Drill rod screwing-on and screwing-off control system and drill rod screwing-on and screwing-off control method

Abstract

The invention provides a drill rod screwing-on and screwing-off control system and a drill rod screwing-on and screwing-off control method. The drill rod screwing-on and screwing-off control system comprises a driving motor, a hydraulic pump, a hydraulic oil tank, a first speed regulating valve, a proportional reversing valve, a hydraulic control reversing valve, a rotary pipeline, a feeding and pulling pipeline, a communicating pipeline, a drill rod rotary assembly and a feeding and pulling assembly. When the proportional reversing valve controls the hydraulic rotary motor to rotate forwards, the hydraulic control reversing valve controls the push-pull oil cylinder to feed the drill rod; when the proportional reversing valve controls the hydraulic rotary motor to rotate reversely, the hydraulic control reversing valve controls the push-pull oil cylinder to pull the drill rod; the driving motor, the hydraulic pump, the first speed regulating valve, the drill rod rotating assembly and other assemblies are arranged to work in a matched mode, automatic control over the screwing-on and screwing-off processes of the drill rod is achieved, and the efficiency of the screwing-on and screwing-off processes of the drill rod is improved; the problems that in the screwing-on and screwing-off processes of the drill rod, screw threads are seriously abraded, and the execution failure rate of the screwing-on and screwing-off processes is high are well solved.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling rig drill rod control, and in particular to a drill rod make-up and make-out control system and a drill rod make-up and make-out control method. Background Art

[0002] During the drilling process of underground drilling rigs in coal mines, the make-up and break-out processes of the drill rod are two key operating actions, which ensure the tight connection and safe separation between the drill rods; the make-up process is to connect the new drill rod to the end of the drill rod that has been lowered into the hole during the drilling process; the break-out process is to separate the drill rod from the hole section by section after the drilling is completed.

[0003] Coal mine underground drilling rigs need to frequently perform drill rod make-up and make-out procedures during drilling construction; currently, the existing drill rod make-up and make-out procedures mainly adopt manual mode, hydraulic operation mode or semi-automatic control program control mode to realize drill rod make-up and make-out; among the above three modes, the manual mode is used to complete the drill rod make-up and make-out, which has high labor intensity, poor operation safety and low efficiency, and is gradually replaced by the hydraulic operation mode and the semi-automatic control program control mode; when the existing hydraulic operation mode and the semi-automatic control program control mode are executing the drill rod make-up and make-out procedures, the rotation speed of the drill rod (i.e. the rotation speed of the drill rod) and the drill rod feed rate are The matching of speed (i.e., the penetration speed of the drill pipe along the axial direction) or the pulling speed (i.e., the pulling speed of the drill pipe along the axial direction) is poor, which not only causes serious wear of the joint threads between two adjacent drill pipes, but also reduces the efficiency of the drilling rig in controlling the drilling of the drill pipe and removing the drill pipe; especially in the process of drilling holes with a large inclination angle, the action of feeding the drill pipe or pulling out the drill pipe is greatly affected by the inclination angle, which makes the feeding speed and pulling out speed of the drill pipe poorly stable and prone to large speed fluctuations. Combined with the poor matching of the rotation speed of the drill pipe with the feeding speed or pulling out speed of the drill pipe, the damage to the joint threads of the drill pipe is more serious. At the same time, the efficiency of the make-up and undocking processes is also low. Summary of the invention

[0004] The present invention provides a drill rod make-up and breakout control system and a drill rod make-up and breakout control method, so as to solve the problem that in the prior art, when executing the make-up and breakout procedures of the drill rod, the matching between the rotation speed of the drill rod and the feed speed or the pulling speed of the drill rod is poor, which not only causes serious wear of the joint between two adjacent drill rods, but also reduces the efficiency of drilling and disassembling the drill rod.

[0005] In order to solve the above problems, according to one aspect of the present invention, a control system for making and breaking a drill pipe is provided, comprising: a driving motor, a hydraulic pump, a hydraulic oil tank, a first speed regulating valve, a proportional reversing valve, a hydraulically controlled reversing valve, a rotary pipeline, a feed and pulling pipeline, a connecting pipeline, a drill pipe rotary assembly and a feed and pulling assembly; the driving motor is connected to the hydraulic pump to drive the hydraulic pump to work, and the hydraulic pump is used to drive the hydraulic oil to circulate along the pipeline; the hydraulic oil tank is connected to the inlet of the hydraulic pump through the pipeline, and the outlet of the hydraulic pump is respectively connected to the rotary pipeline and the feed and pulling pipeline; the proportional reversing valve is arranged on the rotary pipeline, and the drill pipe rotary assembly is connected to the rotary pipeline; the first speed regulating valve and the hydraulically controlled reversing valve are respectively arranged on the feed and pulling pipeline, and the feed and pulling assembly is connected to the feed and pulling pipeline; the proportional reversing valve is connected to the hydraulically controlled reversing valve and the feed and pulling assembly through the connecting pipeline; the drill pipe rotary assembly comprises a hydraulic rotary motor for rotating the drill pipe, and the feed and pulling assembly comprises a The push-pull cylinder for feeding or pulling out the drill pipe, the proportional reversing valve reverses the flow direction of the hydraulic oil in the pipeline to adjust the direction of the hydraulic rotary motor, and adjusts the speed of the hydraulic rotary motor through the proportional opening of the internal valve; the first speed regulating valve is used to adjust the flow of hydraulic oil entering the push-pull cylinder to adjust the speed of the push-pull cylinder feeding or pulling out the drill pipe; the hydraulically controlled reversing valve is connected to the upper and lower chambers in the push-pull cylinder through pipelines, respectively, to reverse the flow direction of the hydraulic oil in the pipeline The drill rod is fed or pulled out by adjusting the pressure difference between the upper chamber and the lower chamber of the push-pull cylinder; the drill rod rotating assembly and the feeding and pulling assembly are connected through a pipeline to make the rotation speed of the hydraulic rotary motor match the speed of the push-pull cylinder feeding or pulling out the drill rod; wherein, when the proportional reversing valve controls the hydraulic rotary motor to rotate forward, the hydraulically controlled reversing valve controls the push-pull cylinder to feed the drill rod; when the proportional reversing valve controls the hydraulic rotary motor to reverse, the hydraulically controlled reversing valve controls the push-pull cylinder to pull out the drill rod.

[0006] Furthermore, the drill pipe rotation assembly also includes a first reversing adjustment structure, a second reversing adjustment structure and a high-pressure priority selection valve. The first reversing adjustment structure and the second reversing adjustment structure are connected to the rotation pipeline through pipelines, respectively, and the first reversing adjustment structure and the second reversing adjustment structure are connected to the two ends of the hydraulic rotary motor through pipelines; one end of the high-pressure priority selection valve is connected to the first reversing adjustment structure and the second reversing adjustment structure, respectively, and the other end is connected to the feed and pulling assembly through a pipeline; wherein, when the proportional reversing valve controls the hydraulic oil to enter the hydraulic rotary motor along the first reversing adjustment structure, the hydraulic rotary motor rotates forward, and under the high pressure When the pressure of the pipeline where the priority selection valve is located is greater than the first set pressure of the high-pressure priority selection valve, the high-pressure priority selection valve is in the first state. In the first state, the hydraulic oil flow in the push-pull cylinder is reduced to reduce the speed at which the push-pull cylinder feeds the drill rod; when the proportional reversing valve controls the hydraulic oil to enter the hydraulic rotary motor along the second reversing adjustment structure, the hydraulic rotary motor reverses. When the pressure of the pipeline where the high-pressure priority selection valve is located is greater than the second set pressure of the high-pressure priority selection valve, the high-pressure priority selection valve is in the second state. In the second state, the hydraulic oil flow in the push-pull cylinder is reduced to reduce the speed at which the push-pull cylinder pulls out the drill rod.

[0007] Furthermore, the feed and pulling assembly also includes an upper chamber reversing adjustment structure and a lower chamber reversing adjustment structure. The upper chamber reversing adjustment structure is connected to the hydraulically controlled reversing valve and the inlet of the upper chamber through pipelines, and the lower chamber reversing adjustment structure is connected to the hydraulically controlled reversing valve and the inlet of the lower chamber through pipelines; the other end of the high-pressure priority selection valve is connected to the upper chamber reversing adjustment structure and the lower chamber reversing adjustment structure through pipelines; wherein, when the high-pressure priority selection valve is in a first state, the high-pressure priority selection valve reduces the flow of hydraulic oil entering the inlet of the upper chamber by controlling the upper chamber reversing adjustment structure; when the high-pressure priority selection valve is in a second state, the high-pressure priority selection valve reduces the flow of hydraulic oil entering the inlet of the lower chamber by controlling the lower chamber reversing adjustment structure.

[0008] Furthermore, the first reversing regulating structure includes a second speed regulating valve and a first two-position two-way reversing valve arranged in parallel through pipelines, and the second speed regulating valve is used to regulate the flow rate of the hydraulic oil flowing through the first two-position two-way reversing valve; the second reversing regulating structure includes a third speed regulating valve and a second two-position two-way reversing valve arranged in parallel through pipelines, and the third speed regulating valve is used to regulate the flow rate of the hydraulic oil flowing through the second two-position two-way reversing valve; the upper chamber reversing regulating structure includes a fourth speed regulating valve and a fourth two-position two-way reversing valve arranged in parallel through pipelines, and the fourth speed regulating valve is used to regulate the flow rate of the hydraulic oil flowing through the fourth two-position two-way reversing valve; the lower chamber reversing regulating structure includes a fifth speed regulating valve and a fifth two-position two-way reversing valve arranged in parallel through pipelines, and the fifth speed regulating valve is used to regulate the flow rate of the hydraulic oil flowing through the fifth two-position two-way reversing valve; one end of the high-pressure priority selection valve is connected to the first two-position two-way reversing valve and the second two-position two-way reversing valve through pipelines, respectively, and the other end is connected to the fourth two-position two-way reversing valve and the fifth two-position two-way reversing valve through pipelines, respectively. The two-way reversing valve is connected; the proportional reversing valve is connected to the two ends of the hydraulic rotary motor through the first two-position two-way reversing valve and the second two-position two-way reversing valve respectively; the hydraulic control reversing valve is connected to the upper chamber and the lower chamber of the push-pull cylinder through the fourth two-position two-way reversing valve and the fifth two-position two-way reversing valve respectively; among them, when the high-pressure priority selection valve is in the first state, the pilot oil flowing out of the high-pressure priority selection valve enters the fourth two-position two-way reversing valve to make the fourth two-position two-way reversing valve reverse internally, at this time, the pipeline The hydraulic oil flows through the fourth speed regulating valve, and the fourth speed regulating valve reduces the flow of hydraulic oil entering the inlet of the upper chamber to reduce the speed at which the push-pull cylinder feeds the drill rod; when the high-pressure priority selection valve is in the second state, the pilot oil flowing out of the high-pressure priority selection valve enters the fifth two-position two-way reversing valve to make the fifth two-position two-way reversing valve internally reversed. At this time, the hydraulic oil in the pipeline flows through the fifth speed regulating valve, and the fifth speed regulating valve reduces the flow of hydraulic oil entering the inlet of the lower chamber to reduce the speed at which the push-pull cylinder pulls out the drill rod.

[0009] Furthermore, the feed and pull-out assembly also includes a third two-position two-way reversing valve and a sixth two-position two-way reversing valve; the outlet of the upper chamber of the push-pull oil cylinder is connected to the hydraulic oil tank through a pipeline and the third two-position two-way reversing valve; the outlet of the lower chamber of the push-pull oil cylinder is connected to the hydraulic oil tank through a pipeline and the sixth two-position two-way reversing valve; the proportional reversing valve is connected to the third two-position two-way reversing valve and the sixth two-position two-way reversing valve through a pipeline respectively; the third two-position two-way reversing valve is connected to the first two-position two-way reversing valve through a pipeline; the sixth two-position two-way reversing valve is connected to the second two-position two-way reversing valve through a pipeline; the feed and pull-out assembly also includes a second pressure regulating valve and a third pressure regulating valve, the second pressure regulating valve is arranged in parallel with the third two-position two-way reversing valve through a pipeline, and the third pressure regulating valve is arranged in parallel with the sixth two-position two-way reversing valve through a pipeline; the second pressure regulating valve and the third pressure regulating valve are at least used to maintain a constant pressure in the pipeline; wherein, When the pressure of the pipeline where the second pressure regulating valve is located is greater than the second pressure, the second pressure regulating valve is opened. At this time, the hydraulic oil enters the first two-position two-way reversing valve through the pipeline connected to the third two-position two-way reversing valve and the first two-position two-way reversing valve to drive the internal reversing of the first two-position two-way reversing valve. At this time, the hydraulic oil in the pipeline flows through the second speed regulating valve, and the second speed regulating valve reduces the hydraulic oil flow entering the hydraulic swing motor to reduce the forward speed of the hydraulic swing motor; when the pressure of the pipeline where the third pressure regulating valve is located is greater than the third pressure, the third pressure regulating valve is opened. At this time, the hydraulic oil enters the second two-position two-way reversing valve through the pipeline connected to the sixth two-position two-way reversing valve and the second two-position two-way reversing valve to drive the internal reversing of the second two-position two-way reversing valve. At this time, the hydraulic oil in the pipeline flows through the third speed regulating valve, and the third speed regulating valve reduces the hydraulic oil flow entering the hydraulic swing motor to reduce the reverse speed of the hydraulic swing motor.

[0010] Furthermore, the feed and pull-out assembly also includes a sixth speed regulating valve and a seventh speed regulating valve; the sixth speed regulating valve is arranged between the hydraulically controlled reversing valve and the fourth two-position two-way reversing valve; the seventh speed regulating valve is arranged between the hydraulically controlled reversing valve and the fifth two-position two-way reversing valve; the sixth speed regulating valve is used to control the flow rate of the hydraulic oil entering the fourth two-position two-way reversing valve from the hydraulically controlled reversing valve; the seventh speed regulating valve is used to control the flow rate of the hydraulic oil entering the fifth two-position two-way reversing valve from the hydraulically controlled reversing valve.

[0011] Further, when adjusting the speed of the push-pull cylinder feeding the drill rod, the speed regulation range of the first speed regulating valve is less than the speed regulation range of the sixth speed regulating valve and less than the speed regulation range of the fourth speed regulating valve; when adjusting the speed of the push-pull cylinder pulling out the drill rod, the speed regulation range of the first speed regulating valve is less than the speed regulation range of the seventh speed regulating valve and less than the speed regulation range of the fifth speed regulating valve; when adjusting the speed of the push-pull cylinder feeding the drill rod, the priority of adjusting the first speed regulating valve is greater than the priority of adjusting the sixth speed regulating valve and greater than the priority of adjusting the fourth speed regulating valve; when adjusting the speed of the push-pull cylinder pulling out the drill rod, the priority of adjusting the first speed regulating valve is greater than the priority of adjusting the seventh speed regulating valve and greater than the priority of adjusting the fifth speed regulating valve.

[0012] Furthermore, the drill rod make-up and break-out control system also includes a first pressure regulating valve, which is connected to the hydraulic pump and the hydraulic oil tank through pipelines, respectively, and is used to maintain a constant pressure in the hydraulic oil tank; when the pressure of the pipeline in which the first pressure regulating valve is located is greater than the first pressure, the first pressure regulating valve opens to discharge a part of the hydraulic oil in the pipeline into the hydraulic oil tank for pressure relief; the drill rod rotation assembly also includes a speed encoder, which is electrically connected to the hydraulic rotary motor and is used to monitor the speed of the hydraulic rotary motor; the feed and pull-out assembly also includes a displacement encoder, which detects the feed length or pull-out length of the push-pull cylinder for the drill rod by measuring the push-pull cylinder.

[0013] According to another aspect of the present invention, a drill rod make-up and make-up control method is provided, and the drill rod make-up and make-up control method is applied to the above-mentioned drill rod make-up and make-up control system, and the drill rod make-up and make-up control method comprises a make-up control step, and the make-up control step comprises: starting a driving motor to drive a hydraulic pump to suck hydraulic oil from a hydraulic oil tank; switching a proportional reversing valve to a left position, so that the hydraulic oil enters a first two-position two-way reversing valve and a hydraulic rotary motor through the left position of the proportional reversing valve, and the hydraulic oil drives the hydraulic rotary motor to rotate forward; after the proportional reversing The hydraulic oil in the left position of the valve enters the feed and pull-out assembly, switches the hydraulic control reversing valve to the left position, controls the internal reversing of the third two-position two-way reversing valve, and adjusts the second pressure regulating valve to close the oil leakage of the pipeline where the second pressure regulating valve and the third two-position two-way reversing valve are located; the hydraulic pump drives the hydraulic oil to enter the left position of the hydraulic control reversing valve through the first speed regulating valve, and then enters the upper chamber of the push-pull cylinder through the fourth two-position two-way reversing valve, so that the push-pull cylinder feeds the drill rod; when the pressure in the process of making the drill rod tighten increases, it drives the high-pressure priority selection valve to be located in the pipeline When the pressure of the pipeline increases, when the pressure of the pipeline where the high-pressure priority selection valve is located is greater than the first set pressure of the high-pressure priority selection valve, the high-pressure priority selection valve is in the first state. When the high-pressure priority selection valve is in the first state, the pilot oil flowing out of the high-pressure priority selection valve enters the fourth two-position two-way reversing valve to make the fourth two-position two-way reversing valve internally reversed. At this time, the hydraulic oil in the pipeline flows through the fourth speed regulating valve, and the fourth speed regulating valve reduces the flow of hydraulic oil entering the inlet of the upper chamber to reduce the speed at which the push-pull cylinder feeds the drill rod; when the drill rod is fed When the pressure increases, the pressure of the pipeline where the second pressure regulating valve is located will also increase. When the pressure of the pipeline where the second pressure regulating valve is located is greater than the second pressure, the second pressure regulating valve will open. At this time, the hydraulic oil will enter the first two-position two-way reversing valve through the pipeline connected to the third two-position two-way reversing valve and the first two-position two-way reversing valve to drive the internal reversal of the first two-position two-way reversing valve. At this time, the hydraulic oil in the pipeline will flow through the second speed regulating valve, and the second speed regulating valve will reduce the flow of hydraulic oil entering the hydraulic swing motor to reduce the forward speed of the hydraulic swing motor.

[0014] Furthermore, the drill rod buckling and unbuckling control method also includes a unbuckling control step, which includes: starting a driving motor to drive a hydraulic pump to suck hydraulic oil from a hydraulic oil tank; switching the proportional reversing valve to the right position so that the hydraulic oil enters the second two-position two-way reversing valve and the hydraulic rotary motor through the right position of the proportional reversing valve, and the hydraulic oil drives the hydraulic rotary motor to reverse; the hydraulic oil passing through the right position of the proportional reversing valve enters the feed and pulling assembly, the hydraulically controlled reversing valve is switched to the right position, the internal reversing of the sixth two-position two-way reversing valve is controlled, and the third pressure regulating valve is adjusted to close the oil leakage of the pipeline where the third pressure regulating valve and the sixth two-position two-way reversing valve are located; the hydraulic pump drives the hydraulic oil to enter the right position of the hydraulically controlled reversing valve through the first speed regulating valve, and then enters the lower chamber of the push-pull cylinder through the fifth two-position two-way reversing valve, so that the push-pull cylinder pulls up the drill rod; when the pressure of the drill rod unbuckling process increases, the pressure of the pipeline where the high-pressure priority selection valve is located is driven to increase, and when the pressure of the pipeline where the high-pressure priority selection valve is located is greater than When the high-pressure priority selection valve is at the second set pressure, the high-pressure priority selection valve is in the second state. When the high-pressure priority selection valve is in the second state, the pilot oil flowing out of the high-pressure priority selection valve enters the fifth two-position two-way reversing valve to make the fifth two-position two-way reversing valve internally reversing. At this time, the hydraulic oil in the pipeline flows through the fifth speed regulating valve, and the fifth speed regulating valve reduces the flow of hydraulic oil entering the inlet of the lower chamber to reduce the speed of the push-pull cylinder to pull out the drill pipe; when the pressure of the drill pipe pulling out increases, the pressure of the pipeline where the third pressure regulating valve is located is driven to increase. When the pressure of the pipeline where the third pressure regulating valve is located is greater than the third pressure, the third pressure regulating valve is opened. At this time, the hydraulic oil passes through the pipeline connected to the second two-position two-way reversing valve by the sixth two-position two-way reversing valve and enters the second two-position two-way reversing valve to drive the internal reversing of the second two-position two-way reversing valve. At this time, the hydraulic oil in the pipeline flows through the third speed regulating valve, and the third speed regulating valve reduces the flow of hydraulic oil entering the hydraulic rotary motor to reduce the reversal speed of the hydraulic rotary motor.

[0015] , a hydraulic pump, a hydraulic oil tank, a first speed regulating valve, a proportional reversing valve, a hydraulically controlled reversing valve, a rotary pipeline, a feed and pull-out pipeline, a connecting pipeline, a drill pipe rotary assembly and a feed and pull-out assembly; the drive motor is connected to the hydraulic pump to drive the hydraulic pump to work, and the hydraulic pump is used to drive the hydraulic oil to circulate along the pipeline; the hydraulic oil tank is connected to the inlet of the hydraulic pump through the pipeline, and the outlet of the hydraulic pump is respectively connected to the rotary pipeline and the feed and pull-out pipeline; the proportional reversing valve is arranged on the rotary pipeline, and the drill pipe rotary assembly is connected to the rotary pipeline; the first speed regulating valve and the hydraulically controlled reversing valve are respectively arranged on the feed and pull-out pipeline, and the feed and pull-out assembly is connected to the feed and pull-out pipeline; the proportional reversing valve is connected to the hydraulically controlled reversing valve and the feed and pull-out assembly through the connecting pipeline; the drill pipe rotary assembly includes a hydraulic rotary motor for rotating the drill pipe, and the feed and pull-out assembly includes a motor for feeding or pulling The push-pull cylinder for pulling out the drill rod, the proportional reversing valve reverses the flow direction of the hydraulic oil in the pipeline to adjust the direction of the hydraulic rotary motor, and adjusts the speed of the hydraulic rotary motor through the proportional opening of the internal valve; the first speed regulating valve is used to adjust the flow of hydraulic oil entering the push-pull cylinder to adjust the speed of the push-pull cylinder feeding or pulling out the drill rod; the hydraulically controlled reversing valve is connected to the upper and lower chambers in the push-pull cylinder respectively through the pipeline, and is used to reverse the flow direction of the hydraulic oil in the pipeline, and feed or pull out the drill rod by adjusting the pressure difference between the upper chamber and the lower chamber of the push-pull cylinder; the drill rod rotating assembly and the feeding and pulling assembly are connected through the pipeline to make the speed of the hydraulic rotary motor match the speed of the push-pull cylinder feeding or pulling out the drill rod; wherein, when the proportional reversing valve controls the hydraulic rotary motor to rotate forward, the hydraulically controlled reversing valve controls the push-pull cylinder to feed the drill rod; when the proportional reversing valve controls the hydraulic rotary motor to reverse, the hydraulically controlled reversing valve controls the push-pull cylinder to pull out the drill rod.

[0016] The present invention realizes automatic control of drill rod make-up and make-out processes by arranging a driving motor, a hydraulic pump, a hydraulic oil tank, a first speed regulating valve, a proportional reversing valve, a hydraulically controlled reversing valve, a rotary pipeline, a feed and pull-out pipeline, a connecting pipeline, a drill rod rotary assembly and a feed and pull-out assembly to cooperate with each other, thereby improving the efficiency of the drill rod make-up and make-out processes; by arranging the drill rod rotary assembly and the feed and pull-out assembly to be connected through a pipeline, the rotation speed of the hydraulic rotary motor is adapted to the speed of the push-pull cylinder feeding or pulling out the drill rod, thereby not only effectively reducing the serious wear of the joint thread between two adjacent drill rods, but also improving the efficiency of the drilling rig in controlling the drilling of the drill rod and removing the drill rod; the drill rod make-up and make-out control system proposed by the present invention plays a positive role in improving the automation degree of the drilling rig, reducing the labor intensity of workers, reducing safety hazards and reducing coal mine accidents, and well solves the problems of serious thread wear in the make-up and make-out processes of the drill rod in underground coal mines, and high execution failure rate of the make-up and make-out processes. The present invention optimizes the make-up and make-out operations of the drill rod of the drilling rig from a structural perspective, significantly improving the efficiency and safety of underground drilling operations in coal mines. It has a simple structure and low cost, is easy to assemble and subsequently maintain, has significant economic benefits and application value, and is suitable for large-scale promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 A specific structural schematic diagram of a drill pipe make-up and break-out control system provided by an embodiment of the present invention is shown;

[0019] Figure 2 A partial structural schematic diagram of a drill pipe make-up and break-out control system provided by an embodiment of the present invention is shown.

[0020] The above drawings include the following reference numerals:

[0021] 10. Driving motor;

[0022] 20. Hydraulic pump;

[0023] 30. Hydraulic oil tank;

[0024] 40. The first speed regulating valve;

[0025] 50. Proportional reversing valve;

[0026] 60. Hydraulic control reversing valve;

[0027] 70. Rotary pipeline;

[0028] 80. Feed and pull out pipeline;

[0029] 90. Connecting pipelines;

[0030] 100, drill pipe rotation assembly; 101, hydraulic rotary motor; 102, first reversing adjustment structure; 1021, second speed regulating valve; 1022, first two-position two-way reversing valve; 103, second reversing adjustment structure; 1031, third speed regulating valve; 1032, second two-position two-way reversing valve; 104, high-pressure priority selection valve; 105, speed encoder;

[0031] 110, feeding and pulling assembly; 111, push-pull oil cylinder; 1111, upper chamber; 1112, lower chamber; 112, upper chamber reversing adjustment structure; 1121, fourth speed regulating valve; 1122, fourth two-position two-way reversing valve; 113, lower chamber reversing adjustment structure; 1131, fifth speed regulating valve; 1132, fifth two-position two-way reversing valve; 114, third two-position two-way reversing valve; 115, sixth two-position two-way reversing valve; 116, second pressure regulating valve; 117, third pressure regulating valve; 118, sixth speed regulating valve; 119, seventh speed regulating valve;

[0032] 120. A first pressure regulating valve;

[0033] 130. Displacement encoder. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] like Figure 1 to Figure 2As shown, an embodiment of the present invention provides a drill pipe make-up and break-out control system, comprising: a drive motor 10, a hydraulic pump 20, a hydraulic oil tank 30, a first speed regulating valve 40, a proportional reversing valve 50, a hydraulically controlled reversing valve 60, a rotary pipeline 70, a feed and pull-out pipeline 80, a connecting pipeline 90, a drill pipe rotary assembly 100 and a feed and pull-out assembly 110; the drive motor 10 is connected to the hydraulic pump 20 to drive the hydraulic pump 20 to work, and the hydraulic pump 20 is used to drive the hydraulic oil to circulate along the pipeline; the hydraulic oil tank 30 is connected to the inlet of the hydraulic pump 20 through the pipeline, and the hydraulic pump The outlets of the drill pipe 20 are respectively connected to the rotary pipeline 70 and the feed and pull pipeline 80; the proportional reversing valve 50 is arranged on the rotary pipeline 70, and the drill pipe rotary assembly 100 is connected to the rotary pipeline 70; the first speed regulating valve 40 and the hydraulic control reversing valve 60 are respectively arranged on the feed and pull pipeline 80, and the feed and pull assembly 110 is connected to the feed and pull pipeline 80; the proportional reversing valve 50 is connected to the hydraulic control reversing valve 60 and the feed and pull assembly 110 through the connecting pipeline 90; the drill pipe rotary assembly 100 includes a hydraulic rotary motor 101 for rotating the drill pipe, and the feed and pull assembly 110 includes a The push-pull cylinder 111 is used for feeding or pulling out the drill pipe. The proportional reversing valve 50 reverses the flow direction of the hydraulic oil in the pipeline to adjust the direction of the hydraulic rotary motor 101, and adjusts the speed of the hydraulic rotary motor 101 by the proportional opening of the internal valve; the first speed regulating valve 40 is used to adjust the flow of hydraulic oil entering the push-pull cylinder 111 to adjust the speed of the push-pull cylinder 111 feeding or pulling out the drill pipe; the hydraulic control reversing valve 60 is connected to the upper and lower chambers in the push-pull cylinder 111 through the pipeline, and is used to reverse the flow direction of the hydraulic oil in the pipeline. By adjusting the push-pull oil The pressure difference between the upper chamber 1111 and the lower chamber 1112 of the cylinder 111 changes to feed or pull out the drill rod; the drill rod rotating assembly 100 and the feeding and pulling assembly 110 are connected through a pipeline to make the rotation speed of the hydraulic rotary motor 101 match the speed of the push-pull cylinder 111 feeding or pulling out the drill rod; wherein, when the proportional reversing valve 50 controls the hydraulic rotary motor 101 to rotate forward, the hydraulically controlled reversing valve 60 controls the push-pull cylinder 111 to feed the drill rod; when the proportional reversing valve 50 controls the hydraulic rotary motor 101 to reverse, the hydraulically controlled reversing valve 60 controls the push-pull cylinder 111 to pull out the drill rod.

[0036] The present invention realizes automatic control of the drill rod make-up and make-out process by arranging a driving motor 10, a hydraulic pump 20, a hydraulic oil tank 30, a first speed regulating valve 40, a proportional reversing valve 50, a hydraulically controlled reversing valve 60, a rotary pipeline 70, a feed and pull pipeline 80, a connecting pipeline 90, a drill rod rotary assembly 100 and a feed and pull assembly 110 to cooperate with each other, thereby improving the efficiency of the drill rod make-up and make-out process; by arranging the drill rod rotary assembly 100 and the feed and pull assembly 110 to be connected through a pipeline, the hydraulic rotary motor 10 The rotation speed of 1 is adapted to the speed of feeding or pulling the drill rod by the push-pull oil cylinder 111, thereby effectively reducing the serious wear of the joint thread between two adjacent drill rods and improving the efficiency of the drilling rig in controlling the drilling and disassembling of the drill rod; the drill rod buckle-up and buckle-down control system proposed by the present invention plays a positive role in improving the automation degree of the drilling rig, reducing the labor intensity of workers, reducing safety hazards and reducing coal mine accidents, and well solves the problems of serious thread wear in the buckle-up and buckle-down process of the drill rod in the coal mine, and the high execution failure rate of the buckle-up and buckle-down process. The present invention optimizes the buckle-up and buckle-down operation of the drill rod of the drilling rig from the structural point of view, significantly improves the efficiency and safety of the underground drilling operation of the coal mine, has a simple structure and low cost, is easy to assemble and subsequently maintain, has significant economic benefits and application value, and is suitable for large-scale promotion and use.

[0037] like Figure 1 and Figure 2 As shown, the drill pipe rotation assembly 100 also includes a first reversing adjustment structure 102, a second reversing adjustment structure 103 and a high-pressure priority selection valve 104. The first reversing adjustment structure 102 and the second reversing adjustment structure 103 are respectively connected to the rotation pipeline 70 through pipelines, and the first reversing adjustment structure 102 and the second reversing adjustment structure 103 are respectively connected to the two ends of the hydraulic rotary motor 101 through pipelines; one end of the high-pressure priority selection valve 104 is respectively connected to the first reversing adjustment structure 102 and the second reversing adjustment structure 103, and the other end is connected to the feed and pull-out assembly 110 through a pipeline; wherein, when the proportional reversing valve 50 controls the hydraulic oil to enter the hydraulic rotary motor 101 along the first reversing adjustment structure 102, the hydraulic rotary motor 101 is When the pressure of the pipeline where the high-pressure priority selection valve 104 is located is greater than the first set pressure of the high-pressure priority selection valve 104, the high-pressure priority selection valve 104 is in the first state. In the first state, the hydraulic oil flow in the push-pull cylinder 111 is reduced to reduce the speed at which the push-pull cylinder 111 feeds the drill rod; when the proportional reversing valve 50 controls the hydraulic oil to enter the hydraulic rotary motor 101 along the second reversing adjustment structure 103, the hydraulic rotary motor 101 reverses. When the pressure of the pipeline where the high-pressure priority selection valve 104 is located is greater than the second set pressure of the high-pressure priority selection valve 104, the high-pressure priority selection valve 104 is in the second state. In the second state, the hydraulic oil flow in the push-pull cylinder 111 is reduced to reduce the speed at which the push-pull cylinder 111 pulls out the drill rod.

[0038] By setting the first reversing adjustment structure 102, the second reversing adjustment structure 103 and the high-pressure priority selection valve 104, the system can automatically adjust the flow of hydraulic oil under high-pressure environment, ensuring that the action speed of the push-pull cylinder 111 matches the rotation speed of the hydraulic rotary motor 101, avoiding damage to the drill pipe due to excessive pressure, and improving the stability and safety of the system.

[0039] like Figure 1 and Figure 2 As shown, the feeding and pulling assembly 110 also includes an upper chamber reversing regulating structure 112 and a lower chamber reversing regulating structure 113. The upper chamber reversing regulating structure 112 is communicated with the hydraulically controlled reversing valve 60 and the inlet of the upper chamber 1111 through pipelines, and the lower chamber reversing regulating structure 113 is communicated with the hydraulically controlled reversing valve 60 and the inlet of the lower chamber 1112 through pipelines; the other end of the high-pressure priority selection valve 104 is communicated with the upper chamber reversing regulating structure 112 and the lower chamber reversing regulating structure 113 through pipelines; wherein, when the high-pressure priority selection valve 104 is in a first state, the high-pressure priority selection valve 104 reduces the flow of hydraulic oil entering the inlet of the upper chamber 1111 by controlling the upper chamber reversing regulating structure 112; when the high-pressure priority selection valve 104 is in a second state, the high-pressure priority selection valve 104 reduces the flow of hydraulic oil entering the inlet of the lower chamber 1112 by controlling the lower chamber reversing regulating structure 113.

[0040] By setting the upper chamber reversing adjustment structure 112 and the lower chamber reversing adjustment structure 113, the system can accurately control the flow of hydraulic oil entering the chamber as needed, realize the control of the speed of the push-pull cylinder 111, thereby improving the accuracy of drill rod feeding and pulling, and reducing potential risks during operation.

[0041] like Figure 1 and Figure 2As shown, the first reversing regulating structure 102 includes a second speed regulating valve 1021 and a first two-position two-way reversing valve 1022 which are connected in parallel through pipelines, and the second speed regulating valve 1021 is used to regulate the flow of hydraulic oil flowing through the first two-position two-way reversing valve 1022; the second reversing regulating structure 103 includes a third speed regulating valve 1031 and a second two-position two-way reversing valve 1032 which are connected in parallel through pipelines, and the third speed regulating valve 1031 is used to regulate the flow of hydraulic oil flowing through the second two-position two-way reversing valve 1032; the upper chamber reversing regulating structure 112 includes a fourth speed regulating valve 1121 and a fourth two-position two-way reversing valve 1122 which are connected in parallel through pipelines. The fourth speed regulating valve 1121 is used to adjust the flow of hydraulic oil flowing through the fourth two-position two-way reversing valve 1122; the lower chamber reversing regulating structure 113 includes a fifth speed regulating valve 1131 and a fifth two-position two-way reversing valve 1132 arranged in parallel through pipelines, and the fifth speed regulating valve 1131 is used to adjust the flow of hydraulic oil flowing through the fifth two-position two-way reversing valve 1132; one end of the high-pressure priority selection valve 104 is connected to the first two-position two-way reversing valve 1022 and the second two-position two-way reversing valve 1032 through pipelines, and the other end is connected to the fourth two-position two-way reversing valve 1122 and the fifth two-position two-way reversing valve 1132 through pipelines. The proportional reversing valve 50 is connected to both ends of the hydraulic rotary motor 101 through the first two-position two-way reversing valve 1022 and the second two-position two-way reversing valve 1032 respectively; the hydraulic control reversing valve 60 is connected to the upper chamber 1111 and the lower chamber 1112 of the push-pull cylinder 111 through the fourth two-position two-way reversing valve 1122 and the fifth two-position two-way reversing valve 1132 respectively; wherein, when the high-pressure priority selection valve 104 is in the first state, the pilot oil flowing out of the high-pressure priority selection valve 104 enters the fourth two-position two-way reversing valve 1122 to make the fourth two-position two-way reversing valve 1122 reverse internally, at this time The hydraulic oil in the pipeline flows through the fourth speed regulating valve 1121, and the fourth speed regulating valve 1121 reduces the flow of hydraulic oil entering the inlet of the upper chamber 1111 to reduce the speed at which the push-pull cylinder 111 feeds the drill rod; when the high-pressure priority selection valve 104 is in the second state, the pilot oil flowing out of the high-pressure priority selection valve 104 enters the fifth two-position two-way reversing valve 1132 to make the fifth two-position two-way reversing valve 1132 internally reversed. At this time, the hydraulic oil in the pipeline flows through the fifth speed regulating valve 1131, and the fifth speed regulating valve 1131 reduces the flow of hydraulic oil entering the inlet of the lower chamber 1112 to reduce the speed at which the push-pull cylinder 111 pulls out the drill rod.

[0042] By setting the specific structures of the first reversing adjustment structure 102 and the second reversing adjustment structure 103 to work in conjunction with the high-pressure priority selection valve 104, a multi-stage flow speed adjustment function is provided, so that the system can more delicately control the rotation speed of the hydraulic rotary motor 101 and the movement speed of the push-pull cylinder 111, thereby enhancing the flexibility and responsiveness of the control system.

[0043] like Figure 1 and Figure 2 As shown, the feed and pull assembly 110 also includes a third two-position two-way reversing valve 114 and a sixth two-position two-way reversing valve 115; the outlet of the upper chamber 1111 of the push-pull oil cylinder 111 is connected to the hydraulic oil tank 30 through a pipeline and the third two-position two-way reversing valve 114; the outlet of the lower chamber 1112 of the push-pull oil cylinder 111 is connected to the hydraulic oil tank 30 through a pipeline and the sixth two-position two-way reversing valve 115; the proportional reversing valve 50 is connected to the third two-position two-way reversing valve 114 and the sixth two-position two-way reversing valve 115 through a pipeline respectively; the third two-position two-way reversing valve 114 The first two-position two-way reversing valve 1022 is connected through a pipeline; the sixth two-position two-way reversing valve 115 is connected through a pipeline to the second two-position two-way reversing valve 1032; the feeding and pulling assembly 110 also includes a second pressure regulating valve 116 and a third pressure regulating valve 117, the second pressure regulating valve 116 is arranged in parallel with the third two-position two-way reversing valve 114 through a pipeline, and the third pressure regulating valve 117 is arranged in parallel with the sixth two-position two-way reversing valve 115 through a pipeline; the second pressure regulating valve 116 and the third pressure regulating valve 117 are at least used to maintain a constant pressure in the pipeline wherein, when the pressure of the pipeline where the second pressure regulating valve 116 is located is greater than the second pressure, the second pressure regulating valve 116 is opened, at this time, the hydraulic oil enters the first two-position two-way reversing valve 1022 through the pipeline connected to the third two-position two-way reversing valve 114 and the first two-position two-way reversing valve 1022 to drive the internal reversal of the first two-position two-way reversing valve 1022, at this time, the hydraulic oil in the pipeline flows through the second speed regulating valve 1021, and the second speed regulating valve 1021 reduces the flow of hydraulic oil entering the hydraulic swing motor 101 to reduce the forward rotation of the hydraulic swing motor 101 speed; when the pressure of the pipeline where the third pressure regulating valve 117 is located is greater than the third pressure, the third pressure regulating valve 117 is opened. At this time, the hydraulic oil enters the second two-position two-way reversing valve 1032 through the pipeline connected to the sixth two-position two-way reversing valve 115 and the second two-position two-way reversing valve 1032 to drive the internal reversal of the second two-position two-way reversing valve 1032. At this time, the hydraulic oil in the pipeline flows through the third speed regulating valve 1031, and the third speed regulating valve 1031 reduces the hydraulic oil flow entering the hydraulic swing motor 101 to reduce the reversing speed of the hydraulic swing motor 101.

[0044] By providing the third two-position two-way reversing valve 114, the sixth two-position two-way reversing valve 115, the second pressure regulating valve 116 and the third pressure regulating valve 117 in the feeding and pulling assembly 110, the pressure in the pipeline can be effectively maintained constant, ensuring the pressure stability during the feeding and pulling of the drill rod, avoiding control instability caused by pressure fluctuations, and improving the efficiency and safety of drill rod operation.

[0045] like Figure 1 and Figure 2As shown, the feeding and pulling assembly 110 also includes a sixth speed regulating valve 118 and a seventh speed regulating valve 119; the sixth speed regulating valve 118 is arranged between the hydraulically controlled reversing valve 60 and the fourth two-position two-way reversing valve 1122; the seventh speed regulating valve 119 is arranged between the hydraulically controlled reversing valve 60 and the fifth two-position two-way reversing valve 1132; the sixth speed regulating valve 118 is used to control the flow rate of the hydraulic oil entering the fourth two-position two-way reversing valve 1122 from the hydraulically controlled reversing valve 60; the seventh speed regulating valve 119 is used to control the flow rate of the hydraulic oil entering the fifth two-position two-way reversing valve 1132 from the hydraulically controlled reversing valve 60.

[0046] By adding the sixth speed regulating valve 118 and the seventh speed regulating valve 119 to the feeding and pulling assembly 110, the flow of the hydraulic oil in the feeding and pulling stages can be more accurately controlled, further improving the accuracy of speed regulation and ensuring smooth and efficient drilling operation.

[0047] like Figure 1 and Figure 2 As shown, when adjusting the speed of the push-pull cylinder 111 feeding the drill rod, the speed regulation range of the first speed regulating valve 40 is less than the speed regulation range of the sixth speed regulating valve 118 and less than the speed regulation range of the fourth speed regulating valve 1121; when adjusting the speed of the push-pull cylinder 111 pulling out the drill rod, the speed regulation range of the first speed regulating valve 40 is less than the speed regulation range of the seventh speed regulating valve 119 and less than the speed regulation range of the fifth speed regulating valve 1131; when adjusting the speed of the push-pull cylinder 111 feeding the drill rod, the priority of adjusting the first speed regulating valve 40 is greater than the priority of adjusting the sixth speed regulating valve 118 and greater than the priority of adjusting the fourth speed regulating valve 1121; when adjusting the speed of the push-pull cylinder 111 pulling out the drill rod, the priority of adjusting the first speed regulating valve 40 is greater than the priority of adjusting the seventh speed regulating valve 119 and greater than the priority of adjusting the fifth speed regulating valve 1131.

[0048] By setting the speed regulating range and adjustment priority of different speed regulating valves, not only can the rotation speed of the hydraulic rotary motor 101 be further adapted to the speed of feeding or pulling out the drill rod by the push-pull cylinder 111, but the system can also be automatically adjusted according to actual needs. The structure gives priority to controlling the feed and pulling speed of the drill rod, ensuring the stability and efficiency of the drill rod operation, while reducing the risk of wear on the drill rod thread.

[0049] like Figure 1 and Figure 2As shown, the drill rod make-up and break-out control system also includes a first pressure regulating valve 120, which is connected to the hydraulic pump 20 and the hydraulic oil tank 30 through pipelines, respectively, and is used to maintain a constant pressure in the hydraulic oil tank 30; when the pressure of the pipeline where the first pressure regulating valve 120 is located is greater than the first pressure, the first pressure regulating valve 120 is opened to discharge a part of the hydraulic oil in the pipeline into the hydraulic oil tank 30 for pressure relief; the drill rod rotation assembly 100 also includes a speed encoder 105, which is electrically connected to the hydraulic rotary motor 101 and is used to monitor the speed of the hydraulic rotary motor 101; the feed and pull assembly 110 also includes a displacement encoder 130, which detects the feed length or pull length of the push-pull cylinder 111 for the drill rod by measuring the push-pull cylinder 111.

[0050] By setting the first pressure regulating valve 120, the speed encoder 105 and the displacement encoder 130, the self-regulation ability and monitoring accuracy of the system are further enhanced. Not only the pressure in the oil tank is maintained stable, but also the functions of the speed encoder 105 and the displacement encoder 130 are utilized to provide real-time monitoring and information feedback for the system, so that the system can automatically adjust each valve according to the monitoring data, thereby ensuring the efficiency and safety during the drill pipe operation.

[0051] The present invention also provides a drill rod beading and shacking control method, which is applied to the above-mentioned drill rod beading and shacking control system, and the drill rod beading and shacking control method includes a beading control step, which includes: starting the drive motor 10 to drive the hydraulic pump 20 to suck hydraulic oil from the hydraulic oil tank 30; switching the proportional reversing valve 50 to the left position, so that the hydraulic oil enters the first two-position two-way reversing valve 1022 and the hydraulic rotary motor 101 through the left position of the proportional reversing valve 50, and the hydraulic oil drives the hydraulic rotary motor 101 to rotate forward; the hydraulic oil passing through the left position of the proportional reversing valve 50 enters the feed and extraction assembly 11 0, the hydraulically controlled reversing valve 60 is switched to the left position, the internal reversing of the third two-position two-way reversing valve 114 is controlled, and the second pressure regulating valve 116 is adjusted to close the oil leakage of the pipeline where the second pressure regulating valve 116 and the third two-position two-way reversing valve 114 are located; the hydraulic pump 20 drives the hydraulic oil to enter the left position of the hydraulically controlled reversing valve 60 through the first speed regulating valve 40, and then enters the upper chamber 1111 of the push-pull cylinder 111 through the fourth two-position two-way reversing valve 1122, so that the push-pull cylinder 111 feeds the drill rod; when the pressure of the drill rod buckling process increases, the pressure of the pipeline where the high-pressure priority selection valve 104 is located is driven to increase, and in the high-pressure priority selection process, the hydraulic oil is driven to enter ... and the push-pull cylinder 1 When the pressure of the pipeline where the priority selection valve 104 is located is greater than the first set pressure of the high-pressure priority selection valve 104, the high-pressure priority selection valve 104 is in the first state. When the high-pressure priority selection valve 104 is in the first state, the pilot oil flowing out of the high-pressure priority selection valve 104 enters the fourth two-position two-way reversing valve 1122 to make the fourth two-position two-way reversing valve 1122 internally reversed. At this time, the hydraulic oil in the pipeline flows through the fourth speed regulating valve 1121, and the fourth speed regulating valve 1121 reduces the flow of hydraulic oil entering the inlet of the upper chamber 1111 to reduce the speed of the push-pull cylinder 111 feeding the drill pipe; when the pressure of the drill pipe feeding increases, The pressure of the pipeline where the second pressure regulating valve 116 is located is driven to increase. When the pressure of the pipeline where the second pressure regulating valve 116 is located is greater than the second pressure, the second pressure regulating valve 116 is opened. At this time, the hydraulic oil enters the first two-position two-way reversing valve 1022 through the pipeline connected to the third two-position two-way reversing valve 114 and the first two-position two-way reversing valve 1022 to drive the internal reversal of the first two-position two-way reversing valve 1022. At this time, the hydraulic oil in the pipeline flows through the second speed regulating valve 1021, and the second speed regulating valve 1021 reduces the flow of hydraulic oil entering the hydraulic swing motor 101 to reduce the forward rotation speed of the hydraulic swing motor 101.

[0052] By setting the control method from starting the motor to adjusting the flow rate of the hydraulic oil, the automation and monitoring of the drill pipe make-up process is ensured, the errors of manual operation are reduced, the accuracy and efficiency of make-up are improved, and the labor intensity and operation risks of workers are also reduced.

[0053] Specifically, the drill rod beading and shackle control method further includes a shackle control step, which includes: starting the drive motor 10 to drive the hydraulic pump 20 to suck hydraulic oil from the hydraulic oil tank 30; switching the proportional reversing valve 50 to the right position, so that the hydraulic oil enters the second two-position two-way reversing valve 1032 and the hydraulic rotary motor 101 through the right position of the proportional reversing valve 50, and the hydraulic oil drives the hydraulic rotary motor 101 to reverse; the hydraulic oil passing through the right position of the proportional reversing valve 50 enters the feed and pull assembly 110, and the hydraulic control reversing valve 60 is switched to the right position to control the sixth two-position two-way reversing valve 115 The hydraulic pump 20 drives the hydraulic oil to enter the right position of the hydraulic control reversing valve 60 through the first speed regulating valve 40, and then enters the lower chamber 1112 of the push-pull cylinder 111 through the fifth two-position two-way reversing valve 1132, so that the push-pull cylinder 111 can pull out the drill pipe; when the pressure of the drill pipe unbuckling process increases, the pressure of the pipeline where the high-pressure priority selection valve 104 is located is driven to increase, and when the pressure of the pipeline where the high-pressure priority selection valve 104 is located is greater than the pressure of the high-pressure priority selection valve 104, the pressure of the pipeline where the high-pressure priority selection valve 104 is located is increased. When the pressure of the high-pressure priority selection valve 104 is the second setting pressure, the high-pressure priority selection valve 104 is in the second state. When the high-pressure priority selection valve 104 is in the second state, the pilot oil flowing out of the high-pressure priority selection valve 104 enters the fifth two-position two-way reversing valve 1132 to make the fifth two-position two-way reversing valve 1132 internally reversing. At this time, the hydraulic oil in the pipeline flows through the fifth speed regulating valve 1131, and the fifth speed regulating valve 1131 reduces the flow of hydraulic oil entering the inlet of the lower chamber 1112 to reduce the speed of the push-pull cylinder 111 to pull out the drill pipe. When the pressure of the drill pipe pulling out increases, the third pressure regulating valve 1131 is driven to pull out the drill pipe. When the pressure of the pipeline where the third pressure regulating valve 117 is located increases, when the pressure of the pipeline where the third pressure regulating valve 117 is located is greater than the third pressure, the third pressure regulating valve 117 opens, and at this time, the hydraulic oil enters the second two-position two-way reversing valve 1032 through the pipeline connected to the sixth two-position two-way reversing valve 115 and the second two-position two-way reversing valve 1032 to drive the internal reversal of the second two-position two-way reversing valve 1032. At this time, the hydraulic oil in the pipeline flows through the third speed regulating valve 1031, and the third speed regulating valve 1031 reduces the flow of hydraulic oil entering the hydraulic swing motor 101 to reduce the reversing speed of the hydraulic swing motor 101.

[0054] Through the above-mentioned design steps, the speed of the push-pull cylinder 111 can be accurately adjusted, and the multi-stage adjustment mechanism in the system is utilized to ensure the safety and efficiency of the drill pipe shackle process, reduce possible damage during operation, and improve the overall efficiency of the drilling operation.

[0055] In a specific embodiment of the present invention, the make-up action, that is, connecting a new drill pipe to the end of the drill pipe that has been lowered into the hole during the drilling process, mainly includes the following steps: 1. Start-up preparation: start the drive motor 10, the hydraulic pump 20 draws hydraulic oil from the hydraulic oil tank 30, and the system pressure is adjusted by the first pressure regulating valve 120; 2. Forward pre-tightening: the proportional reversing valve 50 is placed in the left position, and the hydraulic oil enters the rotary system through the proportional reversing valve 50, and drives the hydraulic rotary motor 101 to rotate forward through the first two-position two-way reversing valve 1022 and the second two-position two-way reversing valve 1032 to pre-tighten the drill pipe; 3. Feeding operation: the hydraulic oil controlled by the proportional reversing valve 50 enters the feeding and pulling assembly 110 at the same time, the hydraulically controlled reversing valve 60 switches to the left position, controls the reversing of the third two-position two-way reversing valve 114, and the hydraulic oil enters through the first speed regulating valve 40, the sixth speed regulating valve 118 and the fourth two-position two-way reversing valve 1122 Enter the push-pull cylinder 111 to push the drill rod forward to realize the feeding operation of the drill rod; 4. Pressure regulation: During the process of making up, if the pressure rises to the set value of the high-pressure priority selection valve 104, the flow path of the hydraulic oil will be controlled by the pilot oil of the high-pressure priority selection valve 104, so that the fourth two-position two-way reversing valve 1122 is reversed, and the feeding speed is further adjusted by the fourth speed regulating valve 1121; 5. Rotation speed adjustment: When the feed pressure further increases to the set value of the second pressure regulating valve 116, the pilot oil will enter the drill rod rotation assembly to reverse the first two-position two-way reversing valve 1022. At this time, the forward rotation speed of the hydraulic rotary motor 101 is adjusted by the second speed regulating valve 1021 to match the feeding speed; 6. Monitoring and control: The speed encoder 105 monitors the speed of the hydraulic rotary motor 101, and the displacement encoder 130 monitors the displacement of the oil cylinder to ensure that the make-up operation of the drill rod proceeds smoothly until the make-up is completed.

[0056] In another specific embodiment of the present invention, the shackle action, that is, after the drilling is completed, the drill pipe is separated from the hole in sections, mainly including the following steps: 1. Start preparation: start the drive motor 10, the hydraulic pump 20 draws hydraulic oil from the hydraulic oil tank 30, and the system pressure is adjusted by the first pressure regulating valve 120; 2. Reverse separation: the proportional reversing valve 50 is placed in the right position, and the hydraulic oil enters the rotary system through the proportional reversing valve 50, and passes through the second two-position two-way reversing valve 1032 and the hydraulic The rotary motor 101 drives the hydraulic rotary motor 101 to reverse and start the process of breaking out the drill pipe; 3. Pulling operation: the hydraulic oil controlled by the proportional reversing valve 50 enters the feed and pulling assembly 110 at the same time, the hydraulic control reversing valve 60 switches to the right position, controls the reversal of the sixth two-position two-way reversing valve 115, and the hydraulic oil enters the push-pull cylinder 111 through the first speed regulating valve 40, the seventh speed regulating valve 119 and the fifth two-position two-way reversing valve 1132, pushing the drill pipe backward to realize the pulling out of the drill pipe; 4. Pressure Adjustment: During the unbuckling process, if the pressure rises to the set value of the high-pressure priority selection valve 104, the flow path of the hydraulic oil will be controlled by the pilot oil of the high-pressure priority selection valve 104, so that the fifth two-position two-way reversing valve 1132 is reversed, and the feed speed is adjusted by the fifth speed regulating valve 1131; 5. Rotation speed adjustment: When the feed pressure further increases to the set value of the third pressure regulating valve 117, the pilot oil will enter the drill pipe rotation assembly 100, so that the second two-position two-way reversing valve 1032 is reversed. At this time, the reverse speed of the hydraulic rotary motor 101 is adjusted by the third speed regulating valve 1031 to match the pulling speed; 6. Monitoring and control: The reverse speed of the hydraulic rotary motor 101 is monitored by the speed encoder 105, and the displacement encoder 130 monitors the displacement of the oil cylinder to ensure that the unbuckling operation of the drill pipe is carried out smoothly until the unbuckling is completed; through the above control strategy, the drilling rig can automatically complete the unbuckling of the drill pipe, reduce manual operation, improve efficiency, and reduce safety hazards.

[0057] In summary, the present invention provides a drill rod beading and breaking control system and a drill rod beading and breaking control method, which realizes automatic control of the drill rod beading and breaking process by setting a driving motor 10, a hydraulic pump 20, a hydraulic oil tank 30, a first speed regulating valve 40, a proportional reversing valve 50, a hydraulically controlled reversing valve 60, a rotary pipeline 70, a feed and pull pipeline 80, a connecting pipeline 90, a drill rod rotary assembly 100 and a feed and pull assembly 110 to work together, thereby improving the efficiency of the drill rod beading and breaking process. The pipeline is connected so that the rotation speed of the hydraulic rotary motor 101 is matched with the speed of the push-pull cylinder 111 feeding or pulling out the drill rod, thereby effectively reducing the serious wear of the joint thread between two adjacent drill rods and improving the efficiency of the drilling rig in controlling the drilling and disassembling of the drill rod; the drill rod buckle and unbuckling control system proposed by the present invention plays a positive role in improving the automation degree of the drilling rig, reducing the labor intensity of workers, reducing safety hazards and reducing coal mine accidents, and well solves the problems of serious thread wear in the buckle and unbuckling process of the drill rod in the coal mine, and the high execution failure rate of the buckle and unbuckling process. The present invention optimizes the buckle and unbuckling operation of the drill rod of the drilling rig from the structural point of view, significantly improves the efficiency and safety of the underground drilling operation of the coal mine, has a simple structure and low cost, is easy to assemble and subsequent maintenance, has significant economic benefits and application value, and is suitable for large-scale promotion and use.

[0058] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0059] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0060] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0061] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0062] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A drill pipe make-up and make-out control system, characterized in that: include: A driving motor (10), a hydraulic pump (20), a hydraulic oil tank (30), a first speed regulating valve (40), a proportional reversing valve (50), a hydraulically controlled reversing valve (60), a rotary pipeline (70), a feed and pull pipeline (80), a connecting pipeline (90), a drill pipe rotary assembly (100) and a feed and pull assembly (110); the driving motor (10) is connected to the hydraulic pump (20) in a driving manner so as to drive the hydraulic pump (20) to work, and the hydraulic pump (20) is used to drive the hydraulic oil to circulate along the pipeline; the hydraulic oil tank (30) is connected to the inlet of the hydraulic pump (20) through a pipeline, and the outlet of the hydraulic pump (20) is respectively connected to the rotary pipeline (70), the feed and pull pipeline (80), and the connecting pipeline (90). The proportional reversing valve (50) is arranged on the rotary pipeline (70), and the drill pipe rotary assembly (100) is connected to the rotary pipeline (70); the first speed regulating valve (40) and the hydraulically controlled reversing valve (60) are respectively arranged on the feed and pull-out pipeline (80), and the feed and pull-out assembly (110) is connected to the feed and pull-out pipeline (80); the proportional reversing valve (50) is connected to the hydraulically controlled reversing valve (60) and the feed and pull-out assembly (110) through the connecting pipeline (90); the drill pipe rotary assembly (100) includes a hydraulic rotary motor (101) for rotating the drill pipe, and the feed and pull-out assembly (110) includes a motor for feeding or pulling. The push-pull cylinder (111) of the drill rod, the proportional reversing valve (50) reverses the flow direction of the hydraulic oil in the pipeline to adjust the direction of the hydraulic rotary motor (101), and adjusts the speed of the hydraulic rotary motor (101) by the proportional opening of the internal valve; the first speed regulating valve (40) is used to adjust the flow of hydraulic oil entering the push-pull cylinder (111) to adjust the speed of the push-pull cylinder (111) feeding or pulling the drill rod; the hydraulically controlled reversing valve (60) is respectively connected to the upper and lower chambers in the push-pull cylinder (111) through the pipeline, and is used to reverse the flow direction of the hydraulic oil in the pipeline, by adjusting the upper chamber (111) of the push-pull cylinder (111) 1) and the lower chamber (1112) change the pressure difference between them to feed or pull out the drill rod; the drill rod rotating assembly (100) and the feeding and pulling assembly (110) are connected through a pipeline so that the rotation speed of the hydraulic rotary motor (101) is adapted to the speed of the push-pull cylinder (111) feeding or pulling out the drill rod; wherein, when the proportional reversing valve (50) controls the hydraulic rotary motor (101) to rotate forward, the hydraulically controlled reversing valve (60) controls the push-pull cylinder (111) to feed the drill rod; and when the proportional reversing valve (50) controls the hydraulic rotary motor (101) to rotate reversely, the hydraulically controlled reversing valve (60) controls the push-pull cylinder (111) to pull out the drill rod.

2. The drill pipe make-up and make-out control system according to claim 1, characterized in that: The drill pipe rotation assembly (100) further comprises a first reversing adjustment structure (102), a second reversing adjustment structure (103) and a high-pressure priority selection valve (104); the first reversing adjustment structure (102) and the second reversing adjustment structure (103) are respectively connected to the rotation pipeline (70) through pipelines; the first reversing adjustment structure (102) and the second reversing adjustment structure (103) are respectively connected to two ends of the hydraulic rotary motor (101) through pipelines; one end of the high-pressure priority selection valve (104) is respectively connected to the first reversing adjustment structure (102) and the second reversing adjustment structure (103), and the other end is connected to the feed and pull-out assembly (110) through a pipeline; wherein, when the proportional reversing valve (50) controls the hydraulic oil to enter the hydraulic rotary motor (101) along the first reversing adjustment structure (102), the hydraulic rotary motor (101) rotates forward. When the pressure of the pipeline where the high-pressure priority selection valve (104) is located is greater than the first set pressure of the high-pressure priority selection valve (104), the high-pressure priority selection valve (104) is in a first state. In the first state, the flow rate of the hydraulic oil in the push-pull cylinder (111) is reduced to reduce the speed at which the push-pull cylinder (111) feeds the drill rod; when the proportional reversing valve (50) controls the hydraulic oil to enter the hydraulic rotary motor (101) along the second reversing adjustment structure (103), the hydraulic rotary motor (101) reverses. When the pressure of the pipeline where the high-pressure priority selection valve (104) is located is greater than the second set pressure of the high-pressure priority selection valve (104), the high-pressure priority selection valve (104) is in a second state. In the second state, the flow rate of the hydraulic oil in the push-pull cylinder (111) is reduced to reduce the speed at which the push-pull cylinder (111) pulls up the drill rod.

3. The drill pipe make-up and make-out control system according to claim 2, characterized in that: The feeding and pulling assembly (110) further comprises an upper chamber reversing adjustment structure (112) and a lower chamber reversing adjustment structure (113); the upper chamber reversing adjustment structure (112) is respectively connected to the hydraulically controlled reversing valve (60) and the inlet of the upper chamber (1111) through pipelines, and the lower chamber reversing adjustment structure (113) is respectively connected to the hydraulically controlled reversing valve (60) and the inlet of the lower chamber (1112) through pipelines; the other end of the high-pressure priority selection valve (104) is respectively connected to the upper chamber reversing adjustment structure (112) through pipelines. The high-pressure priority selection valve (104) is connected to the lower chamber reversing adjustment structure (113); wherein, when the high-pressure priority selection valve (104) is in the first state, the high-pressure priority selection valve (104) reduces the flow of hydraulic oil entering the inlet of the upper chamber (1111) by controlling the upper chamber reversing adjustment structure (112); and when the high-pressure priority selection valve (104) is in the second state, the high-pressure priority selection valve (104) reduces the flow of hydraulic oil entering the inlet of the lower chamber (1112) by controlling the lower chamber reversing adjustment structure (113).

4. The drill pipe make-up and make-out control system according to claim 3, characterized in that: The first direction-changing regulating structure (102) comprises a second speed regulating valve (1021) and a first two-position two-way reversing valve (1022) which are connected in parallel via a pipeline, wherein the second speed regulating valve (1021) is used to regulate the flow rate of the hydraulic oil flowing through the first two-position two-way reversing valve (1022); the second direction-changing regulating structure (103) comprises a third speed regulating valve (1031) and a second two-position two-way reversing valve (1032) which are connected in parallel via a pipeline, wherein the third speed regulating valve (1031) is used to regulate the flow rate of the hydraulic oil flowing through the second two-position two-way reversing valve (1032); the upper chamber direction-changing regulating structure (112 ) comprises a fourth speed regulating valve (1121) and a fourth two-position two-way reversing valve (1122) which are connected in parallel via pipelines, wherein the fourth speed regulating valve (1121) is used to regulate the flow rate of hydraulic oil flowing through the fourth two-position two-way reversing valve (1122); the lower chamber reversing regulating structure (113) comprises a fifth speed regulating valve (1131) and a fifth two-position two-way reversing valve (1132) which are connected in parallel via pipelines, wherein the fifth speed regulating valve (1131) is used to regulate the flow rate of hydraulic oil flowing through the fifth two-position two-way reversing valve (1132); one end of the high-pressure priority selection valve (104) is connected to the first and second high-pressure priority selection valves (104) through pipelines. The two-position two-way reversing valve (1022) and the second two-position two-way reversing valve (1032) are connected, and the other end is connected to the fourth two-position two-way reversing valve (1122) and the fifth two-position two-way reversing valve (1132) through pipelines; the proportional reversing valve (50) is connected to the two ends of the hydraulic rotary motor (101) through the first two-position two-way reversing valve (1022) and the second two-position two-way reversing valve (1032); the hydraulic control reversing valve (60) is connected to the push-pull oil cylinder (101) through the fourth two-position two-way reversing valve (1122) and the fifth two-position two-way reversing valve (1132) The upper chamber (1111) and the lower chamber (1112) of the high-pressure priority selection valve (104) are connected; wherein, when the high-pressure priority selection valve (104) is in the first state, the pilot oil flowing out of the high-pressure priority selection valve (104) enters the fourth two-position two-way reversing valve (1122) to make the fourth two-position two-way reversing valve (1122) reverse internally, and at this time, the hydraulic oil in the pipeline flows through the fourth speed regulating valve (1121), and the fourth speed regulating valve (1121) reduces the flow of hydraulic oil entering the inlet of the upper chamber (1111) to reduce the speed at which the push-pull oil cylinder (111) feeds the drill pipe;When the high-pressure priority selector valve (104) is in the second state, the pilot oil flowing out of the high-pressure priority selector valve (104) enters the fifth two-position two-way reversing valve (1132) to cause the fifth two-position two-way reversing valve (1132) to reverse its internal direction. At this time, the hydraulic oil in the pipeline flows through the fifth speed regulating valve (1131), and the fifth speed regulating valve (1131) reduces the flow of hydraulic oil entering the inlet of the lower chamber (1112) to reduce the speed of the push-pull oil cylinder (111) in pulling out the drill rod. ; 5. The drill pipe make-up and break-out control system according to claim 4, characterized in that: The feeding and pulling assembly (110) further comprises a third two-position two-way reversing valve (114) and a sixth two-position two-way reversing valve (115); the outlet of the upper chamber (1111) of the push-pull oil cylinder (111) is connected to the hydraulic oil tank (30) through a pipeline and the third two-position two-way reversing valve (114); the outlet of the lower chamber (1112) of the push-pull oil cylinder (111) is connected to the hydraulic oil tank (30) through a pipeline and the sixth two-position two-way reversing valve (115). 5) is connected to the hydraulic oil tank (30); the proportional reversing valve (50) is connected to the third two-position two-way reversing valve (114) and the sixth two-position two-way reversing valve (115) through pipelines respectively; the third two-position two-way reversing valve (114) is connected to the first two-position two-way reversing valve (1022) through a pipeline; the sixth two-position two-way reversing valve (115) is connected to the second two-position two-way reversing valve (1032) through a pipeline; The feeding and pulling assembly (110) further comprises a second pressure regulating valve (116) and a third pressure regulating valve (117); the second pressure regulating valve (116) is arranged in parallel with the third two-position two-way reversing valve (114) via a pipeline, and the third pressure regulating valve (117) is arranged in parallel with the sixth two-position two-way reversing valve (115) via a pipeline; the second pressure regulating valve (116) and the third pressure regulating valve (117) are at least used to maintain a constant pressure in the pipeline; When the pressure of the pipeline where the second pressure regulating valve (116) is located is greater than the second pressure, the second pressure regulating valve (116) is opened, and at this time, the hydraulic oil enters the first two-position two-way reversing valve (1022) through the pipeline connected to the third two-position two-way reversing valve (114) and the first two-position two-way reversing valve (1022), so as to drive the first two-position two-way reversing valve (1022) to perform internal reversal, and at this time, the hydraulic oil in the pipeline flows through the second speed regulating valve (1021), and the second speed regulating valve (1021) reduces the flow of hydraulic oil entering the hydraulic rotary motor (101), so as to reduce the forward rotation speed of the hydraulic rotary motor (101); When the pressure of the pipeline where the third pressure regulating valve (117) is located is greater than the third pressure, the third pressure regulating valve (117) is opened. At this time, the hydraulic oil enters the second two-position two-way reversing valve (1032) through the pipeline connected to the sixth two-position two-way reversing valve (115) and the second two-position two-way reversing valve (1032) to drive the internal reversal of the second two-position two-way reversing valve (1032). At this time, the hydraulic oil in the pipeline flows through the third speed regulating valve (1031), and the third speed regulating valve (1031) reduces the flow of hydraulic oil entering the hydraulic rotary motor (101) to reduce the reversing speed of the hydraulic rotary motor (101).

6. The drill pipe make-up and make-out control system according to claim 4, characterized in that: The feeding and pulling assembly (110) further comprises a sixth speed regulating valve (118) and a seventh speed regulating valve (119); the sixth speed regulating valve (118) is arranged between the hydraulically controlled reversing valve (60) and the fourth two-position two-way reversing valve (1122); the seventh speed regulating valve (119) is arranged between the hydraulically controlled reversing valve (60) and the fifth two-position two-way reversing valve (1132); the sixth speed regulating valve (118) is used to control the flow rate of the hydraulic oil entering the fourth two-position two-way reversing valve (1122) from the hydraulically controlled reversing valve (60); and the seventh speed regulating valve (119) is used to control the flow rate of the hydraulic oil entering the fifth two-position two-way reversing valve (1132) from the hydraulically controlled reversing valve (60).

7. The drill pipe make-up and make-out control system according to claim 6, characterized in that: When adjusting the speed at which the push-pull oil cylinder (111) feeds the drill rod, the speed regulation range of the first speed regulating valve (40) is less than the speed regulation range of the sixth speed regulating valve (118) and less than the speed regulation range of the fourth speed regulating valve (1121); When adjusting the speed of the push-pull oil cylinder (111) to pull out the drill rod, the speed regulation range of the first speed regulating valve (40) is less than the speed regulation range of the seventh speed regulating valve (119) and less than the speed regulation range of the fifth speed regulating valve (1131); When adjusting the speed at which the push-pull oil cylinder (111) feeds the drill rod, the priority of adjusting the first speed regulating valve (40) is greater than the priority of adjusting the sixth speed regulating valve (118) and greater than the priority of adjusting the fourth speed regulating valve (1121); When adjusting the speed of the push-pull oil cylinder (111) pulling up the drill rod, the priority of adjusting the first speed regulating valve (40) is greater than the priority of adjusting the seventh speed regulating valve (119) and greater than the priority of adjusting the fifth speed regulating valve (1131).

8. The drill pipe make-up and break-out control system according to claim 1, characterized in that: The drill pipe make-up and break-out control system further comprises a first pressure regulating valve (120), the first pressure regulating valve (120) being connected to the hydraulic pump (20) and the hydraulic oil tank (30) through pipelines respectively, and being used to maintain a constant pressure in the hydraulic oil tank (30); when the pressure of the pipeline where the first pressure regulating valve (120) is located is greater than a first pressure, the first pressure regulating valve (120) is opened to discharge a portion of the hydraulic oil in the pipeline into the hydraulic oil tank (30) for pressure relief; The drill pipe rotation assembly (100) further comprises a rotation speed encoder (105), wherein the rotation speed encoder (105) is electrically connected to the hydraulic rotation motor (101) and is used to monitor the rotation speed of the hydraulic rotation motor (101); The feeding and pulling assembly (110) further comprises a displacement encoder (130), and the displacement encoder (130) detects the feeding length or pulling length of the push-pull cylinder (111) for the drill rod by measuring the push-pull cylinder (111).

9. A drill pipe make-up and make-out control method, characterized in that: The drill pipe make-up and break-out control method is applied to the drill pipe make-up and break-out control system according to claim 5, and the drill pipe make-up and break-out control method comprises a make-up control step, and the make-up control step comprises: Starting the drive motor (10) to drive the hydraulic pump (20) to suck hydraulic oil from the hydraulic oil tank (30); Switching the proportional reversing valve (50) to the left position, so that the hydraulic oil enters the first two-position two-way reversing valve (1022) and the hydraulic rotary motor (101) through the left position of the proportional reversing valve (50), and the hydraulic oil drives the hydraulic rotary motor (101) to rotate forward; The hydraulic oil passing through the left position of the proportional reversing valve (50) enters the feeding and pulling assembly (110), switches the hydraulic control reversing valve (60) to the left position, controls the internal reversing of the third two-position two-way reversing valve (114), and adjusts the second pressure regulating valve (116) to close the oil leakage of the pipeline where the second pressure regulating valve (116) and the third two-position two-way reversing valve (114) are located; The hydraulic pump (20) drives the hydraulic oil to pass through the first speed regulating valve (40) into the left position of the hydraulically controlled reversing valve (60), and then enters the upper chamber (1111) of the push-pull cylinder (111) through the fourth two-position two-way reversing valve (1122), so that the push-pull cylinder (111) feeds the drill rod; When the pressure during the drill pipe make-up process increases, the pressure of the pipeline where the high-pressure priority selection valve (104) is located increases. When the pressure of the pipeline where the high-pressure priority selection valve (104) is located is greater than the first set pressure of the high-pressure priority selection valve (104), the high-pressure priority selection valve (104) is in the first state. When the high-pressure priority selection valve (104) is in the first state, the pilot oil flowing out of the high-pressure priority selection valve (104) enters the fourth two-position two-way reversing valve (1122) to cause the fourth two-position two-way reversing valve (1122) to reverse internally. At this time, the hydraulic oil in the pipeline flows through the fourth speed regulating valve (1121). The fourth speed regulating valve (1121) reduces the flow of hydraulic oil entering the inlet of the upper chamber (1111) to reduce the speed at which the push-pull oil cylinder (111) feeds the drill pipe. When the pressure of the drill pipe feed increases, the pressure of the pipeline where the second pressure regulating valve (116) is located increases. When the pressure of the pipeline where the second pressure regulating valve (116) is located is greater than the second pressure, the second pressure regulating valve (116) opens. At this time, the hydraulic oil enters the first two-position two-way reversing valve (1022) through the pipeline connected to the third two-position two-way reversing valve (114) and the first two-position two-way reversing valve (1022) to drive the first two-position two-way reversing valve (1022) to reverse internally. At this time, the hydraulic oil in the pipeline flows through the second speed regulating valve (1021). The second speed regulating valve (1021) reduces the flow of hydraulic oil entering the hydraulic rotary motor (101) to reduce the forward rotation speed of the hydraulic rotary motor (101).

10. The drill pipe make-up and make-out control method according to claim 9, characterized in that: The drill pipe make-up and break-out control method further comprises a break-out control step, wherein the break-out control step comprises: Starting the drive motor (10) to drive the hydraulic pump (20) to suck hydraulic oil from the hydraulic oil tank (30); Switching the proportional reversing valve (50) to the right position, so that the hydraulic oil enters the second two-position two-way reversing valve (1032) and the hydraulic rotary motor (101) through the right position of the proportional reversing valve (50), and the hydraulic oil drives the hydraulic rotary motor (101) to reverse; The hydraulic oil passing through the right position of the proportional reversing valve (50) enters the feeding and pulling assembly (110), switches the hydraulic control reversing valve (60) to the right position, controls the internal reversing of the sixth two-position two-way reversing valve (115), and adjusts the third pressure regulating valve (117) to close the oil leakage of the pipeline where the third pressure regulating valve (117) and the sixth two-position two-way reversing valve (115) are located; The hydraulic pump (20) drives the hydraulic oil to pass through the first speed regulating valve (40) into the right position of the hydraulically controlled reversing valve (60), and then passes through the fifth two-position two-way reversing valve (1132) into the lower chamber (1112) of the push-pull cylinder (111), so that the push-pull cylinder (111) can pull up the drill rod; When the pressure during the drill pipe unbuckling process increases, the pressure of the pipeline where the high-pressure priority selection valve (104) is located increases. When the pressure of the pipeline where the high-pressure priority selection valve (104) is located is greater than the second set pressure of the high-pressure priority selection valve (104), the high-pressure priority selection valve (104) is in the second state. When the high-pressure priority selection valve (104) is in the second state, the pilot oil flowing out of the high-pressure priority selection valve (104) enters the fifth two-position two-way reversing valve (1132) to cause the fifth two-position two-way reversing valve (1132) to reverse internally. At this time, the hydraulic oil in the pipeline flows through the fifth speed regulating valve (1131). The fifth speed regulating valve (1131) reduces the flow of hydraulic oil entering the inlet of the lower chamber (1112) to reduce the speed of the push-pull cylinder (111) in pulling out the drill pipe. When the pressure of pulling out the drill pipe increases, the pressure of the pipeline where the third pressure regulating valve (117) is located increases. When the pressure of the pipeline where the third pressure regulating valve (117) is located is greater than the third pressure, the third pressure regulating valve (117) opens. At this time, the hydraulic oil enters the second two-position two-way reversing valve (1032) through the pipeline connected to the sixth two-position two-way reversing valve (115) and the second two-position two-way reversing valve (1032) to drive the internal reversal of the second two-position two-way reversing valve (1032). At this time, the hydraulic oil in the pipeline flows through the third speed regulating valve (1031). The third speed regulating valve (1031) reduces the flow of hydraulic oil entering the hydraulic rotary motor (101) to reduce the reverse speed of the hydraulic rotary motor (101).

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