Drill pipe make-up and break-out control system and method

Abstract

The application provides a drill rod make-up and breakout control system and a drill rod make-up and breakout control method. The system comprises a driving motor, a hydraulic pump, a hydraulic oil tank, a first speed regulating valve, a proportional reversing valve, a hydraulic control reversing valve, a rotary pipeline, a feeding and pulling pipeline, a communication pipeline, a drill rod rotary assembly and a feeding and pulling assembly. When the proportional reversing valve controls the hydraulic rotary motor to rotate forward, the hydraulic control reversing valve controls the push-pull oil cylinder to feed the drill rod. When the proportional reversing valve controls the hydraulic rotary motor to rotate reversely, the hydraulic control reversing valve controls the push-pull oil cylinder to pull the drill rod. Through the cooperation of the driving motor, the hydraulic pump, the first speed regulating valve, the drill rod rotary assembly and other assemblies, automatic control of the drill rod make-up and breakout process is realized, the efficiency of the drill rod make-up and breakout process is improved, and the problems of serious thread wear, high failure rate of the make-up and breakout process and the like are solved.

Description

Technical Field

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

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

[0003] The drilling rigs in underground coal mines need to frequently make and break the drill rod during drilling construction. At present, the existing methods for making and breaking the drill rod mainly adopt manual, hydraulic or semi-automatic control program control to achieve the making and breaking of the drill rod. Among the above three methods, the manual method is used to complete the making and breaking of the drill rod, which has high labor intensity, poor operation safety and low efficiency. Therefore, it is gradually replaced by the hydraulic operation method and the semi-automatic control program control method. When the existing hydraulic operation method and the semi-automatic control program control method are performing the making and breaking of the drill rod, the rotation speed of the drill rod (i.e. the rotation speed of the drill rod) and the drill rod feed rate are closely related. The matching of speed (i.e., the penetration speed of the drill pipe along the axial direction) or the pulling speed (i.e., the pulling speed of the drill pipe along the axial direction) is poor, which not only leads to serious wear of the joint threads between two adjacent drill pipes, but also reduces the efficiency of the drilling rig in controlling the drilling of the drill pipe and removing the drill pipe; especially in the process of drilling with a large inclination angle, the action of feeding the drill pipe or pulling out the drill pipe is greatly affected by the inclination angle, resulting in poor stability of the feed speed and the pulling speed of the drill pipe, and prone to large speed fluctuations. Combined with the poor matching of the drill pipe rotation speed and the drill pipe feed speed or pulling speed, the damage to the joint threads of the drill pipe is more serious. At the same time, the efficiency of the make-up and breakout processes is also reduced. Summary of the Invention

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

[0005] and a control system for making and breaking a drill pipe, comprising: a driving motor, a hydraulic pump, a hydraulic oil tank, a first speed regulating valve, a proportional reversing valve, a hydraulic control reversing valve, a rotary pipeline, a feed and pulling pipeline, a connecting pipeline, a drill pipe rotary assembly and a feed and pulling assembly; the driving motor is connected to the hydraulic pump to drive the hydraulic pump to work, and the hydraulic pump is used to drive the hydraulic oil to circulate along the pipeline; the hydraulic oil tank is connected to the inlet of the hydraulic pump through the pipeline, and the outlet of the hydraulic pump is respectively connected to the rotary pipeline and the feed and pulling pipeline; the proportional reversing valve is arranged on the rotary pipeline, and the drill pipe rotary assembly is connected to the rotary pipeline; the first speed regulating valve and the hydraulic control reversing valve are respectively arranged on the feed and pulling pipeline, and the feed and pulling pipeline are connected; the proportional reversing valve is connected with the hydraulic control reversing valve and the feed and pulling assembly through the connecting pipeline; the drill pipe rotary assembly includes a hydraulic rotary motor for rotating the drill pipe, and the feed and pulling assembly includes a After derrick hoists and puts in place, derrick hoists and puts in place, derrick pins and pins to the side of the workbench, then, derrick pins themselves in place, using the derrick pins to either side of the workbench or the side of the workbench, thus freeing up space for the derrick pins to detach and tame. Direction, by adjusting the pressure difference between the upper chamber and the lower chamber of the push-pull cylinder, the drill rod is fed or pulled out; the drill rod rotation assembly and the feed and pull-out assembly are connected through a pipeline to make the speed of the hydraulic rotary motor adapt to the speed of feeding or pulling out the drill rod by the push-pull cylinder; among them, when the proportional reversing valve controls the hydraulic rotary motor to rotate forward, the hydraulically controlled reversing valve controls the push-pull cylinder to feed the drill rod; when the proportional reversing valve controls the hydraulic rotary motor to rotate reversely, the hydraulically controlled reversing valve controls the push-pull cylinder to pull out the drill rod.

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

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

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

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

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

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

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

[0013] According to another aspect of the present invention, a drill rod beading and shattering control method is provided, which is applied to the above-mentioned drill rod beading and shattering control system. The drill rod beading and shattering control method includes a beading control step, which includes: starting a drive motor to drive a hydraulic pump to suck hydraulic oil from a hydraulic oil tank; switching a proportional reversing valve to a left position so that the hydraulic oil enters a first two-position two-way reversing valve and a hydraulic rotary motor through the left position of the proportional reversing valve, and the hydraulic oil drives the hydraulic rotary motor to rotate forward; after the proportional reversing When the auger is in the open position, the oil in the directional control valve is turned off, and the oil in the directional control valve is turned off. When the auger is in the open position, the oil in the directional control valve is turned off, and the oil in the directional control valve is turned off. When the auger is in the open position, the oil in the directional control valve is turned off, and the oil in the directional control valve is turned off. When the auger is in the open position, the oil in the directional control valve is turned off, and the oil in the directional control valve is turned off. When the pressure in the pipeline increases, and the pressure in the pipeline where the high-pressure priority selection valve is located is greater than the first set pressure of the high-pressure priority selection valve, the high-pressure priority selection valve is in the first state. When the high-pressure priority selection valve is in the first state, the pilot oil flowing out of the high-pressure priority selection valve enters the fourth two-position two-way reversing valve to make the fourth two-position two-way reversing valve internally reversed. At this time, the hydraulic oil in the pipeline flows through the fourth speed regulating valve, and the fourth speed regulating valve reduces the flow of hydraulic oil entering the inlet of the upper chamber to reduce the speed of the push-pull cylinder feeding the drill rod; when the drill rod is fed When the pressure rises, the pressure of the pipeline where the second pressure regulating valve is located will also rise. When the pressure of the pipeline where the second pressure regulating valve is located is greater than the second pressure, the second pressure regulating valve will open. At this time, the hydraulic oil enters the first two-position two-way reversing valve through the pipeline connected to the third two-position two-way reversing valve and the first two-position two-way reversing valve to drive the internal reversing of the first two-position two-way reversing valve. At this time, the hydraulic oil in the pipeline flows through the second speed regulating valve, and the second speed regulating valve reduces the flow of hydraulic oil entering the hydraulic swing motor to reduce the forward rotation speed of the hydraulic swing motor.

[0014] Further, the method for controlling the make-up and break-out of the drill pipe further comprises a break-out control step, which comprises: starting the driving motor to drive the hydraulic pump to suck hydraulic oil from the hydraulic oil tank; switching the proportional directional valve to the right position, so that the hydraulic oil enters the second two-position two-way directional valve and the hydraulic rotary motor through the right position of the proportional directional valve, and drives the hydraulic rotary motor to reverse; the hydraulic oil passing through the right position of the proportional directional valve enters the feeding and pulling assembly, the hydraulic control directional valve is switched to the right position to control the internal direction of the sixth two-position two-way directional valve, and the third pressure regulating valve is adjusted to close the oil leakage of the pipeline where the third pressure regulating valve and the sixth two-position two-way directional valve are located; the hydraulic pump drives the hydraulic oil to enter the right position of the hydraulic control directional valve through the first speed regulating valve, and then enters the lower chamber of the push-pull oil cylinder through the fifth two-position two-way directional valve, so as to pull out the drill pipe; when the pressure of the drill pipe break-out process increases, the pressure of the pipeline where the high-pressure priority valve is located also increases, when the pressure of the pipeline where the high-pressure priority valve is located is greater than the second set pressure of the high-pressure priority valve, the high-pressure priority valve is in the second state, and when the high-pressure priority valve is in the second state, the pilot oil flowing out of the high-pressure priority valve enters the fifth two-position two-way directional valve, so that the internal direction of the fifth two-position two-way directional valve is changed, at this time, the hydraulic oil in the pipeline flows through the fifth speed regulating valve, and the fifth speed regulating valve reduces the flow of hydraulic oil entering the lower chamber inlet, so as to reduce the speed of the push-pull oil cylinder pulling out the drill pipe; when the pressure of the drill pipe pulling-out increases, the pressure of the pipeline where the third pressure regulating valve is located also increases, when the pressure of the pipeline where the third pressure regulating valve is located is greater than the third pressure, the third pressure regulating valve is opened, at this time, the hydraulic oil enters the second two-position two-way directional valve through the pipeline connected with the second two-position two-way directional valve, so as to drive the internal direction of the second two-position two-way directional valve, at this time, the hydraulic oil in the pipeline flows through the third speed regulating valve, and the third speed regulating valve reduces the flow of hydraulic oil entering the hydraulic rotary motor, so as to reduce the reverse speed of the hydraulic rotary motor.

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

[0016] The present invention realizes automatic control of the drill rod make-up and breakout processes by arranging a drive motor, a hydraulic pump, a hydraulic oil tank, a first speed regulating valve, a proportional reversing valve, a hydraulically controlled reversing valve, a rotary pipeline, a feed and pull-out pipeline, a connecting pipeline, a drill rod rotary assembly and a feed and pull-out assembly to work together, thereby improving the efficiency of the drill rod make-up and breakout processes; by arranging the drill rod rotary assembly and the feed and pull-out assembly to be connected through a pipeline, the rotation speed of the hydraulic rotary motor is adapted to the speed of the push-pull cylinder feeding or pulling out the drill rod, thereby effectively reducing the serious wear of the joint threads between two adjacent drill rods and improving the efficiency of the drilling rig in controlling the drilling and removal of the drill rods; the drill rod make-up and breakout control system proposed by the present invention plays a positive role in improving the degree of automation of the drilling rig, reducing the labor intensity of workers, reducing safety hazards and reducing coal mine accidents, and effectively solves the problems of serious thread wear and high execution failure rate of the make-up and breakout processes in the drill rod make-up and breakout processes in underground coal mines. The present invention structurally optimizes the make-up and break-out operations of the drill rod of the drilling rig, significantly improving the efficiency and safety of underground drilling operations in coal mines. It has a simple structure and low cost, is easy to assemble and subsequently maintain, has significant economic benefits and application value, and is suitable for large-scale promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

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

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

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

[0021] 10. Drive motor;

[0022] 20. Hydraulic pump;

[0023] 30. Hydraulic oil tank;

[0024] 40. First speed regulating valve;

[0025] 50. Proportional reversing valve;

[0026] 60. Hydraulic control reversing valve;

[0027] 70. Rotary pipeline;

[0028] 80. Feed and pull out pipeline;

[0029] 90. Connecting pipelines;

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

[0031] 110. Feed and extraction assembly; 111. Push-pull cylinder; 1111. Upper chamber; 1112. Lower chamber; 112. Upper chamber reversing adjustment structure; 1121. Fourth speed regulating valve; 1122. Fourth two-position two-way reversing valve; 113. Lower chamber reversing adjustment structure; 1131. Fifth speed regulating valve; 1132. Fifth two-position two-way reversing valve; 114. Third two-position two-way reversing valve; 115. Sixth two-position two-way reversing valve; 116. Second pressure regulating valve; 117. Third pressure regulating valve; 118. Sixth speed regulating valve; 119. Seventh speed regulating valve.

[0032] 120. First pressure regulating valve;

[0033] 130. Displacement encoder. DETAILED DESCRIPTION

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

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

[0036] The present invention realizes automatic control of the drill rod make-up and breakout process by arranging a drive motor 10, a hydraulic pump 20, a hydraulic oil tank 30, a first speed regulating valve 40, a proportional reversing valve 50, a hydraulically controlled reversing valve 60, a rotary pipeline 70, a feed and pull pipeline 80, a connecting pipeline 90, a drill rod rotary assembly 100 and a feed and pull assembly 110 to work together, thereby improving the efficiency of the drill rod make-up and breakout process; by arranging the drill rod rotary assembly 100 and the feed and pull assembly 110 to be connected through a pipeline, the hydraulic rotary motor 10 The rotational speed of 1 is adapted to the speed at which the push-pull cylinder 111 feeds or pulls the drill rod, thereby effectively reducing the severe wear of the joint threads between two adjacent drill rods and improving the efficiency of the drill rig in controlling the drilling and removal of the drill rods. The drill rod make-up and breakout control system proposed by the present invention plays a positive role in improving the automation level of the drilling rig, reducing the labor intensity of workers, reducing safety hazards, and reducing coal mine accidents. It effectively solves the problems of severe thread wear and high failure rate in the make-up and breakout processes of underground drill rods in coal mines. The present invention structurally optimizes the make-up and breakout operations of the drill rig drill rod, significantly improving the efficiency and safety of underground drilling operations in coal mines. It has a simple structure and low cost, is easy to assemble and subsequently maintain, has significant economic benefits and application value, and is suitable for large-scale promotion and use.

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

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

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

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

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

[0042] By setting the specific structure of the first reversing adjusting structure 102 and the second reversing adjusting structure 103 and cooperating with the high pressure priority valve 104, a multi-stage flow speed adjusting function is provided, so that the system can more finely control the rotating speed of the hydraulic rotary motor 101 and the action speed of the push-pull oil cylinder 111, and the flexibility and response ability of the control system are enhanced.

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

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

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

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

[0047] As shown in Figure 1 and Figure 2 , when adjusting the speed of the push-pull oil cylinder 111 feeding the drilling rod, the speed regulating range of the first speed regulating valve 40 < the speed regulating range of the sixth speed regulating valve 118 < the speed regulating range of the fourth speed regulating valve 1121; when adjusting the speed of the push-pull oil cylinder 111 pulling the drilling rod, the speed regulating range of the first speed regulating valve 40 < the speed regulating range of the seventh speed regulating valve 119 < the speed regulating range of the fifth speed regulating valve 1131; when adjusting the speed of the push-pull oil cylinder 111 feeding the drilling rod, the priority of adjusting the first speed regulating valve 40 > the priority of adjusting the sixth speed regulating valve 118 > the priority of adjusting the fourth speed regulating valve 1121; when adjusting the speed of the push-pull oil cylinder 111 pulling the drilling rod, the priority of adjusting the first speed regulating valve 40 > the priority of adjusting the seventh speed regulating valve 119 > the priority of adjusting the fifth speed regulating valve 1131.

[0048] By setting the speed regulating range and adjustment priority of different speed regulating valves, not only is the speed of the hydraulic rotary motor 101 further adapted to the speed of the push-pull oil cylinder 111 feeding or pulling the drilling rod, but also the system can automatically adjust according to actual needs, structurally prioritizing the control of the feeding and pulling speed of the drilling rod to ensure the smoothness and efficiency of the drilling rod operation, while reducing the risk of drilling rod thread wear.

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

[0050] By providing the first pressure regulating valve 120, the speed encoder 105 and the displacement encoder 130, the self-regulating capability and monitoring accuracy of the system are further enhanced. Not only does the pressure in the oil tank remain stable, but the functions of the speed encoder 105 and the displacement encoder 130 are also utilized to provide the system with real-time monitoring and information feedback, enabling the system to automatically adjust each valve according to the monitoring data, thereby ensuring the efficiency and safety during the drill pipe operation.

[0051] The application further provides a method for controlling the make-up and break-out of a drill pipe, which is applied to the system for controlling the make-up and break-out of a drill pipe and comprises a make-up control step, which comprises: starting the driving motor 10 to drive the hydraulic pump 20 to suck hydraulic oil from the hydraulic oil tank 30; switching the proportional directional valve 50 to the left position to make the hydraulic oil enter the first two-position two-way directional valve 1022 and the hydraulic rotary motor 101 through the left position of the proportional directional valve 50, and drive the hydraulic rotary motor 101 to rotate in the positive direction; the hydraulic oil passing through the left position of the proportional directional valve 50 enters the feeding and pulling assembly 110, the hydraulic control directional valve 60 is switched to the left position to control the internal direction change of the third two-position two-way directional valve 114, and the second pressure regulating valve 116 is adjusted to close the oil leakage of the pipeline where the second pressure regulating valve 116 and the third two-position two-way directional valve 114 are located; the hydraulic pump 20 drives the hydraulic oil to enter the left position of the hydraulic control directional valve 60, and then enter the upper chamber 1111 of the push-pull oil cylinder 111 through the fourth two-position two-way directional valve 1122, so as to make the push-pull oil cylinder 111 feed the drill pipe; when the pressure in the process of making up the drill pipe increases, the pressure in the pipeline where the high-pressure priority valve 104 is located also increases, when the pressure in the pipeline where the high-pressure priority valve 104 is located is greater than the first set pressure of the high-pressure priority valve 104, the high-pressure priority valve 104 is in the first state, and when the high-pressure priority valve 104 is in the first state, the pilot oil flowing out of the high-pressure priority valve 104 enters the fourth two-position two-way directional valve 1122 to make the internal direction change of the fourth two-position two-way directional valve 1122, at this time, the hydraulic oil in the pipeline flows through the fourth speed regulating valve 1121, the fourth speed regulating valve 1121 reduces the flow of hydraulic oil entering the inlet of the upper chamber 1111, so as to reduce the speed of the push-pull oil cylinder 111 feeding the drill pipe; when the pressure of the drill pipe feeding increases, the pressure of the pipeline where the second pressure regulating valve 116 is located also increases, when the pressure of the pipeline where the second pressure regulating valve 116 is located is greater than the second pressure, the second pressure regulating valve 116 is opened, at this time, the hydraulic oil enters the first two-position two-way directional valve 1022 through the pipeline where the third two-position two-way directional valve 114 and the first two-position two-way directional valve 1022 are connected, to drive the internal direction change of the first two-position two-way directional valve 1022, at this time, the hydraulic oil in the pipeline flows through the second speed regulating valve 1021, the second speed regulating valve 1021 reduces the flow of hydraulic oil entering the hydraulic rotary motor 101, so as to reduce the positive rotation speed of the hydraulic rotary motor 101.

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

[0053] Specifically, the drill pipe make-up and breakout control method further includes a breakout control step, which includes: starting the drive motor 10 to drive the hydraulic pump 20 to suck hydraulic oil from the hydraulic oil tank 30; switching the proportional reversing valve 50 to the right position, so that the hydraulic oil enters the second two-position two-way reversing valve 1032 and the hydraulic rotary motor 101 through the right position of the proportional reversing valve 50, and the hydraulic oil drives the hydraulic rotary motor 101 to reverse; the hydraulic oil passing through the right position of the proportional reversing valve 50 enters the feed and pull-out assembly 110, switches the hydraulic control reversing valve 60 to the right position, and controls the sixth two-position two-way reversing valve 115 Internal reversal, and adjust the third pressure regulating valve 117 to close the oil drain of the pipeline where the third pressure regulating valve 117 and the sixth two-position two-way reversing valve 115 are located; the hydraulic pump 20 drives the hydraulic oil through the first speed regulating valve 40 to enter the right position of the hydraulic control reversing valve 60, and then enters the lower chamber 1112 of the push-pull cylinder 111 through the fifth two-position two-way reversing valve 1132, so that the push-pull cylinder 111 can pull out the drill pipe; when the pressure of the drill pipe unbuckling process increases, the pressure of the pipeline where the high-pressure priority selection valve 104 is located is driven to increase, and when the pressure of the pipeline where the high-pressure priority selection valve 104 is located is greater than the high-pressure priority selection valve 104, the pressure in the pipeline where the high-pressure priority selection valve 104 is located is increased. When the second set pressure of the selector valve 104 is reached, the high-pressure priority selector valve 104 is in the second state. When the high-pressure priority selector valve 104 is in the second state, the pilot oil flowing out of the high-pressure priority selector valve 104 enters the fifth two-position two-way reversing valve 1132 to reverse the direction of the fifth two-position two-way reversing valve 1132. At this time, the hydraulic oil in the pipeline flows through the fifth speed regulating valve 1131. The fifth speed regulating valve 1131 reduces the flow of hydraulic oil entering the inlet of the lower chamber 1112 to reduce the speed of the push-pull cylinder 111 in pulling out the drill pipe. When the pressure of the drill pipe is pulled out increases, the third pressure regulating valve 1131 is driven to pull out the drill pipe. 17. The pressure of the pipeline where the third pressure regulating valve 117 is located increases. When the pressure of the pipeline where the third pressure regulating valve 117 is located is greater than the third pressure, the third pressure regulating valve 117 opens. At this time, the hydraulic oil enters the second two-position two-way reversing valve 1032 through the pipeline connected to the sixth two-position two-way reversing valve 115 and the second two-position two-way reversing valve 1032 to drive the internal reversal of the second two-position two-way reversing valve 1032. At this time, the hydraulic oil in the pipeline flows through the third speed regulating valve 1031, and the third speed regulating valve 1031 reduces the flow of hydraulic oil entering the hydraulic swing motor 101 to reduce the reversing speed of the hydraulic swing motor 101.

[0054] Through the above-mentioned design steps, the speed of the push-pull cylinder 111 can be precisely adjusted. The multi-stage adjustment mechanism in the system ensures the safety and efficiency of the drill rod breakout process, reduces possible damage during operation, and improves the overall efficiency of the drilling operation.

[0055] In a specific embodiment of the present application, the make-up operation, i.e. connecting a new drill pipe to the end of the drill pipe already lowered into the hole during drilling, mainly includes the following steps: 1, start-up preparation: start the drive motor 10, the hydraulic pump 20 draws hydraulic oil from the hydraulic oil tank 30, and the system pressure is adjusted by the first pressure regulating valve 120; 2, forward pre-tightening: the proportional reversing valve 50 is placed in the left position, the hydraulic oil enters the rotary system through the proportional reversing valve 50, passes through the first two-position two-way reversing valve 1022 and the second two-position two-way reversing valve 1032, drives the hydraulic rotary motor 101 to rotate forward, and pre-tightens the drill pipe; 3, feeding operation: the hydraulic oil controlled by the proportional reversing valve 50 enters the feeding and pulling assembly 110 at the same time, the hydraulic control reversing valve 60 is switched to the left position, the third two-position two-way reversing valve 114 is controlled to switch, the hydraulic oil enters the push-pull cylinder 111 through the first speed regulating valve 40, the sixth speed regulating valve 118 and the fourth two-position two-way reversing valve 1122, pushes the drill pipe forward, and realizes the feeding operation of the drill pipe; 4, pressure regulation: during the make-up operation, if the pressure rises to the set value of the high-pressure priority valve 104, the flow path of the hydraulic oil will be controlled by the pilot oil of the high-pressure priority valve 104, so that the fourth two-position two-way reversing valve 1122 is switched, and the feeding speed is further adjusted through the fourth speed regulating valve 1121; 5, rotary speed adjustment: when the feeding pressure further rises to the set value of the second pressure regulating valve 116, the pilot oil will enter the drill pipe rotary assembly, so that the first two-position two-way reversing valve 1022 is switched, at this time, the forward speed of the hydraulic rotary motor 101 is adjusted through the second speed regulating valve 1021 to match the feeding speed; 6, monitoring and control: the rotation speed of the hydraulic rotary motor 101 is monitored by the rotation speed encoder 105, and the displacement of the oil cylinder is monitored by the displacement encoder 130, so as to ensure that the make-up operation of the drill pipe is successfully carried out until the make-up is completed.

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

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

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

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

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

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

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

[0063] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

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

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

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

4. The drill pipe make-up and break-out control system according to claim 3, characterized in that: The first reversing regulating structure (102) comprises a second speed regulating valve (1021) and a first two-position two-way reversing valve (1022) connected in parallel via a pipeline, wherein the second speed regulating valve (1021) is used to regulate the flow of the hydraulic oil flowing through the first two-position two-way reversing valve (1022); the second reversing regulating structure (103) comprises a third speed regulating valve (1031) and a second two-position two-way reversing valve (1032) connected in parallel via a pipeline, wherein the third speed regulating valve (1031) is used to regulate the flow of the hydraulic oil flowing through the second two-position two-way reversing valve (1032); the upper chamber reversing regulating structure (112) ) comprises a fourth speed regulating valve (1121) and a fourth two-position two-way reversing valve (1122) connected in parallel via a pipeline, wherein the fourth speed regulating valve (1121) is used to regulate the flow of the hydraulic oil flowing through the fourth two-position two-way reversing valve (1122); the lower chamber reversing regulating structure (113) comprises a fifth speed regulating valve (1131) and a fifth two-position two-way reversing valve (1132) connected in parallel via a pipeline, wherein the fifth speed regulating valve (1131) is used to regulate the flow of the hydraulic oil flowing through the fifth two-position two-way reversing valve (1132); one end of the high-pressure priority selection valve (104) is connected to the first and second speed regulating valves (1131) through pipelines. The two-position two-way reversing valve (1022) and the second two-position two-way reversing valve (1032) are connected, and the other ends are respectively connected to the fourth two-position two-way reversing valve (1122) and the fifth two-position two-way reversing valve (1132) through pipelines; the proportional reversing valve (50) is respectively connected to the two ends of the hydraulic rotary motor (101) through the first two-position two-way reversing valve (1022) and the second two-position two-way reversing valve (1032); the hydraulic control reversing valve (60) is respectively connected to the push-pull oil cylinder ( The upper chamber (1111) and the lower chamber (1112) of the high-pressure priority selection valve (111) are connected; wherein, when the high-pressure priority selection valve (104) is in the first state, the pilot oil flowing out of the high-pressure priority selection valve (104) enters the fourth two-position two-way reversing valve (1122) to cause the fourth two-position two-way reversing valve (1122) to reverse internally, and at this time, the hydraulic oil in the pipeline flows through the fourth speed regulating valve (1121), and the fourth speed regulating valve (1121) reduces the flow of hydraulic oil entering the inlet of the upper chamber (1111) to reduce the speed at which the push-pull cylinder (111) feeds the drill pipe;When the high-pressure priority selector valve (104) is in the second state, the pilot oil flowing out of the high-pressure priority selector valve (104) enters the fifth two-position two-way reversing valve (1132) to cause the fifth two-position two-way reversing valve (1132) to reverse direction. At this time, the hydraulic oil in the pipeline flows through the fifth speed regulating valve (1131). The fifth speed regulating valve (1131) reduces the flow of hydraulic oil entering the inlet of the lower chamber (1112) to reduce the speed of the push-pull oil cylinder (111) in pulling out the drill rod.

5. The drill pipe make-up and break-out control system according to claim 4, characterized in that: The feeding and pulling assembly (110) further includes a third two-position two-way reversing valve (114) and a sixth two-position two-way reversing valve (115); the outlet of the upper chamber (1111) of the push-pull oil cylinder (111) is connected to the hydraulic oil tank (30) through a pipeline and the third two-position two-way reversing valve (114); the outlet of the lower chamber (1112) of the push-pull oil cylinder (111) is connected to the hydraulic oil tank (30) through a pipeline and the sixth two-position two-way reversing valve (115). 5) is connected to the hydraulic oil tank (30); the proportional reversing valve (50) is respectively connected to the third two-position two-way reversing valve (114) and the sixth two-position two-way reversing valve (115) through pipelines; the third two-position two-way reversing valve (114) is connected to the first two-position two-way reversing valve (1022) through a pipeline; the sixth two-position two-way reversing valve (115) is connected to the second two-position two-way reversing valve (1032) through a pipeline; The feeding and pulling assembly (110) further includes a second pressure regulating valve (116) and a third pressure regulating valve (117). The second pressure regulating valve (116) is arranged in parallel with the third two-position two-way reversing valve (114) through a pipeline, and the third pressure regulating valve (117) is arranged in parallel with the sixth two-position two-way reversing valve (115) through a pipeline. The second pressure regulating valve (116) and the third pressure regulating valve (117) are at least used to maintain a constant pressure in the pipeline. When the pressure of the pipeline in which the second pressure regulating valve (116) is located is greater than the second pressure, the second pressure regulating valve (116) is opened, and at this time, the hydraulic oil enters the first two-position two-way reversing valve (1022) through the pipeline connected to the third two-position two-way reversing valve (114) and the first two-position two-way reversing valve (1022), so as to drive the internal reversal of the first two-position two-way reversing valve (1022), and at this time, the hydraulic oil in the pipeline flows through the second speed regulating valve (1021), and the second speed regulating valve (1021) reduces the flow of hydraulic oil entering the hydraulic rotary motor (101), so as to reduce the forward rotation speed of the hydraulic rotary motor (101); When the pressure of the pipeline in which the third pressure regulating valve (117) is located is greater than the third pressure, the third pressure regulating valve (117) is opened. At this time, the hydraulic oil enters the second two-position two-way reversing valve (1032) through the pipeline connected to the sixth two-position two-way reversing valve (115) and the second two-position two-way reversing valve (1032) to drive the internal reversal of the second two-position two-way reversing valve (1032). At this time, the hydraulic oil in the pipeline flows through the third speed regulating valve (1031). The third speed regulating valve (1031) reduces the flow of hydraulic oil entering the hydraulic rotary motor (101) to reduce the reversing speed of the hydraulic rotary motor (101).

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

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

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

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

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

Images