An automatic riser pipe replacement manipulator

Abstract

The present invention belongs to the technical field of casting equipment and provides a manipulator for automatically replacing the lifting pipe. The manipulator for automatically replacing the lifting pipe of the present invention includes: a manipulator; and an automatic pipe replacement mechanism, wherein the automatic pipe replacement mechanism is installed on the manipulator; the automatic pipe replacement mechanism includes a main sleeve, a pipe cabin and an extraction part; the main sleeve is installed in the manipulator, the pipe cabin is installed on the outer wall of the main sleeve and is communicated with the main sleeve; the extraction part is installed in the main sleeve; the extraction part includes an oil cylinder and a fixing block; the pipe cabin includes a main cabin, a rotating frame and a fixing clamp; the fixing clamp includes a fixing cylinder and a rubber buffer block; the rubber buffer block is fixedly installed at the output shaft end of the fixing cylinder. This device is not only reasonable in design but also simple to operate, can achieve the dual effects of collection and replacement, and adopts the methods of pneumatic adsorption and electromagnetic connection to realize the fixing and detachment of the lifting pipe, so it is suitable for industry promotion.

Description

Technical Field

[0001] The present invention relates to the technical field of casting equipment, and particularly relates to a manipulator for automatically replacing a lifting pipe. Background Art

[0002] During the casting process, the transfer of the lifting pipe depends on manual operation. However, during the manual operation process, it is easy to cause the paint to peel off, which affects the quality of the casting; moreover, the overall efficiency of manual operation is low.

[0003] Therefore, a mechanical device for automatically replacing the lifting pipe is needed. This device realizes the automatic and precise grasping and transfer of the lifting pipe at high temperature through the cooperation with the track and the gantry, which not only reduces the labor intensity of workers but also avoids heat radiation. Summary of the Invention

[0004] Aiming at the defects in the prior art, the present invention provides a manipulator for automatically replacing a lifting pipe to improve work efficiency and ensure the integrity of the surface of the lifting pipe and reduce surface damage.

[0005] A manipulator for automatically replacing a lifting pipe provided by the present invention includes: a manipulator; and an automatic pipe-changing mechanism, and the automatic pipe-changing mechanism is installed on the manipulator; the automatic pipe-changing mechanism includes a main sleeve, a pipe cabin, and an extraction part; the main sleeve is installed in the manipulator, the pipe cabin is installed on the outer wall of the main sleeve and communicates with the main sleeve; the extraction part is installed in the main sleeve; the extraction part includes an oil cylinder and a fixed block; the output shaft of the oil cylinder reciprocates in the main sleeve; the fixed block is fixedly installed on the output shaft of the oil cylinder, and the fixed block is connected to the lifting pipe; the pipe cabin includes a main cabin, a rotating frame, and a fixed fixture; the main cabin is installed below the main sleeve and communicates with the main sleeve; the rotating frame is rotatably installed in the main cabin; the cross-section of the rotating frame is circular; the rotating frame has a plurality of fixing grooves, and the fixing grooves are evenly distributed along the outer circumferential surface of the rotating frame; the fixed fixture is installed in the fixing groove; the fixed fixture includes a fixed cylinder and a rubber buffer block; the fixed cylinder is installed in the fixing groove not less than one place and is evenly arranged along the axial direction of the fixing groove; the rubber buffer block is fixedly installed on the output shaft end of the fixed cylinder.

[0006] Furthermore, the extraction part further includes a plurality of abutting rotating wheels, the fixed block has installation grooves, and the installation grooves are evenly distributed on the circumferential surface of the fixed block; the abutting rotating wheels are rotatably installed in the installation grooves and abut against the inner wall of the main sleeve. In practical application, the abutting rotating wheels are made of rubber material; at the same time, this design maintains the guiding function on the one hand, improves the stability for the fixed block and the oil cylinder, and avoids their shaking; in this way, the lifting pipe is prevented from falling off the fixed block in advance.

[0007] Furthermore, the extraction part further includes an electromagnetic block; the fixed block further has a magnetic attraction connection groove, which is located on the end face of the fixed block and is arranged at the end far from the oil cylinder; the electromagnetic block is fixedly installed in the magnetic attraction connection groove. In actual use, the design principle of this electromagnetic block is to utilize the electromagnet connection principle, so that it has strong magnetism when electrified, which facilitates the connection with the liquid lifting pipe. At the same time, through the above-mentioned abutting rotating wheel, it is ensured that the electromagnetic block is not connected to the main sleeve or other parts.

[0008] Furthermore, it further includes a blowing nozzle; the main sleeve further has a separation pipe groove, and the main cabin further has a feed pipe groove; the separation pipe groove communicates with the feed pipe groove; the blowing nozzle is installed on the inner wall of the separation pipe groove and is located on both sides, and the blowing nozzle communicates with an external air source. In actual use, the principle of this design is that, on the one hand, the high-pressure air flow blown out by the blowing nozzle initially cleans the surface of the lifting pipe; and on the other hand, the generated high-pressure air flow reduces the impact generated by the falling of the liquid lifting pipe. In actual use, it is the high-pressure air flow that impacts the circumferential surface of the liquid lifting pipe, so that during its falling process, it always receives a force from the opposite direction of its falling. In this way, the surface impact of the liquid lifting pipe is greatly reduced, and its surface damage is avoided; of course, the high-pressure air flow in this design is set according to the quality of different liquid lifting pipes.

[0009] Furthermore, the fixed fixture further includes suction nozzles; there are multiple suction nozzles, which are evenly distributed along the axis direction of the fixed groove on both sides of the fixed groove; the suction nozzles are made of flexible materials. In actual use, these suction nozzles also communicate with an external air source. At the same time, the main purpose of these suction nozzles is to adsorb the liquid lifting pipe falling into the fixed groove, achieving a secondary fixing effect, and the fixing is evenly distributed from both sides of the pipe wall of the liquid lifting pipe. In this way, the fixing effect is further improved, and it is easy to fall off.

[0010] Furthermore, the fixed fixture further includes magnetic blocks; the suction nozzles have multiple mounting holes, and the mounting holes are arranged on the back of the suction nozzles; the mounting holes are evenly distributed along the center of the suction nozzles; the magnetic blocks are fixedly installed in the mounting holes. In actual use, this design is to facilitate the suction nozzle to quickly contact the pipe wall of the liquid lifting pipe to achieve its fixation; at the same time, by using the design of multiple spaced installations, the function of the suction nozzle to contract is realized; in this way, the fixing effect of multiple curved surfaces can be achieved, and it is more convenient to fix the curved surface pipe.

[0011] Furthermore, the fixed fixture further includes an electromagnetic connection block; the electromagnetic connection block is fixedly installed on the output shaft of the fixed cylinder and is wrapped in the rubber buffer block. In practical applications, this design ensures that through the electromagnetic connection block; when powered on, a magnetic suction force is generated, which can fix the lifting pipe on the rubber buffer block; in this way, the lifting pipe is fixed in the fixed groove, and then the fixed collection effect of multiple lifting pipes is realized, and the lifting pipe can be replaced.

[0012] Furthermore, the pipe compartment further includes a rotating shaft, a turntable and a motor. The rotating shaft is installed through the rotating frame; and one end of the rotating shaft is rotatably installed in the main compartment, and the other end of the rotating shaft is fixedly connected to the turntable; the turntable is installed on the rotating shaft of the motor; the motor is fixedly installed in the main compartment. In practical applications, this design ensures that the rotating frame can rotate, and in this way, the technical effect of replacing and reusing the lifting pipe is realized; in the actual operation process, first, multiple lifting pipes to be used are sequentially installed in the fixed grooves of the rotating frame, and a fixed groove is left for placing the replacement lifting pipe; this principle is similar to the cartridge chamber of a revolver; the difference is that the revolver cartridge chamber fires bullets, while this design removes the lifting pipe, which makes the replacement convenient.

[0013] Furthermore, the main compartment has a discharge slot and a discharge plate. The discharge slot is opened below the main compartment and is in the tangential direction of the main compartment; the discharge plate is installed in the discharge slot and is inclined, with one end located below the rotating frame and the other end extending outside the discharge slot. In practical applications, the purpose of this design is to facilitate the transfer of the used lifting pipe from the main compartment to the outside; the tangential placement position actually adopted is to facilitate its transfer.

[0014] Furthermore, a collection pipe box is further included; the collection pipe box is installed on one side of the main compartment and is close to the discharge port direction in the main compartment; the discharge plate extends into the collection pipe box. In practical applications, this design is mainly to facilitate the collection of the lifting pipes. It avoids the trouble of transferring them one by one, and realizes centralized transportation and improves efficiency.

[0015] As can be seen from the above technical solutions, the beneficial effects of a lifting pipe automatic replacement manipulator provided by the present invention are:

[0016] (1) In practical applications, by installing the automatic pipe replacement mechanism on the manipulator, it is convenient for the automatic pipe replacement mechanism to move close to the pipe replacement position; in actual operation, this design can realize one manipulator operating multiple machines; reducing the equipment investment cost;

[0017] (2) The oil cylinder used provides the extraction power for automatic tube replacement, which ensures the removal of the lifting pipe; a fixed block is adopted to fix the lifting pipe and realize its removal through the oil cylinder.

[0018] (3) Moreover, the removed lifting pipes are successively placed in the rotating frame in the main cabin and fixed on the fixed slots; each fixed slot can fix the lifting pipe; in this way, centralized collection of multiple lifting pipes can be achieved.

[0019] (4) Among them, the fixed fixture is fixed in the fixed slot. The fixed air cylinder used cooperates with the rubber buffer block. Utilizing the flexibility of the rubber buffer block, the impact when the lifting pipe drops is reduced, protecting the surface of the lifting pipe; and the fixing of the lifting pipe is realized through this fixed slot. Description of the Drawings

[0020] In order to more clearly illustrate the specific embodiments of the present invention, the drawings required for use in the specific embodiments or the description of the prior art will be briefly introduced below. In all the drawings, the elements or parts do not necessarily draw according to the actual ratio.

[0021] Figure 1 It is the front view partial structure schematic diagram of the present invention;

[0022] Figure 2 It is the left view partial structure schematic diagram of the present invention;

[0023] Figure 3 It is Figure 1 The enlarged schematic diagram at position A shown;

[0024] Figure 4 It is Figure 2 The enlarged schematic diagram at position B shown;

[0025] Figure 5 It is the top view schematic diagram of the suction nozzle of the present invention;

[0026] Figure 6 It is the structure schematic diagram of the suction nozzle of the present invention;

[0027] Reference Signs:

[0028] Manipulator 1, Automatic Tube Replacement Mechanism 2, Main Sleeve 3, Detachment Tube Slot 31, Tube Cabin 4, Main Cabin 41, Feed Tube Slot 411, Discharge Slot Opening 412, Rotating Frame 42, Fixed Slot 421, Fixed Fixture 43, Fixed Air Cylinder 431, Rubber Buffer Block 432, Suction Nozzle 433, Mounting Hole 4331, Magnetic Block 434, Electromagnetic Connection Block 435, Rotating Shaft 44, Turntable 45, Motor 46, Discharge Plate 47, Extraction Part 5, Oil Cylinder 51, Fixed Block 52, Mounting Slot 521, Magnetic Absorption Connection Slot 522, Contact Runner 53, Electromagnetic Block 54, Blowing Nozzle 6, Collection Pipe Box 7. Detailed implementation manners

[0029] The embodiments of the technical solution of the present invention will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and thus are only examples and cannot be used to limit the protection scope of the present invention.

[0030] The embodiment is basically as shown in the attached Figures 1 to 6 drawing:

[0031] Embodiment 1:

[0032] As Figures 1 - 6 shown, a lifting pipe automatic replacement manipulator provided in this embodiment can improve work efficiency, ensure the surface integrity of the lifting pipe, and reduce surface damage.

[0033] A liquid lift pipe automatic replacement manipulator, comprising: a manipulator 1; and an automatic pipe replacement mechanism 2, the automatic pipe replacement mechanism 2 being installed on the manipulator 1; the automatic pipe replacement mechanism 2 comprising a main sleeve 3, a pipe cabin 4 and an extraction part 5; the main sleeve 3 being installed in the manipulator 1, the pipe cabin 4 being installed on the outer wall of the main sleeve 3 and communicating with the main sleeve 3; the extraction part 5 being installed in the main sleeve 3; the extraction part 5 comprising an oil cylinder 51 and a fixing block 52; the output shaft of the oil cylinder 51 reciprocating in the main sleeve 3; the fixing block 52 being fixedly installed on the output shaft of the oil cylinder 51, the fixing block 52 being connected to the liquid lift pipe; the pipe cabin 4 comprising a main cabin 41, a rotating frame 42 and a fixing fixture 43; the main cabin 41 being installed below the main sleeve 3 and communicating with the main sleeve 3; the rotating frame 42 being rotatably installed in the main cabin 41; the cross section of the rotating frame 42 being circular; the rotating frame 42 having a plurality of fixing grooves 421, and the fixing grooves 421 being uniformly arranged along the outer circumferential surface of the rotating frame 42; the fixing fixture 43 being installed in the fixing grooves 421; the fixing fixture 43 comprising a fixing cylinder 431 and a rubber buffer block 432; the fixing cylinder 431 being installed in the fixing grooves 421 at least in one place and being uniformly arranged along the axial direction of the fixing grooves 421; the rubber buffer block 432 being fixedly installed on the output shaft end of the fixing cylinder 431. In actual use, by installing the automatic pipe replacement mechanism 2 on the manipulator 1, it is convenient for the automatic pipe replacement mechanism 2 to move and approach the pipe replacement position; in actual operation, this design can enable one manipulator 1 to operate multiple machines; reducing the equipment investment cost; and the oil cylinder 51 used provides extraction power for automatic pipe replacement, and this power ensures the extraction of the liquid lift pipe; and the fixing block 52 is used to fix the liquid lift pipe and is extracted through the oil cylinder 51; moreover, the liquid lift pipe after extraction is sequentially placed in the rotating frame 42 in the main cabin 41 and fixed on the fixing grooves 421; each fixing groove 421 can fix the liquid lift pipe; in this way, centralized collection of multiple liquid lift pipes can be realized. Among them, the fixing fixture 43 is fixed in the fixing grooves 421, and the fixing cylinder 431 and the rubber buffer block 432 are used in cooperation. By using the flexibility of the rubber buffer block 432, the impact when the liquid lift pipe falls is reduced, and the surface of the liquid lift pipe is protected; and the fixing of the liquid lift pipe is realized through the fixing grooves 421.

[0034] In order to ensure the linear movement of the fixed block 52 when it moves within the main sleeve 3, the extraction part 5 further includes a plurality of abutting rotating wheels 53. In this embodiment, the fixed block 52 has an installation groove 521, and the installation grooves 521 are evenly distributed on the circumferential surface of the fixed block 52; the abutting rotating wheels 53 are rotatably installed in the installation grooves 521 and abut against the inner wall of the main sleeve 3. In actual use, the abutting rotating wheels 53 are made of rubber material; at the same time, this design maintains the guiding function on the one hand, improves the stability of the fixed block 52 and the oil cylinder 51, and avoids their shaking; in this way, the liquid lifting pipe is prevented from falling off the fixed block 52 in advance.

[0035] At the same time, in order to truly achieve connection and fixation and fix the liquid lifting pipe, in this embodiment, the extraction part 5 further includes an electromagnetic block 54; the fixed block 52 further has a magnetic attraction connection groove 522, which is located at the end face of the fixed block 52 and is arranged at one end away from the oil cylinder 51; the electromagnetic block 54 is fixedly installed in the magnetic attraction connection groove 522. In actual use, the design principle of the electromagnetic block 54 is to utilize the electromagnetic connection principle, so that it has strong magnetism when energized, which facilitates the connection with the liquid lifting pipe. At the same time, through the above-mentioned abutting rotating wheels 53, the connection of the electromagnetic block 54 to the main sleeve 3 or other parts is prevented.

[0036] And in order to reduce the impact force when the liquid lifting pipe falls, in this embodiment, it further includes a blowing nozzle 6; the main sleeve 3 further has a separation pipe groove 31, and the main cabin 41 further has a feed pipe groove 411; the separation pipe groove 31 communicates with the feed pipe groove 411; the blowing nozzle 6 is installed on the inner wall of the separation pipe groove 31 and is located on both sides, and the blowing nozzle 6 communicates with an external air source. In actual use, the principle of this design is that on the one hand, the high-pressure air flow blown out by the blowing nozzle 6 preliminarily cleans the surface of the lifting pipe; and on the other hand, the high-pressure air flow generated is used to reduce the impact generated by the falling of the liquid lifting pipe. In actual use, the high-pressure air flow impacts the circumferential surface of the liquid lifting pipe, so that during its falling process, it is always subjected to a force in the opposite direction to its falling direction. In this way, the surface impact of the liquid lifting pipe is greatly reduced, and its surface damage is avoided; of course, the high-pressure air flow in this design is set according to the quality of different liquid lifting pipes.

[0037] In this embodiment, in order to achieve fixation, the fixing fixture 43 further includes a suction nozzle 433; there are multiple suction nozzles 433, and they are evenly distributed on both sides of the fixing groove 421 along the axial direction of the fixing groove 421; the suction nozzle 433 is made of a flexible material. In actual use, the suction nozzle 433 is also communicated with an external air source. At the same time, the main purpose of the suction nozzle 433 is to adsorb the riser pipe falling into the fixing groove 421, achieving a secondary fixing effect, and the fixation is evenly distributed from both sides of the pipe wall of the riser pipe. In this way, the fixing effect is further improved, and it is easy to fall off.

[0038] At the same time, in order to further achieve the fixing effect on multiple curved surfaces, in this embodiment, the fixing fixture 43 further includes a magnetic block 434; the suction nozzle 433 has multiple mounting holes 4331, and the mounting holes 4331 are arranged on the back of the suction nozzle 433; the mounting holes 4331 are evenly distributed along the center of the suction nozzle 433; the magnetic block 434 is fixedly installed in the mounting holes 4331. In actual use, this design is to facilitate the suction nozzle 433 to quickly contact the pipe wall of the riser pipe to achieve its fixation; at the same time, the function of the suction nozzle to contract is realized by using the design of multiple spaced installations; in this way, the fixing effect on multiple curved surfaces can be achieved, and it is more convenient to fix the curved surface pipe.

[0039] In this embodiment, in order to achieve the final fixing effect at the fixing groove 421, the fixing fixture 43 further includes an electromagnetic connection block 435; the electromagnetic connection block 435 is fixedly installed on the output shaft of the fixing cylinder 431 and is wrapped in the rubber buffer block 432. In actual use, this design ensures that through the electromagnetic connection block 435; when powered on, a magnetic suction force is generated, which can fix the riser pipe on the rubber buffer block 432; in this way, the riser pipe is fixed in the fixing groove 421, and further the fixing and collecting effect of multiple riser pipes is achieved, and the riser pipes can be replaced.

[0040] Meanwhile, in order to achieve the rotation function of the rotating frame 42 and thus achieve sequential feeding and replacement, in this embodiment, the pipe chamber 4 further includes a rotating shaft 44, a turntable 45 and a motor 46. The rotating shaft 44 is installed through the rotating frame 42. One end of the rotating shaft 44 is rotatably installed in the main chamber 41, and the other end of the rotating shaft 44 is fixedly connected to the turntable 45. The turntable 45 is installed on the rotating shaft 44 of the motor 46, and the motor 46 is fixedly installed on the main chamber 41. In actual use, this design enables the rotation of the rotating frame 42, thereby achieving the technical effect of replacing and reusing the lift pipe. In the actual operation process, first, a plurality of lift pipes to be used are sequentially installed in the fixing grooves 421 of the rotating frame 42, and one fixing groove 421 is left for placing the replacement lift pipe. This principle is similar to the cartridge chamber of a revolver. The difference is that the revolver cartridge chamber fires bullets, while in this design, the lift pipe is taken out, which makes the replacement convenient.

[0041] In this embodiment, in order to facilitate the transfer of the lift pipe, the main chamber 41 has a discharge slot 412 and a discharge plate 47. The discharge slot is opened below the main chamber 41 and in the tangential direction of the main chamber 41. The discharge plate 47 is installed in the discharge slot 412 and is inclined, with one end located below the rotating frame 42 and the other end extending outside the discharge slot 412. In actual use, the purpose of this design is to facilitate the transfer of the used lift pipe from the main chamber 41 to the outside. The tangential placement position actually adopted is for convenient transfer. Further, it also includes a collection pipe box 7. The collection pipe box 7 is installed on one side of the main chamber 41 and close to the discharge port direction in the main chamber 41. The discharge plate 47 extends into the collection pipe box 7. In actual use, this design is mainly to facilitate the collection of the lift pipe, avoiding the trouble of transferring one by one, and achieving centralized transportation and improved efficiency.

[0042] In actual work, first, the new unused lifting pipes are sequentially placed in the fixing grooves 421 of the rotating frame 42, and the electromagnetic connection block 435 is activated to fix the lifting pipes in the fixing grooves 421, while leaving the last blank fixing groove 421; then the automatic pipe-changing mechanism 2 is brought close to the using area by the manipulator 1; and the electromagnetic block 54 is activated to conveniently adsorb and fix the used lifting pipes; and the oil cylinder 51 is used to draw backward until it is separated from the pipe slot 31, and at the same time, the blowing nozzle 6 is activated to reduce the falling impact of the lifting pipe through high-pressure air flow; and at the same time, the turntable 45 is activated by the motor 46 to rotate the empty fixing groove 421 to a position below the pipe slot 31; when the lifting pipe falls, the suction nozzle 433 and the electromagnetic connection block 435 in the fixing groove 421 are activated to fix it; then the turntable 45 is driven to rotate until the adjacent fixing groove 421 is directly below the pipe slot 31; then the electromagnetic connection block 435 is activated; and at the same time, the fixing cylinder 431 is activated, and the output shaft of the fixing cylinder 431 is used to lift the unused lifting pipe until it is above the pipe slot 31, that is, inside the main sleeve 3; then the electromagnetic connection block 435 is powered off; and the new lifting pipe is pushed into the working area by the oil cylinder 51; thus, a replacement process is completed. Finally, when all the fixing grooves 421 are filled with used lifting pipes, the rotating frame 42 is rotated sequentially in the direction close to the discharge plate 47. When the fixing groove 421 approaches, the current of the electromagnetic connection block 435 and the air outlet of the suction nozzle 433 are turned off to separate the lifting pipe at that place; finally, the collected pipe box 7 is centrally transported.

[0043] In summary, the automatic pipe-changing manipulator for the lifting pipe not only has a reasonable design but also is easy to operate. It can achieve the dual effects of collection and replacement, and adopts the methods of pneumatic adsorption and electromagnetic connection to realize the fixing and detachment of the lifting pipe. Therefore, it is suitable for industry promotion.

[0044] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. An automatic lifting pipe replacement manipulator, characterized in that, Comprising: A manipulator; And An automatic tube changing mechanism, which is installed on the manipulator; the automatic tube changing mechanism includes a main sleeve, a tube cabin and an extraction part; the main sleeve is installed in the manipulator, the tube cabin is installed on the outer wall of the main sleeve and communicates with the main sleeve; the extraction part is installed in the main sleeve; The extraction part includes an oil cylinder and a fixed block; the output shaft of the oil cylinder reciprocates in the main sleeve; The fixed block is fixedly installed on the output shaft of the oil cylinder, and the fixed block is connected to the lift pipe; The tube cabin includes a main cabin, a rotating frame and a fixed clamp; the main cabin is installed below the main sleeve and communicates with the main sleeve; the rotating frame is rotatably installed in the main cabin; the cross section of the rotating frame is circular; the rotating frame has multiple fixed slots, and the fixed slots are evenly distributed along the outer circumferential surface of the rotating frame; The fixed clamp is installed in the fixed slot; the fixed clamp includes a fixed cylinder and a rubber buffer block; the fixed cylinder is installed in the fixed slot at least one place and is evenly arranged along the axial direction of the fixed slot; the rubber buffer block is fixedly installed at the end of the output shaft of the fixed cylinder.

2. The automatic replacement manipulator for the lifting pipe according to claim 1, wherein The extraction part further includes a plurality of abutting rotating wheels, the fixed block has installation slots, and the installation slots are evenly distributed on the circumferential surface of the fixed block; the abutting rotating wheels are rotatably installed in the installation slots and abut against the inner wall of the main sleeve.

3. The automatic replacement manipulator for the lifting pipe according to claim 1, characterized in that, The extraction part further includes an electromagnetic block; the fixed block further has a magnetic attraction connection slot, which is located at the end face of the fixed block and is arranged at one end away from the oil cylinder; the electromagnetic block is fixedly installed in the magnetic attraction connection slot.

4. The automatic replacement manipulator for the lifting pipe according to claim 1, wherein It further includes a blowing nozzle; the main sleeve further has a separation tube slot, and the main cabin further has a feed tube slot; the separation tube slot communicates with the feed tube slot; the blowing nozzle is installed on the inner wall of the separation tube slot and is located on both sides, and the blowing nozzle communicates with an external air source.

5. The automatic lifting pipe replacement manipulator according to claim 4, characterized in that, The fixed clamp further includes a suction nozzle; there are multiple suction nozzles, and they are evenly arranged on both sides of the fixed slot along the axial direction of the fixed slot; the suction nozzle is made of a flexible material.

6. The automatic replacement manipulator for the lifting pipe according to claim 5, characterized in that, The fixed clamp further includes a magnetic block; the suction nozzle has multiple mounting holes, and the mounting holes are arranged on the back of the suction nozzle; the mounting holes are evenly arranged along the center of the suction nozzle; the magnetic block is fixedly installed in the mounting holes.

7. An automatic lifting pipe replacement manipulator according to claim 3, characterized in that, The fixed clamp further includes an electromagnetic connection block; the electromagnetic connection block is fixedly installed on the output shaft of the fixed cylinder and is wrapped in the rubber buffer block.

8. The automatic lifting pipe replacement manipulator according to claim 4, characterized in that, The tube cabin further includes a rotating shaft, a turntable and a motor, the rotating shaft is installed through the rotating frame; and one end of the rotating shaft is rotatably installed in the main cabin, and the other end of the rotating shaft is fixedly connected to the turntable; the turntable is installed on the rotating shaft of the motor; The motor is fixedly installed in the main cabin.

9. The automatic replacement manipulator for a riser pipe according to claim 4, characterized in that, The main cabin has a discharge slot and a discharge plate, the discharge slot is opened below the main cabin and is in the tangential direction of the main cabin; the discharge plate is installed in the discharge slot and is inclined, with one end located below the rotating frame and the other end extending outside the discharge slot.

10. The automatic replacement manipulator for the lifting pipe according to claim 9, characterized in that, It further includes a collecting header; the collecting header is installed on one side of the main chamber and close to the direction of the discharge port in the main chamber; the discharge plate extends into the collecting header.

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