Electro-hydraulic control system of multi-drill-arm anchor protection equipment

Abstract

The invention provides an electro-hydraulic control system for multi-drill-arm anchor protection equipment. The electro-hydraulic control system comprises a stop valve group, a switching valve group, a feedback valve group, a walking module, a complete machine module, an anchor protection module and a pump station. Internal oil ways of the stop valve group and the switching valve group are combined to form a walking and anchor protection switching control oil way, and the walking module and the anchor protection module achieve high-pressure oil inlet interlocking through the walking and anchor protection switching control oil way; the feedback valve group is used for limiting the maximum pressure values of the walking module, the complete machine module and the anchor protection module; the walking module is used for controlling the multi-drill-arm anchor protection equipment to walk and unbrake; the complete machine control module is used for controlling the multi-drill-arm anchor protection equipment to execute corresponding action instructions; the anchor protection control module is used for controlling an anchor protection drilling machine of the multi-drill-arm anchor protection equipment to execute a corresponding action instruction; the pump station is used for providing a fluid medium with preset pressure and preset flow for the multi-drill-arm anchor protection equipment. A high-pressure oil inlet interlocking oil way and a manual emergency oil way of the walking module and the anchor protection module are designed, and the automation degree is high.

Description

Technical Field

[0001] The invention relates to the field of rapid tunneling support for coal mines, and in particular to an electro-hydraulic control system for multi-drill arm anchoring equipment. Background Art

[0002] With the development of intelligent and rapid excavation and the advancement of the construction of intelligent and efficient excavation working faces, the automation and intelligence level of tunnel excavation equipment has been greatly improved. The drilling rigs of multi-drill arm anchor equipment are distributed along the space and can construct at the same time, reducing the proportion of support in the total excavation time and improving support efficiency.

[0003] The multi-drill arm anchor protection equipment integrates multiple sets of airborne drilling rigs and is the main support equipment. It realizes functions such as walking, anchor drilling, refueling, stability, and temporary support. The system adopts electro-hydraulic control. At present, the commonly used electro-hydraulic control system of anchor protection equipment mainly relies on the electronic control system for logical control. There is no backup system for the main control function, and the safety protection measures and emergency backup operations are insufficient. In addition, the interlocking control method of the hydraulic main oil circuit of the walking function and anchor protection function of the multi-drill arm anchor protection equipment has a low degree of automation. Summary of the invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides an electro-hydraulic control system for multi-drill arm anchor protection equipment, including: a cut-off valve group, a switching valve group, a feedback valve group, a walking module, a whole machine module, an anchor protection module and a pump station; the internal oil circuits of the cut-off valve group and the switching valve group are combined to form a walking and anchor protection switching control oil circuit, and the walking module and the anchor protection module realize high-pressure oil inlet interlocking through the walking and anchor protection switching control oil circuit; the feedback valve group is used to limit the maximum pressure value of the walking module, the whole machine module and the anchor protection module; the walking module is used to control the walking and braking of the multi-drill arm anchor protection equipment; the whole machine control module is used to control the multi-drill arm anchor protection equipment to execute corresponding action instructions; the anchor protection control module is used to control the anchor protection drilling rig of the multi-drill arm anchor protection equipment to execute corresponding action instructions; the pump station is used to provide a fluid medium with a predetermined pressure and a predetermined flow rate for the multi-drill arm anchor protection equipment.

[0005] Optionally, the travel and anchor protection switching control oil circuit includes an electro-hydraulic control oil circuit, the cut-off valve group includes a first one-way valve, a second one-way valve, a third one-way valve, and a fourth one-way valve, and the switching valve group includes a solenoid valve I, a reversing valve I, a shuttle valve I, and a shuttle valve II; the oil outlet K12 of the switching valve group is connected to the control port K02 of the cut-off valve group, and the oil outlet P05 of the cut-off valve group is connected to the oil inlet P41 of the travel module. When the K12 port of the switching valve group is connected to the high-pressure oil of the pump station, that is, the oil flows out from the P1 port of the pump station, enters the cut-off valve group from the P01 port, flows out from the P04 port, and flows out from the P11 port. The oil flows into the switching valve group, and the solenoid valve I moves to the parallel position, so that the oil flows out of the solenoid valve I, flows in from the oil inlet of the shuttle valve I, and then flows out from the control port of the shuttle valve I, so that the high-pressure oil of the pump station is connected with the K12 port, and the control pressure is transmitted to the second one-way valve through the K02 port, so that the second one-way valve is turned on, so that P05 of the cut-off valve group is connected with the high-pressure oil of the pump station, that is, the walking module is connected with the high-pressure oil of the pump station, and the oil outlet K11 of the switching valve group is without pressure, the control port K01 of the cut-off valve group is without pressure, the oil outlets P06 and P07 of the cut-off valve group are without pressure, and the oil inlet P08 and P09 of the anchor protection module are without pressure. There is no pressure, and no high-pressure oil flows into the anchor protection module. At this time, the walking module starts and the anchor protection module stops; the oil outlet K11 of the switching valve group is connected to the control port K01 of the cut-off valve group, and the oil outlets P06 and P07 of the cut-off valve group are connected to the oil inlet P08 and P09 of the anchor protection module. When the K11 port of the switching valve group is connected to the high-pressure oil of the pump station, the oil flows out from the P1 port of the pump station, enters the cut-off valve group from the P01 port, flows out from the P04 port, and flows into the switching valve group from the P11 port. The solenoid valve I moves to the cross position, causing the oil to flow out of the solenoid valve I and flow into the oil inlet of the shuttle valve II, and then from the shuttle valve II. II control port flows out, so that the high-pressure oil of the pump station is connected with the K11 port, and the control pressure is transmitted to the third one-way valve and the fourth one-way valve through the K01 port, so that the third one-way valve and the fourth one-way valve are turned on, so that the oil outlets P06 and P07 of the cut-off valve group are connected with the high-pressure oil of the pump station, that is, the anchor protection module is connected with the high-pressure oil of the pump station, and there is no pressure at the oil outlet K12 of the switching valve group, there is no pressure at the control port K02 of the cut-off valve group, there is no pressure at the oil outlet P05 of the cut-off valve group, there is no pressure at the oil inlet P41 of the walking module, and there is no high-pressure oil entering the walking module. At this time, the anchor protection module starts and the walking module stops.

[0006] Optionally, the travel and anchor protection switching control oil circuit also includes a manual emergency standby control oil circuit; the control reversing valve I is switched to the parallel position, the oil flows through the reversing valve I, flows into the shuttle valve I, and flows out from the control port of the shuttle valve I, that is, the oil outlet K12 of the switching valve group is connected to the high-pressure oil of the pump station, and the control pressure is transmitted to the second one-way valve through the K02 port, so that the second one-way valve is turned on, so that the P05 port of the cut-off valve group is connected to the high-pressure oil of the pump station, that is, the travel module is connected to the high-pressure oil of the pump station, the oil outlet K11 of the switching valve group is without pressure, the control port K01 of the cut-off valve group is without pressure, the oil outlets P06 and P07 of the cut-off valve group are without pressure, the oil inlet P08 and P09 of the anchor protection module are without pressure, and no high-pressure oil flows into the anchor protection module. At this time, the travel module starts , the anchor protection module stops; the control reversing valve I is switched to the cross position, the oil flows through the reversing valve I, flows into the shuttle valve II, and flows out from the control port of the shuttle valve II, that is, the oil outlet K11 of the switching valve group is connected with the high-pressure oil of the pump station, and the control pressure is transmitted to the third one-way valve and the fourth one-way valve through the K01 port, so that the third one-way valve and the fourth one-way valve are turned on, so that the oil outlets P06 and P07 of the cut-off valve group are connected with the high-pressure oil of the pump station, that is, the anchor protection module is connected with the high-pressure oil of the pump station, the oil outlet K12 of the switching valve group is without pressure, the control port K02 of the cut-off valve group is without pressure, the oil outlet P05 of the cut-off valve group is without pressure, the oil inlet P41 of the walking module is without pressure, and no high-pressure oil enters the walking module. At this time, the anchor protection module starts and the walking module stops.

[0007] Optionally, the feedback valve group includes: a shuttle valve III and a shuttle valve IV; L32 of the feedback valve group is connected to LS010 of the whole machine module, L33 of the feedback valve group is connected to LS09 of the anchor protection module, one oil inlet of the shuttle valve III is connected to L32, and the other oil inlet of the shuttle valve III is connected to L33, which is used to aggregate the hydraulic oil pressure of the whole machine module and the anchor protection module, the control port of the shuttle valve III is connected to an oil inlet of the shuttle valve IV, and the other oil inlet of the shuttle valve IV is connected to L31 of the feedback valve group, L31 of the feedback valve group is connected to the walking module, and the control port of the shuttle valve IV is connected to LC31 of the feedback valve group, which is used to aggregate the hydraulic oil pressure of the walking module, the whole machine module and the anchor protection module, and transmit the maximum hydraulic oil pressure to the pump station through LC31.

[0008] Optionally, the feedback valve group also includes: a safety valve I and a safety valve II; the oil inlet of the safety valve I is connected to the control end of the shuttle valve III, which is used to limit the maximum pressure value of the whole machine module and the anchor protection module; the oil inlet of the safety valve II is connected to the control end of the shuttle valve IV, which is used to limit the maximum pressure value of the walking module, the whole machine module and the anchor protection module.

[0009] Optionally, the walking module includes a walking brake release control oil circuit, specifically including a walking valve, a first walking motor, a second walking motor, a first walking reducer, a second walking reducer, a solenoid valve II, a reversing valve II, a shuttle valve V, a pressure reducing valve and a safety valve III; the walking brake release control oil circuit is an electro-hydraulic control oil circuit. When the walking brake release control oil circuit is operated to the brake release position, the solenoid valve II is switched to the cross position. At this time, the high-pressure oil enters the solenoid valve II through P21, and then flows into the shuttle valve V, flows out from the control port of the shuttle valve V, flows into the pressure reducing valve, and flows out through the oil outlet of the pressure reducing valve and the oil outlet K21. The high-pressure oil is transmitted to the first walking reducer and the second walking reducer, so that the brake release port of the walking brake release control oil circuit releases the brake.

[0010] Optionally, the travel brake release control oil circuit also includes a manual emergency standby control oil circuit, specifically: when the manual emergency standby control oil circuit is manually controlled to the brake release position, the reversing valve II is switched to the cross position, and at this time, the high-pressure oil enters the reversing valve II through the P22 port of the travel brake release valve group, and then flows into the shuttle valve V, flows out from the control port of the shuttle valve V, flows into the pressure reducing valve, and flows out through the oil outlet of the pressure reducing valve and the oil outlet K21 of the travel brake release valve group, and the high-pressure oil is transmitted to the first travel reducer and the second travel reducer, so that the brake release port of the travel brake release control oil circuit releases the brake.

[0011] Optionally, the travel module also includes multiple brake release pressure protection oil circuits, specifically: the high-pressure oil reaches the travel brake release valve group oil outlet K21 after passing through the pressure reducing valve, and the pressure reduced by the pressure reducing valve is the middle value of the brake release pressure range, which is the first level protection; the oil inlet of the safety valve III is connected to the travel brake release valve group oil outlet K21, and the set pressure value of the safety valve III is the upper limit value of the brake release pressure, which is the second level protection.

[0012] Optionally, the multiple brake release pressure protection oil circuit also includes: a pressure sensor I and a flow sensor; the pressure sensor I is connected to the oil outlet K21 of the travel brake release valve group, and the set pressure value of the pressure sensor I is the brake release pressure range. When the pressure value of the high-pressure oil exceeds the set value, an error is reported and the action output is stopped. This is the third level of protection; the flow sensor is connected to the oil outlet K21 of the travel brake release valve group, and the set value of the flow sensor is the brake release flow variation range. When the high-pressure oil flow exceeds the set value, an error is reported and the action output is stopped. This is the fourth level of protection.

[0013] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0014] The present invention provides an electro-hydraulic control system for multi-drill arm anchor protection equipment, comprising: a cut-off valve group, a switching valve group, a feedback valve group, a walking module, a whole machine module, an anchor protection module and a pump station; the internal oil circuits of the cut-off valve group and the switching valve group are combined to form a walking and anchor protection switching control oil circuit, and the walking module and the anchor protection module realize high-pressure oil inlet interlocking through the walking and anchor protection switching control oil circuit; the feedback valve group is used to limit the maximum pressure value of the walking module, the whole machine module and the anchor protection module; the walking module is used to control the walking and brake release of the multi-drill arm anchor protection equipment; the whole machine control module is used to control the multi-drill arm anchor protection equipment to execute corresponding action instructions; the anchor protection control module is used to control the anchor protection drilling rig of the multi-drill arm anchor protection equipment to execute corresponding action instructions; the pump station is used to provide a fluid medium with a predetermined pressure and a predetermined flow rate for the multi-drill arm anchor protection equipment. The present invention realizes walking and anchor protection switching control and high-pressure oil inlet interlocking by designing an electro-hydraulic control system for the multi-drill arm anchor protection equipment, and designs a manual emergency oil circuit at the same time, which is simple to operate, convenient to maintain, high in safety and high in automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0017] Figure 1 This is a schematic diagram of the electro-hydraulic control system of the multi-drill arm anchor protection equipment according to the embodiment of the present disclosure;

[0018] Figure 2 This is a schematic diagram of the walking module system according to an embodiment of the present disclosure;

[0019] Figure 3 This is a schematic diagram of the whole machine module system of the embodiment of the present disclosure;

[0020] Figure 4 This is a schematic diagram of the anchor module system according to an embodiment of the present disclosure;

[0021] Figure 5 This is a schematic diagram of a drilling rig control system according to an embodiment of the present disclosure.

[0022] In the figure: pump station-1, cut-off valve group-2, switching valve group-3, feedback valve group-4, travel module-5, anchor protection module-6, whole machine module-7, first check valve-2.1, high pressure filter-2.2, second check valve-2.3, third check valve-2.4, fourth check valve-2.5, solenoid valve I-3.1, reversing valve I-3.2, shuttle valve I-3.3, shuttle valve II-3.4, shuttle valve III-4.1, shuttle valve IV-4.2, safety valve I-4.3, safety valve II-4.4, travel valve-5.1, first travel motor -5.2, first travel reducer -5.3, second travel motor -5.4, second travel reducer -5.5, solenoid valve II-5.6, reversing valve II-5.7, shuttle valve V-5.8, pressure reducing valve -5.9, safety valve III-5.10, pressure sensor I-5.11, flow sensor -5.13, pressure gauge -5.12, control valve I-7.1, control valve II-7.2, refueling control valve group -7.3, shuttle valve VI-7.4, shuttle valve VII-7.5, ceiling lifting cylinder -7.6, left ceiling telescopic cylinder -7.7, right ceiling telescopic cylinder -7.8, left flap cylinder -7.9, right flap cylinder -7.10, workbench lifting cylinder -7.11, upper temporary support cylinder -7.12, lower temporary support cylinder -7.13, front stabilizing cylinder -7.14, rear stabilizing cylinder -7.15, cable winding motor -7.16, refueling pump -7.17, shuttle valve VIII-7.18, pressure sensor II-7.19, drilling rig control system I-8.1, drilling rig control system II-8.2, drilling rig control system III-8.3, drilling rig control system System IV-8.4, drilling rig control system V-8.5, drilling rig control system VI-8.6, shuttle valve IX-8.7, shuttle valve X-8.8, shuttle valve XI-8.9, shuttle valve XII-8.10, shuttle valve XIII-8.11, drilling rig control valve I-9.1, drill box motor -9.2, feed cylinder -9.3, support column cylinder -9.4, front and rear swing cylinder -9.5, left and right swing cylinder -9.6, side shift cylinder -9.7, drill clamp cylinder -9.8, pressure sensor III-9.9, pressure sensor IV-9.10. DETAILED DESCRIPTION

[0023] In conjunction with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0025] The present invention provides an embodiment:

[0026] like Figure 1 , Figure 2 As shown, an electro-hydraulic control system for multi-drill arm anchor protection equipment includes: a cut-off valve group 2, a switching valve group 3, a feedback valve group 4, a walking module 5, a whole machine module 7, an anchor protection module 6 and a pump station 1; the internal oil circuits of the cut-off valve group 2 and the switching valve group 3 are combined to form a walking and anchor protection switching control oil circuit, and the walking module 5 and the anchor protection module 6 realize high-pressure oil inlet interlocking through the walking and anchor protection switching control oil circuit; the feedback valve group 4 is used to limit the maximum pressure value of the walking module 5, the whole machine module 7 and the anchor protection module 6; the walking module 5 is used to control the walking and braking of the multi-drill arm anchor protection equipment; the whole machine control module is used to control the multi-drill arm anchor protection equipment to execute corresponding action instructions; the anchor protection control module is used to control the anchor protection drilling rig of the multi-drill arm anchor protection equipment to execute corresponding action instructions; the pump station 1 is used to provide a fluid medium with a predetermined pressure and a predetermined flow rate for the multi-drill arm anchor protection equipment.

[0027] In this embodiment, the travel and anchor protection switching control oil circuit includes an electro-hydraulic control oil circuit, the cut-off valve group 2 includes a first one-way valve 2.1, a second one-way valve 2.3, a third one-way valve 2.4, and a fourth one-way valve 2.5, and the switching valve group 3 includes a solenoid valve I3.1, a reversing valve I3.2, a shuttle valve I3.3, and a shuttle valve II3.4; the oil outlet K12 of the switching valve group 3 is connected to the control port K02 of the cut-off valve group 2, and the oil outlet P05 of the cut-off valve group 2 is connected to the oil inlet P41 of the travel module 5. When the K12 port of the switching valve group 3 is connected to the high-pressure oil of the pump station 1, that is, the oil flows out from the P1 port of the pump station 1, enters the cut-off valve group 2 from the P01 port, and enters the P0 4, and flows into the switching valve group 3 from the P11 port. The solenoid valve I3.1 moves to the parallel position, so that the oil flows out of the solenoid valve I3.1, flows into the oil inlet of the shuttle valve I3.3, and then flows out from the control port of the shuttle valve I3.3, so that the high-pressure oil of the pump station 1 is connected with the K12 port. The control pressure is transmitted to the second one-way valve 2.3 through the K02 port, so that the second one-way valve 2.3 is turned on, so that P05 of the cut-off valve group 2 is connected with the high-pressure oil of the pump station 1, that is, the walking module 5 is connected with the high-pressure oil of the pump station 1, the oil outlet K11 of the switching valve group 3 is without pressure, the control port K01 of the cut-off valve group 2 is without pressure, the oil outlets P06 and P07 of the cut-off valve group 2 are without pressure, and the inlet of the anchor protection module 6 is There is no pressure at the oil ports P08 and P09, and no high-pressure oil flows into the anchor guard module 6. At this time, the walking module 5 starts and the anchor guard module 6 stops; the oil outlet K11 of the switching valve group 3 is connected with the control port K01 of the shut-off valve group 2, and the oil outlets P06 and P07 of the shut-off valve group 2 are connected with the oil inlet P08 and P09 of the anchor guard module 6. When the K11 port of the switching valve group 3 is connected with the high-pressure oil of the pump station 1, the oil flows out from the P1 port of the pump station 1, enters the shut-off valve group 2 from the P01 port, flows out from the P04 port, and flows into the switching valve group 3 from the P11 port. The solenoid valve I3.1 moves to the cross position, causing the oil solenoid valve I3.1 to flow out, and flows into the oil inlet of the shuttle valve II3.4, and then from The control port of shuttle valve II3.4 flows out, so that the high-pressure oil of pump station 1 is connected with port K11, and the control pressure is transmitted to the third one-way valve 2.4 and the fourth one-way valve 2.5 through port K01, so that the third one-way valve 2.4 and the fourth one-way valve 2.5 are turned on, so that the oil outlets P06 and P07 of the cut-off valve group 2 are connected with the high-pressure oil of pump station 1, that is, the anchor protection module 6 is connected with the high-pressure oil of pump station 1, and there is no pressure at the oil outlet K12 of the switching valve group 3, and there is no pressure at the control port K02 of the cut-off valve group 2, and there is no pressure at the oil outlet P05 of the cut-off valve group 2, and there is no pressure at the oil inlet P41 of the walking module 5, so that no high-pressure oil enters the walking module 5. At this time, the anchor protection module 6 starts and the walking module 5 stops.

[0028] In this embodiment, the cut-off valve group 2 also includes: a high-pressure filter 2.2, the oil inlet of the high-pressure filter 2.2 is connected to the oil outlet of the first one-way valve 2.1, and the oil outlet of the high-pressure filter 2.2 is connected to the oil inlets of the second one-way valve 2.3, the third one-way valve 2.4, and the fourth one-way valve 2.5, which is used to filter the fluid medium output by the pump station 1.

[0029] In this embodiment, the travel and anchor protection switching control oil circuit also includes a manual emergency standby control oil circuit; the control reversing valve I3.2 is switched to the parallel position, the oil flows through the reversing valve I3.2, flows into the shuttle valve I3.3, and flows out from the control port of the shuttle valve I3.3, that is, the oil outlet K12 of the switching valve group 3 is connected with the high-pressure oil of the pump station 1, and the control pressure is transmitted to the second one-way valve 2.3 through the K02 port, so that the second one-way valve 2.3 is turned on, so that the P05 port of the cut-off valve group 2 is connected with the high-pressure oil of the pump station 1, that is, the travel module 5 is connected with the high-pressure oil of the pump station 1, the oil outlet K11 of the switching valve group 3 is without pressure, the control port K01 of the cut-off valve group 2 is without pressure, the oil outlets P06 and P07 of the cut-off valve group 2 are without pressure, the oil inlet P08 and P09 of the anchor protection module 6 are without pressure, and the anchor protection module 6 has no high-pressure oil inflow. At this time, the travel module 5 is started and the anchor protection Module 6 stops; the control reversing valve I3.2 is switched to the cross position, the oil flows through the reversing valve I3.2, flows into the shuttle valve II3.4, and flows out from the control port of the shuttle valve II3.4, that is, the oil outlet K11 of the switching valve group 3 is connected with the high-pressure oil of the pump station 1, and the control pressure is transmitted to the third one-way valve 2.4 and the fourth one-way valve 2.5 through the K01 port, so that the third one-way valve 2.4 and the fourth one-way valve 2.5 are turned on, so that the oil outlets P06 and P07 of the cut-off valve group 2 are connected with the high-pressure oil of the pump station 1, that is, the anchor protection module 6 is connected with the high-pressure oil of the pump station 1, the oil outlet K12 of the switching valve group 3 is without pressure, the control port K02 of the cut-off valve group 2 is without pressure, the oil outlet P05 of the cut-off valve group 2 is without pressure, the oil inlet P41 of the walking module 5 is without pressure, and no high-pressure oil enters the walking module 5. At this time, the anchor protection module 6 starts and the walking module 5 stops.

[0030] In this embodiment, the feedback valve group 4 includes: a shuttle valve III4.1 and a shuttle valve IV4.2; L32 of the feedback valve group 4 is connected to LS010 of the whole machine module 7, L33 of the feedback valve group 4 is connected to LS09 of the anchor protection module 6, one oil inlet of the shuttle valve III4.1 is connected to L32, and the other oil inlet of the shuttle valve III4.2 is connected to L33, which is used to summarize the hydraulic oil pressure of the whole machine module 7 and the anchor protection module 6, the control port of the shuttle valve III4.1 is connected to an oil inlet of the shuttle valve IV4.2, and the other oil inlet of the shuttle valve IV4.2 is connected to L31 of the feedback valve group 4, L31 of the feedback valve group 4 is connected to the walking module 5, and the control port of the shuttle valve IV4.2 is connected to LC31 of the feedback valve group 4, which is used to summarize the hydraulic oil pressure of the walking module 5, the whole machine module 7 and the anchor protection module 6, and transmit the maximum hydraulic oil pressure to the pump station 1 through LC31.

[0031] In this embodiment, the feedback valve group 4 also includes: a safety valve I4.3 and a safety valve II4.4; the oil inlet of the safety valve I4.3 is connected to the control end of the shuttle valve III4.2, which is used to limit the maximum pressure value of the whole machine module 7 and the anchor protection module 6; the oil inlet of the safety valve II4.4 is connected to the control end of the shuttle valve IV4.2, which is used to limit the maximum pressure value of the walking module 5, the whole machine module 7 and the anchor protection module 6.

[0032] In this embodiment, the walking module 5 includes a walking brake release control oil circuit, specifically including a walking valve 5.1, a first walking motor 5.2, a second walking motor 5.4, a first walking reducer 5.3, a second walking reducer 5.5, a solenoid valve II5.6, a reversing valve II5.7, a shuttle valve V5.8, a pressure reducing valve 5.9 and a safety valve III5.10; the walking brake release control oil circuit is an electro-hydraulic control oil circuit. When the walking brake release control oil circuit is operated to the brake release position, the solenoid valve II5.6 is switched to the cross position. At this time, the high-pressure oil enters the solenoid valve II5.6 through P21, and then flows into the shuttle valve V5.8, flows out from the control port of the shuttle valve V5.8, flows into the pressure reducing valve 5.9, and is connected with the oil outlet K21 through the oil outlet of the pressure reducing valve 5.9. The high-pressure oil is transmitted to the first walking reducer 5.3 and the second walking reducer 5.5, so that the brake release port of the walking brake release control oil circuit releases the brake.

[0033] In this embodiment, the A41 port of the travel valve 5.1 is connected to the A51 port of the first travel motor 5.2, the B41 port of the travel valve 5.1 is connected to the B51 port of the first travel motor 5.2, the A42 port of the travel valve 5.1 is connected to the A61 port of the second travel motor 5.4, the B42 port of the travel valve 5.1 is connected to the B61 port of the first travel motor 5.2, the T41 port of the travel valve 5.1 is connected to the oil tank, the DR51 port of the first travel motor 5.2 is connected to the oil tank, the DR61 port of the second travel motor 5.4 is connected to the oil tank, the J51 port of the first travel reducer 5.3 is connected to the K21 port of the travel brake release control oil circuit, and the J61 port of the second travel reducer 5.5 is connected to the K21 port of the travel brake release control oil circuit.

[0034] In this embodiment, the travel brake release control oil circuit also includes a manual emergency standby control oil circuit, specifically: when the manual emergency standby control oil circuit is manually controlled to the brake release position, the reversing valve II is switched to the cross position, and at this time, the high-pressure oil enters the reversing valve II5.7 through the P22 port of the travel brake release valve group, and then flows into the shuttle valve V5.8, flows out from the control port of the shuttle valve V5.8, flows into the pressure reducing valve 5.9, and is connected with the travel brake release valve group oil outlet K21 through the oil outlet of the pressure reducing valve 5.9, and the high-pressure oil is transmitted to the first travel reducer 5.3 and the second travel reducer 5.5, so that the brake release port of the travel brake release control oil circuit releases the brake.

[0035] In this embodiment, the walking module 5 also includes multiple brake release pressure protection oil circuits, specifically: the high-pressure oil reaches the oil outlet K21 after passing through the pressure reducing valve 5.9, and the pressure reduced by the pressure reducing valve 5.9 is the middle value of the brake release pressure range, which is the first level protection; the oil inlet of the safety valve III5.10 is connected to the oil outlet K21, and the set pressure value of the safety valve III5.10 is the upper limit value of the brake release pressure, which is the second level protection.

[0036] In this embodiment, the multiple brake release pressure protection oil circuit also includes: pressure sensor I5.11 and flow sensor 5.13; pressure sensor I5.11 is connected to the oil outlet K21, and the set pressure value of pressure sensor I5.11 is the brake release pressure range. When the pressure value of the high-pressure oil exceeds the set value, an error is reported and the action output is stopped, which is the third level protection; flow sensor 5.13 is connected to the oil outlet K21, and the set value of flow sensor 5.13 is the brake release flow variation range. When the high-pressure oil flow exceeds the set value, an error is reported and the action output is stopped, which is the fourth level protection.

[0037] In this embodiment, the pressure sensor I5.11 is connected to the pressure reducing valve 5.9 and the safety valve III5.10 through C21, and the flow sensor 5.13 is arranged between the oil outlet K21 of the travel brake release valve group and the J51 port of the first travel reducer 5.3 and the J61 port of the second travel reducer 5.5.

[0038] In this embodiment, the pressure gauge 5.12 is connected to the pressure reducing valve 5.9 and the safety valve III 5.10 through C21, and is used to read the magnitude of the travel brake release pressure value.

[0039] Working principle:

[0040] When the multi-drill arm anchor protection equipment is required to perform walking action, the walking module 5 needs high-pressure oil to enter to provide power. At this time, the oil outlet K12 of the switching valve group 3 is connected to the high-pressure oil, the oil outlet K12 of the switching valve group 3 is connected to the control port K02 of the cut-off valve group 2, the oil outlet P05 of the cut-off valve group 2 is connected to the high-pressure oil, and at the same time, the oil outlet P05 of the cut-off valve group 2 is connected to the oil inlet P41 of the walking module 5, and high-pressure oil enters the walking module 5. At this time, the oil outlet K11 of the switching valve group 3 is connected to the oil drain port of the oil tank, the control port K01 of the cut-off valve group 2 is without pressure, the oil outlets P06 and P07 of the cut-off valve group 2 are without pressure, the oil inlets P08 and P09 of the anchor protection module 6 are without pressure, and the anchor protection module 6 has no high-pressure oil inlet. At this time, the electro-hydraulic controlled travel oil circuit is connected, that is, the oil outlet K12 of the switching valve group 3 is connected with the control port K02 of the shut-off valve group 2, the oil outlet P05 of the shut-off valve group 2 is connected with the oil inlet P41 of the travel module 5, and when the K12 port of the switching valve group 3 is connected with the high-pressure oil of the pump station 1, the oil flows out from the P1 port of the pump station 1, enters the shut-off valve group 2 from the P01 port, flows out from the P04 port, and flows into the switching valve group 3 from the P11 port, the solenoid valve I moves to the parallel position, so that the oil flows out from the solenoid valve I3.1, flows into the oil inlet of the shuttle valve I3.3, and then flows out from the control port of the shuttle valve I3.3, so that the high-pressure oil of the pump station 1 is connected with the K12 port, and the high-pressure oil returns to the oil pump. It flows into the oil tank through the DR11 port, and the control pressure is transmitted to the second one-way valve 2.3 through the K02 port, and at the same time flows into the walking module 5 through the P21 port. The second one-way valve 2.3 is turned on, so that P05 of the cut-off valve group 2 is connected to the high-pressure oil of the pump station 1, and the oil flows into the walking module 5 through the P41 port, that is, the walking module 5 is connected with the high-pressure oil of the pump station 1, and there is no pressure at the oil outlet K11 of the switching valve group 3, and there is no pressure at the control port K01 of the cut-off valve group 2, and there is no pressure at the oil outlets P06 and P07 of the cut-off valve group 2, and there is no pressure at the oil inlet P08 and P09 of the anchor guard module 6, and there is no high-pressure oil flowing into the anchor guard module 6. At this time, the walking module 5 starts and the anchor guard module 6 stops.

[0041] When the multi-boom anchoring equipment is required to perform anchoring action, the anchoring module 6 needs high-pressure oil to enter to provide power. At this time, the oil outlet K11 of the switching valve group 3 is connected to the high-pressure oil, the oil outlet K11 of the switching valve group 3 is connected to the control port K01 of the cut-off valve group 2, the oil outlets P06 and P07 of the cut-off valve group 2 are connected, and at the same time, the oil outlets P06 and P07 of the cut-off valve group 2 are connected to the oil inlet P08 and P09 of the anchoring module 6, and high-pressure oil enters the anchoring module 6, the oil outlet K12 of the switching valve group 3 is connected to the oil drain port of the oil tank, the control port K02 of the cut-off valve group 2 has no pressure, the oil outlet P05 of the cut-off valve group 2 has no pressure, the oil inlet P41 of the walking module 5 has no pressure, and the walking module 5 has no high-pressure oil inlet. At this time, the electro-hydraulic controlled anchor protection oil circuit is connected, the oil outlet K11 of the switching valve group 3 is connected with the control port K01 of the shut-off valve group 2, the oil outlets P06 and P07 of the shut-off valve group 2 are connected with the oil inlet P08 and P09 of the anchor protection module 6, and when the K11 port of the switching valve group 3 is connected with the high-pressure oil of the pump station 1, the oil flows out from the P1 port of the pump station 1, enters the shut-off valve group 2 from the P01 port, flows out from the P04 port, and flows into the switching valve group 3 from the P11 port, the solenoid valve I3.1 moves to the cross position, so that the oil solenoid valve I3.1 flows out, flows into the oil inlet of the shuttle valve II3.4, and then flows out from the control port of the shuttle valve II3.4, and returns through the DR11 port. Oil, so that the high-pressure oil of the pump station 1 is connected with the K11 port, and the control pressure is transmitted to the third one-way valve 2.4 and the fourth one-way valve 2.5 through the K01 port at the same time, so that the third one-way valve 2.4 and the fourth one-way valve 2.5 are turned on, so that the oil outlets P06 and P07 of the cut-off valve group 2 are connected with the high-pressure oil of the pump station 1, that is, the anchor protection module 6 is connected with the high-pressure oil of the pump station 1, and there is no pressure at the oil outlet K12 of the switching valve group 3, and there is no pressure at the control port K02 of the cut-off valve group 2, and there is no pressure at the oil outlet P05 of the cut-off valve group 2, and there is no pressure at the oil inlet P41 of the walking module 5, and there is no high-pressure oil entering the walking module 5. At this time, the anchor protection module 6 starts and the walking module 5 stops.

[0042] When the solenoid valve I3.1 fails, the manual emergency standby control oil circuit is started. If the multi-boom anchor protection equipment is to perform the walking action, the manual control reversing valve I3.2 is switched to the parallel position, and the oil flows through the reversing valve I3.2, flows into the shuttle valve I3.3, and flows out from the control port of the shuttle valve I3.3, that is, the oil outlet K12 of the switching valve group 3 is connected with the high-pressure oil of the pump station 1, and the control pressure is transmitted to the second one-way valve 2.3 through the K02 port, so that the second one-way valve 2 .3 is turned on, so that the P05 port of the cut-off valve group 2 is connected to the high-pressure oil of the pump station 1, that is, the walking module 5 is connected to the high-pressure oil of the pump station 1, the oil outlet K11 of the switching valve group 3 is without pressure, the control port K01 of the cut-off valve group 2 is without pressure, the oil outlets P06 and P07 of the cut-off valve group 2 are without pressure, the oil inlet P08 and P09 of the anchor protection module 6 are without pressure, and the anchor protection module 6 has no high-pressure oil inflow, at this time the walking module 5 starts and the anchor protection module 6 stops; if multiple drill arm anchor protection is required When the equipment performs anchor protection action, the manual control reversing valve I3.2 is switched to the cross position, and the oil flows through the reversing valve I3.2, flows into the shuttle valve II3.4, and flows out from the control port of the shuttle valve II3.4, that is, the oil outlet K11 of the switching valve group 3 is connected with the high-pressure oil of the pump station 1, and the control pressure is transmitted to the third check valve 2.4 and the fourth check valve 2.5 through the K01 port, so that the third check valve 2.4 and the fourth check valve 2.5 are turned on, so that the oil outlet P of the cut-off valve group 2 is closed. 06 and P07 are connected with the high-pressure oil of pump station 1, that is, the anchor protection module 6 is connected with the high-pressure oil of pump station 1, there is no pressure at the oil outlet K12 of the switching valve group 3, there is no pressure at the control port K02 of the cut-off valve group 2, there is no pressure at the oil outlet P05 of the cut-off valve group 2, there is no pressure at the oil inlet P41 of the walking module 5, and there is no high-pressure oil flowing into the walking module 5. At this time, the anchor protection module 6 starts and the walking module 5 stops, thereby realizing the high-pressure oil inlet interlock of the walking and anchor protection switching control oil circuit.

[0043] When the multi-drill arm anchor protection equipment needs to perform a walking action, the walking module 5 needs to perform a brake release operation, and the walking brake release electro-hydraulic control oil circuit is operated to the brake release position, and the solenoid valve II5.6 is switched to the cross position. At this time, the high-pressure oil enters the solenoid valve II5.6 through P21, and then flows into the shuttle valve V5.8, flows out from the control port of the shuttle valve V5.8, flows into the pressure reducing valve 5.9, and is connected with the walking brake release valve group oil outlet K21 through the oil outlet of the pressure reducing valve 5.9. The high-pressure oil is transmitted to the first walking reducer 5.3 and the second walking reducer 5.5, so that the brake release port of the walking brake release control oil circuit releases the brake.

[0044] When the solenoid valve II5.6 fails, the manual emergency standby control oil circuit is started, and the manual emergency standby control oil circuit is manually operated to the brake release position, and the reversing valve II5.7 is operated to switch to the cross position. At this time, the high-pressure oil enters the reversing valve II5.7 through the P22 port of the travel brake release valve group, and then flows into the shuttle valve V5.8, flows out from the control port of the shuttle valve V5.8, flows into the pressure reducing valve 5.9, and is connected with the oil outlet K21 of the travel brake release valve group through the oil outlet of the pressure reducing valve 5.9. The high-pressure oil is transmitted to the first travel reducer 5.3 and the second travel reducer 5.5, so that the brake release port of the travel brake release control oil circuit releases the brake.

[0045] When the walking module 5 performs the walking action, it is necessary to perform hydraulic pressure protection on the electro-hydraulic control system of the multi-drill arm anchor protection equipment. Multi-level protection is achieved through the pressure reducing valve 5.9, the safety valve III5.10, the pressure sensor I5.11 and the flow sensor 5.13. The high-pressure oil reaches the oil outlet K21 after passing through the pressure reducing valve 5.9. The pressure reduced by the pressure reducing valve 5.9 is the middle value of the brake release pressure range, which is the first level of protection; the oil inlet of the safety valve III5.10 is connected to the oil outlet K21 of the walking brake release valve group. The setting of the safety valve III5.10 The pressure value is the upper limit of the brake release pressure, which is the second level protection. The pressure sensor I5.11 is connected to the oil outlet K21 of the travel brake release valve group. The set pressure value of the pressure sensor I5.11 is the brake release pressure range. When the pressure value of the high-pressure oil exceeds the set value, an error is reported and the action output is stopped. This is the third level protection; the flow sensor 5.13 is connected to the oil outlet K21 of the travel brake release valve group. The set value of the flow sensor 5.13 is the brake release flow variation range. When the high-pressure oil flow exceeds the set value, an error is reported and the action output is stopped. This is the fourth level protection.

[0046] This embodiment provides a complete machine module 7, whose composition and connection relationship are as follows: Figure 3 As shown, it includes: control valve I7.1, control valve II7.2, refueling control valve group 7.3, shuttle valve VI7.4, shuttle valve VII7.5, ceiling lifting cylinder 7.6, left ceiling telescopic cylinder 7.7, right ceiling telescopic cylinder 7.8, left flap cylinder 7.9, right flap cylinder 7.10, workbench lifting cylinder 7.11, upper temporary support cylinder 7.12, lower temporary support cylinder 7.13, front stabilizing cylinder 7.14, rear stabilizing cylinder 7.15, cable winding motor 7.16, refueling pump 7.17, shuttle valve VIII7.18, pressure sensor II7.19; among which LS port is the feedback control port, P port is the oil inlet port, T port is the oil drain port, DR port is the oil drain port, PL port is the oil outlet port, and the workbench lifting cylinder 7.11 is integrated with a lifting alarm prompt function.

[0047] This embodiment provides an anchor protection module 6, whose composition and connection relationship are as follows: Figure 4As shown, it includes: drilling rig control system I8.1, drilling rig control system II8.2, drilling rig control system III8.3, drilling rig control system IV8.4, drilling rig control system V8.5, drilling rig control system VI8.6, shuttle valve IX8.7, shuttle valve X8.8, shuttle valve XI8.9, shuttle valve XII8.10, shuttle valve XIII8.11. Among them, the P port of each drilling rig control system is the oil inlet port, the LS port is the feedback control port, and the T port is the oil drain port. In order to achieve better anchoring efficiency, the present invention builds six groups of anchoring drilling rigs in the anchoring module 6. In actual application, the number of anchoring drilling rigs can be increased or decreased according to actual needs.

[0048] This embodiment provides a drilling rig control system, whose components and connection relationships are as follows: Figure 5 As shown, it includes: drilling rig control valve I9.1, drilling box motor I9.2, feed cylinder I9.3, support column cylinder I9.4, front and rear swing cylinder I9.5, left and right swing cylinder I9.6, side shift cylinder I9.7, clamping chisel I9.8, pressure sensor III9.9, pressure sensor IV9.10. Among them, P port is the oil inlet, LS port is the feedback control port, T port is the oil drain port, pressure sensor III9.9 is used to collect the rotation pressure of the drilling box motor, which can be converted into the rotation torque value of the drilling box motor; pressure sensor IV9.10 is used to collect the feed cylinder pressure, which can be converted into the feed cylinder propulsion force value.

[0049] The solenoid valve I3.1 used in this embodiment is a three-position four-way valve, the reversing valve I3.2 is a three-position four-way valve, the solenoid valve II5.6 is a two-position four-way valve, and the reversing valve II5.7 is a two-position four-way valve, wherein the reversing valve I3.2 and the reversing valve II5.7 are manual reversing valves, but the present invention is not limited thereto, and it is sufficient that the corresponding reversing function can be realized.

[0050] The second one-way valve 2.3, the third one-way valve 2.4 and the fourth one-way valve 2.5 used in this embodiment are hydraulically controlled one-way valves. After receiving the high-pressure oil pressure, the valve cores thereof open, the one-way valves are turned on, and the oil can reversely pass through the one-way valves and flow into the correspondingly connected execution modules.

[0051] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An electro-hydraulic control system for a multi-drill arm anchor protection equipment, characterized in that: include: A cut-off valve group (2), a switching valve group (3), a feedback valve group (4), a travel module (5), a complete machine module (7), an anchor protection module (6) and a pump station (1); The internal oil circuits of the cut-off valve group (2) and the switching valve group (3) are combined to form a traveling and anchor protection switching control oil circuit, and the traveling module (5) and the anchor protection module (6) realize high-pressure oil inlet interlocking through the traveling and anchor protection switching control oil circuit; The feedback valve group (4) is used to limit the maximum pressure value of the travel module (5), the whole machine module (7) and the anchor protection module (6); The walking module (5) is used to control the walking and brake release of the multi-drilling arm anchor protection equipment; The whole machine control module is used to control the multi-drill arm anchor protection equipment to execute corresponding action instructions; The anchor control module is used to control the anchor drill of the multi-drill arm anchor equipment to execute corresponding action instructions; The pump station (1) is used to provide a fluid medium with a predetermined pressure and a predetermined flow rate to a multi-drill arm anchor protection device.

2. The electro-hydraulic control system for multi-drill arm anchor protection equipment according to claim 1, characterized in that: The traveling and anchor protection switching control oil circuit comprises an electro-hydraulic control oil circuit, the cut-off valve group (2) comprises a first one-way valve (2.1), a second one-way valve (2.3), a third one-way valve (2.4), and a fourth one-way valve (2.5), and the switching valve group (3) comprises a solenoid valve I (3.1), a reversing valve I (3.2), a shuttle valve I (3.3), and a shuttle valve II (3.4); The oil outlet K12 of the switching valve group (3) is connected to the control port K02 of the shut-off valve group (2), and the oil outlet P05 of the shut-off valve group (2) is connected to the oil inlet P41 of the travel module (5). When the K12 port of the switching valve group (3) is connected to the high-pressure oil of the pump station (1), the oil flows out from the P1 port of the pump station (1), enters the shut-off valve group (2) from the P01 port, flows out from the P04 port, and flows into the switching valve group (3) from the P11 port. The solenoid valve I (3.1) moves to the parallel position, so that the oil flows out from the solenoid valve I (3.1), flows into the oil inlet of the shuttle valve I (3.3), and then flows out from the control port of the shuttle valve I (3.3), so that the pump station (1 ) is connected to the K12 port, and the control pressure is transmitted to the second one-way valve (2.3) through the K02 port, so that the second one-way valve (2.3) is turned on, so that P05 of the cut-off valve group (2) is connected to the high-pressure oil of the pump station (1), that is, the walking module (5) is connected to the high-pressure oil of the pump station (1), and there is no pressure at the oil outlet K11 of the switching valve group (3), no pressure at the control port K01 of the cut-off valve group (2), no pressure at the oil outlets P06 and P07 of the cut-off valve group (2), no pressure at the oil inlet P08 and P09 of the anchor guard module (6), and no high-pressure oil enters the anchor guard module (6). At this time, the walking module (5) starts and the anchor guard module (6) stops; The oil outlet K11 of the switching valve group (3) is connected to the control port K01 of the shut-off valve group (2), and the oil outlets P06 and P07 of the shut-off valve group (2) are connected to the oil inlets P08 and P09 of the anchor protection module (6). When the K11 port of the switching valve group (3) is connected to the high-pressure oil of the pump station (1), the oil flows out from the P1 port of the pump station (1), enters the shut-off valve group (2) from the P01 port, flows out from the P04 port, and flows into the switching valve group (3) from the P11 port. The solenoid valve I (3.1) moves to the cross position, so that the oil flows out of the solenoid valve I (3.1), flows into the oil inlet of the shuttle valve II (3.4), and then flows out from the control port of the shuttle valve II (3.4), so that the high-pressure oil of the pump station (1) is connected to the K11 port. The control pressure is transmitted to the third one-way valve (2.4) and the fourth one-way valve (2.5) through the K01 port, so that the third one-way valve (2.4) and the fourth one-way valve (2.5) are turned on, so that the oil outlets P06 and P07 of the cut-off valve group (2) are connected to the high-pressure oil of the pump station (1), that is, the anchor protection module (6) is connected to the high-pressure oil of the pump station (1), the oil outlet K12 of the switching valve group (3) is pressure-free, the control port K02 of the cut-off valve group (2) is pressure-free, the oil outlet P05 of the cut-off valve group (2) is pressure-free, the oil inlet P41 of the walking module (5) is pressure-free, and no high-pressure oil enters the walking module (5). At this time, the anchor protection module (6) starts and the walking module (5) stops.

3. The electro-hydraulic control system for multi-drill arm anchor protection equipment according to claim 2, characterized in that: The traveling and anchor protection switching control oil circuit also includes a manual emergency standby control oil circuit; The control reversing valve I (3.2) is switched to the parallel position, and the oil flows through the reversing valve I (3.2), flows into the shuttle valve I (3.3), and flows out from the control port of the shuttle valve I (3.3), that is, the oil outlet port K12 of the switching valve group (3) is connected to the high-pressure oil of the pump station (1), and the control pressure is transmitted to the second check valve (2.3) through the K02 port, so that the second check valve (2.3) is turned on, so that the P05 port of the cut-off valve group (2) is connected to the pump station The high-pressure oil of (1), that is, the walking module (5) is connected to the high-pressure oil of the pump station (1), the oil outlet K11 of the switching valve group (3) is without pressure, the control port K01 of the cut-off valve group (2) is without pressure, the oil outlets P06 and P07 of the cut-off valve group (2) are without pressure, the oil inlet P08 and P09 of the anchor guard module (6) are without pressure, and no high-pressure oil enters the anchor guard module (6), at this time the walking module (5) starts and the anchor guard module (6) stops; The control reversing valve I (3.2) is switched to the cross position, and the oil flows through the reversing valve I (3.2), flows into the shuttle valve II (3.4), and flows out from the control port of the shuttle valve II (3.4), that is, the oil outlet K11 of the switching valve group (3) is connected with the high-pressure oil of the pump station (1), and the control pressure is transmitted to the third check valve (2.4) and the fourth check valve (2.5) through the K01 port, so that the third check valve (2.4) and the fourth check valve (2.5) are turned on, so that the cut-off valve group ( The oil outlets P06 and P07 of the control valve group (2) are connected to the high-pressure oil of the pump station (1), that is, the anchor guard module (6) is connected to the high-pressure oil of the pump station (1), the oil outlet K12 of the switching valve group (3) is pressure-free, the control port K02 of the cut-off valve group (2) is pressure-free, the oil outlet P05 of the cut-off valve group (2) is pressure-free, the oil inlet P41 of the walking module (5) is pressure-free, and no high-pressure oil enters the walking module (5). At this time, the anchor guard module (6) starts and the walking module (5) stops.

4. The electro-hydraulic control system for multi-drill arm anchor protection equipment according to claim 1, characterized in that: The feedback valve group (4) comprises: a shuttle valve III (4.1) and a shuttle valve IV (4.2); L32 of the feedback valve group (4) is connected to LS010 of the whole machine module (7), L33 of the feedback valve group (4) is connected to LS09 of the anchor protection module (6), one oil inlet of the shuttle valve III (4.1) is connected to L32, and the other oil inlet of the shuttle valve III (4.1) is connected to L33, which is used to summarize the hydraulic oil pressure of the whole machine module (7) and the anchor protection module (6), the control port of the shuttle valve III (4.1) is connected to one oil inlet of the shuttle valve IV (4.2), and the other oil inlet of the shuttle valve IV (4.2) is connected to L31 of the feedback valve group (4), L31 of the feedback valve group (4) is connected to the travel module (5), and the control port of the shuttle valve IV (4.2) is connected to LC31 of the feedback valve group (4), which is used to summarize the hydraulic oil pressure of the travel module (5), the whole machine module (7) and the anchor protection module (6), and transmit the maximum hydraulic oil pressure to the pump station (1) through LC31.

5. The electro-hydraulic control system for multi-drill arm anchor protection equipment according to claim 4, characterized in that: The feedback valve group (4) further comprises: a safety valve I (4.3) and a safety valve II (4.4); The oil inlet of the safety valve I (4.3) is connected to the control end of the shuttle valve III (4.1) to limit the maximum pressure value of the whole machine module (7) and the anchor protection module (6); The oil inlet of the safety valve II (4.4) is communicated with the control end of the shuttle valve IV (4.2) and is used to limit the maximum pressure values ​​of the travel module (5), the whole machine module (7) and the anchor protection module (6).

6. The electro-hydraulic control system for multi-drill arm anchor protection equipment according to claim 1, characterized in that: The walking module (5) comprises a walking brake release control oil circuit, specifically comprising a walking valve (5.1), a first walking motor (5.2), a second walking motor (5.4), a first walking reducer (5.3), a second walking reducer (5.5), a solenoid valve II (5.6), a reversing valve II (5.7), a shuttle valve V (5.8), a pressure reducing valve (5.9) and a safety valve III (5.10); The travel brake release control oil circuit is an electro-hydraulic control oil circuit. When the travel brake release control oil circuit is operated to the brake release position, the solenoid valve II (5.6) switches to the cross position. At this time, the high-pressure oil enters the solenoid valve II (5.6) through P21, and then flows into the shuttle valve V (5.8), flows out from the control port of the shuttle valve V (5.8), flows into the pressure reducing valve (5.9), and flows out through the oil outlet of the pressure reducing valve (5.9) and the oil outlet K21. The high-pressure oil is transmitted to the first travel reducer (5.3) and the second travel reducer (5.5), so that the brake release port of the travel brake release control oil circuit releases the brake.

7. The electro-hydraulic control system for multi-drill arm anchor protection equipment according to claim 6, characterized in that: The travel brake release control oil circuit also includes a manual emergency standby control oil circuit, specifically: When the manual emergency standby control oil circuit is manually controlled to the release position, the reversing valve II (5.7) is switched to the cross position. At this time, the high-pressure oil enters the reversing valve II (5.7) through the P22 port of the travel release valve group, and then flows into the shuttle valve V (5.8), flows out from the control port of the shuttle valve V (5.8), flows into the pressure reducing valve (5.9), and flows out through the oil outlet of the pressure reducing valve (5.9) and the oil outlet K21 of the travel release valve group. The high-pressure oil is transmitted to the first travel reducer (5.3) and the second travel reducer (5.5), so that the release port of the travel release brake control oil circuit releases the brake.

8. The electro-hydraulic control system for multi-drill arm anchor protection equipment according to claim 6, characterized in that: The travel module (5) also includes a multiple brake pressure protection oil circuit, specifically: The high-pressure oil reaches the travel brake release valve group oil outlet K21 after passing through the pressure reducing valve (5.9). The pressure reduced by the pressure reducing valve (5.9) is the middle value of the brake release pressure range, which is the first level of protection; the oil inlet of the safety valve III (5.10) is connected to the travel brake release valve group oil outlet K21, and the set pressure value of the safety valve III (5.10) is the upper limit value of the brake release pressure, which is the second level of protection.

9. The electro-hydraulic control system for multi-drill arm anchor protection equipment according to claim 8, characterized in that: The multiple brake release pressure protection oil circuit also includes: a pressure sensor I (5.11), a flow sensor (5.13); The pressure sensor I (5.11) is connected to the oil outlet K21 of the travel brake release valve group. The set pressure value of the pressure sensor I (5.11) is the brake release pressure range. When the pressure value of the high-pressure oil exceeds the set value, an error is reported and the action output is stopped. This is the third level protection; the flow sensor (5.13) is connected to the oil outlet K21 of the travel brake release valve group. The set value of the flow sensor (5.13) is the brake release flow variation range. When the high-pressure oil flow exceeds the set value, an error is reported and the action output is stopped. This is the fourth level protection.

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