 and pilot port b2 have equal pressure. When the pressure sensing valve group (10) senses the pilot control pressure signal, the controller determines that the vehicle is in a forward or backward state. The controller controls the solenoid valve coil Y02 (14) of solenoid valve II (12) to be energized. Solenoid valve II (12) is activated, and its P port is connected to the B port, so that the load sensing port X1 of the load sensing valve (301) of the main pump one (3) and the load sensing port X2 of the load sensing valve (501) of the main pump two (5) are equal.

2. The rotary drilling rig track walking synchronous control system according to claim 1, characterized in that the pressure sensing valve group (10) includes: A pair of shuttle valve assemblies (1002), wherein: The shuttle valve assembly (1002) located on the left has one inlet connected to the pipeline between the pilot port a2 and the forward port d2, and the sensing port of a pressure switch II (1003). The other inlet is connected to the pipeline between the T port and the retraction port of the solenoid valve I (9). Its working port is connected to the sensing port of a pressure switch I (1001). When pressure switch I (1001) and pressure switch II (1003) output pressure signals simultaneously, the controller determines that the left track is in the forward state. The shuttle valve assembly (1002) located on the right has one inlet connected to the pipeline between port A and port d1 of solenoid valve I (9) and the sensing port of pressure switch IV (1005), and another inlet connected to the pipeline between port B and port c1 of solenoid valve I (9). Its working port is connected to the sensing port of pressure switch III (1004). When pressure switch Ⅲ (1004) and pressure switch Ⅳ (1005) output pressure signals simultaneously, the controller determines that the right track is in the forward state.

3. The rotary drilling rig track walking synchronous control system according to claim 2, characterized in that only pressure switch I (1001) outputs a pressure signal, and the controller determines that the left track is in the reverse state; When only pressure switch Ⅲ (1004) outputs a pressure signal, the controller determines that the right track is in a reversing state.

4. The rotary drilling rig track walking synchronous control system according to claim 2, characterized in that if pressure switch I (1001), pressure switch III (1004), pressure switch II (1003), and pressure switch IV (1005) detect pressure signals, it is determined that the vehicle is in a forward state; If only pressure switch I (1001) and pressure switch III (1004) detect pressure signals, the controller determines that the vehicle is in reverse.

5. A method for synchronous control of track movement of a rotary drilling rig, based on the synchronous control system for track movement of a rotary drilling rig according to any one of claims 2 to 4, characterized in that it comprises: Push the foot pedal valve assembly (11) forward. When pressure switch I (1001) and pressure switch III (1004) detect the walking foot pedal action, and pressure switch II (1003) and pressure switch IV (1005) detect the forward pressure signal, the controller determines that the vehicle is in a forward state. When the foot pedal valve assembly is pushed backward, and only pressure switch I (1001) and pressure switch III (1004) detect the walking foot pedal action, the controller determines that the vehicle is in reverse. When the vehicle is in forward or backward state, the controller controls the solenoid valve coil Y01(13) of solenoid valve I(9) to be energized, and its P port is connected to the A port and its B port is connected to the T port. The pilot port a1 and pilot port a2 of the main valve (6) have equal pressure, and the pilot port b1 and pilot port b2 have equal pressure. At the same time, the controller controls the solenoid valve coil Y02(14) of solenoid valve II (12) to be energized, solenoid valve II (12) is activated, and its P oil port is connected to the oil B port, so that the load sensing oil port X1 of the load sensing valve (301) of the main pump one (3) and the load sensing oil port X2 of the load sensing valve (501) of the main pump two (5) are equal.

Images