An electro-hydraulic system and control method for automatic make-up and break-out of drill pipes

Abstract

The present invention discloses an electro-hydraulic system and a control method for automatic drill pipe make-up and break-out. The electro-hydraulic system includes Pump I, Pump II, the integrated valve for Pump II drilling logic control, the multi-way valve for traveling / robot arm control, the multi-way valve for Pump I drilling control, shuttle valve, the integrated valve for slewing control, the multi-way valve for host luffing control, and the multi-way valve for stabilization control. Adopting the constant-speed control of double pumps and double controls, the rotation speed and the feeding speed of the drill pipe make-up are respectively controlled to meet the matching adjustment of the forward rotation speed and the feeding speed of the make-up under different drilling conditions, eliminate the influence factors of the load, and protect the drill pipe thread by floating. Adopting the floating-limit pressure control, the make-up and break-out of the feeding cylinder floats, and the make-up and break-out pressure is separately limited to protect the structural safety of the drill pipe thread and the make-up and break-out mechanism, and does not affect the normal drilling construction pressure. The electro-hydraulic system of the present invention has a high integration degree and can improve the efficiency of make-up and break-out and conventional drilling construction.

Description

Technical Field

[0001] The present invention belongs to the technical field of underground coal mine tunnel drilling, and specifically relates to an electro-hydraulic system and control method for automatic thread loading and unloading on a drilling rig. Background Art

[0002] When an underground coal mine automatic drilling rig performs the operation of automatically adding drill pipes, the previous drill pipe needs to be fixed in the clamping device. The rotary device of the drilling rig drives the drill pipe to be added to rotate, and feeds forward to the fixed drill pipe at a certain linear motion speed. The male thread head of the moving drill pipe is rotationally connected to the female thread of the fixed drill pipe to complete the drill pipe loading and unloading action. When the electro-hydraulic control system of the automatic drilling rig controls the threading of the drill pipe, generally a separate control constant speed mode is used to control the two motions. The main pump controls the constant speed rotation, and the auxiliary pump controls the constant speed feeding. Appropriate control speeds are obtained through debugging tests, and the matching flow rates for the rotary motion and the linear motion are set in the program. Generally, a very slow speed is preset to adapt to different working conditions, without damaging the threads and meeting the requirements of automatic threading. During the operation of unloading the drill pipe, the clamping device needs to clamp the drill pipe in the hole, and the rotary device of the drilling rig drives the drill pipe to be unloaded to rotate. At this time, it is required that the drill pipe to be unloaded can float along the axial direction of the drill pipe. The drill pipe to be unloaded relies on the inclined plane lift force of the drill pipe thread to disengage from the drill pipe in the hole to complete the unthreading action.

[0003] However, during the actual construction of adding drill pipes, due to different working conditions of the elevation and depression angles of the drilling rig construction, the component force of the self-weight load of the rotary device driving the drill pipe rotation along the linear motion direction will change with different angles. The larger the angle, the greater the influence of the load on the feeding speed. For example, during construction at an elevation angle, the self-weight load of the rotary device is a positive acting load, that is, the load direction is opposite to the forward direction of the threading direction. During construction at a depression angle, the self-weight load of the rotary device is a negative acting load, that is, the load direction is the same as the forward direction of the threading direction. If the program is set to feed at a constant speed, during construction at an elevation angle of 0° to +90°, the larger the angle, the greater the positive acting load, and the feeding acceleration shows a decreasing trend. The threading feeding speed will become slower and slower, and gradually become mismatched with the rotary speed, affecting the threading efficiency and effect. Similarly, during construction at a depression angle of 0° to -90°, the larger the angle, the greater the negative acting load, and the feeding acceleration shows an increasing trend. The threading feeding speed will become faster and faster, and will also gradually become mismatched with the rotary speed, affecting the threading efficiency and effect. When the set rotary speed and forward speed of the moving drill pipe cannot meet the requirements of the thread pitch matching, it will cause mutual pulling between the male and female threads of the drill pipe, resulting in increased thread wear, or the inability to screw on the thread, or excessive torque damage to the mechanical claws and other phenomena.

[0004] At the same time, since the drill rig requires different drilling process parameter matches under different working conditions, especially the rotary speed of the drill rig. When drilling shallow holes or in coal seams, it is easy to apply high-speed and low-torque drilling, that is, the displacement of the rotary motor is adjusted to the small-displacement state. When drilling deep holes or in rock formations, it is easy to apply low-speed and high-torque drilling, that is, the displacement of the rotary motor is adjusted to the large-displacement state. During the actual operation of adding drill pipes, since the displacement of the motor cannot be adjusted for each drilling cycle, the displacement needs to be adapted to the rotational speed requirements of the actual drilling process at this time, and it is not appropriate to repeatedly adjust to adapt to the rotational displacement required for the threading operation between drill pipes. Generally, for the purpose of protecting the thread, the main pump is programmed to supply oil at a small flow rate for rotation, and the thread is screwed on at a low speed. However, this will cause the rotary motor of the drill rig to be in a large-displacement and low-speed rotation state when drilling deep holes or in rock formations. The rotary speed during threading is further reduced, the threading efficiency is reduced, and it cannot match the set feed speed, resulting in thread damage. If the main pump is programmed to supply oil at a slightly larger flow rate and the thread is screwed on at a medium speed, it will cause the rotary motor of the drill rig to be in a small-displacement and high-speed state when drilling shallow holes or in coal seams. The rotary speed during threading will become faster, also causing damage between the threads. Summary of the Invention

[0005] Aiming at the deficiencies existing in the prior art, the purpose of the present invention is to provide an electro-hydraulic system and control method for automatically screwing on and unscrewing drill pipes of a drill rig, to solve the logical switching of control parameters during normal drilling and the operation of screwing on and unscrewing drill pipes under different working conditions and different drilling process parameter conditions, the non-differential matching of the rotary speed and the feed speed during the threading operation, the floating adaptation during the unscrewing operation, and to improve the automation degree of the drill rig and the efficiency of screwing on and unscrewing drill pipes while prolonging the service life of the drill pipe threads.

[0006] To solve the above technical problems, the present invention is realized by adopting the following technical solutions:

[0007] An electro-hydraulic system for automatically screwing on and unscrewing drill pipes of a drill rig includes a Pump I, a Pump II, an integrated valve for controlling the drilling logic of Pump II, a multi-way valve for controlling the walking / robot arm, a multi-way valve for controlling the drilling of Pump I, a shuttle valve, an integrated valve for controlling the rotation, a multi-way valve for controlling the luffing of the main machine, and a multi-way valve for controlling the stability.

[0008] The I pump is connected to the traveling / robotic arm control multi-way valve and the I pump drilling control multi-way valve; the hydraulic oil output by the I pump can enter the I pump drilling control multi-way valve and the traveling / robotic arm control multi-way valve respectively; the five valves of the I pump drilling control multi-way valve separately control the actions of the rotary, the feed cylinder, the front gripper, the rear gripper, and the pipe uncoupler; the five valve groups of the traveling / robotic arm control multi-way valve separately control the actions of the robotic arm gripper, the up and down magnetism of the robotic arm gripper, the left crawler travel, the right crawler travel, and the turntable braking; the high-pressure oil led out from the control port Ls of the I pump drilling control multi-way valve and the control port Ls of the traveling / robotic arm control multi-way valve can enter the shuttle valve together to control the output flow of the I pump; another path of high-pressure oil led out from the control port Ls of the I pump drilling control multi-way valve can enter the rotary control integrated valve to adjust the rotary motor speed, the rotary constant speed, and the thread-up pressure limit control;

[0009] The II pump is connected to the II pump drilling logic control integrated valve, the host luffing control multi-way valve, and the stability control multi-way valve; the high-pressure oil output by the II pump can enter the stability control multi-way valve, and the first valve of the stability control multi-way valve serves as the selection oil path. When in the neutral position, the remaining six valve groups of the stability control multi-way valve separately control the actions of the four lower stability cylinders and the two upper stability cylinders of the drill rig; when in the forward position, the high-pressure oil enters the II pump drilling logic control integrated valve, and it can perform feed control, feed constant speed, and up and down uncoupling floating control; when in the rear position, the high-pressure oil enters the host luffing control multi-way valve, and its five valve groups respectively control the actions of the host lifting, the host inclination, the host translation, the host rear top stability, and the front top stability.

[0010] The present invention further includes the following technical features:

[0011] Specifically, the II pump drilling logic control integrated valve includes a valve block and an electronically controlled pressure reducing valve, a throttle valve, a II pump safety valve, a slow drilling electromagnetic reversing valve, a pipe unthreading floating hydraulic control reversing valve, a thread-up floating hydraulic control reversing valve, an electro-hydraulic proportional speed control valve, a fixed value pressure reducing valve, an up and down pipe unthreading feed electromagnetic reversing valve, and an electronically controlled overflow valve arranged inside the valve block;

[0012] The valve block is respectively provided with an oil inlet P, an oil inlet P1, an oil inlet X1, an oil outlet X, an oil outlet working oil port A, an oil outlet working oil port B, a return oil port T, and a total drain oil port L; the oil inlet P on the valve block is connected to the stability control multi-way valve to connect the high-pressure oil output by the II pump, the oil inlet P1 on the valve block is connected to the oil outlet of the I pump, the traveling / robotic arm control multi-way valve, and the I pump drilling control multi-way valve, the oil inlet X1 on the valve block is connected to the control port of the II pump, the oil outlet X on the valve block is connected to the oil inlet X2 of the rotary control integrated valve, and the oil outlet working oil port A and the oil outlet working oil port B on the valve block are both connected to the I pump drilling control multi-way valve and the feed cylinder; the return oil port T and the total drain oil port L on the valve block are both connected to the return oil tank;

[0013] The oil inlet P of the electro-controlled pressure reducing valve, the oil outlet A of the throttle valve, and the oil inlet P of the II pump safety valve are all connected. The oil outlet A of the electro-controlled pressure reducing valve is connected to the oil inlet P of the slow drilling electromagnetic directional control valve. The oil outlet C of the electro-controlled pressure reducing valve is connected to the total drain port L on the valve block. The oil inlet P of the throttle valve is connected to the oil inlet P on the valve block. The oil outlet A of the II pump safety valve is connected to the oil return port T on the valve block. The oil outlet T of the slow drilling electromagnetic directional control valve is connected to the oil return port T on the valve block. The oil outlet working port A of the slow drilling electromagnetic directional control valve, the oil inlet P of the thread-unloading floating hydraulic control directional control valve, and the oil outlet working port A of the thread-making floating hydraulic control directional control valve are all connected and connected to the oil outlet working port A on the valve block. The oil outlet working port B of the slow drilling electromagnetic directional control valve, the oil outlet T of the thread-unloading floating hydraulic control directional control valve, and the oil outlet working port B of the thread-making floating hydraulic control directional control valve are all connected and connected to the oil outlet working port B on the valve block. After the oil outlet working port A and the oil outlet working port B of the thread-unloading floating hydraulic control directional control valve are connected, they are connected to the oil return port T on the valve block. The control oil port M of the thread-unloading floating hydraulic control directional control valve is connected to the oil outlet working port B of the thread-unloading and thread-making feeding electromagnetic directional control valve. The oil inlet P of the thread-making floating hydraulic control directional control valve is connected to the oil outlet working port A of the thread-unloading and thread-making feeding electromagnetic directional control valve, the control oil port M of the thread-making floating hydraulic control directional control valve, and the oil outlet X on the valve block. The oil return port T of the thread-making floating hydraulic control directional control valve is connected to the oil inlet P of the electro-hydraulic proportional speed control valve. The oil outlet A of the electro-hydraulic proportional speed control valve is connected to the oil return port T on the valve block. The oil inlet P of the fixed-value pressure reducing valve is connected to the oil inlet P1 on the valve block. The oil outlet A of the fixed-value pressure reducing valve is connected to the oil inlet P of the thread-unloading and thread-making feeding electromagnetic directional control valve. The oil outlet C of the fixed-value pressure reducing valve is connected to the total drain port L on the valve block. The oil outlet T of the thread-unloading and thread-making feeding electromagnetic directional control valve is connected to the total drain port L on the valve block. The oil inlet P of the electro-controlled overflow valve is connected to the oil inlet X1 on the valve block. The oil outlet A of the electro-controlled overflow valve is connected to the total drain port L on the valve block.

[0014] Specifically, the rotary control integrated valve includes a valve body and an electro-hydraulic proportional pressure reducing valve, a two-position three-way electromagnetic directional control valve, a two-position two-way hydraulic control directional control valve, a safety valve, a pressure relay, and a two-position four-way electromagnetic directional control valve arranged inside the valve body.

[0015] The valve body is respectively provided with an oil inlet P2, an oil inlet P3, an oil inlet X2, and an oil outlet X3. The oil inlet P2 on the valve body is connected to the shuttle valve, the oil inlet P3 on the valve body, and the I pump drilling control multi-way valve. The oil inlet X2 on the valve body is connected to the II pump drilling logic control integrated valve. The oil outlet X3 on the valve body is connected to the rotary device.

[0016] The oil inlet P of the electro-hydraulic proportional relief valve is connected to the oil inlet P2 on the valve body. The oil outlet A of the electro-hydraulic proportional relief valve is connected to the oil inlet P of the two-position three-way solenoid directional control valve. The oil outlet A of the two-position three-way solenoid directional control valve is connected to the oil outlet X3 on the valve body. The oil inlet P of the two-position two-way hydraulically controlled directional control valve is connected to the oil outlet A of the four-way solenoid directional control valve. The oil outlet A of the two-position two-way hydraulically controlled directional control valve is connected to the oil inlet P of the safety valve. The oil outlet A of the safety valve is connected to the oil tank. The pressure relay is arranged at the oil outlet of the safety valve. The oil inlet P of the four-way solenoid directional control valve is connected to the oil inlet P3 on the valve body.

[0017] Specifically, the multi-way valve for I-pump drilling control is a load-sensing valve, with a constant flow rate for the controlled slewing action and a control pressure varying with the load.

[0018] The II-pump drilling logic control integrated valve controls the II-pump as a constant-pressure variable pump, with a constant control pressure for the feed control. When the load is greater than the set pressure value, the control feed output flow rate decreases. When the load is less than the set pressure value, the II-pump outputs at full flow rate, and the control feed output flow rate is a fixed value.

[0019] Both the multi-way valve for I-pump drilling control and the II-pump drilling logic control integrated valve have oil circuits connected in parallel with the feed cylinder, and there is no simultaneous working condition. When controlling the feed cylinder in different circuits, the control connecting oil fluids are different, achieving interlocking and pressure maintaining. At the same time, when the drilling rig is in the large-angle construction condition, during standby or when the drilling stops, all the control oil circuits of the feed cylinder are in the closed state.

[0020] A control method for the electro-hydraulic system of an automatic drilling rig for threading and unthreading. This method realizes the threading control through the electro-hydraulic system of the automatic drilling rig for threading and unthreading, including:

[0021] Set the multi-way valve for I-pump drilling control to push the slewing connection to the set flow rate forward rotation position, and the I-pump 1Ls load feedback port obtains a pressure signal and outputs the corresponding flow rate. At the same time, control the feed speed and slewing speed:

[0022] Select the front position for the first valve of the stable control multi-way valve, and the electro-magnetic directional control valve for feed during threading and unthreading in the II-pump drilling logic control integrated valve is switched to the front position - threading position, for feed control, feed constant speed control, and threading floating control.

[0023] Set the four-way solenoid directional control valve in the slewing control integrated valve to the open position - pressure limiting position, and the electro-hydraulic proportional relief valve to the closed position. At this time, the high-pressure oil output by the I-pump is led out from the control port Ls of the multi-way valve for I-pump drilling control and enters the slewing control integrated valve. The oil fluid passes through the electro-hydraulic proportional relief valve and the two-position three-way solenoid directional control valve, and then is introduced into the swiveler motor displacement variable control port through the external oil circuit, for swiveler motor speed regulation, slewing constant speed control, and threading pressure limiting control.

[0024] During the process of screwing on, the feeding speed and the rotating speed are matched to satisfy the following relationship:

[0025]

[0026] In the above formula, Q1 is the rotating flow rate, Q2 is the feeding flow rate, L is the thread pitch of the drill pipe, S is the area of the feeding cylinder, V 排 is the maximum displacement of the rotary motor, and i is the transmission ratio of the rotary device.

[0027] Specifically, the feeding control by the II-pump drilling logic control integrated valve includes:

[0028] When it is necessary to control the drilling speed to change from small to large during drilling, the electro-hydraulic overflow valve is adjusted through the remote control to control the drilling pressure of the II-pump to change from small to large;

[0029] When it is necessary to control the drilling pressure to change from large to small during drilling, the electro-hydraulic overflow valve is adjusted through the remote control. First, the pump pressure of the II-pump is adjusted to the maximum, and then the fixed-value pressure reducing valve is adjusted to control the drilling pressure to change from large to small;

[0030] When the slow drilling solenoid directional valve is switched to the forward position, it can control the feeding cylinder to move forward. When the slow drilling solenoid directional valve is switched to the rear position, it controls the feeding cylinder to move backward.

[0031] Specifically, the feeding constant speed and make-up / break-out floating control by the II-pump drilling logic control integrated valve include:

[0032] After the high-pressure oil of the II-pump enters the II-pump drilling logic control integrated valve, it first passes through the fixed-value pressure reducing valve to reduce its outlet pressure to the set constant pressure value, and then enters the make-up / break-out feeding solenoid directional valve. When the make-up / break-out feeding solenoid directional valve is switched to the middle position, the oil circuit is blocked and there is no action;

[0033] When the make-up / break-out feeding solenoid directional valve is switched to the forward position, it is switched to the make-up thread control. Its output high-pressure oil is divided into three paths: The first path of high-pressure oil is connected to the rotary control integrated valve through the external oil circuit to control the adaptive make-up thread logic action function; The second path of high-pressure oil enters the control port of the make-up thread floating hydraulic control directional valve through the internal oil circuit, and the pressure oil makes it change to the conducting state after changing direction; The third path of high-pressure oil passes through the conducting make-up thread floating hydraulic control directional valve through the internal oil circuit and enters the left cavity of the feeding cylinder to realize the make-up thread feeding action. The equal amount of hydraulic oil output by the feeding cylinder returns to the oil tank through the make-up thread floating hydraulic control directional valve and the electro-hydraulic proportional speed control valve for unloading. An electro-hydraulic proportional speed control valve is set in the return oil circuit to ensure that during make-up threading, under the condition of positive or negative load, back pressure is provided to overcome the load, and the pressure difference before and after the electro-hydraulic proportional speed control valve remains unchanged and the flow rate is constant, so as to obtain a constant feeding speed and make the feeding speed not affected by the load change.

[0034] Specifically, the rotation control integrated valve for adjusting the rotation speed of the rotary motor includes: during normal drilling construction, the two-way three-way electromagnetic directional valve is energized and in the open position. The remote control adjusts the potential of the electro-hydraulic proportional pressure reducing valve to achieve the control of different outlet pressure values. The displacement of the rotary motor decreases from large to small to achieve its speed control.

[0035] The rotation control integrated valve for achieving constant rotation speed includes: during the operation of screwing on and unscrewing the drill pipe threads, the two-way three-way electromagnetic directional valve is de-energized and in the closed position. The rotary motor returns to the initial state of the maximum displacement under the action of its own spring force, and the I-pump drilling control multi-way valve can provide a constant flow rate for it to ensure a fixed rotation speed during the thread screwing-on operation, regardless of the load change.

[0036] Specifically, the rotation control integrated valve for controlling the thread screwing-on pressure limit includes: the oil of the II-pump enters the first valve of the stable control multi-way valve and then enters the II-pump drilling logic control integrated valve, and then enters the feed cylinder. The oil returning from the feed cylinder passes through the electro-hydraulic proportional speed control valve to return oil, and its bypass control oil is connected to the rotation control integrated valve to open the two-way two-way hydraulic control directional valve, and the thread screwing-on pressure limit function comes into effect.

[0037] A control method for the electro-hydraulic system of screwing on and unscrewing the drill pipe of an automatic drill rig. This method realizes the control of unscrewing the drill pipe through the electro-hydraulic system of screwing on and unscrewing the drill pipe of the automatic drill rig, including:

[0038] The I-pump drilling control multi-way valve controls the rotation and pushing to the set reverse position, sets the on-off thread screwing-on feed electromagnetic directional valve in the II-pump drilling logic control integrated valve to the rear position - the unscrewing position. The oil output by the I-pump pushes the unscrewing floating hydraulic control directional valve to change its position, and the feed cylinder floats. Relying on the helical lift force between the reverse rotation and the thread, the thread is disengaged. After the thread is completely disengaged, the I-pump drilling control multi-way valve controls the rapid retraction of the feed cylinder to complete the unscrewing operation.

[0039] During the process of unscrewing the drill pipe, the II-pump drilling logic control integrated valve can realize the floating control of unscrewing the drill pipe. The floating control of unscrewing the drill pipe includes: when the on-off thread screwing-on feed electromagnetic directional valve is switched to the rear position, it is switched to the unscrewing control. Its output high-pressure oil enters the control port of the unscrewing floating hydraulic control directional valve, and the pressure oil makes it change to the conducting state after changing its position. At this time, both the left and right cavities of the feed cylinder are directly connected to the fuel tank, and the feed cylinder is in a floating state. The drill pipe threads only rely on the rotation of the rotary device to drive the drill pipe to be unscrewed and rely on the helical lift force between the threads to disengage the threads, and the threads will not be damaged.

[0040] Compared with the prior art, the present invention has the following technical effects:

[0041] The present invention adopts constant-speed control with dual pumps and dual controls to separately control the key parameters of the rotary speed and the feeding speed of the drill pipe thread, satisfying the matching adjustment of the forward rotation speed and the feeding speed of the thread under different drilling conditions, eliminating the influence factors of the load, floating to protect the drill pipe thread, without the need to repeatedly adjust the drilling process parameters, without the need to compile different make-and-break control programs for different working conditions, improving the make-and-break and conventional drilling construction efficiency, and simplifying the make-and-break control program of the system; adopting floating-pressure limiting control, the make-and-break of the feeding oil cylinder floats, and the make-and-break pressure is separately limited to protect the structural safety of the drill pipe thread and the make-and-break mechanism, and does not affect the normal drilling construction pressure; having the electro-hydraulic adjustment function during the slow feeding of the II pump to meet the requirements of different drilling processes; the electro-hydraulic control system of the drilling rig has a high integration level, has the function of preventing the rotary table from sliding down, and all adopts a control method combining single-acting and logic control, and the control system has a fast response. Description of the Drawings

[0042] Figure 1 It is the schematic diagram of the electro-hydraulic system of the present invention;

[0043] Figure 2 It is the hydraulic schematic diagram of the integrated valve circuit of the II pump drilling logic control of the present invention;

[0044] Figure 3 It is the hydraulic schematic diagram of the integrated valve circuit of the rotary control of the present invention.

[0045] Meanings of the reference numerals in the drawings:

[0046] 1. I pump, 2. II pump, 3. II pump drilling logic control integrated valve, 4. Travel / robotic arm control multi-way valve, 5. I pump drilling control multi-way valve, 6. Shuttle valve, 7. Rotary control integrated valve, 8. Rotary table, 9. Unthreading device, 10. Front gripper, 11. Rear gripper, 12. Feed cylinder, 13. Lifting cylinder, 14. Rotary table, 15. Translation cylinder, 16. Rear jacking cylinder, 17. Front jacking cylinder, 18. Main unit luffing control multi-way valve, 19. Upper stabilizing cylinder I, 20. Upper stabilizing cylinder II, 21. Lower stabilizing cylinder I, 22. Lower stabilizing cylinder II, 23. Lower stabilizing cylinder III, 24. Lower stabilizing cylinder IV, 25. Stabilizing control multi-way valve, 26. Robotic arm gripper cylinder, 27. Robotic arm gripper up and down magnet, 28. Travel motor I, 29. Travel motor II, 30. Rotary table brake; 3-1. Electric control pressure reducing valve, 3-2. Throttle valve, 3-3. II pump safety valve, 3-4. Slow drilling electromagnetic directional control valve, 3-5. Unthreading floating hydraulic control directional control valve, 3-6. Threading floating hydraulic control directional control valve, 3-7. Electro-hydraulic proportional speed control valve, 3-8. Fixed value pressure reducing valve, 3-9. Upper and lower unthreading feed electromagnetic directional control valve, 3-10. Electric control overflow valve; 7-1. Electro-hydraulic proportional pressure reducing valve, 7-2. Two-position three-way electromagnetic directional control valve, 7-3. Two-position two-way hydraulic control directional control valve, 7-4. Safety valve, 7-5. Pressure relay, 7-6. Two-position four-way electromagnetic directional control valve. Detailed implementation mode

[0047] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments, and any equivalent transformation based on the technical solution of this application falls within the protection scope of the present invention.

[0048] Embodiment 1:

[0049] This embodiment provides an electro-hydraulic system for automatic drilling unthreading, as Figures 1 to 3 shown, including a large-displacement I pump 1, a small-displacement II pump 2, a II pump drilling logic control integrated valve 3, a travel / robotic arm control multi-way valve 4, an I pump drilling control multi-way valve 5, a shuttle valve 6, a rotary control integrated valve 7, a main unit luffing control multi-way valve 18, and a stabilizing control multi-way valve 25;

[0050] The first pump 1 is connected to the traveling / robotic arm control multi-way valve 4 and the first pump drilling control multi-way valve 5; the hydraulic oil output by the first pump 1 is divided into two paths after passing through the first pump high-pressure filter and can enter the first pump drilling control multi-way valve 5 and the traveling / robotic arm control multi-way valve 4 respectively; the five valves of the first pump drilling control multi-way valve 5 separately control the actions of the rotary table 8, the feed cylinder 12, the front gripper 10, the rear gripper 11 and the pipe tongs 9; the five valve groups of the traveling / robotic arm control multi-way valve 4 separately control the actions of the robotic arm gripper cylinder 26, the robotic arm gripper upper and lower magnets 27, the traveling motor I 28, the traveling motor II 29 and the rotary table brake member 30. More specifically, they respectively control the actions of the robotic arm gripper, the robotic arm gripper upper and lower magnetic forces, the left track traveling, the right track traveling and the rotary table braking; the high-pressure oil led out from the control port Ls of the first pump drilling control multi-way valve 5 and the control port Ls of the traveling / robotic arm control multi-way valve 4 can enter the shuttle valve 6 together, and the highest-pressure oil is taken to enter the first pump 1 as a load-sensing pump controller to control the output flow of the first pump 1; another path of high-pressure oil led out from the control port Ls of the first pump drilling control multi-way valve 5 can enter the rotary control integrated valve 7 to adjust the motor speed of the rotary table 8, the rotary constant speed and the thread-up pressure limit control; specifically, the rotary control integrated valve 7 has the functions of remotely adjusting the motor speed of the rotary table 8 and the thread-up constant speed, and has the single-condition pressure limit function for threading and unthreading, which improves the thread-up efficiency and does not damage the thread.

[0051] The II pump 2 is connected to the II pump drilling logic control integrated valve 3, the mainframe luffing control multi-way valve 18, and the stability control multi-way valve 25; the high-pressure oil output by the II pump 2 can enter the stability control multi-way valve 25, and the first valve of the stability control multi-way valve 25 serves as the selection oil circuit. When the selection is in the neutral position, the stability control multi-way valve 25 works, and the other six valve groups of the stability control multi-way valve 25 separately control the actions of the four lower stability cylinders and the two upper stability cylinders of the drill rig. Specifically, the four lower stability cylinders are the lower stability cylinder I 21, the lower stability cylinder II 22, the lower stability cylinder III 23, and the lower stability cylinder IV 24, and the two upper stability cylinders are the upper stability cylinder I 19 and the upper stability cylinder II 20; when the selection is in the front position, the high-pressure oil enters the II pump drilling logic control integrated valve 3, and it can perform feed control, feed constant speed, and make-up / break-out floating control. Specifically, after the high-pressure oil enters the II pump drilling logic control integrated valve 3, it is divided into two paths. One path of oil passes through the electronically controlled pressure reducing valve, the make-up / break-out thread feed electromagnetic reversing valve, the make-up thread floating hydraulic control reversing valve, the electro-hydraulic proportional speed regulating valve, and the break-out thread floating hydraulic control reversing valve of the II pump drilling logic control integrated valve 3, and then enters the feed cylinder 12 and the slewing control integrated valve 7 through the external oil circuit respectively. The other path of oil sequentially passes through the throttle valve, the electronically controlled pressure reducing valve, and the slow drilling electromagnetic reversing valve of the II pump drilling logic control integrated valve 3; when the selection is in the rear position, the high-pressure oil enters the mainframe luffing control multi-way valve 18, and its five valve groups separately control the actions of the lifting cylinder 13, the turntable 14, the translation cylinder 15, the rear jacking cylinder 16, and the front jacking cylinder 17. More specifically, they respectively control the mainframe lifting, the mainframe inclination angle, the mainframe translation, the mainframe rear jacking stability, and the front jacking stability actions.

[0052] Specifically: The I pump 1 is a constant power and constant pressure load-sensing pump, which has its own limited power and overpressure protection functions; the II pump 2 is a constant pressure variable pump that outputs adjustable constant pressure oil and is not affected by the load. Its output pressure is remotely controlled by the electronically controlled overflow valve inside the II pump drilling logic control integrated valve 3; the I pump drilling control multi-way valve 5 and the travel / robotic arm control multi-way valve 4 are load-sensing valves.

[0053] The II pump drilling logic control integrated valve 3 includes a valve block and an electronically controlled pressure reducing valve 3-1, a throttle valve 3-2, a II pump safety valve 3-3, a slow drilling electromagnetic reversing valve 3-4, a break-out thread floating hydraulic control reversing valve 3-5, a make-up thread floating hydraulic control reversing valve 3-6, an electro-hydraulic proportional speed regulating valve 3-7, a fixed value pressure reducing valve 3-8, a make-up / break-out thread feed electromagnetic reversing valve 3-9, and an electronically controlled overflow valve 3-10 arranged inside the valve block;

[0054] The valve block is respectively provided with an oil inlet P, an oil inlet P1, an oil inlet X1, an oil outlet X, an oil outlet working port A, an oil outlet working port B, an oil return port T and a total oil drain port L; the oil inlet P on the valve block is communicated with the stable control multi-way valve 25 to communicate the high-pressure oil output by the II pump 2, the oil inlet P1 on the valve block is communicated with the output oil port of the I pump 1, the traveling / manipulator control multi-way valve 4 and the I pump drilling control multi-way valve 5, the oil inlet X1 on the valve block is connected with the control port of the II pump 2, the oil outlet X on the valve block is communicated with the oil inlet X2 of the slewing control integrated valve 7, and the oil outlet working ports A and B on the valve block are communicated with the I pump drilling control multi-way valve 5 and the feed cylinder 12; the oil return port T and the total oil drain port L on the valve block are both communicated to the oil return fuel tank;

[0055] The oil inlet P of the electro-controlled pressure reducing valve 3-1, the oil outlet A of the throttle valve 3-2, and the oil inlet P of the II pump safety valve 3-3 are all connected. The oil outlet A of the electro-controlled pressure reducing valve 3-1 is connected to the oil inlet P of the slow drilling electromagnetic directional control valve 3-4. The oil outlet C of the electro-controlled pressure reducing valve 3-1 is connected to the total drain port L on the valve block. The oil inlet P of the throttle valve 3-2 is connected to the oil inlet P on the valve block. The oil outlet A of the II pump safety valve 3-3 is connected to the oil return port T on the valve block. The oil outlet T of the slow drilling electromagnetic directional control valve 3-4 is connected to the oil return port T on the valve block. The oil outlet working port A of the slow drilling electromagnetic directional control valve 3-4, the oil inlet P of the thread releasing floating hydraulic control directional control valve 3-5, and the oil outlet working port A of the thread threading floating hydraulic control directional control valve 3-6 are all connected and connected to the oil outlet working port A on the valve block. The oil outlet working port B of the slow drilling electromagnetic directional control valve 3-4, the oil outlet T of the thread releasing floating hydraulic control directional control valve 3-5, and the oil outlet working port B of the thread threading floating hydraulic control directional control valve 3-6 are all connected and connected to the oil outlet working port B on the valve block. After the oil outlet working port A and the oil outlet working port B of the thread releasing floating hydraulic control directional control valve 3-5 are connected, they are connected to the oil return port T on the valve block. The control oil port M of the thread releasing floating hydraulic control directional control valve 3-5 is connected to the oil outlet working port B of the thread releasing and threading feed electromagnetic directional control valve 3-9. The oil inlet P of the thread threading floating hydraulic control directional control valve 3-6 is connected to the oil outlet working port A of the thread releasing and threading feed electromagnetic directional control valve 3-9, the control oil port M of the thread threading floating hydraulic control directional control valve 3-6, and the oil outlet X on the valve block. The oil return port T of the thread threading floating hydraulic control directional control valve 3-6 is connected to the oil inlet P of the electro-hydraulic proportional speed control valve 3-7. The oil outlet A of the electro-hydraulic proportional speed control valve 3-7 is connected to the oil return port T on the valve block. The oil inlet P of the fixed value pressure reducing valve 3-8 is connected to the oil inlet P1 on the valve block. The oil outlet A of the fixed value pressure reducing valve 3-8 is connected to the oil inlet P of the thread releasing and threading feed electromagnetic directional control valve 3-9. The oil outlet C of the fixed value pressure reducing valve 3-8 is connected to the total drain port L on the valve block. The oil outlet T of the thread releasing and threading feed electromagnetic directional control valve 3-9 is connected to the total drain port L on the valve block. The oil inlet P of the electro-controlled overflow valve 3-10 is connected to the oil inlet X1 on the valve block. The oil outlet A of the electro-controlled overflow valve 3-10 is connected to the total drain port L on the valve block.

[0056] The swing control integrated valve 7 includes a valve body and an electro-hydraulic proportional pressure reducing valve 7-1, a two-position three-way electromagnetic directional control valve 7-2, a two-position two-way hydraulic control directional control valve 7-3, a safety valve 7-4, a pressure relay 7-5, and a two-position four-way electromagnetic directional control valve 7-6 arranged inside the valve body;

[0057] The valve body is respectively provided with an oil inlet P2, an oil inlet P3, an oil inlet X2, and an oil outlet X3. The oil inlet P2 on the valve body is connected to the shuttle valve 6, the oil inlet P3 on the valve body, and the I pump drilling control multi-way valve 5. The oil inlet X2 on the valve body is connected to the II pump drilling logic control integrated valve 3. The oil outlet X3 on the valve body is connected to the rotary table 8;

[0058] The oil inlet P of the electro-proportional pressure reducing valve 7-1 is communicated with the oil inlet P2 on the valve body. The oil outlet A of the electro-proportional pressure reducing valve 7-1 is communicated with the oil inlet P of the two-position three-way electromagnetic reversing valve 7-2. The oil outlet A of the two-position three-way electromagnetic reversing valve 7-2 is communicated with the oil outlet X3 on the valve body. The oil inlet P of the two-position two-way hydraulic control reversing valve 7-3 is communicated with the oil outlet A of the four-position two-way electromagnetic reversing valve 7-6. The oil outlet A of the two-position two-way hydraulic control reversing valve 7-3 is communicated with the oil inlet P of the safety valve 7-4. The oil outlet A of the safety valve 7-4 is communicated with the oil tank. The pressure relay 7-5 is arranged at the oil outlet of the safety valve 7-4. The oil inlet P of the four-position two-way electromagnetic reversing valve 7-6 is communicated with the oil inlet P3 on the valve body.

[0059] The I-pump drilling control multi-way valve 5 is a load-sensing valve, with a constant flow rate for the controlled slewing motion and a control pressure varying with the load.

[0060] The II-pump drilling logic control integrated valve 3 controls the II-pump 2 as a constant-pressure variable pump, with a constant controlled feed control pressure. When the load is greater than the set pressure value, the controlled feed output flow rate decreases. When the load is less than the set pressure value, the II-pump 2 outputs at full flow rate, and the controlled feed output flow rate is a fixed value.

[0061] Both the I-pump drilling control multi-way valve 5 and the II-pump drilling logic control integrated valve 3 have oil circuits connected in parallel with the feed cylinder 12 and there is no simultaneous working condition. Therefore, the control valve connection neutral positions of both are set to the "O" type function, that is, when controlling the feed cylinder 12 in different circuits, the control circuit oil fluids are different from each other, achieving interlocking and pressure holding. At the same time, when the drilling rig is in the large-angle construction condition, during standby or when drilling stops, all the control oil circuits of the feed cylinder 12 are in the closed state, achieving the front movement lock of the rotary table 8 connected to the feed cylinder 12, realizing the function of preventing the rotary table 8 from sliding down and improving the construction safety.

[0062] Embodiment 2:

[0063] This embodiment provides a control method for the electro-hydraulic system of the automatic drilling rig for screwing on and unscrewing. This method realizes the control of screwing on by the electro-hydraulic system of the automatic drilling rig in Embodiment 1, including:

[0064] The program sets the rotary joint of the I-pump drilling control multi-way valve to be pushed to the set flow rate forward position, and the I-pump 1Ls load feedback port obtains a pressure signal and outputs the corresponding flow rate. At the same time, the feed speed and the rotary speed are controlled:

[0065] The first valve of the stable control multi-way valve selects the front position, and high-pressure oil enters the II-pump drilling logic control integrated valve. The on-off and screwing feed electromagnetic reversing valve in the II-pump drilling logic control integrated valve reverses to the front position - the screwing-on position; the II-pump drilling logic control integrated valve conducts feed control, feed constant speed control, and screwing-on floating control.

[0066] Set the two-position four-way electromagnetic reversing valve (pressure-limiting electromagnetic reversing valve) in the slewing control integrated valve to reverse to the open position - the pressure-limiting position, and the electro-hydraulic proportional reducing valve (motor speed regulating solenoid valve) to reverse to the closed position. At this time, the high-pressure oil output by Pump I is led out from the control port Ls of the drilling control multi-way valve of Pump I and then enters the slewing control integrated valve. The oil passes through the electro-hydraulic proportional reducing valve and the two-position three-way electromagnetic reversing valve, and then is introduced into the swashplate motor displacement variable control port through the external oil circuit for swashplate motor speed regulation, slewing constant speed, and thread-up pressure limiting control.

[0067] During the thread-up process, the feeding speed and the slewing speed are matched to satisfy the following relationship:

[0068]

[0069] In the above formula, Q1 is the slewing flow rate, Q2 is the feeding flow rate, L is the drill pipe thread pitch, S is the area of the feeding cylinder, V 排 is the maximum displacement of the swashplate motor, and i is the transmission ratio of the swashplate.

[0070] More specifically, the drilling control multi-way valve of Pump I is a load-sensitive valve, and the slewing action flow rate it controls is constant, and the control pressure varies with the load. The Pump II controlled by the drilling logic control integrated valve of Pump II is a constant-pressure variable pump, and the controlled feeding control pressure is constant. When the load is greater than the set pressure value, the controlled feeding output flow rate decreases. When the load is less than the set pressure value, Pump II outputs full flow, and the controlled feeding output flow rate is a fixed value. Therefore, it is set that in the maximum elevation angle of 90° state, the feeding control pressure P is greater than a certain value ΔP of the maximum load G of the swashplate itself, and ΔP is simultaneously greater than the load force ΔF in the thread contact state, that is S is the area of the feeding cylinder cavity, ensuring that Pump II always outputs full flow under all working conditions of up and down threading. The feeding speed is controlled through the electro-hydraulic proportional speed regulating valve in the drilling logic control integrated valve of Pump II to match the constant slewing speed.

[0071] More specifically, for the speed matching error control method, set the rotational angular velocity of the drill pipe to be added to be constant at ω (i.e., the slewing speed, which can be converted from the slewing flow rate Q1), and measure and feedback the error e(t) through the feeding resistance sensor to closed-loop real-time control the feeding speed v(t) (which can be converted from the feeding flow rate Q2), so that at any angle, the ratio of the feeding speed v(t) to the rotational angular velocity ω satisfies the above speed matching relationship formula (1). The feedback error e(t) has the following characteristics: when e(t) < 0, it means that the axial feeding speed is too high; when e(t) = 0, it means that the axial feeding speed is just right; when e(t) > 0, it means that the axial feeding speed is too low; it can ensure the adaptability of the drill pipe during the tightening process, that is, when the thread reaches the end, the drill pipe speed approaches zero, and when the thread has not yet made contact, it adapts to accelerate or maintain a high speed.

[0072] The feed control of the II-pump drilling logic control integrated valve includes:

[0073] When it is necessary to control the drilling speed to change from small to large during drilling, the electro-hydraulic overflow valve is adjusted through the remote control to control the drilling pressure of the II-pump to change from small to large.

[0074] When it is necessary to control the drilling pressure to change from large to small during drilling, the electro-hydraulic overflow valve is adjusted through the remote control. First, the pump pressure of the II-pump is adjusted to the maximum, and then the fixed-value pressure reducing valve is adjusted to control the drilling pressure to change from large to small.

[0075] When the slow drilling solenoid directional valve is in the forward position, it can control the feed cylinder to move forward. When the slow drilling solenoid directional valve is in the reverse position, it controls the feed cylinder to move backward.

[0076] The feed constant speed and make-up / break-out floating control of the II-pump drilling logic control integrated valve include:

[0077] After the high-pressure oil of the II-pump enters the II-pump drilling logic control integrated valve, it first passes through the fixed-value pressure reducing valve to reduce its outlet pressure to the set constant pressure value, and then enters the make-up / break-out feed solenoid directional valve. The make-up / break-out feed solenoid directional valve is a three-position four-way directional valve, and its neutral position function is "Y" type. When the make-up / break-out feed solenoid directional valve is switched to the neutral position, the oil circuit is blocked and there is no action.

[0078] When the make-up / break-out feed solenoid directional valve is switched to the forward position, the function of the directional valve is switched to make-up thread control. Its output high-pressure oil is divided into three paths: The first path of high-pressure oil is connected to the rotary control integrated valve through the external oil circuit to control the adaptive make-up thread logic action function; the second path of high-pressure oil enters the control port of the make-up thread floating hydraulic control directional valve through the internal oil circuit. It is a two-position four-way directional valve, and the pressure oil makes it conductive after switching; the third path of high-pressure oil passes through the conductive make-up thread floating hydraulic control directional valve through the internal oil circuit and enters the left cavity of the feed cylinder to realize the make-up thread feed action. The feed cylinder is designed as a double-rod double-acting cylinder, that is, the areas of the left and right cavities are equal. Therefore, the flow rate entering the feed cylinder is equal to the flow rate output from the feed cylinder. The equal amount of hydraulic oil output from the feed cylinder returns to the oil tank for unloading through the make-up thread floating hydraulic control directional valve and the electro-hydraulic proportional speed control valve. An electro-hydraulic proportional speed control valve is set in the return oil circuit to ensure that during make-up thread, under the condition of positive or negative acting load, back pressure is provided to overcome the load, and the pressure difference before and after the electro-hydraulic proportional speed control valve remains unchanged and the flow rate is constant, obtaining a fixed feed speed so that the feed speed is not affected by the load change.

[0079] The pressure oil at the Ls port of the I-pump drilling control multi-way valve 5 is divided into two paths. One path goes to the shuttle valve 6, and the other path enters the rotary control integrated valve 7. The inlet oil passes through the fixed-value proportional pressure reducing valve 7-1 and the two-position three-way solenoid directional valve 7-2, and then is introduced into the rotary motor displacement variable control port through the external oil circuit. There are two types of motor speed adjustment conditions:

[0080] The rotation control integrated valve adjusts the rotation speed of the rotary motor, which includes: during normal drilling construction, the two-way three-way electromagnetic reversing valve is energized and in the open position. The remote control adjusts the potential of the electro-hydraulic proportional pressure reducing valve to control different outlet pressure values. The displacement of the rotary motor decreases from large to small to achieve its speed control;

[0081] The rotation control integrated valve performs constant rotation speed, which includes: during the operation of screwing on and off the drill pipe, the two-way three-way electromagnetic reversing valve is de-energized and in the closed position. The rotary motor returns to the initial state of the maximum displacement under the action of its own spring force, and the I-pump drilling control multi-way valve can provide a constant flow rate for it to ensure a fixed rotation speed during the threading operation, unaffected by load changes;

[0082] The rotation control integrated valve performs thread-up pressure limit control, which includes: the oil of the II-pump enters the II-pump drilling logic control integrated valve through the first valve of the stable control multi-way valve, then enters the feed cylinder. The oil returning from the feed cylinder passes through the electro-hydraulic proportional speed control valve and returns. The bypass control oil is connected to the rotation control integrated valve to open the two-way two-way hydraulic control valve reversing valve, and the thread-up pressure limit function takes effect. More specifically, the safety valve 7-4 in the rotation control integrated valve limits the maximum load pressure at the end of the thread-up process, feeds back a pressure cut-off signal to the system, and the system stops the thread-up operation to protect the thread and the thread-up mechanical structure from damage. When performing thread-up pressure limit, the I-pump drilling control multi-way valve 5 controls the rotation of the rotary, and the oil output by the II-pump 1 enters the pump 2 drilling logic control integrated valve. The on-off thread-up feed electromagnetic reversing valve 3-9 therein changes its direction to thread-up control. The external control oil of its oil enters the rotation control integrated valve 7 to push the two-way two-way hydraulic control valve to change its direction, changing it from the normal closed state to the conducting state. At the same time, the two-way four-way electromagnetic reversing valve (pressure limit electromagnetic reversing valve changes its direction) 7-6 bypasses the Ls load control pressure of the I-pump drilling control multi-way valve to the pressure limit electromagnetic reversing valve. At this time, the control pressure of the thread-up load is limited by the safety valve. When the pressure limit value is reached, the safety valve conducts, triggering the inlet pressure relay 7-5 to stop the rotation and feed actions; after the thread-up pressure limit ends, the pressure limit electromagnetic reversing valve and the two-way two-way hydraulic control valve return to the normal position, and the Ls load pressure is disconnected from the safety valve, and the thread-up pressure limit fails. The change of the two-way two-way hydraulic control valve can ensure zero leakage of the Ls high-pressure oil circuit after the pressure limit electromagnetic reversing valve changes its direction and closes, without affecting the normal drilling construction load pressure.

[0083] Embodiment 3:

[0084] This embodiment provides a control method for the electro-hydraulic system of the automatic drill for screwing on and off the drill pipe. This method realizes the control of unscrewing the drill pipe through the electro-hydraulic system of the automatic drill for screwing on and off the drill pipe in Embodiment 1, including:

[0085] The I-pump drilling control multi-way valve controls the rotation and joint pushing to the set reverse position. The set II-pump drilling logic control integrated valve changes the direction of the make-up / break-out feed solenoid directional valve inside to the rear position - the break-out position. The oil output by the I-pump pushes the break-out floating hydraulic control directional valve to change its direction, and the feed cylinder floats. Relying on the spiral lift force between the reverse rotation and the thread, the thread is disengaged. After the thread is completely disengaged, the I-pump drilling control multi-way valve controls the rapid retraction of the feed cylinder to complete the unthreading operation;

[0086] During the unthreading process, the II-pump drilling logic control integrated valve can achieve unthreading floating control. The unthreading floating control includes: when the make-up / break-out feed solenoid directional valve changes its direction to the rear position, the function of the directional valve switches to unthreading control. Its output high-pressure oil enters the control port of the break-out floating hydraulic control directional valve through the internal oil circuit of the integrated valve. It is a two-position four-way directional valve, and the pressure oil makes it in a conducting state after changing its direction. At this time, both the left and right cavities of the feed cylinder are directly connected to the fuel tank, and the feed cylinder is in a floating state. Between the drill pipe threads, only relying on the rotation of the rotary table, the drill pipe to be unthreaded is driven to rotate and the thread can be disengaged by relying on the spiral lift force between the threads, and the thread will not be damaged.

Claims

1. An electro-hydraulic system for automatic threading and unthreading on a drilling rig, characterized in that, It includes Pump I, Pump II, the integrated valve for the drilling logic control of Pump II, the multi-way valve for the travel / robotic arm control, the multi-way valve for the drilling control of Pump I, shuttle valves, the integrated valve for the slewing control, the multi-way valve for the host luffing control, and the stabilizing control multi-way valve; Pump I is connected to the multi-way valve for the travel / robotic arm control and the multi-way valve for the drilling control of Pump I; the hydraulic oil output by Pump I can enter the multi-way valve for the drilling control of Pump I and the multi-way valve for the travel / robotic arm control respectively; the five valves of the multi-way valve for the drilling control of Pump I separately control the actions of the rotary device, the feed cylinder, the front gripper, the rear gripper, and the pipe uncoupler; the five valve groups of the multi-way valve for the travel / robotic arm control separately control the actions of the robotic arm gripper, the up and down magnetism of the robotic arm gripper, the left crawler travel, the right crawler travel, and the turntable braking; the high-pressure oil led out from the control port Ls of the multi-way valve for the drilling control of Pump I and the control port Ls of the multi-way valve for the travel / robotic arm control can enter the shuttle valve together to control the output flow of Pump I; another path of high-pressure oil led out from the control port Ls of the multi-way valve for the drilling control of Pump I can enter the integrated valve for the slewing control to adjust the rotary motor speed, the slewing constant speed, and the thread-up pressure limit control; Pump II is connected to the integrated valve for the drilling logic control of Pump II, the multi-way valve for the host luffing control, and the stabilizing control multi-way valve; the high-pressure oil output by Pump II can enter the stabilizing control multi-way valve and the first valve of the stabilizing control multi-way valve serves as the selection oil path. When in the neutral position, the remaining six valve groups of the stabilizing control multi-way valve separately control the actions of the four lower stabilizing cylinders and the two upper stabilizing cylinders of the drilling rig; when in the forward position, the high-pressure oil enters the integrated valve for the drilling logic control of Pump II and it can perform the feed control, the feed constant speed, and the up and down uncoupling floating control; when in the rear position, the high-pressure oil enters the multi-way valve for the host luffing control and its five valve groups separately control the actions of the host lifting, the host inclination, the host translation, the host rear top stabilization, and the front top stabilization; The integrated valve for the drilling logic control of Pump II includes a valve block, an electronically controlled pressure reducing valve arranged inside the valve block, a slow drilling electromagnetic directional control valve, a thread-removing floating pilot-operated directional control valve, a thread-up floating pilot-operated directional control valve, an electro-hydraulic proportional speed control valve, and an electromagnetic directional control valve for the thread-up and thread-removing feed; The oil outlet working port A of the slow drilling electromagnetic directional control valve, the inlet port P of the thread-removing floating pilot-operated directional control valve, and the oil outlet working port A of the thread-up floating pilot-operated directional control valve are all connected and communicate with the oil outlet working port A on the valve block. The oil outlet working port B of the slow drilling electromagnetic directional control valve, the outlet port T of the thread-removing floating pilot-operated directional control valve, and the oil outlet working port B of the thread-up floating pilot-operated directional control valve are all connected and communicate with the oil outlet working port B on the valve block; the oil outlet working port A and the oil outlet working port B of the thread-removing floating pilot-operated directional control valve are connected and then communicate with the return port T on the valve block, and the control oil port M of the thread-removing floating pilot-operated directional control valve is connected to the oil outlet working port B of the electromagnetic directional control valve for the thread-up and thread-removing feed; the inlet port P of the thread-up floating pilot-operated directional control valve is connected to the oil outlet working port A of the electromagnetic directional control valve for the thread-up and thread-removing feed, the control oil port M of the thread-up floating pilot-operated directional control valve, and the oil outlet port X on the valve block. The return port T of the thread-up floating pilot-operated directional control valve is connected to the inlet port P of the electro-hydraulic proportional speed control valve.

2. The electro-hydraulic system for automatic drill pipe make-up and break-out as claimed in claim 1, characterized in that, The II-pump drilling logic control integrated valve further includes a throttle valve, a II-pump safety valve, a constant pressure reducing valve, and an electro-hydraulic overflow valve. The valve block is respectively provided with an oil inlet P, an oil inlet P1, an oil inlet X1, an oil outlet X, an oil outlet working port A, an oil outlet working port B, a return oil port T, and a total drain port L. The oil inlet P on the valve block is connected to the stable control multi-way valve to connect the high-pressure oil output by the II-pump. The oil inlet P1 on the valve block is connected to the oil outlet of the I-pump, the travel / robotic arm control multi-way valve, and the I-pump drilling control multi-way valve. The oil inlet X1 on the valve block is connected to the control port of the II-pump. The oil outlet X on the valve block is connected to the oil inlet X2 of the slewing control integrated valve. The oil outlet working ports A and B on the valve block are connected to the I-pump drilling control multi-way valve and the feed cylinder. The return oil port T and the total drain port L on the valve block are both connected to the return oil tank. The oil inlet P of the electro-hydraulic pressure reducing valve, the oil outlet A of the throttle valve, and the oil inlet P of the II-pump safety valve are all connected. The oil outlet A of the electro-hydraulic pressure reducing valve is connected to the oil inlet P of the slow drilling electromagnetic directional control valve. The oil outlet C of the electro-hydraulic pressure reducing valve is connected to the total drain port L on the valve block. The oil inlet P of the throttle valve is connected to the oil inlet P on the valve block. The oil outlet A of the II-pump safety valve is connected to the return oil port T on the valve block. The oil outlet T of the slow drilling electromagnetic directional control valve is connected to the return oil port T on the valve block. The oil outlet A of the electro-hydraulic proportional speed control valve is connected to the return oil port T on the valve block. The oil inlet P of the constant pressure reducing valve is connected to the oil inlet P1 on the valve block. The oil outlet A of the constant pressure reducing valve is connected to the oil inlet P of the make-and-break thread feed electromagnetic directional control valve. The oil outlet C of the constant pressure reducing valve is connected to the total drain port L on the valve block. The oil outlet T of the make-and-break thread feed electromagnetic directional control valve is connected to the total drain port L on the valve block. The oil inlet P of the electro-hydraulic overflow valve is connected to the oil inlet X1 on the valve block. The oil outlet A of the electro-hydraulic overflow valve is connected to the total drain port L on the valve block.

3. The electro-hydraulic system for automatic make-up and break-out of drill pipe according to claim 2, characterized in that, The slewing control integrated valve includes a valve body and an electro-hydraulic proportional pressure reducing valve, a two-position three-way electromagnetic directional control valve, a two-position two-way hydraulic control directional control valve, a safety valve, a pressure relay, and a two-position four-way electromagnetic directional control valve arranged inside the valve body. The valve body is respectively provided with an oil inlet P2, an oil inlet P3, an oil inlet X2, and an oil outlet X3. The oil inlet P2 on the valve body is connected to the shuttle valve, the oil inlet P3 on the valve body, and the I-pump drilling control multi-way valve. The oil inlet X2 on the valve body is connected to the II-pump drilling logic control integrated valve. The oil outlet X3 on the valve body is connected to the slewing device. The oil inlet P of the electro-hydraulic proportional relief valve is connected to the oil inlet P2 on the valve body. The oil outlet A of the electro-hydraulic proportional relief valve is connected to the oil inlet P of the two-position three-way solenoid directional control valve. The oil outlet A of the two-position three-way solenoid directional control valve is connected to the oil outlet X3 on the valve body. The oil inlet P of the two-position two-way hydraulically controlled directional control valve is connected to the oil outlet A of the four-way solenoid directional control valve. The oil outlet A of the two-position two-way hydraulically controlled directional control valve is connected to the oil inlet P of the safety valve. The oil outlet A of the safety valve is connected to the oil tank. The pressure relay is arranged at the oil outlet of the safety valve. The oil inlet P of the four-way solenoid directional control valve is connected to the oil inlet P3 on the valve body.

4. The electro-hydraulic system for automatic drill pipe make-up and break-out according to claim 3, wherein, The I-pump drilling control multi-way valve is a load-sensing valve, with a constant flow rate for the controlled slewing action and a control pressure that varies with the load. The II-pump drilling logic control integrated valve controls the II-pump as a constant-pressure variable pump, with a constant control pressure for the feed control. When the load is greater than the set pressure value, the control feed output flow rate decreases. When the load is less than the set pressure value, the II-pump outputs at full flow rate, and the control feed output flow rate is a fixed value. Both the I-pump drilling control multi-way valve and the II-pump drilling logic control integrated valve have oil circuits connected in parallel to the feed cylinder, and there is no simultaneous working condition. When controlling the feed cylinder in different circuits, the control union oil is different, achieving interlocking and pressure holding. At the same time, when the drill rig is in a large-angle construction condition, during standby or when drilling stops, all the control oil circuits of the feed cylinder are in a closed state.

5. A control method for an electro-hydraulic system of an automatic drilling rig for making and breaking pipe threads, characterized in that, This method realizes the thread-on control through the automatic drill rig thread-on / off electro-hydraulic system described in claim 4, including: Set the I-pump drilling control multi-way valve to control the slewing joint to the set flow rate forward position, and the I-pump 1Ls load feedback port obtains a pressure signal and outputs the corresponding flow rate. At the same time, control the feed speed and slewing speed: Select the front position for the first valve of the stable control multi-way valve, and the thread-on / off feed electro-hydraulic directional control valve in the II-pump drilling logic control integrated valve is switched to the front position - the thread-on position, for feed control, feed constant speed control, and thread-on floating control. Set the four-way solenoid directional control valve in the slewing control integrated valve to the open position - the pressure-limiting position, and the electro-hydraulic proportional relief valve to the closed position. At this time, the high-pressure oil output by the I-pump is led out from the control port Ls of the I-pump drilling control multi-way valve and enters the slewing control integrated valve. The oil passes through the electro-hydraulic proportional relief valve and the two-position three-way solenoid directional control valve, and then is introduced into the swiveler motor displacement variable control port through the external oil circuit for swiveler motor speed adjustment, slewing constant speed control, and thread-on pressure limiting control. During the thread-on process, the feed speed and slewing speed are matched to satisfy the following relationship: （1） In the above formula, is the rotary flow rate, is the feed flow rate, L is the pitch of the drill pipe thread, S is the area of the feed cylinder, V 排 is the maximum displacement of the rotary motor, is the transmission ratio of the rotary.

6. The control method of the electro-hydraulic system for automatic drill pipe make-up and break-out as claimed in claim 5, wherein The feed control by the II-pump drilling logic control integrated valve includes: When it is necessary to control the drilling speed to change from small to large during drilling, adjust the electro-hydraulic overflow valve through the remote control to control the drilling pressure of the II-pump to change from small to large. When it is necessary to control the drilling pressure to change from large to small during drilling, adjust the electro-hydraulic overflow valve through the remote control. First, adjust the pump pressure of the II-pump to the maximum, and then adjust the fixed-value relief valve to control the drilling pressure to change from large to small. When the slow-drilling electro-hydraulic directional control valve is switched to the front position, it can control the feed cylinder to move forward. When the slow-drilling electro-hydraulic directional control valve is switched to the rear position, it controls the feed cylinder to move backward.

7. The control method of the electro-hydraulic system for the make-up and break-out of the automatic drilling rig according to claim 5, characterized in that, The II pump drilling logic control integrated valve performs feed constant speed and make-up / break-out floating control, including: After the high-pressure oil of the II pump enters the II pump drilling logic control integrated valve, it first passes through a fixed-value pressure reducing valve to reduce its outlet pressure to a set constant pressure value, and then enters the make-up / break-out feed electromagnetic directional control valve. When the make-up / break-out feed electromagnetic directional control valve is switched to the middle position, the oil circuit is blocked and there is no action; When the make-up / break-out feed electromagnetic directional control valve is switched to the front position, it is switched to make-up thread control. Its output high-pressure oil is divided into three paths: the first path of high-pressure oil is connected to the slewing control integrated valve through an external oil circuit to control the adaptive make-up thread logic action function; the second path of high-pressure oil enters the control port of the make-up thread floating hydraulic control directional control valve through an internal oil circuit, and the pressure oil makes it conductive after switching; the third path of high-pressure oil passes through the conductive make-up thread floating hydraulic control directional control valve through an internal oil circuit and enters the left cavity of the feed cylinder to realize the make-up thread feeding action. The equal amount of hydraulic oil output by the feed cylinder returns to the oil tank through the make-up thread floating hydraulic control directional control valve and the electro-hydraulic proportional speed control valve for unloading. An electro-hydraulic proportional speed control valve is set in the return oil circuit to ensure that when making up the thread, under the condition of positive or negative load, back pressure is provided to overcome the load, and the pressure difference before and after the electro-hydraulic proportional speed control valve remains unchanged and the flow rate is constant, so as to obtain a fixed feed speed and make the feed speed unaffected by load changes.

8. The control method of the electro-hydraulic system for threading and unthreading on an automatic drilling rig according to claim 5, characterized in that, The slewing control integrated valve performs slewing motor speed regulation, including: when normal drilling construction is carried out, the two-way three-way electromagnetic directional control valve is energized and in the open position, and the remote control adjusts the potential of the electro-hydraulic proportional pressure reducing valve to realize the control of different outlet pressure values. The displacement of the slewing motor changes from large to small to realize its speed control; The slewing control integrated valve performs slewing constant speed, including: when making up / breaking out the drill pipe thread, the two-way three-way electromagnetic directional control valve is de-energized and in the closed position, and the slewing motor returns to the initial state of the maximum displacement under the action of its own spring force, and the I pump drilling control multi-way valve can provide a constant flow rate for it to ensure a fixed speed under the make-up condition and is not affected by load changes.

9. The control method of the electro-hydraulic system for automatic drill pipe make-up and break-out according to claim 5, characterized in that, The slewing control integrated valve performs make-up thread pressure limit control, including: the oil of the II pump enters the II pump drilling logic control integrated valve through the first valve of the stable control multi-way valve, and then enters the feed cylinder. The oil returning from the feed cylinder passes through the electro-hydraulic proportional speed control valve for oil return, and its bypass control oil is connected to the slewing control integrated valve to open the two-way two-way hydraulic control directional control valve, and the make-up thread pressure limit function comes into play.

10. A control method for an electro-hydraulic system of an automatic drilling rig for threading and unthreading, characterized in that, This method realizes break-out thread control through the automatic drill make-up / break-out electro-hydraulic system described in claim 4, including: The I pump drilling control multi-way valve controls the slewing and pushing to the set reverse position, sets the make-up / break-out feed electromagnetic directional control valve in the II pump drilling logic control integrated valve to the rear position - break-out thread position, the oil output by the I pump pushes the break-out thread floating hydraulic control directional control valve to switch, the feed cylinder floats, and relies on the spiral lift force between the reverse rotation and the thread to disengage the thread. After the thread is completely disengaged, the I pump drilling control multi-way valve controls the rapid retraction of the feed cylinder to complete the break-out operation; During the process of unscrewing the thread, the II pump drilling logic control integrated valve can achieve floating control for unscrewing the thread. The floating control for unscrewing the thread includes: when the electromagnetic reversing valve for make-up / break-out feed changes to the rear position, it switches to the control for unscrewing the thread. Its output high-pressure oil enters the control port of the floating hydraulic control reversing valve for unscrewing the thread. The pressure oil makes it conductive after reversing. At this time, both the left and right cavities of the feed cylinder are directly connected to the fuel tank, and the feed cylinder is in a floating state. Only relying on the rotation of the rotary table between the drill pipe threads, the drill pipe to be unscrewed can be driven to rotate and the thread can be disengaged by relying on the helical lift force between the threads, and the threads will not be damaged.

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