Automatic rod changing device and drilling rig

Abstract

The present application relates to a rod changing device of a drilling machine, and particularly discloses an automatic rod changing device, which comprises a drilling device (1), a rod storage device (2) and a driver (3). The drilling device (1) comprises a pushing beam (11) and a pushing unit (12), the pushing unit (12) is connected to the pushing beam (11) and can move up and down along the pushing beam (11); the rod storage device (2) is arranged at the side of the drilling device (1), and can be used for placing multiple drilling rods (4) arranged side by side; and the driver (3) can drive the rod storage device (2) to move to or retreat from the pushing unit (12), so that the drilling rods (4) can be sequentially and one by one delivered to the drilling device (1) during the working process. The present application can realize automatic rod changing of the drilling machine, reduce the labor intensity of workers, improve the speed of rod changing and assembling, and the automatic rod changing device has simple structure and low failure rate.

Description

Technical Field

[0001] This invention relates to a drilling rig rod changing device, specifically, to an automatic rod changing device and a drilling rig. Background Technology

[0002] A drilling rig is a mechanical device used in the exploration or development of mineral resources (including solid, liquid, and gaseous minerals) to drive a drilling tool into the ground to obtain physical geological data. Its main function is to drive the drilling tool to break the rock at the bottom of the hole and lower or lower the drilling tool into the hole. It can be used to drill cores, ore cores, rock cuttings, gaseous samples, liquid samples, etc., to explore underground geology and mineral resources.

[0003] Each drill rod is typically several meters to over ten meters long. To meet the requirement of drilling depths ranging from over ten meters to tens of meters, multiple drill rods need to be connected to each other using tooling. Therefore, rod changing operations are required during the drilling process.

[0004] To reduce the labor intensity of workers, existing rod changing technologies mostly adopt automatic rod changing methods. Generally, rods are stored in rod storage devices, and rod changing is carried out by moving the rod storage devices or by further combining other auxiliary devices. However, the rod storage devices in the existing technology have complex structures and large weights. During the rod changing process, the movement range of the rod storage devices and other auxiliary devices is also large, which makes the rod changing process complicated, slow, energy-intensive, and unsafe.

[0005] Therefore, there is a need to provide an automatic pole changing device. Summary of the Invention

[0006] The technical problem to be solved by the first aspect of the present invention is to provide an automatic pole changing device that can realize automatic pole changing and has a simple structure.

[0007] To achieve the above objectives, a first aspect of the present invention provides an automatic rod changing device, comprising a drilling device, a rod storage device, and a driver. The drilling device includes a propulsion beam and a propulsion unit, the propulsion unit being connected to the propulsion beam and capable of moving up and down along the propulsion beam. The rod storage device is correspondingly disposed on the side of the drilling device and is capable of holding multiple drill rods arranged side by side. The driver is capable of driving the rod storage device to move toward or retract from the propulsion unit, so as to sequentially deliver the drill rods one by one to the drilling device during operation.

[0008] Preferably, the drilling device further includes a support rod and a dust collection device, wherein the support rod is placed at the bottom end of the propulsion beam and correspondingly below the propulsion unit; and the dust collection device is placed below the support rod.

[0009] Specifically, the rod storage device is connected with the drilling device via a bracket, and the driver is connected to the bracket; the upper left and right sides and the lower left and right sides of the pushing beam are each arranged with a pair of the bracket to form an upper bracket group and a lower bracket group, and the rod storage device can move along the bracket to move to or retreat from the pushing unit.

[0010] Further specifically, the rod storage device sequentially comprises an upper fixed arm, a lower fixed arm and a supporting plate from top to bottom, and a plurality of clamps are arranged on the upper fixed arm and the lower fixed arm to be used for fixing the drill pipe, and the supporting plate is connected with the pushing beam.

[0011] Further specifically, each of the brackets is provided with a bracket guide rail extending in the transverse direction, and the upper fixed arm and the lower fixed arm are each provided with a slider structure matched with the bracket guide rail; the upper fixed arm is connected with the upper bracket group via the slider structure, the lower fixed arm is connected with the lower bracket group via the slider structure, and the rod storage device can move in the direction guided by the bracket guide rail.

[0012] Preferably, each of the clamps is configured to be controlled to be independently opened and closed.

[0013] More preferably, the driver is a hydraulic driver, or a rack and pinion driver, or a worm gear driver.

[0014] Specifically, the pushing unit comprises a pusher and a bracket assembly, and the bracket assembly is provided with a drill pipe sleeve used for connecting the drill pipe.

[0015] Further specifically, a sensor is arranged at the connection between the drill pipe sleeve and the bracket assembly to detect the conveying position of the drill pipe on the rod storage device during the work.

[0016] Preferably, the lower part of the drilling device is provided with a perpendicularity monitor to monitor the perpendicularity of the drill pipe during the work.

[0017] Specifically, the automatic rod changing device further comprises a controller electrically connected with the pushing unit, the driver and the rod storage device to control the actions of the drilling device and the rod storage device.

[0018] The second aspect of the present application provides a drilling rig comprising the automatic rod changing device according to any one of the above technical solutions.

[0019] By the technical scheme, the automatic rod changing device provided by the first aspect of the present application stores the drill rod through the rod storage device arranged on the side of the drilling device, and moves the rod storage device to the pushing unit in the drilling device along the extension direction (i.e. the transverse direction) of the support rail through the controller controlling the driver to achieve the automatic feeding of the drill rod or the automatic storage of the drill rod, and the controller can further control the pushing unit to move up and down on the pushing beam to push the drill rod conveyed below the pushing unit downward or pull out the drill rod underground upward, so that the automatic rod changing is achieved, the workload of the workers is greatly reduced, the rod changing device has simple structure, so that the manufacturing cost is low and the failure rate is also low; in addition, the motion amount of the rod storage device during the rod changing process is small, so that the change range of the center of gravity of the automatic rod changing device is small, the shaking of the automatic rod changing device is not easy to be caused, and the safety is higher.

[0020] The drilling rig provided by the second aspect of the present application has the automatic rod changing device, so that the drilling rig also has the advantages of simple structure, low failure rate and low manufacturing cost, and the motion amount of the rod storage device during the rod changing process is small, on the one hand, the speed of the automatic rod changing is improved, and on the other hand, the change range of the center of gravity of the whole drilling rig is small, the shaking of the drilling rig is not easy to be caused, and the safety is higher.

[0021] Other features and advantages of the present application will be described in detail in the following specific embodiment part. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a schematic view of an embodiment of the automatic rod changing device of the present application;

[0023] Figure 2 is a structural schematic view of the pushing unit in the automatic rod changing device of the present application.

[0024] EXPLANATION OF REFERENCE NUMERALS

[0025] 1-drilling device 11-pushing beam

[0026] 12-pushing unit 121-pusher

[0027] 122-carriage assembly 1221-drill rod sleeve

[0028] 1222-sensor 13-support

[0029] 131-support rail 14-pole holder

[0030] 15-dust collecting device 2-rod storage device

[0031] 21-upper fixed arm 22-lower fixed arm

[0032] 23-pallet 24-clamp

[0033] 3-driver 4-drill pipe DETAILED DESCRIPTION

[0034] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0035] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms “set”, “connected” should be understood broadly, for example, the term “connected” can be fixedly connected, or detachably connected, or integrally connected; can be directly connected, or indirectly connected through an intermediate medium; can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] As Figure 1 shown, in some embodiments of the automatic rod changing device of the present application, it comprises a drilling device 1, a rod storage device 2 and a driver 3, the drilling device 1 comprises a pushing beam 11 and a pushing unit 12, the pushing unit 12 is connected to the pushing beam 11 and can move up and down along the pushing beam 11; the rod storage device 2 is correspondingly arranged at the side of the drilling device 1, the rod storage device 2 can be used to place a plurality of drill pipes 4 arranged side by side, and the driver 3 can drive the rod storage device 2 to move to or retreat from the pushing unit 12, so as to sequentially deliver the drill pipes 4 to the drilling device 1 one by one during the working process.

[0037] In this invention, the rod storage device 2 is located on the side of the drilling device 1, and multiple drill rods 4 can be arranged side by side within it. When additional drill rods 4 are needed to increase the drilling depth during downward drilling, the rod storage device 2 can move towards the propulsion unit 12 under the drive of the driver 3, so as to deliver the drill rod 4 closest to the propulsion unit 12 directly below it. After the propulsion unit 12 completes the installation of the drill rod 4, the rod storage device 2 will retract to its original position under the drive of the driver 3, and the propulsion unit 12 will push the drill rod 4 to continue drilling downwards. The rod storage device 2 is designed to accommodate multiple drill rods 4 arranged side by side. This technical solution allows the rod storage device 2 to achieve its purpose with a simple structure. The required storage function is provided. In addition, the rod storage device 2 only needs to reciprocate under the drive of the driver 3 to realize the feeding of the drill rod 4 and the reset of the rod storage device 2, or to realize the storage of the drill rod 4 and the reset of the rod storage device 2. The rod storage device 2 has a small amount of movement, a simple operation process, high rod changing efficiency, and requires fewer drive devices, which makes the overall structure of the automatic rod changing device simple, which can reduce the failure rate and save manufacturing costs. Preferably, the rod storage device 2 can store 7 to 10 drill rods 4, so as to minimize the volume and weight of the rod storage device 2 while ensuring that the stored drill rods 4 can complete drilling at common depths, so as to realize the miniaturization and weight reduction of the automatic rod changing device.

[0038] Specifically, such as Figure 1 As shown, in some embodiments of the automatic rod changing device of the present invention, the drilling device 1 further includes a rod holder 14 and a dust collection device 15. The rod holder 14 is located at the bottom end of the propulsion beam 11 and correspondingly below the propulsion unit 12; the dust collection device 15 is located below the rod holder 14. The rod holder 14 located below the propulsion unit 12 can fix and guide the drill rod 4. Specifically, when the propulsion unit 12 is at the bottom end of the propulsion beam 11 and needs to be connected or disconnected from the drill rod 4 in the soil, the rod holder 14 needs to clamp the drill rod 4 in the soil to fix it, so as to facilitate the connection or disconnection of the propulsion unit 12 with the drill rod 4 in the soil; or when the drill rod 4 to be installed or the drill rod 4 to be retrieved needs to be connected or disconnected from the drill rod 4 in the soil, the rod holder 14 needs to clamp the drill rod 4 in the soil. The drill rod 4 serves to fix the drill rod 4 in the soil layer, so as to facilitate the connection or disconnection of the drill rod 4 to be installed or retrieved from the drill rod 4 in the soil layer; the dust collection device 15 can collect and clean the dust or mud brought out by the drill rod 4 from the soil layer, which can protect the environment on the one hand, and on the other hand, the drill rod 4 after being cleaned by the dust collection device 15 is not covered with mud and soil, so it is less likely to get stuck in the drill rod storage device 2 when it is retrieved, which can facilitate the retrieval of the drill rod 4 and reduce the failure rate.

[0039] Further specifically, as shown in Figure 1 some embodiments of the automatic rod changing device of the present application, the rod storage device 2 is connected with the drilling device 1 via the supports 13, and the driver 3 is connected to the supports 13; the upper left and right sides and the lower left and right sides of the advancing beam 11 are respectively arranged with pairs of supports 13 to form upper and lower support groups, and the rod storage device 2 is capable of moving along the supports 13 to be able to move to or retreat from the advancing unit 12. Since the length of the drill rod 4 is long, usually several meters to tens of meters, the overall length of the rod storage device 2 plus the drill rod 4 stored therein is also long, so supports 13 are arranged on the upper and lower parts of the advancing beam 11 to provide good support and connection for the rod storage device 2 and the drill rod 4 stored therein, so that the rod storage device 2 and the drill rod 4 stored therein are not easy to sway during movement, ensuring the safety of the automatic rod changing device; further, as shown in Figure 1 if the rod storage device 2 is arranged on the right of the drilling device 1, when the drill rod 4 located at the rightmost side of the rod storage device 2 needs to be added, the rod storage device 2 needs to be moved to the left until the drill rod 4 located at the rightmost side of the rod storage device 2 is below the advancing unit 12, and the moving distance is large, which is easy to cause the rod storage device 2 to fall off the supports 13, and the supports 13 need to be configured not to hinder the movement of the advancing unit 12, so it is necessary to preferably arrange supports 13 corresponding to the supports 13 on the right of the drilling device 1 on the left of the drilling device 1, so that when the rod storage device 2 moves a large distance to the left, the left part of the rod storage device 2 can be supported and connected by the supports 13 on the left of the drilling device 1, thereby preventing the rod storage device 2 from being unstable due to the large moving distance, and further ensuring the safety of the automatic rod changing device.

[0040] Further specifically, as shown in Figure 1As shown, in some embodiments of the automatic rod changing device, the rod storage device 2 comprises, from top to bottom, an upper fixed arm 21, a lower fixed arm 22, and a supporting plate 23, and a plurality of clamps 24 are arranged on the upper fixed arm 21 and the lower fixed arm 22 to fix the drill rod 4, and the supporting plate 23 is connected with the advancing beam 11. The upper fixed arm 21 and the lower fixed arm 22 are provided with a plurality of clamps 24 to fix the upper part and the lower part of the drill rod 4, respectively, so that the drill rod 4 is fixed more firmly, and the drill rod 4 cannot shake the entire rod storage device 2 or even the automatic rod changing device, thereby improving the safety; and the supporting plate 23 can support the bottom of the drill rod 4, which can prevent the drill rod 4 from falling due to the failure of the clamp 24, thereby improving the safety, and supporting the bottom of the drill rod 4 can make the clamp 24 only need to exert a small amount of pressure to limit the drill rod 4 when the rod storage device 2 is not moving, so that the clamp 24 does not need to be in a high-load state for a long time, thereby saving energy and prolonging the service life of the clamp 24; specifically, the clamp 24 can preferably use a pneumatic clamp, which can output a large pressure, and can also reduce the overall weight of the rod storage device 2, and has a lower cost than a hydraulic clamp.

[0041] Preferably, as Figure 1 As shown, in some embodiments of the automatic rod changing device, each support 13 is provided with a support rail 131 extending in the transverse direction, and the upper fixed arm 21 and the lower fixed arm 22 are each provided with a slider structure matched with the support rail 131; the upper fixed arm 21 is connected with the upper support group via the slider structure, the lower fixed arm 22 is connected with the lower support group via the slider structure, and the rod storage device 2 can move in the direction guided by the support rail 131. The support rail 131 not only guides the movement of the rod storage device 2, but also fixes the position of the drill rod 4 in the front-rear direction in the rod storage device 2, so that when determining whether the drill rod 4 is directly below the advancing unit 12, only the left-right position of the drill rod 4 needs to be determined, thereby facilitating the positioning of the drill rod 4 and improving the positioning accuracy.

[0042] Further preferably, in some embodiments of the automatic rod changing device, each clamp 24 is configured to be independently controllable. Since only one drill rod 4 needs to be clamped by the corresponding clamp 24 during the process of adding or recovering the drill rod 4 to / from the drilling device 1, each clamp 24 can be independently opened and closed to ensure that the remaining drill rods 4 are in a fixed state and will not fall, thereby ensuring safety.

[0043] Further preferably, in some embodiments of the automatic rod changing device of the present application, the driver 3 is a hydraulic driver, or a rack and pinion driver, or a worm gear driver. The three drivers have the advantage of high control accuracy of the driving stroke, which can meet the requirement of the positioning accuracy of the drill rod 4, and further can realize the automatic adjustment of the position of the drill rod 4, so that the drill rod 4 can be positioned right below the advancing unit 12.

[0044] Specifically, as shown in Figure 1 some embodiments of the automatic rod changing device of the present application, the advancing unit 12 comprises an advancer 121 and a carrier assembly 122, and the carrier assembly 122 is provided with a drill rod sleeve 1221 for connecting the drill rod 4. The advancer 121 can drive the drill rod 4 to move up and down along the advancing beam 11 via the carrier assembly 122 to realize the downward drilling and upward recovery of the drill rod 4. Specifically, the carrier assembly 122 is connected with the drill rod 4 through the drill rod sleeve 1221, and the connection mode can be preferably the screw connection through the cooperation of the internal thread and the external thread (the drill rod sleeve 1221 is the external thread, and the upper end of the drill rod 4 is the internal thread), so as to facilitate the automatic installation and disassembly, and the two drill rods 4 are also preferably connected in this way (the upper end of the drill rod 4 is the internal thread, and the lower end is the external thread), so as to ensure the smoothness of the connection between the two drill rods 4 connected with each other, thereby reducing the resistance of the drill rod when moving in the soil.

[0045] Further specifically, as shown in Figure 2 some embodiments of the automatic rod changing device of the present application, a sensor 1222 is arranged at the connection between the drill rod sleeve 1221 and the carrier assembly 122, so as to detect the conveying position of the drill rod 4 on the rod storage device 2 during the work. As shown in Figure 2 the sensor 1222 is preferably provided with two, and the two sensors 1222 are arranged on the two sides of the diameter of the drill rod sleeve 1221 in the left-right direction and inlaid on the carrier assembly 122; specifically, the interval between the two sensors 1222 is consistent with the diameter of the drill rod 4, so that when both of the two sensors 1222 detect the existence of an object below, it indicates that the drill rod 4 has been conveyed right below the drill rod sleeve 1221, and then the installation of the drill rod 4 can be started.

[0046] Further specifically, in some embodiments of the automatic rod changing device of the present application, the lower part of the drilling device 1 is provided with a perpendicularity monitor, so as to monitor the perpendicularity of the drill rod 4 during the work. Specifically, the perpendicularity monitor can detect the included angle between the drill rod 4 and the horizontal plane in real time, and feed back the detection result to the monitoring personnel in real time, so as to enable the monitoring personnel to adjust and correct the included angle between the drill rod 4 and the horizontal plane; the perpendicularity monitor is preferably arranged at the lower end of the advancing beam 11.

[0047] More specifically, in some embodiments of the automatic rod changing device of the present application, the automatic rod changing device further comprises a controller electrically connected to the advancing unit 12, the driver 3 and the rod storage device 2 to control the actions of the drilling device 1 and the rod storage device 2. In addition, the controller is also electrically connected to the control buttons, which can specifically include a rod changing button for issuing a drill rod adding instruction and a rod collecting button for issuing a drill rod collecting instruction, to control the start and stop or movement of the corresponding devices upon receiving the instruction signals transmitted by the control buttons to achieve the instruction tasks. Specifically, the controller can control the advancing unit 12 to move the advancing unit 12 up and down along the advancing beam 11, control the drill rod sleeve 1221 to rotate to connect or disconnect the drill rod sleeve 1221 with the drill rod 4, and receive the signals of the sensor 1222 to determine whether the drill rod 4 is delivered in place; the controller can control the driver 3 to start according to the instruction signals of the control buttons, and control the driver 3 to stop according to the signals of the sensor 1222 to deliver the drill rod 4 in place; the controller can control the clamp 24 on the rod storage device 2, i.e. control the clamp 24 to release after the drill rod 4 is delivered in place when the drill rod adding instruction is executed, and control the clamp 24 to clamp when the drill rod 4 is at a suitable mounting position in the rod storage device 2 to fix the drill rod 4 when the drill rod collecting instruction is executed.

[0048] Further, the present application also provides a drilling rig comprising the automatic rod changing device of any of the above technical solutions. It can be understood that since the drilling rig comprises the automatic rod changing device of any of the above technical solutions, it also has the technical advantages of any of the above technical solutions of the automatic rod changing device. In addition, since the action amount of the rod storage device is small during the rod changing process, the center of gravity of the whole drilling rig changes with a small amplitude, which is not easy to cause the shaking of the drilling rig, and the safety is higher.

[0049] The control software involved in the present application is the prior art.

[0050] On the basis of the above technical solutions, the specific working process of the automatic rod changing device of the present application is as follows:

[0051] The drill rod adding step: pressing the rod changing button, the drill rod sleeve 1221 is disconnected with the drill rod 4 in the soil layer, the advancing unit 12 moves up to the top of the advancing beam 11, the driver 3 drives the rod storage device 2 to move left and stops when the drill rod 4 to be added on the rod storage device 2 is directly below the drill rod sleeve 1221, the advancing unit 12 moves down and connects the drill rod sleeve 1221 with the drill rod 4 to be added, the clamp 24 is released and the rod storage device 2 retreats, the advancing unit 12 further moves down and connects the drill rod 4 to be added with the drill rod 4 in the soil layer, and the advancing unit 12 continues to move down for drilling.

[0052] The step of recovering the drill pipe: the rod-recovery button is pressed, the advancing unit 12 is advanced to the top of the advancing beam 11 to pull out the drill pipe 4 to be recovered, the drill pipe 4 to be recovered is disconnected from the drill pipe 4 in the soil layer, the drive 3 drives the pipe-storing device 2 to move left and stops when the drill pipe 4 to be recovered is in a proper installation position in the pipe-storing device 2, the clamp 24 is clamped, the drill pipe sleeve 1221 is disconnected from the drill pipe 4 to be recovered, and the pipe-storing device 2 is retracted to complete the recovery of the drill pipe 4.

[0053] The preferred embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited thereto. Various simple modifications can be made to the technical solutions of the present application within the technical concept of the present application, including the combination of various specific technical features in any suitable manner. In order to avoid unnecessary repetition, the present application will not further describe various possible combination manners. However, these simple modifications and combinations should also be regarded as the disclosed content of the present application and belong to the protection scope of the present application.

Claims

1. An automatic rod changing device characterized by comprising: The drilling device (1) comprises a propulsion beam (11) and a propulsion unit (12) connected to the propulsion beam (11) and capable of moving up and down along the propulsion beam (11); the rod storage device (2) is correspondingly arranged at the side of the drilling device (1), and is capable of being used for placing a plurality of drill rods (4) arranged side by side; and the driver (3) is capable of driving the rod storage device (2) to move to or retreat from the propulsion unit (12), so as to sequentially deliver the drill rods (4) to the position directly below the propulsion unit (12) during the working process. The rod storage device (2) is connected with the drilling device (1) via a support (13), and the driver (3) is connected to the support (13); the left and right sides of the upper part and the lower part of the propulsion beam (11) are each arranged with a pair of supports (13) to form an upper support group and a lower support group; the rod storage device (2) is capable of moving along the supports (13) to be capable of moving to or retreating from the propulsion unit (12), and when the left part of the rod storage device (2) is displaced by a large distance to the left, the left part can be supported and connected by the support (13) located at the left part of the drilling device (1).

2. The automatic rod changer of claim 1, wherein The drilling device (1) further comprises a rod holder (14) arranged at the bottom end of the propulsion beam (11) and corresponding to the position below the propulsion unit (12), and a dust collection device (15) arranged below the rod holder (14).

3. The automatic rod changer of claim 2, wherein, The rod storage device (2) sequentially comprises an upper fixed arm (21), a lower fixed arm (22) and a supporting plate (23) from top to bottom; a plurality of clamps (24) are arranged on the upper fixed arm (21) and the lower fixed arm (22) to be capable of being used for fixing the drill rods (4); and the supporting plate (23) is connected with the propulsion beam (11).

4. The automatic rod changer of claim 3, wherein Each of the supports (13) is provided with a support rail (131) extending in the transverse direction, and the upper fixed arm (21) and the lower fixed arm (22) are each provided with a sliding block structure matched with the support rail (131); the upper fixed arm (21) is connected with the upper support group via the sliding block structure, the lower fixed arm (22) is connected with the lower support group via the sliding block structure, and the rod storage device (2) is capable of moving in the direction guided by the support rail (131).

5. The automatic rod changer of claim 3, wherein Each of the clamps (24) is configured to be capable of being controlled to be independently opened and closed.

6. The automatic rod changer of claim 1, wherein, The driver (3) is a hydraulic driver, or a rack and pinion driver, or a worm gear driver.

7. The automatic rod changer of any one of claims 1 to 6, wherein, The propulsion unit (12) comprises a propeller (121) and a bracket assembly (122), and the bracket assembly (122) is provided with a drill rod sleeve (1221) used for connecting the drill rod (4).

8. The automatic rod changer of claim 7, wherein, The connecting part of the drill pipe sleeve (1221) and the bracket assembly (122) is provided with a sensor (1222) to detect the conveying position of the drill pipe (4) on the rod storage device (2) during operation.

9. The automatic rod changer of any one of claims 1 to 6, wherein, The lower part of the drilling device (1) is provided with a verticality monitor to monitor the verticality of the drill pipe (4) during operation.

10. The automatic rod changer of any one of claims 1 to 6, wherein, It also includes a controller electrically connected to the propulsion unit (12), the driver (3), and the rod storage device (2) to control the action of the drilling device (1) and the rod storage device (2).

11. A rig characterized in that, An automatic rod changing device according to any one of claims 1 to 10.

Images