Automatic drill pipe loading and unloading machine and electro-hydraulic control method

Abstract

The present invention belongs to the technical field of drilling technology and equipment, and provides an automated drill rod loader and an electro-hydraulic control method. The automated drill rod loader includes a hydraulic system, a mechanical arm system, an auxiliary system and a power supply device. The hydraulic system includes an oil supply end and an oil return end. The oil supply end is respectively connected to the mechanical arm system and the auxiliary system, and the oil return end is respectively connected to the mechanical arm system and the auxiliary system. The mechanical arm system includes a mechanical arm assembly and a first control valve. The first control valve is arranged at the connection between the hydraulic system and the mechanical arm assembly. In view of the problem that some existing automated drilling equipment cannot realize continuous automatic loading and unloading of multiple drill rods during construction, and still requires manual assistance to complete, the design adopts an electro-hydraulic transmission structure to meet the requirements of compact actuators under narrow space conditions, and at the same time can continuously realize the automation requirements of installation and disassembly of drill rods.

Description

Technical Field

[0001] The invention belongs to the technical field of drilling technology and equipment, and particularly relates to an automatic drill pipe loading and unloading machine and an electro-hydraulic control method. Background Art

[0002] Existing drilling technology and equipment still rely heavily on manual operation during drilling operations, requiring manual adjustment of various drilling parameters. This relies heavily on the professional expertise of the driller, and the frequent loading and unloading of drill rods is labor-intensive and poses certain safety risks. While some automated drilling equipment has automated the loading and unloading of drill rods during construction, the limited capacity of drill rods in the drill rod bin prevents continuous automatic loading and unloading of all drill rods within a single construction cycle. The depth of underground boreholes in coal mines often ranges from tens to hundreds of meters. In narrow tunnels, where transportation and hoisting are unavailable, replenishing large quantities of drill rods is limited by the layout and process flow of the underground drilling site. Drill rods are often transported multiple times from the drilling site to the drill rod bin using mechanized hoisting. While some loading and unloading processes have been automated, manual assistance is still required, making it impossible to achieve the continuous automated loading and unloading of drill rods within a certain drilling depth.

[0003] Disadvantages of existing technology:

[0004] 1. The frequent manual loading and unloading of drill pipes results in high labor intensity and poses certain safety hazards.

[0005] 2. Although the loading and unloading process of drill rods of some automated drilling equipment has been automated during construction, the drill rod capacity of the drill rod warehouse is limited, and it is impossible to realize continuous automatic loading and unloading of all drill rods within one construction cycle.

[0006] 3. The automation of some drilling rod loading and unloading processes still requires manual assistance, and cannot meet the needs of continuous automatic loading and unloading of drilling rods within a certain drilling depth. Summary of the Invention

[0007] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide an automated drill rod loading and unloading machine, which can realize the automation of the drilling rod loading and unloading process and the effect of continuous automatic loading and unloading of drilling rods.

[0008] The technical solution adopted by the present invention to solve its technical problem is:

[0009] An automated drill pipe loading and unloading machine, comprising:

[0010] Hydraulic system, robotic arm system, auxiliary system and power supply unit;

[0011] The hydraulic system includes an oil supply end and an oil return end, wherein the oil supply end is connected to the mechanical arm system and the auxiliary system respectively, and the oil return end is connected to the mechanical arm system and the auxiliary system respectively;

[0012] The robotic arm system includes a robotic arm assembly and a first control valve, wherein the first control valve is provided at the connection between the hydraulic system and the robotic arm assembly;

[0013] The auxiliary system includes a gantry, a mechanical arm moving and rotating assembly, a drill rod position moving assembly, a drill rod position fixing assembly and a second control valve, the mechanical arm moving and rotating assembly is connected to the mechanical arm system, and the drill rod position moving assembly and the drill rod position fixing assembly are arranged on the gantry;

[0014] The second control valve is provided at the connection between the hydraulic system and the mechanical arm moving and rotating assembly, the drill rod position moving assembly, and the drill rod position fixing assembly;

[0015] The power supply device is electrically connected to the first control valve and the second control valve.

[0016] Preferably, the hydraulic system also includes a hydraulic pump, an oil tank, an oil supply line, an oil return line and a connecting line. The oil supply line and the oil return line are connected to the oil tank, and the connecting line is connected to the oil supply line and the oil return line respectively. The hydraulic pump is arranged on the oil supply line, the oil supply end is arranged on the oil supply line, the oil return end is arranged on the oil return line, and an oil circuit pressure control valve is provided on the connecting line.

[0017] Preferably, the power input end of the hydraulic pump is provided with an explosion-proof motor, the oil circuit pressure control valve includes a pressure relief ball valve and an overflow valve, the number of the connecting pipelines is two, and the pressure relief ball valve and the overflow valve are respectively provided in any one of the connecting pipelines.

[0018] Preferably, the oil return pipeline is provided with an oil filter, and the oil tank is provided with an air filter, a thermometer and an oil drain ball valve.

[0019] Preferably, the robotic arm assembly includes a robotic arm swing cylinder, a robotic claw opening and closing cylinder, a robotic wrist swing cylinder, and a robotic claw rotation swing cylinder, and the first control valve is an explosion-proof proportional reversing valve.

[0020] Preferably, the manipulator arm moving and rotating assembly includes a manipulator arm base swing cylinder, the drill rod position moving assembly includes a drill rod transplanting motor, a drill rod adjustment motor and a drill rod lifting cylinder, and the drill rod position fixing assembly includes a drill rod clamping cylinder and a drill rod positioning cylinder;

[0021] The second control valve includes an explosion-proof proportional reversing valve and an explosion-proof electromagnetic reversing valve. The explosion-proof proportional reversing valve is respectively connected to the robotic arm base swing cylinder and the drill rod transplanting motor. The explosion-proof electromagnetic reversing valve is respectively connected to the drill rod adjustment motor, the drill rod lifting cylinder, the drill rod clamping cylinder and the drill rod positioning cylinder.

[0022] Preferably, a buffer valve is provided at the connection between the explosion-proof proportional reversing valve and the drill rod transplanting motor, a buffer valve and a speed regulating valve are provided at the connection between the explosion-proof electromagnetic reversing valve and the drill rod adjustment motor, a balancing valve and a speed regulating valve are provided at the connection between the explosion-proof electromagnetic reversing valve and the drill rod lifting cylinder, a hydraulically controlled one-way valve and a speed regulating valve are provided at the connection between the explosion-proof electromagnetic reversing valve and the drill rod clamping cylinder, and a hydraulically controlled one-way valve and a speed regulating valve are provided at the connection between the explosion-proof electromagnetic reversing valve and the drill rod positioning cylinder.

[0023] Preferably, the second control valve further includes an explosion-proof electromagnetic ball valve, and the explosion-proof electromagnetic ball valve is connected to the drill rod transplanting motor.

[0024] Preferably, an oil pipe is provided between the drill rod transplanting motor and the drill rod adjusting motor.

[0025] The present application also includes an electro-hydraulic control method for an automated drill pipe loader and unloader, based on the aforementioned automated drill pipe loader and unloader, comprising the following steps:

[0026] S1. The gantry moves to the silo area, and the drill rod position fixing assembly is controlled by the hydraulic system to clamp the drill rod and move it to the transfer platform;

[0027] S2, the robotic arm assembly moves to the transfer platform to grab the drill rod and move it to the drill rod material frame;

[0028] S3, setting the drill rod to the attitude push and open state;

[0029] S4. The gantry is moved to the drill rod material frame area by the drill rod moving motor, and the drill rod position moving assembly and the drill rod position fixing assembly clamp the pre-installed drill rod components to the installation position for installation;

[0030] S5. The robotic arm assembly moves to the pre-taken-out drill rod area, grabs the pre-taken-out drill rod, and moves it to the drill rod material frame.

[0031] Compared with the prior art, the beneficial effects of the present invention include:

[0032] This solution addresses the problem that some existing automated drilling equipment cannot achieve continuous automatic loading and unloading of multiple drill rods during construction, and still requires manual assistance. The design adopts an electro-hydraulic transmission structure to meet the requirements of compact actuators in narrow space conditions, while continuously realizing the automation of drill rod installation and disassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 Schematic diagram of the hydraulic system of the present invention.

[0035] Figure 2 Schematic diagram of the robotic arm system of the present invention.

[0036] Figure 3 Schematic diagram of the auxiliary system of the present invention.

[0037] Figure 4 Schematic diagram of the electro-hydraulic control method of the present invention.

[0038] in:

[0039] 1-Hydraulic pump, 2-Oil tank, 3-Oil supply line, 4-Oil return line, 5-Connecting line, 6-Pressure relief ball valve, 7-Overflow valve, 8-Oil line filter, 9-Air filter, 10-Thermometer, 11-Oil drain ball valve, 12-Explosion-proof motor, 13-Robot arm swing cylinder, 14-Robot claw opening and closing cylinder, 15-Robot wrist swing cylinder, 16-Robot claw rotation swing cylinder, 17-First control valve, 18-Robot arm base swing cylinder, 19-Drill rod transplanting motor, 20-Drill rod adjustment motor, 21-Drill rod lifting cylinder, 22-Drill rod clamping cylinder, 23-Drill rod positioning cylinder, 24-Explosion-proof proportional reversing valve, 25-Explosion-proof solenoid reversing valve, 26-Buffer valve, 27-Speed ​​regulating valve, 28-Balance valve, 29-Hydraulic control check valve, 30-Explosion-proof solenoid ball valve. DETAILED DESCRIPTION

[0040] In order to be able to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the present invention. The embodiments described are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of the present invention.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0042] Example:

[0043] like Figure 1-3 As shown, this embodiment provides an automated drill pipe loading and unloading machine, comprising:

[0044] Hydraulic system, robotic arm system, auxiliary system and power supply unit;

[0045] The hydraulic system includes an oil supply end and an oil return end. The oil supply end is connected to the robotic arm system and the auxiliary system respectively, and the oil return end is connected to the robotic arm system and the auxiliary system respectively;

[0046] The manipulator system includes a manipulator assembly and a first control valve 17 , which is provided at the connection between the hydraulic system and the manipulator assembly;

[0047] The auxiliary system includes a gantry, a mechanical arm moving and rotating assembly, a drill rod position moving assembly, a drill rod position fixing assembly and a second control valve. The mechanical arm moving and rotating assembly is connected to the mechanical arm system, and the drill rod position moving assembly and the drill rod position fixing assembly are arranged on the gantry;

[0048] The second control valve is provided at the connection between the hydraulic system and the mechanical arm moving and rotating assembly, the drill rod position moving assembly, and the drill rod position fixing assembly;

[0049] The power supply device is electrically connected to the first control valve 17 and the second control valve.

[0050] This solution addresses the problem that some existing automated drilling equipment cannot achieve continuous automatic loading and unloading of multiple drill rods during construction, and still requires manual assistance. The design adopts an electro-hydraulic transmission structure to meet the requirements of compact actuators in narrow space conditions, while continuously realizing the automation of drill rod installation and disassembly.

[0051] In this embodiment, the specific structure of the hydraulic system is as follows:

[0052] The hydraulic system also includes a hydraulic pump 1, an oil tank 2, an oil supply pipeline 3, an oil return pipeline 4 and a connecting pipeline 5. The oil supply pipeline 3 and the oil return pipeline 4 are connected to the oil tank 2, and the connecting pipeline 5 is connected to the oil supply pipeline 3 and the oil return pipeline 4 respectively. The hydraulic pump 1 is arranged on the oil supply pipeline 3, the oil supply end is arranged on the oil supply pipeline 3, the oil return end is arranged on the oil return pipeline 4, and an oil circuit pressure control valve is provided on the connecting pipeline 5.

[0053] Specifically, the power input end of the hydraulic pump 1 is provided with an explosion-proof motor 12, the oil circuit pressure control valve includes a pressure relief ball valve 6 and a relief valve 7, there are two connecting pipes 5, and the pressure relief ball valve 6 and the relief valve 7 are respectively provided in any one of the connecting pipes 5.

[0054] Specifically, an oil filter 8 is provided on the oil return line 4 , and an air filter 9 , a thermometer 10 and an oil drain ball valve 11 are provided on the oil tank 2 .

[0055] The hydraulic system provides oil for the entire embodiment. An explosion-proof motor 12 drives a hydraulic pump 1, supplying oil from the oil tank 2 to ports P1 and P2 of the hydraulic system's oil supply line 3. A pressure relief ball valve 6 unloads the system, and a relief valve 7 limits the system's maximum pressure. Oil returns to the oil tank 2 from ports T1 and T2 of the oil return line 4, where it is filtered and then returned to the oil tank 2. A thermometer 10 monitors the temperature within the return oil tank 2, and a drain ball valve 11 adjusts the oil level within the tank 2.

[0056] In this embodiment, the robotic arm assembly has the effects of swinging, opening and closing of the robotic claw, swinging of the robotic wrist and rotation of the robotic claw. In order to achieve the above effects, specifically, the robotic arm assembly includes a robotic arm swing cylinder 13, a robotic claw opening and closing cylinder 14, a robotic wrist swing cylinder 15 and a robotic claw rotation swing cylinder 16. The first control valve 17 is an explosion-proof proportional reversing valve 24. The robotic arm swing cylinder 13 is divided into a robotic arm upper arm swing cylinder and a robotic arm lower arm swing cylinder.

[0057] The hydraulic oil mainly enters from the P1 port, and an explosion-proof proportional reversing valve 24 is used as the first control valve 17. The corresponding proportional signal is input to control the valve core opening to control the flow of hydraulic oil passing through, and then control the piston rod stroke of the robot arm's upper arm swing cylinder, the robot arm's lower arm swing cylinder, and the robot claw opening and closing cylinder 14, as well as the rotation angle of the robot wrist swing cylinder 15 and the robot claw rotation swing cylinder 16, so as to enable the robot arm assembly to accurately grasp and place the drill rod components at the designated location.

[0058] In this embodiment, the robot arm movement and rotation assembly includes a robot arm base swing cylinder 18, the drill rod position movement assembly includes a drill rod transplanting motor 19, a drill rod adjustment motor 20, and a drill rod lifting cylinder 21, and the drill rod position fixing assembly includes a drill rod clamping cylinder 22 and a drill rod positioning cylinder 23;

[0059] The second control valve includes an explosion-proof proportional reversing valve 24 and an explosion-proof electromagnetic reversing valve 25. The explosion-proof proportional reversing valve 24 is respectively connected to the robotic arm base swing cylinder 18 and the drill rod transplanting motor 19, and the explosion-proof electromagnetic reversing valve 25 is respectively connected to the drill rod adjustment motor 20, the drill rod lifting cylinder 21, the drill rod clamping cylinder 22 and the drill rod positioning cylinder 23.

[0060] Specifically, a buffer valve 26 is provided at the connection between the explosion-proof proportional reversing valve 24 and the drill rod transplanting motor 19, a buffer valve 26 and a speed regulating valve 27 are provided at the connection between the explosion-proof electromagnetic reversing valve 25 and the drill rod adjustment motor 20, a balancing valve 28 and a speed regulating valve 27 are provided at the connection between the explosion-proof electromagnetic reversing valve 25 and the drill rod lifting cylinder 21, a hydraulically controlled one-way valve 29 and a speed regulating valve 27 are provided at the connection between the explosion-proof electromagnetic reversing valve 25 and the drill rod clamping cylinder 22, and a hydraulically controlled one-way valve 29 and a speed regulating valve 27 are provided at the connection between the explosion-proof electromagnetic reversing valve 25 and the drill rod positioning cylinder 23.

[0061] Specifically, the second control valve further includes an explosion-proof electromagnetic ball valve 30 , which is connected to the drill rod transplanting motor 19 .

[0062] Specifically, an oil pipe is provided between the drill rod transplanting motor 19 and the drill rod adjusting motor 20.

[0063] The working principle of the above auxiliary system is as follows:

[0064] Hydraulic oil primarily enters through port P2 and exits through port T2. The arm base swing cylinder 18 controls the overall rotation of the arm assembly, completing the process of retrieving and placing drill rods. The rotation angle is primarily controlled by the spool displacement of the explosion-proof proportional reversing valve 24 in the second control valve.

[0065] The gantry's movement is achieved through the rotation of the drill rod transfer motor 19. The gantry's movement of the drill rods requires precise positioning and high inertia. To prevent internal leakage within the drill rod transfer motor 19 and to ensure the gantry's movement to the designated position, the drill rod transfer motor 19 incorporates a brake mechanism. The brake is activated and deactivated by the power flowing through the explosion-proof electromagnetic ball valve 30 of the second control valve. A buffer valve 26 is also included in the drill rod transfer motor's oil circuit to prevent sudden braking from causing excessive pressure differentials between the inlet and outlet of the drill rod transfer motor 19. To ensure smoother starting and stopping of the drill rod transfer motor 19, the second control valve utilizes an explosion-proof proportional reversing valve 24. This valve's spool displacement is controlled to achieve early deceleration before reaching the desired position.

[0066] The drill rod adjustment motor 20 moves the drill rod piece to a position suitable for grabbing by the robotic arm assembly, and its control is mainly achieved by the explosion-proof electromagnetic reversing valve 25.

[0067] The lifting of the drill rod parts in the gantry is driven by the drill rod lifting cylinder. The rise and fall of the drill rod lifting cylinder is mainly controlled by the explosion-proof electromagnetic reversing valve 25. The balance valve 28 protects the drill rod lifting cylinder and ensures that the cylinder does not fall quickly when the explosion-proof electromagnetic reversing valve 25 is not powered, thereby playing a safety role.

[0068] The speed regulating valve 27 controls the speed of the drill rod lifting cylinder's raising and lowering by adjusting its opening. The drill rod clamping cylinder 22 and the drill rod positioning cylinder 23 primarily function to clamp the drill rod components on the gantry and adjust their placement. The extension and retraction of the drill rod clamping cylinder 22 are controlled by the power supply to the explosion-proof electromagnetic reversing valve 25. The speed regulating valve 27 controls the extension and retraction speed of the drill rod clamping cylinder 22, while the hydraulically controlled check valve 29 locks the position of the drill rod positioning cylinder 23. When the explosion-proof electromagnetic reversing valve 25 loses power, the drill rod positioning cylinder 23 is locked and inoperative.

[0069] In summary, this embodiment improves and invents the traditional drill rod loader and unloader. Since the automated drill rod loader and unloader needs to be used underground in a coal mine, it requires a higher explosion-proof grade; it has a large silo, a heavy-duty gantry and a robotic arm, and has high power transmission, while the power system has high transmission power; the space underground in a coal mine is narrow, and the transmission mechanism needs to be smaller. In order to solve the above problems, an electro-hydraulic transmission control method is adopted, and the structure of the cylinder and the motor is used as the actuator of each motion mechanism, and the hydraulic system is used as the power source. All hydraulic valves involved in the electro-hydraulic control use coal safety certified explosion-proof valves. An explosion-proof proportional reversing valve 24 is used to control the robotic arm assembly of the automated drill rod loader and unloader to improve control accuracy. The balancing valve 28 is used to protect the drill rod lifting cylinder 21 to prevent the drill rod components from falling. The drill rod transplanting motor 19 is equipped with a brake and is controlled by an explosion-proof proportional reversing valve 24 to achieve smooth and stable point movement.

[0070] The present application also includes an electro-hydraulic control method for an automated drill pipe loader and unloader, based on the automated drill pipe loader and unloader, such as Figure 4 As shown, the following steps are included:

[0071] S1. The gantry is moved to the silo area. The hydraulic system controls the drill rod position fixing assembly to clamp the drill rod and move it to the transfer platform. The drill rod clamping cylinder 22 is used to lower the drill rod clamping assembly, clamp the drill rod, and then raise it. At the transfer platform, the drill rod clamping assembly lowers, opens, releases the clamping state, and then rises again.

[0072] S2: The transfer platform rotates, and the robotic arm assembly moves to the transfer platform to grab the drill rod and move it to the drill rod material frame;

[0073] S3, setting the drill rod to the attitude push and open state;

[0074] S4. After the explosion-proof electromagnetic ball valve 30 is energized, the gantry moves forward through the drill rod transplanting motor 19 and moves to the drill rod material frame area. The drill rod position moving assembly and the drill rod position fixing assembly clamp the pre-installed drill rod components to the installation position for installation. Specifically: the speed regulating valve 27 and the explosion-proof electromagnetic reversing valve 25 are energized, the drill rod lifting cylinder retracts, the drill rod clamping cylinder 22 extends to clamp, and the drill rod lifting cylinder extends again. At this time, the drill rod transplanting motor 19 moves in the opposite direction, the drill rod lifting cylinder retracts, the drill rod clamping cylinder 22 retracts, and the drill rod lifting cylinder extends. At this time, the drill rod transplanting motor 19 moves forward, and the drill rod adjustment motor 20 rotates forward to transport the drill rod components to the pre-removal area of ​​the drill rod components;

[0075] S5. The robotic arm assembly moves to the pre-taken-out drill rod area, grabs the pre-taken-out drill rod, and moves it to the drill rod material frame. Specifically, the robotic claw opening and closing cylinder 14 extends to grab the drill rod. After reaching the drill rod material frame, the robotic claw opening and closing cylinder 14 releases the drill rod. The drill rod positioning cylinder 23 acts on the drill rod to the drill rod material frame and adjusts the position, waiting for the drill rod to be taken out.

[0076] Compared with the prior art, the beneficial effects of the present invention include:

[0077] This solution addresses the problem that some existing automated drilling equipment cannot achieve continuous automatic loading and unloading of multiple drill rods during construction, and still requires manual assistance. The design adopts an electro-hydraulic transmission structure to meet the requirements of compact actuators in narrow space conditions, while continuously realizing the automation of drill rod installation and disassembly.

[0078] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Therefore, any modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. An electro-hydraulic control method for an automated drill pipe loader and unloader, characterized in that: include: Hydraulic system, robotic arm system, auxiliary system and power supply unit; The hydraulic system includes an oil supply end and an oil return end, wherein the oil supply end is connected to the mechanical arm system and the auxiliary system respectively, and the oil return end is connected to the mechanical arm system and the auxiliary system respectively; The robotic arm system includes a robotic arm assembly and a first control valve, wherein the first control valve is provided at the connection between the hydraulic system and the robotic arm assembly; The auxiliary system includes a gantry, a mechanical arm moving and rotating assembly, a drill rod position moving assembly, a drill rod position fixing assembly and a second control valve, the mechanical arm moving and rotating assembly is connected to the mechanical arm system, and the drill rod position moving assembly and the drill rod position fixing assembly are arranged on the gantry; The second control valve is provided at the connection between the hydraulic system and the mechanical arm moving and rotating assembly, the drill rod position moving assembly, and the drill rod position fixing assembly; The power supply device is electrically connected to the first control valve and the second control valve; The manipulator arm moving and rotating assembly includes a manipulator arm base swing cylinder, the drill rod position moving assembly includes a drill rod transplanting motor, a drill rod adjustment motor and a drill rod lifting cylinder, and the drill rod position fixing assembly includes a drill rod clamping cylinder and a drill rod positioning cylinder; The second control valve includes an explosion-proof proportional reversing valve and an explosion-proof electromagnetic reversing valve, the explosion-proof proportional reversing valve is respectively connected to the mechanical arm base swing cylinder and the drill rod transplanting motor, and the explosion-proof electromagnetic reversing valve is respectively connected to the drill rod adjustment motor, the drill rod lifting cylinder, the drill rod clamping cylinder and the drill rod positioning cylinder; A buffer valve is provided at the connection between the explosion-proof proportional reversing valve and the drill rod transplanting motor, a buffer valve and a speed regulating valve are provided at the connection between the explosion-proof electromagnetic reversing valve and the drill rod adjustment motor, a balancing valve and a speed regulating valve are provided at the connection between the explosion-proof electromagnetic reversing valve and the drill rod lifting cylinder, a hydraulically controlled one-way valve and a speed regulating valve are provided at the connection between the explosion-proof electromagnetic reversing valve and the drill rod clamping cylinder, and a hydraulically controlled one-way valve and a speed regulating valve are provided at the connection between the explosion-proof electromagnetic reversing valve and the drill rod positioning cylinder; The electro-hydraulic control method comprises the following steps: S1. The gantry moves to the silo area. The hydraulic system controls the drill rod position fixing assembly to clamp the drill rod and move it to the transfer platform. The drill rod clamping cylinder is used to lower the drill rod clamping assembly, clamp the drill rod, and then raise it. At the transfer platform, the drill rod clamping assembly lowers, opens, releases the clamping state, and then rises again. S2, the robotic arm assembly moves to the transfer platform to grab the drill rod and move it to the drill rod material frame; S3, setting the drill rod to the attitude push and open state; S4. The gantry is moved to the drill rod material frame area by the drill rod transfer motor. The drill rod position moving assembly and the drill rod position fixing assembly clamp the pre-installed drill rod components to the installation position for installation. Specifically: the speed regulating valve and the explosion-proof electromagnetic reversing valve are energized, the drill rod lifting cylinder retracts, the drill rod clamping cylinder extends to clamp, and the drill rod lifting cylinder extends again. At this time, the drill rod transfer motor moves in the reverse direction, the drill rod lifting cylinder retracts, the drill rod clamping cylinder retracts, and the drill rod lifting cylinder extends. At this time, the drill rod transfer motor moves forward, and the drill rod adjustment motor rotates forward to transport the drill rod components to the pre-removal area. S5. The robotic arm assembly moves to the pre-taken-out drill rod area, grabs the pre-taken-out drill rod, and moves it to the drill rod material frame. Specifically, the robotic claw opening and closing cylinder extends to grab the drill rod. After reaching the drill rod material frame, the robotic claw opening and closing cylinder releases the drill rod. The drill rod positioning cylinder moves the drill rod to the drill rod material frame and adjusts the position, waiting for the drill rod to be taken out.

2. The electro-hydraulic control method for an automated drill pipe loader according to claim 1, characterized in that: The hydraulic system also includes a hydraulic pump, an oil tank, an oil supply line, an oil return line and a connecting line. The oil supply line and the oil return line are connected to the oil tank, and the connecting line is connected to the oil supply line and the oil return line respectively. The hydraulic pump is arranged on the oil supply line, the oil supply end is arranged on the oil supply line, the oil return end is arranged on the oil return line, and an oil circuit pressure control valve is provided on the connecting line.

3. The electro-hydraulic control method for an automated drill pipe loader according to claim 2, characterized in that: The power input end of the hydraulic pump is provided with an explosion-proof motor, the oil circuit pressure control valve includes a pressure relief ball valve and a relief valve, the number of the connecting pipelines is two, and the pressure relief ball valve and the relief valve are respectively provided in any one of the connecting pipelines.

4. The electro-hydraulic control method for an automated drill pipe loader according to claim 3, characterized in that: An oil filter is provided on the oil return pipeline, and an air filter, a thermometer and an oil drain ball valve are provided on the oil tank.

5. The electro-hydraulic control method for an automated drill pipe loader according to claim 1, characterized in that: The robotic arm assembly includes a robotic arm swing cylinder, a robotic claw opening and closing cylinder, a robotic wrist swing cylinder, and a robotic claw rotation swing cylinder. The first control valve is an explosion-proof proportional reversing valve.

6. The electro-hydraulic control method for an automated drill pipe loader according to claim 1, characterized in that: The second control valve further includes an explosion-proof electromagnetic ball valve, which is connected to the drill rod transplanting motor.

7. The electro-hydraulic control method for an automated drill pipe loader according to claim 6, characterized in that: An oil pipe is provided between the drill rod transplanting motor and the drill rod adjusting motor.

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