An anchor rod drilling machine electro-hydraulic control system and anchor rod drilling machine

Abstract

The application discloses an anchor rod drilling machine electro-hydraulic control system and an anchor rod drilling machine, and relates to the technical field of anchor rod drilling machines. The anchor rod drilling machine electro-hydraulic control system comprises an oil tank, a load-sensitive pump, a load-sensitive multi-way valve, a plurality of executing mechanisms, a load-sensitive compensation valve and a controller, the oil inlet of the load-sensitive pump is connected with the oil outlet of the oil tank, and the oil outlets of the load-sensitive pump are respectively connected with the oil inlets of the plurality of load-sensitive valves; each executing mechanism is connected with the oil tank through an oil circuit, the load-sensitive compensation valve is arranged between the load-sensitive multi-way valve and the load-sensitive pump, receives the load-sensitive signal of the load-sensitive multi-way valve, and carries out pressure compensation on the load-sensitive pump according to the load-sensitive signal. According to the application, the load-sensitive signal of the load-sensitive multi-way valve is used for carrying out pressure compensation on the load-sensitive pump, the pressure and flow of the load-sensitive pump are controlled, the pressure and flow of the load-sensitive pump can be changed according to the change of the executing mechanism, and the problem of unstable pressure of the hydraulic system in the system is avoided.

Description

Technical Field

[0001] This invention relates to the field of anchor drilling equipment technology, and in particular to an electro-hydraulic control system for an anchor drilling machine and an anchor drilling machine. Background Technology

[0002] Anchor bolt drilling rigs are commonly used equipment in coal mining. They are usually hydraulically driven, and the drill rod has at least two functions: rotation and propulsion. However, the hydraulic systems of current anchor bolt drilling rigs often experience unstable pressure, which causes the drill rod to jam during operation, resulting in frequent damage and high maintenance frequency.

[0003] In addition, the drill rod needs to be retracted after drilling to the specified depth. Existing technology usually uses a manual control reversing valve to retract the drill rod from the borehole. This method requires manual monitoring of the drilling depth of the drill rod for a long time and is not conducive to controlling the actual drilling depth of the drill rod. Summary of the Invention

[0004] The present invention aims to at least solve the technical problem of unstable pressure in the hydraulic system of anchor drilling rigs in the prior art, which leads to jamming of the drill rod during operation.

[0005] Therefore, one object of the present invention is to provide an electro-hydraulic control system for a bolt drilling rig, the electro-hydraulic control system comprising:

[0006] tank;

[0007] A load-sensitive pump, wherein the inlet of the load-sensitive pump is connected to the outlet of the oil tank.

[0008] A load-sensitive multi-way valve includes multiple load-sensitive valves, wherein the oil outlet of the load-sensitive pump is connected to the oil inlet of each of the multiple load-sensitive valves.

[0009] Multiple actuators are provided, each of which is connected to the oil tank via an oil circuit, and each oil circuit is provided with at least one load-sensitive valve;

[0010] A load-sensitive compensation valve is disposed between the load-sensitive multi-way valve and the load-sensitive pump, receives the load-sensitive signal from the load-sensitive multi-way valve, and performs pressure compensation on the load-sensitive pump according to the load-sensitive signal;

[0011] The controller is connected to each of the load-sensitive valves, each of the actuators, and the load-sensitive compensation valve, and controls the load-sensitive compensation valve, the load-sensitive pump, and each of the actuators according to the load-sensitive signals of each of the load-sensitive valves.

[0012] In some embodiments, the actuator includes a first actuator and a second actuator, and the load-sensitive valve includes a first pressure compensation valve, a second pressure compensation valve, and a first shuttle valve. The first pressure compensation valve is disposed in a first oil line of the first actuator, and the second pressure compensation valve is disposed in a second oil line of the second actuator. The first pressure inlet end of the first shuttle valve is connected to the first pressure compensation valve, the second pressure inlet end of the first shuttle valve is connected to the second pressure compensation valve, and the pressure outlet end of the first shuttle valve is connected to the inlet of the load-sensitive compensation valve.

[0013] In some embodiments, the first actuator includes a rotary motor, and the second actuator includes at least one of a clamping cylinder, a drill pipe moving cylinder, a clamping cylinder, a posture adjusting cylinder, a drill pipe guiding cylinder, and a water valve.

[0014] In some embodiments, the second actuator includes a clamping cylinder and the drill pipe moving cylinder, and the load-sensitive valve further includes a first reversing valve, a second reversing valve and a third reversing valve;

[0015] The rotary motor, the first reversing valve, and the oil tank are connected through a rotary motor circuit. The oil inlet of the first reversing valve is connected to the oil outlet of the load-sensitive pump, the oil outlet of the first reversing valve is connected to the oil return port of the oil tank, the first working oil port of the first reversing valve is connected to the oil inlet of the rotary motor, the second working oil port of the first reversing valve is connected to the oil outlet of the rotary motor, and the first pressure compensation valve is installed on the rotary motor circuit.

[0016] The clamping cylinder, the second reversing valve, and the oil tank are connected through the clamping cylinder circuit. The oil inlet of the second reversing valve is connected to the oil outlet of the load-sensitive pump, the oil outlet of the second reversing valve is connected to the oil return port of the oil tank, the first working oil port of the second reversing valve is connected to the oil inlet of the clamping cylinder, and the second working oil port of the second reversing valve is connected to the oil outlet of the clamping cylinder.

[0017] The drill pipe moving cylinder, the third directional valve, and the oil tank are connected through the drill pipe moving circuit. The oil inlet of the third directional valve is connected to the oil outlet of the load-sensitive pump, the oil outlet of the third directional valve is connected to the oil return port of the oil tank, the first working oil port of the third directional valve is connected to the oil inlet of the drill pipe moving cylinder, and the second working oil port of the third directional valve is connected to the oil outlet of the drill pipe moving cylinder.

[0018] The pressure input from the second pressure compensation valve to the first shuttle valve is the maximum pressure in the clamping cylinder circuit and the drill rod moving circuit.

[0019] In some embodiments, the load-sensitive valve further includes a first proportional relief valve disposed on the first oil line and a second proportional relief valve disposed on the second oil line;

[0020] The first oil circuit is also equipped with a first pressure sensor, and the second oil circuit is also equipped with a second pressure sensor.

[0021] In some embodiments, there are two clamping cylinders, and the second oil circuit includes a first clamping cylinder circuit corresponding to the first clamping cylinder and a second clamping cylinder circuit corresponding to the second clamping cylinder. The load-sensitive valve further includes a sequence valve, which is connected to the first clamping cylinder circuit and the second clamping cylinder circuit respectively to control the working sequence of the first clamping cylinder and the second clamping cylinder.

[0022] In some embodiments, the rotary motor circuit includes a rotary motor oil inlet circuit and a rotary motor oil return circuit. A second shuttle valve is provided between the rotary motor oil inlet circuit and the rotary motor oil return circuit. The first pressure inlet end of the second shuttle valve is connected to the rotary motor oil inlet circuit, the second pressure inlet end of the second shuttle valve is connected to the rotary motor oil return circuit, and the pressure outlet end of the second shuttle valve is connected to the first pressure compensation valve.

[0023] The second oil circuit also includes a drill pipe movement circuit, which includes a drill pipe movement inlet oil circuit and a drill pipe movement return oil circuit. A third shuttle valve is provided between the drill pipe movement inlet oil circuit and the drill pipe movement return oil circuit. The first pressure inlet end of the third shuttle valve is connected to the drill pipe movement inlet oil circuit, the second pressure inlet end of the third shuttle valve is connected to the drill pipe movement return oil circuit, and the pressure outlet end of the third shuttle valve is connected to the second pressure compensation valve.

[0024] In some embodiments, a flow sensor is also included, which is disposed in the drill pipe moving oil inlet passage and / or the drill pipe moving oil return passage.

[0025] In some embodiments, a displacement sensor is also included, disposed on at least one of the load-sensitive valves and connected to the controller.

[0026] Another object of the present invention is to provide an anchor drilling machine that employs the above-described electro-hydraulic control system for anchor drilling machines.

[0027] The electro-hydraulic control system and anchor drilling rig provided in this invention have the following beneficial effects:

[0028] The system employs a bus control structure, enabling precise control of the actuator's movements. Based on the load-sensitive signal from the load-sensitive multi-way valve, the load-sensitive pump undergoes pressure compensation, controlling its pressure and flow rate to adapt to changes in the actuator. This prevents pressure instability in the hydraulic system, thus avoiding drill rod jamming during operation and extending the service life of the anchor drilling rig. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the control structure of an electro-hydraulic control system for an anchor drilling rig according to an embodiment of the present invention;

[0031] Figure 2 This is a control system diagram of an electro-hydraulic control system for an anchor drilling rig according to an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of a load-sensitive multi-way valve in an electro-hydraulic control system for an anchor drilling rig according to an embodiment of the present invention.

[0033] Figure label:

[0034] 1. Oil tank; 2. Load-sensitive pump; 3. Load-sensitive multi-way valve; 31. First pressure compensation valve; 32. Second pressure compensation valve; 33. First shuttle valve; 34. First directional valve; 35. Second directional valve; 36. Third directional valve; 37. Second shuttle valve; 38. Sequence valve; 39. Third shuttle valve; 310. Fourth directional valve; 311. Fifth directional valve; 312. First proportional pressure reducing valve; 313. Second proportional pressure reducing valve; 314. First proportional relief valve; 315. Second proportional relief valve; 4. Load-sensitive compensation valve; 5. Rotary motor; 6. Clamping cylinder; 7. Drill pipe moving cylinder; 8. Clamping cylinder; 9. Attitude adjustment cylinder; 10. Drill pipe guiding cylinder; 11. Water valve; 12. First pressure sensor; 13. Second pressure sensor; 14. Flow sensor. Detailed Implementation

[0035] Various aspects and features of the present invention are described herein with reference to the accompanying drawings.

[0036] It should be understood that various modifications can be made to the embodiments described herein. Therefore, the above description should not be considered as limiting, but merely as an example of embodiments. Other modifications within the scope and spirit of the invention will be apparent to those skilled in the art.

[0037] The accompanying drawings, which are included in and form part of this specification, illustrate embodiments of the invention and, together with the general description of the invention given above and the detailed description of the embodiments given below, serve to explain the principles of the invention.

[0038] These and other features of the invention will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0039] It should also be understood that although the invention has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of the invention, which have the features described in the claims and are therefore all within the scope of protection defined herein.

[0040] The above and other aspects, features and advantages of the invention will become more apparent when taken in conjunction with the accompanying drawings and in view of the following detailed description.

[0041] Specific embodiments of the invention are described below with reference to the accompanying drawings; however, it should be understood that the claimed embodiments are merely examples of the invention, which can be implemented in various ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that could obscure the invention. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely to serve as the basis and representative basis for the claims to teach those skilled in the art to use the invention in various ways with substantially any suitable detailed structure.

[0042] The first embodiment of the present invention provides an electro-hydraulic control system for an anchor drilling rig, such as... Figures 1-3 As shown, the electro-hydraulic control system of the anchor drilling rig includes:

[0043] Fuel tank 1;

[0044] Load-sensitive pump 2, the oil inlet of load-sensitive pump 2 is connected to the oil outlet of oil tank 1;

[0045] The load-sensitive multi-way valve 3 includes multiple load-sensitive valves, and the oil outlet of the load-sensitive pump 2 is connected to the oil inlet of the multiple load-sensitive valves respectively.

[0046] Multiple actuators are provided, each connected to the oil tank 1 via an oil circuit. Each oil circuit is equipped with at least one load-sensitive valve. The load-sensitive pump 2 pumps the oil from the oil tank 1 to the load-sensitive multi-way valve 3, and then delivers the oil to each actuator through multiple load-sensitive valves.

[0047] A load-sensitive compensation valve 4 is installed between the load-sensitive multi-way valve 3 and the load-sensitive pump 2. It receives the load-sensitive signal from the load-sensitive multi-way valve 3 and compensates the pressure of the load-sensitive pump 2 based on this signal. The load-sensitive signal is a load pressure signal. Through load pressure feedback, the load-sensitive pump 2 and the load-sensitive valve control the pressure and flow rate of the load-sensitive pump 2 to change according to changes in the actuator. The load-sensitive compensation valve 4, installed between the load-sensitive pump 2 and the load-sensitive multi-way valve 3, solves the problem of system oscillation and instability caused by the attenuation of the load-sensitive signal.

[0048] The controller is connected to each load-sensitive valve, each actuator, and the load-sensitive compensation valve 4, and controls the load-sensitive compensation valve 4, the load-sensitive pump 2, and each actuator according to the load-sensitive signals of each load-sensitive valve.

[0049] This electro-hydraulic control system employs a bus-based control structure, enabling precise control of actuator movements. Based on the load-sensitive signal from the load-sensitive multi-way valve 3, pressure compensation is applied to the load-sensitive pump 2, controlling its pressure and flow rate to adapt to changes in the actuator. This prevents pressure instability in the hydraulic system, avoids drill rod jamming during operation, and extends the service life of the anchor drilling rig. It also improves the automation level of the anchoring device, simplifies its hydraulic system circuitry, reduces worker workload, and decreases the failure rate and difficulty of troubleshooting.

[0050] In some embodiments, the actuator includes a first actuator and a second actuator. The load-sensitive valve includes a first pressure compensation valve 31, a second pressure compensation valve 32, and a first shuttle valve 33. The first pressure compensation valve 31 is disposed in a first oil circuit of the first actuator, and the second pressure compensation valve 32 is disposed in a second oil circuit of the second actuator. The first pressure inlet of the first shuttle valve 33 is connected to the first pressure compensation valve 31, the second pressure inlet of the first shuttle valve 33 is connected to the second pressure compensation valve 32, and the pressure outlet of the first shuttle valve 33 is connected to the inlet of the load-sensitive compensation valve 4. The first pressure compensation valve 31 is used to compensate the pressure of the first actuator, and the second pressure compensation valve 32 is used to compensate the pressure of the second actuator. The first shuttle valve 33 compares the maximum pressure in the first oil circuit of the first actuator and the second oil circuit of the second actuator, and feeds back the maximum pressure to the load-sensitive compensation valve 4. During the operation of the anchor drilling rig, the rotation motion requires the largest flow rate and is the primary action, bearing the greatest load. Therefore, a first pressure compensation valve 31 is installed in the first oil circuit where the rotary motor 5 is located to provide pressure compensation for this first oil circuit independently. Multiple second actuators can be installed, and these actuators often do not operate simultaneously, although they often work concurrently with the first actuator. Therefore, a second pressure compensation valve 32 is used for pressure compensation in the second oil circuits where multiple second actuators are located. Controlling the rotary motor 5 separately from other actuators helps maintain system stability.

[0051] The first actuator includes a rotary motor 5, and the second actuator includes at least one of a clamping cylinder 6, a drill pipe moving cylinder 7, a clamping cylinder 8, a posture adjusting cylinder 9, a drill pipe guiding cylinder 10, and a water valve 11.

[0052] In some embodiments, the first actuator includes a rotary motor 5, the second actuator includes a clamping cylinder 6 and a drill pipe moving cylinder 7, and the load-sensitive valve further includes a first reversing valve 34, a second reversing valve 35, and a third reversing valve 36. Specifically, the second actuator includes a clamping cylinder 6 and a drill pipe moving cylinder 7. The rotary motor 5, the first reversing valve 34, and the oil tank 1 are connected through a rotary motor circuit. The inlet of the first reversing valve 34 is connected to the outlet of the load-sensitive pump 2, the outlet of the first reversing valve 34 is connected to the return port of the oil tank 1, the first working port of the first reversing valve 34 is connected to the inlet of the rotary motor 5, the second working port of the first reversing valve 34 is connected to the outlet of the rotary motor 5, and a first pressure compensation valve 31 is installed on the rotary motor circuit. The first reversing valve 34 realizes the reversal of the rotary motor inlet and return oil circuits.

[0053] The rotary motor circuit includes a rotary motor oil inlet circuit and a rotary motor oil return circuit. A second shuttle valve 37 is provided between the rotary motor oil inlet circuit and the rotary motor oil return circuit. The first pressure inlet end of the second shuttle valve 37 is connected to the rotary motor oil inlet circuit, the second pressure inlet end of the second shuttle valve 37 is connected to the rotary motor oil return circuit, and the pressure outlet end of the second shuttle valve 37 is connected to the first pressure compensation valve 31.

[0054] When the load-sensitive pump 2 pumps liquid to the rotary motor 5, the pressure at the inlet and outlet of the rotary motor 5 is different. The maximum pressure in the rotary motor circuit is obtained through the second shuttle valve 37, and the oil circuit with the maximum pressure value is connected to the first pressure compensation valve 31. The first pressure compensation valve 31 compensates for the system pressure and the pressure input by the second shuttle valve 37 according to the change of load pressure, so that the flow rate of the rotary motor circuit is stable and is not affected by the load of the rotary motor 5.

[0055] The clamping cylinder 6, the second reversing valve 35, and the oil tank 1 are connected through the clamping cylinder circuit. The oil inlet of the second reversing valve 35 is connected to the oil outlet of the load-sensitive pump 2. The oil outlet of the second reversing valve 35 is connected to the oil return port of the oil tank 1. The first working oil port of the second reversing valve 35 is connected to the oil inlet of the clamping cylinder 6. The second working oil port of the second reversing valve 35 is connected to the oil outlet of the clamping cylinder 6.

[0056] There are two clamping cylinders 6. The second oil circuit includes a first clamping cylinder circuit corresponding to the first clamping cylinder and a second clamping cylinder circuit corresponding to the second clamping cylinder. The load-sensitive valve also includes a sequence valve 38, which is connected to the first clamping cylinder circuit and the second clamping cylinder circuit respectively to control the working sequence of the first clamping cylinder and the second clamping cylinder.

[0057] The first and second clamping cylinder circuits include a clamping cylinder inlet circuit and a clamping cylinder return circuit. The clamping cylinder inlet circuit has two branches, which are respectively connected to one end of the two clamping cylinders 6. The clamping cylinder return circuit has two branches, which are respectively connected to the other end of the two clamping cylinders 6. The second reversing valve 35 realizes the reversal of the clamping cylinder inlet circuit and the clamping cylinder return circuit. The sequence valve 38 can control the action sequence of the two clamping cylinders 6, further realizing precise control of the anchor drilling rig.

[0058] The second oil circuit also includes a drill pipe movement circuit. The drill pipe movement cylinder 7, the third directional valve 36, and the oil tank 1 are connected through the drill pipe movement circuit. The oil inlet of the third directional valve 36 is connected to the oil outlet of the load-sensitive pump 2, the oil outlet of the third directional valve 36 is connected to the oil return port of the oil tank 1, the first working oil port of the third directional valve 36 is connected to the oil inlet of the drill pipe movement cylinder 7, and the second working oil port of the third directional valve 36 is connected to the oil outlet of the drill pipe movement cylinder 7.

[0059] The drill pipe movement circuit includes a drill pipe movement inlet oil circuit and a drill pipe movement return oil circuit. A third shuttle valve 39 is provided between the drill pipe movement inlet oil circuit and the drill pipe movement return oil circuit. The first pressure inlet end of the third shuttle valve 39 is connected to the drill pipe movement inlet oil circuit, the second pressure inlet end of the third shuttle valve 39 is connected to the drill pipe movement return oil circuit, and the pressure outlet end of the third shuttle valve 39 is connected to the second pressure compensation valve 32.

[0060] The third directional valve 36 switches the drill pipe movement inlet and return oil paths. The third shuttle valve 39 compares the pressures between the drill pipe movement inlet and return oil paths and feeds back the maximum pressure to the second pressure compensation valve 32. The third shuttle valve 39 obtains the maximum pressure in the drill pipe movement return oil path and connects the oil path with this maximum pressure value to the second pressure compensation valve 32. The second pressure compensation valve 32 compensates for changes in load pressure by adjusting the system pressure and the pressure input from the third shuttle valve 39, thus stabilizing the flow rate in the drill pipe movement circuit and preventing it from being affected by the load on the drill pipe movement cylinder 7.

[0061] The pressure input from the second pressure compensation valve 32 to the first shuttle valve 33 is the maximum pressure in the clamping cylinder circuit and the drill pipe movement circuit. In this embodiment, the second actuator includes a clamping cylinder 6 and a drill pipe movement cylinder 7. The second pressure compensation valve 32 compensates for the pressure of the second actuator, ensuring stable flow in the second actuator, and inputs the maximum pressure in the clamping cylinder circuit and the drill pipe movement circuit to the second pressure inlet of the first shuttle valve 33. The first shuttle valve 33 compares the pressure in the first oil circuit of the first actuator and the second oil circuit of the second actuator, and delivers the maximum pressure to the load-sensitive compensation valve 4 to compensate for the system pressure and prevent pipeline oscillation.

[0062] The electro-hydraulic control system also includes a flow sensor 14, which is installed in the drill pipe movement inlet oil circuit and / or the drill pipe movement return oil circuit. By installing the flow sensor 14 in the drill pipe movement circuit, the flow rate in the drill pipe movement oil circuit can be precisely controlled.

[0063] In some other embodiments, the second actuator further includes a clamping cylinder 8, and the load-sensitive valve includes a fourth directional valve 310. The clamping cylinder 8, the fourth directional valve 310, and the oil tank 1 are connected through a clamping cylinder circuit. The oil inlet of the fourth directional valve 310 is connected to the oil outlet of the load-sensitive pump 2, the oil outlet of the fourth directional valve 310 is connected to the oil return port of the oil tank 1, the first working oil port of the fourth directional valve 310 is connected to the oil inlet of the clamping cylinder 8, and the second working oil port of the fourth directional valve 310 is connected to the oil outlet of the clamping cylinder 8.

[0064] There are two clamping cylinders 8. The second oil circuit includes a first clamping cylinder circuit corresponding to the clamping cylinder 8 and a second clamping cylinder circuit corresponding to the second clamping cylinder 8. Both the first clamping cylinder circuit and the second clamping cylinder circuit include a clamping cylinder inlet oil circuit and a clamping cylinder return oil circuit. The fourth reversing valve 310 realizes the reversal of the clamping cylinder inlet oil circuit and the clamping cylinder return oil circuit.

[0065] In some other embodiments, the second actuator further includes an attitude adjustment cylinder 9, the load-sensitive valve includes a fifth directional valve 311, and the second circuit includes an attitude adjustment cylinder circuit. The attitude adjustment cylinder 9, the fifth directional valve 311, and the oil tank 1 are connected through the attitude adjustment cylinder circuit. The oil inlet of the fifth directional valve 311 is connected to the oil outlet of the load-sensitive pump 2, the oil outlet of the fifth directional valve 311 is connected to the oil return port of the oil tank 1, the first working oil port of the fifth directional valve 311 is connected to the oil inlet of the attitude adjustment cylinder 9, and the second working oil port of the fifth directional valve 311 is connected to the oil outlet of the attitude adjustment cylinder 9.

[0066] The attitude adjustment cylinder 9 includes an up-and-down attitude adjustment cylinder and / or a left-and-right attitude adjustment cylinder.

[0067] In some other embodiments, the second actuator further includes a water valve 11, the load-sensitive valve includes a first proportional pressure reducing valve 312, and the second circuit also includes a water valve control circuit. The water valve 11 is connected to the oil tank 1 through the water valve control circuit. The first proportional pressure reducing valve 312 is provided on the water valve control circuit. The water valve 11 serves to reduce dust and cool the rotary motor 5.

[0068] In some other embodiments, the second actuator further includes a drill pipe guide cylinder 10, the load-sensitive valve includes a second proportional pressure reducing valve 313, and the second circuit further includes a drill pipe guide oil circuit. The drill pipe guide cylinder 10 is connected to the oil tank 1 through the drill pipe guide oil circuit. The second proportional pressure reducing valve 313 is provided on the drill pipe guide oil circuit.

[0069] In some embodiments, the electro-hydraulic control system further includes a displacement sensor disposed on at least one of the load-sensitive valves and connected to the controller. The load-sensitive valve in the load-sensitive multi-way valve 3 employs a proportional electromagnet-driven direct-drive directional valve core displacement closed-loop control. The proportional electromagnet receives electrical signals from the controller, which precisely control the magnitude of the magnetic force generated by the electromagnet, thereby controlling the movement of the load-sensitive valve core. Using a high-precision displacement sensor to monitor the actual position of the load-sensitive valve core in real time and comparing this real-time data with the target position set by the controller allows for immediate detection of any deviations. The electro-hydraulic control system corrects these deviations by adjusting the input current of the proportional electromagnet, ensuring that the actual position of the valve core always remains consistent with the target position. This closed-loop feedback mechanism guarantees high precision and high dynamic response, maintaining stability even when external load conditions change.

[0070] The load-sensitive valve also includes a first proportional relief valve 314 disposed in the first oil circuit and a second proportional relief valve 315 disposed in the second oil circuit. The first proportional relief valve 314 and the second proportional relief valve 315 can control the movement speed of the hydraulic actuator, regulate the working pressure of the system, and play the roles of flow control, constant pressure relief, pressure stabilization, and system unloading in the hydraulic system.

[0071] The first oil circuit is also equipped with a first pressure sensor 12, and the second oil circuit is also equipped with a second pressure sensor 13. The first pressure sensor 12 and the second pressure sensor 13 monitor the pressure within the system and play a safety protection role in the system.

[0072] A second embodiment of the present invention provides an anchor drilling rig that employs the above-described electro-hydraulic control system for anchor drilling rigs.

[0073] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0074] In the description of this invention, "first feature" and "second feature" may include one or more of the features.

[0075] In the description of this invention, "a plurality of" means two or more.

[0076] In the description of this invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0077] In the description of this invention, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicating that the first feature is at a higher horizontal level than the second feature.

[0078] In the description of this invention, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0079] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An electro-hydraulic control system for an anchor drilling rig, characterized in that, include: tank; A load-sensitive pump, wherein the inlet of the load-sensitive pump is connected to the outlet of the oil tank. A load-sensitive multi-way valve includes multiple load-sensitive valves, wherein the oil outlet of the load-sensitive pump is connected to the oil inlet of each of the multiple load-sensitive valves. Multiple actuators are provided, each of which is connected to the oil tank via an oil circuit, and each oil circuit is provided with at least one load-sensitive valve; A load-sensitive compensation valve is disposed between the load-sensitive multi-way valve and the load-sensitive pump, receives the load-sensitive signal from the load-sensitive multi-way valve, and performs pressure compensation on the load-sensitive pump according to the load-sensitive signal; The controller is connected to each of the load-sensitive valves, each of the actuators, and the load-sensitive compensation valve, and controls the load-sensitive compensation valve, the load-sensitive pump, and each actuator according to the load-sensitive signals of each load-sensitive valve. The actuator includes a first actuator and a second actuator. The load-sensitive valve includes a first pressure compensation valve, a second pressure compensation valve, and a first shuttle valve. The first pressure compensation valve is disposed in a first oil line of the first actuator, and the second pressure compensation valve is disposed in a second oil line of the second actuator. The first pressure inlet of the first shuttle valve is connected to the first pressure compensation valve, the second pressure inlet of the first shuttle valve is connected to the second pressure compensation valve, and the pressure outlet of the first shuttle valve is connected to the inlet of the load-sensitive compensation valve. The first actuator includes a rotary motor, the first oil circuit includes a rotary motor circuit, the rotary motor circuit includes a rotary motor inlet oil circuit and a rotary motor return oil circuit, a second shuttle valve is provided between the rotary motor inlet oil circuit and the rotary motor return oil circuit, the first pressure inlet end of the second shuttle valve is connected to the rotary motor inlet oil circuit, the second pressure inlet end of the second shuttle valve is connected to the rotary motor return oil circuit, and the pressure outlet end of the second shuttle valve is connected to the first pressure compensation valve; The second actuator includes at least two of the following: a clamping cylinder, a drill pipe moving cylinder, a clamping cylinder, a posture adjusting cylinder, a drill pipe guiding cylinder, and a water valve. The pressure input from the second pressure compensation valve to the first shuttle valve is the maximum pressure in the second oil circuit where each of the second actuators is located.

2. The electro-hydraulic control system for an anchor drilling rig according to claim 1, characterized in that, The load-sensitive valve further includes a first reversing valve, a second reversing valve, and a third reversing valve; The rotary motor, the first reversing valve, and the oil tank are connected through the rotary motor circuit. The oil inlet of the first reversing valve is connected to the oil outlet of the load-sensitive pump, the oil outlet of the first reversing valve is connected to the oil return port of the oil tank, the first working oil port of the first reversing valve is connected to the oil inlet of the rotary motor, the second working oil port of the first reversing valve is connected to the oil outlet of the rotary motor, and the first pressure compensation valve is installed on the rotary motor circuit. The clamping cylinder, the second reversing valve, and the oil tank are connected through the clamping cylinder circuit. The oil inlet of the second reversing valve is connected to the oil outlet of the load-sensitive pump, the oil outlet of the second reversing valve is connected to the oil return port of the oil tank, the first working oil port of the second reversing valve is connected to the oil inlet of the clamping cylinder, and the second working oil port of the second reversing valve is connected to the oil outlet of the clamping cylinder. The drill pipe moving cylinder, the third directional valve, and the oil tank are connected through a drill pipe moving circuit. The oil inlet of the third directional valve is connected to the oil outlet of the load-sensitive pump, the oil outlet of the third directional valve is connected to the oil return port of the oil tank, the first working oil port of the third directional valve is connected to the oil inlet of the drill pipe moving cylinder, and the second working oil port of the third directional valve is connected to the oil outlet of the drill pipe moving cylinder.

3. The electro-hydraulic control system for an anchor drilling rig according to claim 1, characterized in that, The load-sensitive valve further includes a first proportional relief valve disposed on the first oil line and a second proportional relief valve disposed on the second oil line; The first oil circuit is also equipped with a first pressure sensor, and the second oil circuit is also equipped with a second pressure sensor.

4. The electro-hydraulic control system for an anchor drilling rig according to claim 2, characterized in that, There are two clamping cylinders. The second oil circuit includes a first clamping cylinder circuit corresponding to the first clamping cylinder and a second clamping cylinder circuit corresponding to the second clamping cylinder. The load-sensitive valve also includes a sequence valve, which is connected to the first clamping cylinder circuit and the second clamping cylinder circuit respectively to control the working sequence of the first clamping cylinder and the second clamping cylinder.

5. The electro-hydraulic control system for an anchor drilling rig according to claim 2, characterized in that, The second oil circuit also includes the drill pipe movement circuit, which includes a drill pipe movement inlet oil circuit and a drill pipe movement return oil circuit. A third shuttle valve is provided between the drill pipe movement inlet oil circuit and the drill pipe movement return oil circuit. The first pressure inlet end of the third shuttle valve is connected to the drill pipe movement inlet oil circuit, the second pressure inlet end of the third shuttle valve is connected to the drill pipe movement return oil circuit, and the pressure outlet end of the third shuttle valve is connected to the second pressure compensation valve.

6. The electro-hydraulic control system for an anchor drilling rig according to claim 5, characterized in that, It also includes a flow sensor, which is disposed in the drill pipe moving oil inlet passage and / or the drill pipe moving oil return passage.

7. The electro-hydraulic control system for an anchor drilling rig according to claim 1, characterized in that, It also includes a displacement sensor, which is disposed on at least one of the load-sensitive valves and connected to the controller.

8. An anchor drilling rig, characterized in that, The anchor drilling rig uses an electro-hydraulic control system as described in any one of claims 1 to 7.

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