Hydraulic control system of anchor unwinding robot

Abstract

The present invention relates to a hydraulic control system for an anchor unloading robot, belonging to the technical field of hydraulic systems. The system comprises a fuel tank, a power unit, a locking valve group, an anchor unloading circuit, a travel circuit, and a shuttle valve. The power unit includes a motor and a load-sensitive variable displacement pump, and the locking valve group includes an electromagnetic reversing valve and a hydraulically controlled reversing valve. The outlet of the load-sensitive variable displacement pump is connected to the P port of the hydraulically controlled reversing valve, the A port of the hydraulically controlled reversing valve is connected to the inlet of the travel circuit, the B port of the hydraulically controlled reversing valve is connected to the inlet of the anchor unloading circuit, the P port of the electromagnetic reversing valve is connected to the P port of the hydraulically controlled reversing valve, the T port of the electromagnetic reversing valve is connected to the fuel tank, and the A port of the electromagnetic reversing valve is connected to the hydraulic control port of the hydraulically controlled reversing valve. The present invention can achieve interlocking between travel and anchor unloading, thereby improving the safety of the anchor unloading robot operation.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic systems, and in particular to a hydraulic control system of an anchor undocking robot. Background Art

[0002] The anchor removal process is a critical step in the recovery process of fully mechanized coal mining faces. Traditionally, underground roof anchor removal operations in coal mines are performed manually using handheld anchor removers. This process is plagued by low efficiency, poor safety, and a high number of operators. This situation has severely hampered the implementation of strategic projects to reduce manpower and improve efficiency, as well as the modernization of coal mines. To increase the automation level of the anchor removal process, an increasing number of coal mines are now using anchor removal robots to perform the operation.

[0003] Chinese invention patent CN202210596094.8 discloses a hydraulic control system for an automatic anchor unloader robot used in mining. The system includes a hydraulic station and a system electro-hydraulic reversing valve connected to the hydraulic station's oil outlet. The two working ports of the system electro-hydraulic reversing valve are connected to the anchor unloader's oil supply pipe and the travel oil supply pipe, respectively. The travel oil supply pipe is connected to the travel control circuit and the lifting control circuit. The anchor unloader's oil supply pipe is connected to an anchor unloader electromagnetic reversing valve. The two working ports of the anchor unloader electromagnetic reversing valve are connected to booster circuits, which are each connected to the two oil ports of the hydraulic anchor unloader. This invention utilizes hydraulic boosting technology, utilizing a larger low-pressure piston with a larger area than a smaller high-pressure piston. The low-pressure pressure pushes the large low-pressure piston and compresses the liquid column at the end of the small high-pressure piston, generating high pressure. The ratio of the large and small piston areas is the boosting ratio. This allows the hydraulic boosting device of the anchor unloader robot to meet the ultra-high pressure requirements of the anchor unloader at a relatively low operating pressure within its hydraulic system.

[0004] However, the above patents and the existing anchor-removing robots currently on the market have disadvantages such as the power unit of the hydraulic control system is not compact and there is no hydraulic locking for the anchor-breaking operation and the walking operation. Summary of the Invention

[0005] To solve the above technical problems, the present invention provides a hydraulic control system for an anchor unloading robot. The technical solution of the present invention is as follows:

[0006] A hydraulic control system for an anchor unloading robot, comprising a fuel tank, a power unit, a locking valve group, an anchor unloading circuit, a travel circuit, and a shuttle valve; the power unit comprises a motor and a load-sensitive variable displacement pump; and the locking valve group comprises an electromagnetic reversing valve and a hydraulically controlled reversing valve.

[0007] The motor is connected to a load-sensitive variable displacement pump, the outlet of the load-sensitive variable displacement pump is connected to the P port of the hydraulically controlled reversing valve, the A port of the hydraulically controlled reversing valve is connected to the inlet of the travel circuit, the B port of the hydraulically controlled reversing valve is connected to the inlet of the anchor withdrawal circuit, the P port of the electromagnetic reversing valve is connected to the P port of the hydraulically controlled reversing valve, the T port of the electromagnetic reversing valve is connected to the oil tank, and the A port of the electromagnetic reversing valve is connected to the hydraulic control port of the hydraulically controlled reversing valve;

[0008] The travel circuit includes a two-way proportional multi-way valve, two dual-displacement motors and a high-low speed switching valve group. The A and B ports of the first and the A and B ports of the second two-way proportional multi-way valves are respectively connected to the two inlets of the two dual-displacement motors. The P port of the high-low speed switching valve group is connected to the inlet of the travel circuit. The A port of the high-low speed switching valve group is connected to the hydraulic control ports of the displacement switching valves in the two dual-displacement motors. The T port of the high-low speed switching valve group is connected to the oil tank.

[0009] The anchor withdrawal circuit includes an eight-way proportional multi-way valve, a balancing valve, a boost valve and a hydraulic lock. The first port A and the second port B of the eight-way proportional multi-way valve are respectively connected to the two liquid inlets of the mechanical arm rotation motor, the second port A and the second port B are respectively connected to the two liquid inlets of the mechanical arm lifting cylinder, the third port A and the second port B are connected to the two liquid inlets of the balancing valve, the two liquid outlets of the balancing valve are connected to one of the two mechanical arm telescopic cylinders, one mechanical arm telescopic cylinder is connected to the other mechanical arm telescopic cylinder, the fourth port A and the fourth port B are respectively connected to the left and right swing motors. The A and B ports of the fifth joint are connected to the two liquid inlets of the front and rear swing motors respectively, the A port of the sixth joint is connected to the liquid inlet of the booster valve and one of the anchor release cylinders, the B port of the sixth joint is connected to the other liquid inlet of the booster valve, the liquid outlet of the booster valve is connected to the other liquid inlet of the anchor release cylinder, the A and B ports of the seventh joint are connected to the two liquid inlets of the support cylinder respectively, the A and B ports of the eighth joint are connected to the two liquid inlets of the hydraulic lock, and the two liquid outlets of the hydraulic lock are connected to the two liquid inlets of the two chassis telescopic cylinders;

[0010] The two inlets of the shuttle valve are connected to the inlet of the travel circuit and the inlet of the anchor withdrawal circuit respectively, and the outlet of the shuttle valve is connected to the pressure feedback port of the load-sensing variable pump.

[0011] Optionally, a flange stop is connected to the motor end cover, and a screw hole for fixing the load-sensitive variable pump is provided on the flange stop. A key slot is provided on the output shaft of the motor. After the key on the load-sensitive variable pump is inserted into the key slot, the load-sensitive variable pump is connected to the motor through the screws and the screw hole.

[0012] Optionally, the boost valve is integrated on the anchor unwinding oil cylinder, and two pressure measuring ports are provided on the anchor unwinding oil cylinder, and the two pressure measuring ports are respectively connected to the oil inlet and the oil outlet of the boost valve.

[0013] Optionally, the boost valve is a plate-type boost valve.

[0014] Optionally, a pressure relief valve is connected in parallel to the rodless chamber of the supporting oil cylinder.

[0015] Optionally, the robotic arm telescopic cylinder includes a first telescopic cylinder and a second telescopic cylinder, and the piston rod of the first telescopic cylinder is drilled with two flow channels, which respectively connect the rod chamber and the rodless chamber of the first telescopic cylinder and the second telescopic cylinder, and the two liquid outlets of the balancing valve are respectively connected to the two liquid inlets of the first telescopic cylinder.

[0016] All the above optional technical solutions can be combined arbitrarily, and the present invention does not provide detailed descriptions of the structures after each combination.

[0017] By means of the above solution, the beneficial effects of the present invention are as follows:

[0018] By connecting the travel and anchor-removing circuits through a locking valve block, the travel and anchor-removing operations can be interlocked, improving the safety of the anchor-removing robot. By selecting a load-sensing variable pump as the hydraulic pump, the pressure and flow requirements are continuously and automatically matched to the needs of the system's actuators, avoiding system throttling and overflow losses, as well as energy losses caused by the hydraulic pump's full flow cycle in standby mode.

[0019] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The figure is a schematic diagram of the structure of the hydraulic control system of the anchor undocking robot provided in an embodiment of the present invention.

[0021] Figure 2 yes Figure 1 Schematic diagram of the composition structure of the power unit.

[0022] Figure 3 yes Figure 1 Schematic diagram of the composition structure of the middle closing valve group.

[0023] Figure 4 yes Figure 1 Schematic diagram of the structure of the walking circuit.

[0024] Figure 5 yes Figure 1 Schematic diagram of the composition structure of the mid-retraction anchor circuit.

[0025] Figure 6 Schematic diagram of the connection relationship between the motor and the load-sensitive variable displacement pump in an embodiment of the present invention.

[0026] Figure 7 Schematic diagram of the connection between the anchor release cylinder and the booster valve in an embodiment of the present invention.

[0027] The accompanying drawings are marked as follows: 1-fuel tank, 2-power unit, 2.1-motor, 2.2-load-sensing variable pump, 3-locking valve group, 3.1-solenoid reversing valve, 3.2-hydraulic reversing valve, 4-anchor withdrawal circuit, 4.1-eight-link proportional multi-way valve, 4.2-robotic arm rotation motor, 4.3-robotic arm lifting cylinder, 4.4-robotic arm telescopic cylinder, 4.4.1-first telescopic cylinder, 4.4.2-second telescopic cylinder, 4.5-Balancing valve, 4.6-Left and right swing motor, 4.7-Forward and backward swing motor, 4.8-Anchor release cylinder, 4.8.1-Pressure measuring port, 4.9-Boost valve, 4.10-Support cylinder, 4.11-Chassis telescopic cylinder, 4.12-Hydraulic lock, 5-Travel circuit, 5.1-Two-way proportional multi-way valve, 5.2-Dual-displacement motor, 5.2.1-Displacement switching valve, 5.3-High and low speed switching valve group, 6-Shuttle valve. DETAILED DESCRIPTION

[0028] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0029] like Figures 1 to 5 As shown, the hydraulic control system of the anchor unwinding robot provided by the embodiment of the present invention includes a fuel tank 1, a power unit 2, a locking valve group 3, an anchor unwinding circuit 4, a travel circuit 5 and a shuttle valve 6. The power unit 2 includes a motor 2.1 and a load-sensitive variable pump 2.2. The locking valve group 3 includes an electromagnetic reversing valve 3.1 and a hydraulically controlled reversing valve 3.2.

[0030] The motor 2.1 is connected to the load-sensing variable displacement pump 2.2, the outlet of the load-sensing variable displacement pump 2.2 is connected to the P port of the hydraulically controlled reversing valve 3.2, the A port of the hydraulically controlled reversing valve 3.2 is connected to the inlet of the travel circuit 5, the B port of the hydraulically controlled reversing valve 3.2 is connected to the inlet of the anchor withdrawal circuit 4, the P port of the electromagnetic reversing valve 3.1 is connected to the P port of the hydraulically controlled reversing valve 3.2, the T port of the electromagnetic reversing valve 3.1 is connected to the oil tank 1, and the A port of the electromagnetic reversing valve 3.1 is connected to the hydraulic control port of the hydraulically controlled reversing valve 3.2;

[0031] The travel circuit 5 comprises a two-way proportional multi-valve 5.1, two dual-displacement motors 5.2, and a high-low speed switching valve group 5.3. The A and B ports of the first and second-way proportional multi-valve 5.1 are connected to the two inlets of the two dual-displacement motors 5.2, respectively. The P port of the high-low speed switching valve group 5.3 is connected to the inlet of the travel circuit 5. The A port of the high-low speed switching valve group 5.3 is connected to the hydraulic control ports of the displacement switching valves 5.2.1 in the two dual-displacement motors 5.2. The T port of the high-low speed switching valve group 5.3 is connected to the fuel tank 1.

[0032] The anchor unwinding circuit 4 includes an eight-way proportional multi-way valve 4.1, a balancing valve 4.5, a boost valve 4.9 and a hydraulic lock 4.12. The A and B ports of the first link of the eight-way proportional multi-way valve 4.1 are respectively connected to the two liquid inlets of the mechanical arm rotation motor 4.2, the A and B ports of the second link are respectively connected to the two liquid inlets of the mechanical arm lifting cylinder 4.3, the A and B ports of the third link are connected to the two liquid inlets of the balancing valve 4.5, the two liquid outlets of the balancing valve 4.5 are connected to one of the two mechanical arm telescopic cylinders 4.4, one mechanical arm telescopic cylinder 4.4 is connected to the other mechanical arm telescopic cylinder 4.4, and the A and B ports of the fourth link are respectively connected to the left and right swing motors. The A and B ports of the fifth joint are connected to the two liquid inlets of the front and rear swing motor 4.7, respectively. The A port of the sixth joint is connected to both the pressure boosting valve 4.9 and one liquid inlet of the anchor release cylinder 4.8. The B port of the sixth joint is connected to the other liquid inlet of the pressure boosting valve 4.9, and the liquid outlet of the pressure boosting valve 4.9 is connected to the other liquid inlet of the anchor release cylinder 4.8. The A and B ports of the seventh joint are connected to the two liquid inlets of the support cylinder 4.10, respectively. The A and B ports of the eighth joint are connected to the two liquid inlets of the hydraulic lock 4.12, and the two liquid outlets of the hydraulic lock 4.12 are connected to both the liquid inlets of the two chassis telescopic cylinders 4.11.

[0033] The two inlets of the shuttle valve 6 are connected to the inlet of the travel circuit 5 and the inlet of the anchor withdrawal circuit 4 respectively, and the outlet of the shuttle valve 6 is connected to the pressure feedback port of the load-sensing variable displacement pump 2.2.

[0034] In the hydraulic control system of the anchor unloading robot provided by the embodiment of the present invention, under normal conditions, the load-sensitive variable pump 2.2 can supply oil to the travel circuit 5 through the locking valve group 3, and the travel circuit 5 can operate normally. At this time, the locking valve group 3 cuts off the oil circuit of the anchor unloading circuit 4, and all operations of the anchor unloading circuit 4 become invalid. When the anchor unloading operation is required, manual confirmation is required, and the electromagnetic reversing valve 3.1 of the manual control locking valve group 3 is energized to reverse the hydraulic control reversing valve 3.2. At this time, the oil supply circuit of the anchor unloading circuit 4 is connected, and the oil circuit of the travel circuit 5 is cut off. At this time, the various actuators of the anchor unloading circuit 4 can operate, and the travel circuit 5 becomes invalid. In other words, the embodiment of the present invention can achieve walking without unloading the anchor, and no walking when unloading the anchor, realizing the interlocking of the walking operation and the anchor unloading operation, thereby improving the safety of the anchor unloading robot operation.

[0035] When the high-low speed switching valve group 5.3 is de-energized, the hydraulic control port of the displacement switching valve 5.2.1 in the dual-displacement motor 5.2 flows back to the oil tank 1 through the A and T ports of the high-low speed switching valve 5.3. At this time, the dual-displacement motor 5.2 is in the high-displacement state. When the oil flow rate of the two-way proportional multi-way valve 5.1 is constant, the dual-displacement motor 5.2 is in the low-speed state and the running speed is slow. When the solenoid valve of the high-low speed switching valve group 5.3 is energized, its P port and A port are connected, and pressurized oil is supplied to the hydraulic control port of the displacement switching valve 5.2.1 in the dual-displacement motor 5.2. The displacement switching valve 5.2.1 of the dual-displacement motor 5.2 is reversed, and the dual-displacement motor 5.2 switches to the low-displacement state. When the oil flow rate of the two-way proportional multi-way valve 5.1 is constant, the dual-displacement motor 5.2 rotates at a faster speed. This enables dual-speed switching of the dual-displacement motor 5.2, allowing the anchor unloading robot to select a travel speed based on road conditions (dual-speed travel) while maintaining the same hydraulic system power, thereby improving travel efficiency. The power supply to the high- and low-speed switching valve group 5.3 is controlled remotely by a human or by operating the PLC.

[0036] The load-sensing variable pump 2.2 can automatically and continuously match the pressure and flow requirements according to the needs of the system actuators under the action of the shuttle valve 6, avoiding the system's throttling and overflow losses, as well as the energy loss caused by the full flow cycle of the pump in the standby state.

[0037] The shuttle valve 6 is used to compare the pressure of the travel circuit 5 and the anchor undocking circuit 4, and feed back the higher pressure to the load-sensing variable pump 2.2 to determine whether to undo anchor or travel.

[0038] Specifically, the two-way proportional multi-way valve 5.1 may be a 3-series two-way load-sensitive proportional multi-way valve, and the eight-way proportional multi-way valve 4.1 may be an eight-way electrically controlled explosion-proof load-sensitive multi-way valve.

[0039] Typically, to enable the robot to move autonomously, it's equipped with components such as an inertial navigation unit (IMU) and a 2D lidar. The IMU is typically mounted at the center of the robot, while the 2D lidar is mounted at the front. During the robot's movement, if the IMU and 2D lidar detect that the robot has deviated from the center of its path, the PLC controls the two-way proportional multi-valve 5.1 to distribute different flow rates to the two dual-displacement motors 5.2, thereby varying the speeds of the tracks on both sides and correcting the deviation. The 2D lidar monitors the position of obstacles, such as single pillars, and transmits this information to the central controller, which in turn sends flow and direction commands to the PLC to control the two-way proportional multi-valve 5.1, enabling the robot to turn left or right or move forward or backward, thereby achieving obstacle avoidance.

[0040] In order to ensure that the anchor unloading robot can work between the single pillars, the width and length of the anchor unloading robot are strictly controlled. Therefore, the fuel tank 1 and the power unit 2 must be very compact in design. Figure 6 As shown, a flange stop is connected to the end cover of the motor 2.1, and a screw hole for fixing the load-sensitive variable pump 2.2 is provided on the flange stop. A keyway is provided on the output shaft of the motor 2.1. After the key on the load-sensitive variable pump 2.2 is inserted into the keyway, the load-sensitive variable pump 2.2 is connected to the motor 2.1 through the screws and the screw hole, thereby realizing a direct connection between the load-sensitive variable pump 2.2 and the motor 2.1. Compared with the conventional connection structure between the motor and the hydraulic pump, components such as the coupling and the pump cover are omitted, thereby reducing the axial dimension of the power unit 2.

[0041] In another embodiment, Figure 7 As shown, the boost valve 4.9 is integrated into the anchor unloading cylinder 4.8. Two pressure gauges 4.8.1 are provided on the cylinder 4.8, each connected to the oil inlet and outlet of the boost valve 4.9. When the piston rod of the anchor unloading cylinder 4.8 extends outward, the boost valve 4.9 outputs fluid at a pressure higher than the input pressure, but the flow rate decreases proportionally. By integrating the boost valve 4.9 directly into the anchor unloading cylinder 4.8, compared to conventional anchor unloading robot hydraulic systems where the boost valve 4.9 is connected to the anchor unloading cylinder 4.8 via a 65 MPa high-pressure pipeline, this eliminates the need for a 65 MPa high-pressure pipeline, eliminating the risk of a high-pressure pipe burst. Furthermore, the anchor unloading circuit 4 is more compact, lighter, and less expensive than solutions employing a boost cylinder or ultra-high-pressure pump. Preferably, the boost valve 4.9 is a plate-type boost valve to further save space.

[0042] In another embodiment, a pressure relief valve is connected in parallel to the rodless chamber of the supporting oil cylinder 4.10. When the top plate is deformed, the pressure can be released through the pressure relief valve to protect the supporting oil cylinder 4.10 from being damaged.

[0043] In another embodiment, the robotic arm telescopic cylinder 4.4 comprises a first telescopic cylinder 4.4.1 and a second telescopic cylinder 4.4.2. The piston rod of the first telescopic cylinder 4.4.1 is drilled with two flow channels, which connect the rod chamber and the rodless chamber of the first telescopic cylinder 4.4.1 and the second telescopic cylinder 4.4.2, respectively. The two fluid outlets of the balancing valve 4.5 are connected to the two fluid inlets of the first telescopic cylinder 4.4.1, respectively. This arrangement solves the problems of the cumbersome, unsightly, and easily worn external piping of the secondary telescopic cylinder in existing hydraulic control systems.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A hydraulic control system for an anchor unwinding robot, characterized in that: It comprises a fuel tank (1), a power unit (2), a locking valve group (3), an anchor unwinding circuit (4), a traveling circuit (5) and a shuttle valve (6); the power unit (2) comprises a motor (2.1) and a load-sensitive variable displacement pump (2.2); the locking valve group (3) comprises an electromagnetic reversing valve (3.1) and a hydraulically controlled reversing valve (3.2); The motor (2.1) is connected to a load-sensitive variable displacement pump (2.2); the outlet of the load-sensitive variable displacement pump (2.2) is connected to the P port of a hydraulically controlled reversing valve (3.2); the A port of the hydraulically controlled reversing valve (3.2) is connected to the inlet of a travel circuit (5); the B port of the hydraulically controlled reversing valve (3.2) is connected to the inlet of an anchor withdrawal circuit (4); the P port of the electromagnetic reversing valve (3.1) is connected to the P port of the hydraulically controlled reversing valve (3.2); the T port of the electromagnetic reversing valve (3.1) is connected to the oil tank (1); and the A port of the electromagnetic reversing valve (3.1) is connected to the hydraulic control port of the hydraulically controlled reversing valve (3.2); The travel circuit (5) comprises a two-link proportional multi-way valve (5.1), two dual-displacement motors (5.2) and a high-low speed switching valve group (5.3); the first link A and B ports and the second link A and B ports of the two-link proportional multi-way valve (5.1) are respectively connected to the two inlets of the two dual-displacement motors (5.2); the P port of the high-low speed switching valve group (5.3) is connected to the inlet of the travel circuit (5); the A port of the high-low speed switching valve group (5.3) is connected to the hydraulic control ports of the displacement switching valves (5.2.1) in the two dual-displacement motors (5.2); and the T port of the high-low speed switching valve group (5.3) is connected to the oil tank (1); The anchor unwinding circuit (4) comprises an eight-link proportional multi-way valve (4.1), a balancing valve (4.5), a pressure-boosting valve (4.9) and a hydraulic lock (4.12). The first link A and B ports of the eight-link proportional multi-way valve (4.1) are respectively connected to the two liquid inlets of the mechanical arm rotary motor (4.2), the second link A and B ports are respectively connected to the two liquid inlets of the mechanical arm lifting cylinder (4.3), the third link A and B ports are connected to the two liquid inlets of the balancing valve (4.5), the two liquid outlets of the balancing valve (4.5) are connected to one of the two mechanical arm telescopic cylinders (4.4), one mechanical arm telescopic cylinder (4.4) is connected to the other mechanical arm telescopic cylinder (4.4), and the fourth link A and B ports are respectively connected to the left and right swing cylinders. The two liquid inlets of the driving motor (4.6) are connected, the A and B ports of the fifth joint are connected to the two liquid inlets of the front and rear swing motors (4.7) respectively, the A port of the sixth joint is connected to both the pressure boosting valve (4.9) and one liquid inlet of the anchor unwinding cylinder (4.8), the B port of the sixth joint is connected to the other liquid inlet of the pressure boosting valve (4.9), the liquid outlet of the pressure boosting valve (4.9) is connected to the other liquid inlet of the anchor unwinding cylinder (4.8), the A and B ports of the seventh joint are connected to the two liquid inlets of the supporting cylinder (4.10) respectively, the A and B ports of the eighth joint are connected to the two liquid inlets of the hydraulic lock (4.12), and the two liquid outlets of the hydraulic lock (4.12) are connected to both the two liquid inlets of the two chassis telescopic cylinders (4.11); The two inlets of the shuttle valve (6) are respectively connected to the inlet of the travel circuit (5) and the inlet of the anchor withdrawal circuit (4), and the outlet of the shuttle valve (6) is connected to the pressure feedback port of the load-sensitive variable pump (2.2).

2. The hydraulic control system of the anchor unwinding robot according to claim 1, characterized in that: The motor (2.1) end cover is connected to a flange stopper, the flange stopper is provided with a screw hole for fixing the load-sensitive variable pump (2.2), the output shaft of the motor (2.1) is provided with a keyway, and after the key on the load-sensitive variable pump (2.2) is engaged in the keyway, the load-sensitive variable pump (2.2) is connected to the motor (2.1) via the screws and the screw holes.

3. The hydraulic control system of the anchor unwinding robot according to claim 1, characterized in that: The boost valve (4.9) is integrated on the anchor unwinding oil cylinder (4.8). Two pressure measuring ports (4.8.1) are provided on the anchor unwinding oil cylinder (4.8). The two pressure measuring ports (4.8.1) are respectively connected to the oil inlet and the oil outlet of the boost valve (4.9).

4. The hydraulic control system of the anchor unwinding robot according to claim 3, characterized in that: The boost valve (4.9) is a plate-type boost valve.

5. The hydraulic control system of the anchor unwinding robot according to claim 1, characterized in that: The rodless chamber of the supporting oil cylinder (4.10) is connected in parallel with a pressure relief valve.

6. The hydraulic control system of the anchor unwinding robot according to claim 1, characterized in that: The mechanical arm telescopic oil cylinder (4.4) comprises a first telescopic oil cylinder (4.4.1) and a second telescopic oil cylinder (4.4.2). The piston rod of the first telescopic oil cylinder (4.4.1) is drilled with two flow channels, and the two flow channels respectively connect the rod cavity and the rodless cavity of the first telescopic oil cylinder (4.4.1) and the second telescopic oil cylinder (4.4.2). The two liquid outlets of the balancing valve (4.5) are respectively connected to the two liquid inlets of the first telescopic oil cylinder (4.4.1).

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