An electro-hydraulic control system and control method for drilling rigs with oil circuit switching function.

Abstract

This invention discloses an electro-hydraulic control system and method for a drilling rig with oil circuit switching function. The system includes a main oil circuit that controls the drilling rig's movement, power head rotation, feed / pull-out, drill rod clamping, and drill rod uncoupling. An auxiliary oil circuit controls the drilling rig's stabilization and attitude adjustment. A switching oil circuit is provided between the main and auxiliary oil circuits to achieve switching between them. An oil tank is provided, and a hydraulic pump is connected to the suction port and, through a high-pressure filter, to the switching oil circuit. The auxiliary and main oil circuits are respectively connected to the return ports. The system of this invention is simple, easy to operate, and provides smooth switching. It achieves automatic switching between a manual directional valve and a load-sensitive valve without affecting the load-sensitive pump's load-sensing function. Compared with previous oil circuit switching methods using directional valves, it occupies less space, has lower costs, requires no manual operation, and has a high safety factor.

Description

Technical Field

[0001] This invention relates to the field of drilling technology, specifically to an electro-hydraulic control system and control method for a drilling rig with oil circuit switching function. Background Technology

[0002] In recent years, with the rapid development of intelligent technology and the continuous improvement of intelligent levels, coal mine fully hydraulic tunnel drilling rigs have also undergone electro-control upgrades, and explosion-proof load-sensitive electro-hydraulic proportional control valves have played an increasingly important role. However, explosion-proof load-sensitive electro-hydraulic proportional control valves are expensive, increasing manufacturing costs. Therefore, in hydraulic system design, it is widely adopted that load-sensitive valves are used in the main circuit (such as power head rotation, feed / pull-out, etc.) and manual directional valves are used in the auxiliary circuit (such as drilling rig stabilization, attitude adjustment, etc.). However, manual directional valves lack a pressure feedback module, which affects the performance of the load-sensitive pump. Usually, a directional valve needs to be added to the system to manually switch the operation between the load-sensitive valve and the manual directional valve. Sometimes, workers need to repeatedly walk to the drilling rig to switch to achieve the ideal drilling attitude, increasing labor intensity and reducing safety. Furthermore, the load-sensitive pump pressure feedback port LS port is not connected, failing to leverage the energy-saving advantages of the load-sensitive system. Summary of the Invention

[0003] The technical problem solved by this invention is to provide a drilling rig electro-hydraulic control system and control method with oil circuit switching function. The system is simple and easy to operate. The load-sensing function of the load-sensitive pump is not affected. It realizes the automatic switching of the main / auxiliary oil circuit of the drilling rig, reduces costs and improves the drilling rig construction efficiency.

[0004] To solve the above problems, the technical solution adopted by the present invention includes:

[0005] An electro-hydraulic control system for a drilling rig with oil circuit switching function includes a main oil circuit that controls the drilling rig's movement, power head rotation, feed / pull-out, drill rod clamping, and drill rod uncoupling; an auxiliary oil circuit that controls the drilling rig's stabilization and attitude adjustment; a switching oil circuit between the main and auxiliary oil circuits to achieve switching between them; and an oil tank, a hydraulic pump, and a high-pressure filter. The hydraulic pump is connected to the oil suction port and to the switching oil circuit via the high-pressure filter. The auxiliary and main oil circuits are respectively connected to the oil return ports.

[0006] The switching oil circuit is equipped with a hydraulic control valve, a shuttle valve, a damper, and a sequence valve. The hydraulic control valve is a two-position, two-way hydraulic control valve, with its hydraulic control end connected to the first pressure comparison port E of the shuttle valve. The inlet of the hydraulic control valve is connected to the oil tank. One end of the damper is connected to the outlet of the hydraulic control valve, and the other end is connected to the second pressure comparison port F of the shuttle valve. The inlet of the sequence valve is connected to the outlet of the hydraulic control valve. The outlet of the sequence valve is connected to the auxiliary oil circuit. The working port G of the shuttle valve is connected to the oil tank, and the outlet end of the first pressure comparison port E of the shuttle valve is connected to the main oil circuit.

[0007] The hydraulic control valve is a two-position, two-way hydraulic control valve with a spring pressure of 1.1 MPa ± 10%.

[0008] The inner diameter of the damper is 0.5 mm;

[0009] The set pressure of the sequence valve is 2.5 MPa.

[0010] Optionally, the main hydraulic circuit includes a travel motor, a rotary motor, a feed / pull-out cylinder, a clamping cylinder, a releaser clamping cylinder, a release cylinder, a flow divider / combiner valve, and a load-sensitive valve. The load-sensitive valve controls the travel motor, rotary motor, feed / pull-out cylinder, clamping cylinder, releaser clamping cylinder, and release cylinder, respectively. The flow divider / combiner valve is located between the clamping cylinder and the releaser clamping cylinder.

[0011] Optionally, the flow splitting ratio of the flow splitting and combining valve is 1:1, and the working flow rate is 25-60 L / min.

[0012] Optionally, the load-sensitive valve is the main control valve, and its R port is the main return oil port, connected back to the oil tank; the LS port of the load-sensitive valve is the control port, connected to the first pressure comparison port E of the shuttle valve; the T port of the load-sensitive valve is the control oil drain port, connected back to the oil tank; and the A and B ports of the load-sensitive valve are respectively connected to the A and B ports of the actuator motor or cylinder.

[0013] Optionally, the drain ports of the rotary motor and the travel motor are connected back to the oil tank separately; the clamping cylinders of the clamper and the clamping cylinders of the unslipper are both two in number.

[0014] Optionally, the auxiliary oil circuit is equipped with an amplitude adjustment cylinder, a stabilizing cylinder, a two-way hydraulic lock, a manual directional valve, and a translation cylinder; the manual directional valve is an integral six-way multi-port valve, with the T port of the manual directional valve being the main return port, connected back to the oil tank; the P port of the manual directional valve is the inlet port, connected to the outlet port of the sequence valve; the A and B ports of the manual directional valve are respectively connected to the A and B ports of the actuator cylinder.

[0015] Optionally, the stabilizing cylinders are four in number, and a two-way hydraulic lock is added to the oil circuit; the amplitude regulating cylinders are two in number, and a flow divider and combiner valve is provided in the oil circuit, and a two-way hydraulic lock is provided for each amplitude regulating cylinder.

[0016] Optionally, an oil suction pipe is installed inside the oil tank, and an electric motor, a hydraulic pump, and a high-pressure filter are installed on the oil suction pipe; the oil inlet of the high-pressure filter is connected to the oil outlet of the hydraulic pump, and the oil outlet is equipped with a three-way connector, one end of which is connected to the hydraulic control valve, and the other end is connected to the oil inlet P of the load-sensitive valve.

[0017] Optionally, the working port G of the shuttle valve is connected to the LS port of the hydraulic pump.

[0018] A drilling rig electro-hydraulic control method with oil circuit switching function is implemented using any of the drilling rig electro-hydraulic control systems with oil circuit switching function described in this invention. The main oil circuit is equipped with a travel motor, a rotary motor, a feed / pull-out cylinder, a clamping cylinder, a release cylinder, a release cylinder, a flow divider / combiner valve, and a load-sensitive valve. The auxiliary oil circuit is equipped with an amplitude adjustment cylinder, a stabilizing cylinder, a two-way hydraulic lock, a manual directional valve, and a translation cylinder.

[0019] Includes the following steps:

[0020] (1) Start-up operation: After the motor rotates, the hydraulic pump draws low-pressure hydraulic oil from the oil tank and discharges high-pressure oil. After passing through the high-pressure filter, the lower position of the hydraulic control directional valve, the sequence valve, and the manual directional valve, it returns to the oil tank. Since the set pressure of the sequence valve is 2.5MPa, the pump outlet pressure is 2.5MPa at this time. Some hydraulic oil enters the control end through the internal channel of the load-sensitive valve.

[0021] (2) Drilling rig travel: When the drilling rig travels, the solenoid of the corresponding load-sensitive valve is activated. At this time, the load increases and the pressure at the LS port of the load-sensitive valve is greater than the working pressure of the manual directional valve. The LS port of the hydraulic pump is controlled by the LS port of the load-sensitive valve. At the same time, the valve core of the hydraulic directional valve moves down and the hydraulic directional valve is put into upper position and switched to the auxiliary oil circuit. The hydraulic oil directly enters the load-sensitive valve and then reaches the travel motor.

[0022] (3) Stabilization and Angle Adjustment: After the drilling rig reaches the designated position, the operation returns to the neutral position. The LS pressure of the load-sensitive valve is less than the set pressure of the hydraulic control directional valve. The hydraulic control directional valve operates in the upper position. At this time, the working pressure of the manual directional valve controls the LS port of the hydraulic pump. By operating the manual directional valve, the stabilization and attitude adjustment of the drilling rig are completed. At this time, the working pressure of the manual directional valve controls the LS port of the hydraulic pump.

[0023] (4) Drilling operation: After the attitude adjustment is completed, drilling operation is carried out. The corresponding valve core load of the load sensitive valve is increased. The pressure at the LS port of the load sensitive valve is greater than the working pressure of the manual directional valve. The LS port of the hydraulic pump is controlled by the LS port of the load sensitive valve. At the same time, the valve core of the hydraulic directional valve moves down and the hydraulic directional valve is put into upper position. It switches to the auxiliary oil circuit and the hydraulic oil directly enters the load sensitive valve. The individual action is controlled by operating the load sensitive valve.

[0024] The beneficial effects of this invention are:

[0025] The system of this invention is simple, easy to operate, and has smooth switching; it realizes automatic switching between manual directional valve and load-sensitive valve, and the load-sensitive function of the load-sensitive pump is not affected; compared with the previous oil circuit switching through directional valve, it occupies less space, has lower cost, does not require manual operation, and has a high safety factor. Attached Figure Description

[0026] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0027] Figure 1 This is a schematic diagram of the drilling rig electro-hydraulic control system with oil circuit switching function of the present invention;

[0028] Figure 2 for Figure 1 Enlarged view of the main oil circuit structure;

[0029] The labels in the diagram represent:

[0030] 1-Oil tank, 2-Electric motor, 3-Hydraulic pump, 4-High pressure filter, 5-Hydraulic control valve, 6-Shuttle valve, 7-Damping, 8-Sequence valve, 9-Travel motor, 10-Rotation motor, 11-Feed / Pull-out cylinder, 12-Clamping cylinder of gripper, 13-Clamping cylinder of unslipper, 14-Unslip cylinder, 15-Diverter / combiner valve, 16-Load-sensitive valve, 17-Amplitude adjustment cylinder, 18-Stabilizing cylinder, 19-Two-way hydraulic lock, 20-Manual directional valve, 21-Transfer cylinder, 22-Pressure gauge. Detailed Implementation

[0031] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0032] Combination Figure 1 and 2The present invention relates to an electro-hydraulic control system for drilling rigs with oil circuit switching function. It includes a main oil circuit that controls the drilling rig's movement, power head rotation, feed / lifting, drill rod clamping, and drill rod uncoupling; an auxiliary oil circuit that controls the drilling rig's stabilization and attitude adjustment; and a switching oil circuit between the main and auxiliary oil circuits to enable switching between them. The system includes an oil tank 1, a hydraulic pump 3, and a high-pressure filter 4. The hydraulic pump 3 is connected to the oil suction port and to the switching oil circuit via the high-pressure filter 4. The auxiliary and main oil circuits are respectively connected to the oil return ports. The oil circuit includes a hydraulic control valve 5, a shuttle valve 6, a damper 7, and a sequence valve 8. The hydraulic control valve 5 is a two-position, two-way hydraulic control valve, with its hydraulic control end connected to the first pressure comparison port E of the shuttle valve 6. The inlet of the hydraulic control valve is connected to the oil tank. One end of the damper 7 is connected to the outlet of the hydraulic control valve 5, and the other end is connected to the second pressure comparison port F of the shuttle valve 6. The inlet of the sequence valve 8 is connected to the outlet of the hydraulic control valve 5. The outlet of the sequence valve is connected to the auxiliary oil circuit. The working port G of the shuttle valve 6 is connected to the oil tank, and the outlet end of the first pressure comparison port E of the shuttle valve 6 is connected to the main oil circuit. The hydraulic control valve 5, shuttle valve 6, damper 7, and sequence valve 8 form a switching oil circuit to automatically switch the main / auxiliary oil circuit of the drilling rig. The hydraulic control valve 5 is a two-position, two-way hydraulic control valve with a spring pressure of 1.1MPa±10%. The hydraulic control end of the hydraulic control valve 5 is connected to the pressure comparison port E of the shuttle valve 6. The inner diameter of the damper 7 is 0.5mm, mainly to reduce the impact of excessive flow on the shuttle valve 6. One end of the damper 7 is connected to the outlet of the hydraulic control valve 5, and the other end is connected to the pressure comparison port F of the shuttle valve 6. The sequence valve 8 is an internally controlled, direct-acting sequence valve with a set pressure of 2.5MPa. The oil inlet of the sequence valve 8 is connected to the outlet of the hydraulic control valve 5. The G port of the shuttle valve 6 is connected to the LS port of the hydraulic pump 3.

[0033] In the embodiments of this disclosure, the main hydraulic circuit is equipped with a travel motor 9, a rotary motor 10, a feed / pull-out cylinder 11, a clamping cylinder 12, a releaser clamping cylinder 13, a release cylinder 14, a flow divider / combiner valve 15, and a load-sensitive valve 16. It is mainly responsible for the functions of drilling rig travel, power head rotation, feed / pull-out, drill rod clamping, and drill rod uncoupling. The load-sensitive valve 16 controls the travel motor 9, rotary motor 10, feed / pull-out cylinder 11, clamping cylinder 12, releaser clamping cylinder 13, and release cylinder 14 respectively. The flow divider / combiner valve 15 is located between the clamping cylinder 12 and the releaser clamping cylinder 13.

[0034] In the embodiments of this disclosure, the flow splitting ratio of the flow splitting and combining valve 15 is 1:1, and the working flow rate is 25-60 L / min.

[0035] In the embodiments disclosed herein, the load-sensitive valve 16 is the main control valve, and the R port of the load-sensitive valve 16 is the main return oil port, which can be directly returned to the oil tank 1; the LS port of the load-sensitive valve 16 is the control port, which is connected to the first pressure comparison port E of the shuttle valve 6; the T port of the load-sensitive valve 16 is the control oil drain port, which can be directly connected back to the oil tank 1; the A port and B port of the load-sensitive valve 16 are respectively connected to the A port and B port of the actuator motor or cylinder. The load-sensitive valve 16 is the main control valve. It is a CAN bus-controlled seven-port explosion-proof load-sensitive proportional multi-way valve, which can be controlled manually or remotely. The intermediate position function is Y-type for controlling the drilling rig's movement, and all other actions are O-type. The R port of the load-sensitive valve 16 is the main return oil port, which can directly return to the oil tank 1. A pressure gauge 22 is set up to detect the return oil pressure. The LS port is the control port, which is connected to a pressure comparison port E of the shuttle valve 6. The T port is the control oil drain port, which can be directly connected back to the oil tank 1. The A / B port is connected to the A / B port of the actuator motor or cylinder. Figure 2 In the diagram, P is the oil inlet of the load-sensitive valve 16, M is the pressure test port, Y and T have the same function, both being the valve's drain port; Z is the pressure test port for the pilot oil.

[0036] In the embodiments of this disclosure, the drain ports of the rotary motor 10 and the travel motor 9 are separately connected back to the oil tank 1; there are two clamping cylinders 12 and 13. Both the clamping cylinder 12 and the 13 have the same cylinder barrel diameter and piston rod diameter, and the same working pressure, ensuring good clamping force on the drill pipe; furthermore, to ensure consistent cylinder movement, a flow divider / combiner valve 15 is installed in the oil circuit, with a flow divider ratio of 1:1 and a working flow rate of 25–60 L / min.

[0037] In the embodiments of this disclosure, the auxiliary oil circuit is equipped with an amplitude adjustment cylinder 17, a stabilizing cylinder 18, a two-way hydraulic lock 19, a manual directional valve 20, and a translation cylinder 21; the manual directional valve 20 is an integral six-way multi-port valve, the T port of the manual directional valve 20 is the main return port, which can directly return to the oil tank 1, the P port of the manual directional valve 20 is the inlet port, which is connected to the outlet port of the sequence valve 8; the A port and B port of the manual directional valve 20 are respectively connected to the A port and B port of the actuator cylinder. The drilling rig can be remotely controlled for rig movement, power head rotation, feed / pull-out, gripper and unlatcher, and can also achieve automatic drilling through program settings; the manual directional valve 20 is an integral six-way multi-port valve with a simple and compact structure, and all neutral position functions are O-type; the T port of the manual directional valve 20 is the main return oil port, which can directly return to the oil tank 1. Similarly, a pressure gauge 22 is set to detect the return oil pressure; the P port is the oil inlet port, which is connected to the outlet of the sequence valve 8; the A / B port is connected to the A / B port of the actuator cylinder. The drilling rig is connected to the port; there are four stabilizing cylinders 18, which are distributed symmetrically around the crawler body of the drilling rig; in order to prevent the cylinders from retracting, a two-way hydraulic lock 19 is added to the oil circuit; there are two amplitude adjustment cylinders 17, and in order to ensure consistent action and stable posture, a flow divider and combiner valve 15 is installed in the oil circuit, and a two-way hydraulic lock 19 is installed for each amplitude adjustment cylinder 17; the stabilization and posture adjustment of the drilling rig are auxiliary actions, and an integrated manual directional valve is used, which has a compact structure and occupies little space, thereby reducing production costs.

[0038] In the embodiments disclosed herein, there are four stabilizing cylinders 18, and a bidirectional hydraulic lock 19 is added to the oil circuit; there are two amplitude regulating cylinders 17, and a flow diversion and combination valve 15 is provided in the oil circuit, and a bidirectional hydraulic lock 19 is provided for each amplitude regulating cylinder 17.

[0039] In the embodiments disclosed herein, an oil suction pipe is installed extending into the oil tank, and an electric motor 2, a hydraulic pump 3, and a high-pressure filter 4 are installed on the oil suction pipe; the oil inlet of the high-pressure filter 4 is connected to the oil outlet of the hydraulic pump 3, and a three-way connector is installed at the oil outlet, one end of which is connected to the hydraulic control valve 5, and the other end is connected to the oil inlet P of the load-sensitive valve 16. The oil tank 1 has a volume of 110L and is equipped with a temperature sensor and a liquid level sensor to detect the oil temperature and liquid level in real time, ensuring good viscosity characteristics. The motor 2 is a YBK3 series explosion-proof three-phase asynchronous motor for underground coal mines with a power of 22kW. The main shaft of the motor 2 has an internal spline and can be directly connected to the hydraulic pump 3, shortening the overall structural length. The hydraulic pump 3 is an axial piston pump with a displacement of 45ml / r and a working pressure of 25MPa, meeting the pressure and flow requirements of the actuator. The oil inlet of the high-pressure filter 4 is connected to the oil outlet of the hydraulic pump 3. The oil outlet is equipped with a three-way connector, one end of which is connected to the hydraulic control valve 5, and the other end is connected to the oil inlet P of the load-sensitive valve 16.

[0040] In the embodiments of this disclosure, the working port G of the shuttle valve 6 is connected to the LS port of the hydraulic pump 3.

[0041] The electro-hydraulic control method for drilling rigs with oil circuit switching function includes the following steps:

[0042] (1) Start-up operation: After the motor 2 rotates, the hydraulic pump 3 draws low-pressure hydraulic oil from the oil tank 1 and discharges high-pressure oil. The oil passes through the high-pressure filter 4, the lower position of the hydraulic control directional valve 5, the sequence valve 8, the manual directional valve 20, and returns to the oil tank 1. Since the set pressure of the sequence valve 8 is 2.5MPa, the pump outlet pressure is 2.5MPa at this time. Some of the hydraulic oil enters the control terminal through the internal channel of the load sensitive valve 16.

[0043] (2) Drilling rig travel: When the drilling rig travels, the solenoid of the corresponding load-sensitive valve 16 is activated by the remote control. At this time, the load increases and the pressure at the LS port of the load-sensitive valve 16 is greater than the working pressure of the manual directional valve 20. The LS port of the hydraulic pump 3 is controlled by the LS port of the load-sensitive valve 16. At the same time, the valve core of the hydraulic directional valve 5 moves down and the hydraulic directional valve 5 is put into upper position, cutting off the oil circuit to the manual directional valve. The hydraulic oil directly enters the load-sensitive valve 16 and then reaches the travel motor 9.

[0044] (3) Stabilization and Angle Adjustment: After the drilling rig reaches the designated position, the remote control operating handle returns to the neutral position. The LS pressure of the load-sensitive valve 16 is less than the set pressure of the hydraulic control directional valve 5. The hydraulic control directional valve 5 operates in the upper position. At this time, the working pressure of the manual directional valve controls the LS port of the hydraulic pump 3. By operating the corresponding handle of the manual directional valve 20, the stabilization and attitude adjustment of the drilling rig are completed. At this time, the working pressure of the manual directional valve 20 controls the LS port of the hydraulic pump, forming a load-sensitive system to achieve energy saving and efficiency improvement.

[0045] (4) Drilling operation: After the attitude adjustment is completed, drilling operation is carried out. The corresponding valve core of the load sensitive valve 16 is operated by remote control, such as rotation, feed / pull-out, etc. At this time, the load increases and the pressure at the LS port of the load sensitive valve 16 is greater than the working pressure of the manual directional valve 20. The LS port of the hydraulic pump 3 is controlled by the LS port of the load sensitive valve 16. At the same time, the valve core of the hydraulic directional valve 5 moves down and the hydraulic directional valve 5 is put into upper position, cutting off the oil circuit to the manual directional valve. The hydraulic oil directly enters the load sensitive valve 16. By operating the load sensitive valve 16, the individual actions such as power head rotation, feed / pull-out, clamping, unhooking, and unhooking can be controlled. Since the flow of the hydraulic pump 3 is sufficient, automatic drilling can also be achieved through program setting.

[0046] The electro-hydraulic control system of this invention, which has the function of automatic switching between main and auxiliary oil circuits, is simple, easy to operate, and has smooth switching. It realizes the automatic switching between manual directional valve and load-sensitive valve, and the load-sensitive function of the load-sensitive pump is not affected. Compared with the previous oil circuit switching through directional valve, it occupies less space, has lower cost, does not require manual operation, and has a high safety factor.

[0047] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A drilling rig electro-hydraulic control method with oil circuit switching function, characterized in that, The drilling rig electro-hydraulic control system with oil circuit switching function is adopted. The drilling rig electro-hydraulic control system with oil circuit switching function is equipped with a main oil circuit, which controls the drilling rig's travel, power head rotation, feed / pull-out, drill rod clamping, and drill rod uncoupling; an auxiliary oil circuit is set up, which controls the drilling rig's stabilization and attitude adjustment; a switching oil circuit is set between the main oil circuit and the auxiliary oil circuit to realize the switching between the main oil circuit and the auxiliary oil circuit; an oil tank (1), a hydraulic pump (3), and a high-pressure filter (4) are set up. The hydraulic pump (3) is connected to the oil suction port and connected to the switching oil circuit through the high-pressure filter (4). The auxiliary oil circuit and the main oil circuit are respectively connected to the oil return port; the switching oil circuit is equipped with a hydraulic control valve (5), a shuttle valve (6), a damping valve (7), and a sequence valve (8); The hydraulic control valve (5) is a two-position two-way hydraulic control valve. The hydraulic control end of the hydraulic control valve (5) is connected to the first pressure comparison port E of the shuttle valve (6). The oil inlet of the hydraulic control valve (5) is connected to the oil tank. One end of the damper (7) is connected to the oil outlet of the hydraulic control valve (5), and the other end is connected to the second pressure comparison port F of the shuttle valve (6). The oil inlet of the sequence valve (8) is connected to the oil outlet of the hydraulic control valve (5). The oil outlet of the sequence valve (8) is connected to the auxiliary oil circuit. The working port G of the shuttle valve (6) is connected to the oil tank. The oil outlet of the first pressure comparison port E of the shuttle valve (6) is connected to the main oil circuit. The hydraulic control valve (5) is a two-position two-way hydraulic control valve. The spring pressure is 1.1MPa±10%. The inner diameter of the damper (7) is 0.5mm. The set pressure of the sequence valve (8) is 2.5MPa. The main oil circuit is equipped with a travel motor (9), a rotary motor (10), a feed / pull-out cylinder (11), a clamping cylinder (12), a release clamping cylinder (13), a release cylinder (14), a flow divider / combiner valve (15), and a load-sensitive valve (16); the auxiliary oil circuit is equipped with an amplitude adjustment cylinder (17), a stabilizing cylinder (18), a two-way hydraulic lock (19), a manual directional valve (20), and a translation cylinder (21). Includes the following steps: (1) Start-up operation: After the motor (2) rotates, the hydraulic pump (3) draws in low-pressure hydraulic oil from the oil tank (1) and discharges high-pressure oil. After passing through the high-pressure filter (4), the lower position of the hydraulic control valve (5), the sequence valve (8), and the manual reversing valve (20), it returns to the oil tank (1). Since the set pressure of the sequence valve (8) is 2.5MPa, the pump outlet pressure is 2.5MPa at this time. Some of the hydraulic oil enters the control end through the internal channel of the load sensitive valve (16). (2) Drilling rig travel: When the drilling rig travels, the electromagnet of the corresponding load-sensitive valve (16) is activated. At this time, the load increases and the pressure at the LS port of the load-sensitive valve (16) is greater than the working pressure of the manual directional valve (20). The LS port of the hydraulic pump (3) is controlled by the LS port of the load-sensitive valve (16). At the same time, the valve core of the hydraulic control valve (5) moves down and the hydraulic control valve (5) works in the upper position, cutting off the auxiliary oil circuit. The hydraulic oil directly enters the load-sensitive valve (16) and thus reaches the travel motor (9). (3) Stabilization and Angle Adjustment: After the drilling rig reaches the designated position, the operation returns to the neutral position. The LS pressure of the load-sensitive valve (16) is less than the set pressure of the hydraulic control valve (5), and the hydraulic control valve (5) operates in the lower position. At this time, the working pressure of the manual reversing valve (20) controls the LS port of the hydraulic pump (3). By operating the manual reversing valve (20), the stabilization and attitude adjustment of the drilling rig are completed. (4) Drilling operation: After the attitude adjustment is completed, drilling operation is carried out. The load of the corresponding valve core of the load sensitive valve (16) is increased. The pressure of the LS port of the load sensitive valve (16) is greater than the working pressure of the manual reversing valve (20). The LS port of the hydraulic pump (3) is controlled by the LS port of the load sensitive valve (16). At the same time, the valve core of the hydraulic control valve (5) moves down and the hydraulic control valve (5) works in the upper position, cutting off the auxiliary oil circuit. The hydraulic oil directly enters the load sensitive valve (16) and controls the individual action by operating the load sensitive valve (16).

2. The drilling rig electro-hydraulic control method with oil circuit switching function according to claim 1, characterized in that, The main oil circuit is equipped with a travel motor (9), a rotary motor (10), a feed / pull-out cylinder (11), a clamping cylinder (12), a release cylinder (13), a release cylinder (14), a flow divider / combiner valve (15), and a load-sensitive valve (16). The load-sensitive valve (16) controls the walking motor (9), the rotary motor (10), the feed / pull-out cylinder (11), the clamping cylinder (12), the unscrew clamping cylinder (13), and the unscrew cylinder (14), respectively. The diversion and combination valve (15) is located between the clamping cylinder (12) of the clamper and the clamping cylinder (13) of the unscrewer.

3. The drilling rig electro-hydraulic control method with oil circuit switching function according to claim 2, characterized in that, The diversion ratio of the diversion valve (15) is 1:1, and the working flow rate is 25-60 L / min.

4. The drilling rig electro-hydraulic control method with oil circuit switching function according to claim 2 or 3, characterized in that, The load-sensitive valve (16) is the main control valve. The R port of the load-sensitive valve (16) is the main return oil port, which is connected back to the oil tank (1). The LS port of the load-sensitive valve (16) is the control port, which is connected to the first pressure comparison port E of the shuttle valve (6). The T port of the load-sensitive valve (16) is the control oil drain port, which is connected back to the oil tank (1). The A port and B port of the load-sensitive valve (16) are respectively connected to the A port and B port of the actuator motor or oil cylinder.

5. The drilling rig electro-hydraulic control method with oil circuit switching function according to claim 2 or 3, characterized in that, The drain ports of the rotary motor (10) and the travel motor (9) are separately connected back to the oil tank (1). The clamping cylinder (12) of the clamper and the clamping cylinder (13) of the unscrewer are both two.

6. The drilling rig electro-hydraulic control method with oil circuit switching function according to claim 1, 2 or 3, characterized in that, The auxiliary oil circuit is equipped with an amplitude adjustment cylinder (17), a stabilizing cylinder (18), a two-way hydraulic lock (19), a manual reversing valve (20), and a translation cylinder (21). The manual directional valve (20) is an integral six-way multi-port valve. The T port of the manual directional valve (20) is the main return port, which is connected back to the oil tank (1). The P port of the manual directional valve (20) is the oil inlet, which is connected to the oil outlet of the sequence valve (8). The A port and B port of the manual directional valve (20) are respectively connected to the A port and B port of the actuator cylinder.

7. The drilling rig electro-hydraulic control method with oil circuit switching function according to claim 6, characterized in that, The stabilizing cylinders (18) consist of four cylinders, and a two-way hydraulic lock (19) is added to the oil circuit. There are two amplitude-adjusting cylinders (17), and a flow-dividing and flow-combining valve (15) is provided in the oil circuit. A two-way hydraulic lock (19) is provided for each amplitude-adjusting cylinder (17).

8. The drilling rig electro-hydraulic control method with oil circuit switching function according to claim 2 or 3, characterized in that, An oil suction pipe is installed in the oil tank (1), and an electric motor (2), a hydraulic pump (3) and a high-pressure filter (4) are installed on the oil suction pipe. The inlet of the high pressure filter (4) is connected to the outlet of the hydraulic pump (3). The outlet of the high pressure filter (4) is equipped with a three-way connector, one end of which is connected to the hydraulic control valve (5), and the other end is connected to the inlet P of the load-sensitive valve (16).

9. The drilling rig electro-hydraulic control method with oil circuit switching function according to claim 8, characterized in that, The working port G of the shuttle valve (6) is connected to the LS port of the hydraulic pump (3).

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