A grafting system and its transplanting method and grafting method

Abstract

The application discloses a kind of interface root systems and its removal and transport method and interface root method.A kind of interface root system, including hydraulic elevator, iron drill worker, pipe rack manipulator, manipulator mesa and mouse hole device, the mouse hole device includes the upper holding component being located above manipulator mesa;The mouse hole device further includes the lower support component being hinged to the outside of manipulator mesa.A kind of interface root system removal and transport method, by lower support component overturning to avoid Christmas tree.One kind of interface root method, utilizes the above system to realize interface root.This scheme will lower support component be unfolded and work along hinged point in the process of temporary storage or interface root;While in the process of whole translation of root box, lower support component is folded to the above of manipulator mesa along hinged point, so that root box can smoothly pass from the periphery of christmas tree.

Description

Technical Field

[0001] This invention relates to the field of oil drilling equipment application technology, and in particular to a connection system and its transportation and connection method. Background Technology

[0002] When operating a cluster well drilling rig, wellheads are typically spaced 10-15 meters apart. After drilling one well, the rig needs to move to the next. Short-distance moves between wellheads require the entire rig, including the standpipes, to be moved. During this movement, it must traverse wellheads and jib cages, which are typically about 4 meters high and wide. This necessitates that the rig, standpipe housing, and associated foreground tubing handling equipment all possess translation and obstacle-crossing capabilities. While current automated drilling rigs have obstacle-crossing capabilities for cluster well operations, the standpipes are placed on the rig base, resulting in a high load and center of gravity during rig movement, leading to high costs and affecting movement speed and stability. For long-distance rig relocation, the standpipes must be disassembled from the rig base and dropped off before transport to the next well site, reducing the load and center of gravity. The rig is then erected or placed on a trailer for transport. Disassembling the standpipes typically takes 3-4 days, resulting in lengthy relocation times and high costs.

[0003] To address the aforementioned issues, our company has proposed a new type of drilling rig. The standpipe box area and the second-level platform are independently separated from the drilling platform to form a new system, enabling offline standpipe connection and dismantling operations independent of the drilling rig. The independent standpipe box base is equipped with a stepping translation device and features an arched design to accommodate the space occupied by the Christmas tree, with the height and width of the central arch meeting the Christmas tree's passage requirements. Standpipe connection and dismantling can be completed independently of the wellhead axis, without a traveling crane system or wellhead involvement. The tubing handling process is independent of the tubing string tripping process, effectively improving drilling efficiency. However, this new independent system requires a novel rat-hole device to replace the temporary rat-hole storage for single or multiple standpipes at the wellhead for standpipe connection and dismantling, while also avoiding the Christmas tree during standpipe box movement.

[0004] In addition, conventional hole-shaped or cylindrical rat holes can be used to temporarily store single or vertical pipes for connecting or disconnecting them. However, during the connection or disconnection of vertical pipes, it is necessary to frequently insert and pull out the pipe into the rat hole and center it. Moreover, the insertion or pulling stroke is relatively long (the minimum stroke is about 7m), which consumes a lot of energy and time, seriously affecting the economy and efficiency of pipe handling. Summary of the Invention

[0005] The purpose of this invention is to provide a support system and its transportation and support method to address the above-mentioned problems. When supporting the support, it can be close to the bottom surface, saving energy and ensuring stability. When the drilling rig moves during cluster well operations, it can meet the needs of moving between wellheads and crossing obstacles.

[0006] The technical solution adopted in this invention is as follows:

[0007] A pipe-laying system includes a hydraulic clamp, a pipe drill, a pipe-laying robot, a robot platform, and a mouse hole device. The mouse hole device includes an upper gripping assembly located above the robot platform. The upper gripping assembly includes a support frame, on which a centering component is provided. The centering component has an entrance / exit on one side in the horizontal direction and is located on the outer side of the robot platform. The mouse hole device also includes a lower support assembly hinged to the outer side of the robot platform to realize the conversion between the unfolded and folded states of the lower support assembly. The lower support assembly includes a support platform. When the lower support assembly is flipped down and unfolded, the centering component is located above the support platform.

[0008] Alternatively, the centering assembly is mounted on a support frame via an arm, with the arm and the inlet / outlet located on opposite sides of the centering assembly.

[0009] Alternatively, the arm body is telescopic, and the arm body includes a fixed arm and a movable arm. The movable arm can move along the fixed arm. A telescopic cylinder is fixedly installed on the fixed arm. The telescopic end of the telescopic cylinder is connected to the movable arm. The movable arm is connected to the centering assembly.

[0010] Alternatively, the centering assembly includes a rotatable positioning frame mounted on a support frame, the positioning frame being connected to a centering cylinder, and the positioning frame having two conical rollers symmetrically arranged on both sides of the positioning frame along its axis of rotation, with a gap between the two conical rollers; or, the centering assembly includes a positioning frame mounted on a support frame, the positioning frame having two conical rollers slidably mounted on it via a centering cylinder, the positioning frame having a through-hole sliding groove, the central axis of the conical roller passing through the sliding groove, the two conical rollers symmetrically arranged on both sides of the positioning frame along its center, with a gap between the two conical rollers.

[0011] Optionally, a guide structure is provided above the centering component. The guide structure moves synchronously with the centering component. The guide structure includes a U-shaped frame. The opening of the U-shaped frame is in the same direction as the entrance and exit of the centering component. The opening of the U-shaped frame has an outwardly curved arc portion. An outwardly curved arc guide plate is provided above the U-shaped frame.

[0012] Alternatively, the support platform has an inner cavity with a buffer groove inside. A guide post is provided below the buffer groove, and a vertically arranged spring is provided between the bottom surface of the buffer groove and the top surface of the support platform. The spring is sleeved on the guide post.

[0013] Alternatively, the support platform may have a recycling port at its bottom; the buffer groove may have a V-shaped cross-section; and the support platform may also have a grid plate surrounding the buffer groove.

[0014] Alternatively, the mouse hole device may include two.

[0015] Alternatively, a pair of ear seats are provided on one side of the robotic arm platform, and the support platform is hinged to the ear seats via an L-shaped frame to realize the conversion between the unfolded and retracted states of the lower support component.

[0016] Optionally, a crank-slider mechanism is also provided between the L-shaped frame and the robot arm platform. The crank-slider mechanism includes a slide groove on the robot arm platform, a slider is slidably disposed on the slide groove, the slider is connected to a tilting cylinder, and a connecting rod is hinged between the slider and the L-shaped frame. The sliding groove and the tilting cylinder are both perpendicular to the hinge axis of the L-shaped frame.

[0017] Alternatively, a hoist can be provided at the outer end of the L-shaped frame.

[0018] A method for transporting a root system includes the following steps:

[0019] Step 1: The hydraulic cylinder drives the retraction, the slider slides to the left, and the slider drives the L-shaped frame to flip and fold upwards through the connecting rod; or, manually use a hoist to flip and fold the L-shaped frame upwards and fix it.

[0020] Step 2: Move the root system.

[0021] A method for grafting roots includes the following steps:

[0022] Step 1, Initial state: The centering component is in its maximum open state, and the L-shaped frame in the lower support component flips downward.

[0023] Step 2: Use a hydraulic lifting clamp to lift a single section and place the lower end onto the lower support assembly;

[0024] Step 3: The centering component operates to center the single section, while simultaneously straightening the single section. The hydraulic lifting clamp moves away from the single section to lift the next single section.

[0025] Step 4: The drill maker assists in completing the double-root connection work;

[0026] Step 5: The pipe-laying robot grips the stand, the centering component of the upper structure is released, the pipe-laying robot lifts the stand a certain distance and suspends it in the air, and then transports it to the stand box area.

[0027] Alternatively, step 2 may further include: a hydraulic clamp inserting a single piece into the centering assembly along the inlet / outlet;

[0028] Step 5 further includes: the pipe laying robot moves the uprights out of the centering assembly along the inlet and outlet.

[0029] Alternatively, step 1 may further include: the arm in the upper grip assembly being in a retracted state;

[0030] Step 3 further includes: extending the arm body to extend the centering component and guide structure to a single centerline;

[0031] Step 5 also includes: retracting the arm body and removing the centering component from the support center.

[0032] Alternatively, between steps 4 and 5, the following steps may be included: Step 4.5: Place another single root into another rat hole device and center it upright; use a hydraulic lifting clamp to lift the two roots from step 4 and move them to the top of the single root to complete the connection of the three roots.

[0033] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0034] 1. The present invention provides a root support system and its transportation method, in which the lower support component is flipped and unfolded downward along the hinge point during temporary storage or root support process; while during the overall translation of the root support box, the lower support component is flipped and folded upward along the hinge point to the top of the robot arm table, so that the root support box can pass smoothly around the oil well tree.

[0035] 2. The standpipe connection system and method provided by this invention have a rat hole device close to the ground, making the addition or removal of drill pipes more convenient and rapid, reducing energy consumption during the vertical movement of the entire drilling system; and it also helps improve the stability of the entire standpipe box, reducing platform tilting or instability that may be caused by high-level storage of the standpipes.

[0036] 3. The pipe-connecting system and method provided by the present invention have the functions of temporary storage of pipes, pipe alignment, and pipe buffering. There are no closed-loop openings, that is, no long-distance insertion and extraction of pipes, thereby reducing energy consumption and improving work efficiency. Attached Figure Description

[0037] The present invention will be described by way of example and with reference to the accompanying drawings, wherein:

[0038] Figure 1 This is a schematic diagram of the structure when two roots are connected in this invention.

[0039] Figure 2 This is a schematic diagram of the mouse hole device.

[0040] Figure 3 This is a structural diagram of the arm body.

[0041] Figure 4 Schematic diagram of the central component Figure 1 .

[0042] Figure 5 Schematic diagram of the central component Figure 2 .

[0043] Figure 6 This is a schematic diagram of the guide structure.

[0044] Figure 7 This is a structural diagram of the supporting platform.

[0045] Figure 8 This is a schematic diagram of the buffer tank.

[0046] Figure 9 This is a schematic diagram of the hinge connection between the lower support assembly and the robot arm platform.

[0047] Figure 10 It is one of the flipping methods between the lower support component and the robotic arm platform.

[0048] Figure 11 This is the second method of flipping between the lower support component and the robotic arm platform.

[0049] Figure 12 This is a top-down schematic diagram of the single-mouse hole device layout.

[0050] Figure 13 This is a top-down schematic diagram of the double mouse hole device arrangement.

[0051] Figure 14 This is a schematic diagram illustrating a usage scenario for a root-supporting system.

[0052] The diagram is labeled as follows: 1-Upper gripping assembly, 11-Support frame, 12-Centering assembly, 121-Positioning frame, 122-Centering cylinder, 123-Conical roller, 124-Sliding groove, 13-Arm body, 131-Fixed arm, 132-Moving arm, 133-Telescopic cylinder, 134-Connector, 14-Guide structure, 141-U-shaped frame, 1411-Arc-shaped part, 142-Arc-shaped guide plate, 2-Lower support assembly, 21-Support platform, 211-Recovery port, 212-Buffer groove, 213-Guide column, 214-Spring, 215-Grid plate, 22-L-shaped frame, 23-Slider, 24-Connecting rod, 25-Hoist, 26-Bracket, 3-Manipulator platform, 31-Ear seat, 32-Sliding groove, 33-Tilting cylinder, 4-Hydraulic clamp, 5-Iron drill, 6-Pipeline manipulator. Detailed Implementation

[0053] The present invention will now be described in detail with reference to the accompanying drawings.

[0054] All features disclosed in this specification, or all steps in all disclosed methods or processes, may be combined in any way, except for mutually exclusive features and / or steps.

[0055] Any feature disclosed in this specification, unless otherwise stated, may be replaced by other equivalent or similar features. That is, unless otherwise stated, each feature is merely one example of a series of equivalent or similar features.

[0056] A root system, such as Figure 1 , 2 As shown in Figures 11-13, the device includes a hydraulic lifting clamp 4, a drill bit 5, a pipe-laying robot 6, a robot platform 3, and a mouse hole device. The mouse hole device includes an upper gripping component 1 located above the robot platform 3. The upper gripping component 1 includes a support frame 11, and a centering component 12 is provided on the support frame 11. The centering component 12 has an entrance / exit on one side in the horizontal direction and is located on the outside of the robot platform 3. The mouse hole device also includes a lower support component 2 hinged to the outside of the robot platform 3 to realize the conversion between the unfolded and folded states of the lower support component 2. The lower support component 2 includes a support platform 21. When the lower support component 2 is flipped down and unfolded, the centering component 12 is located above the support platform 21.

[0057] The hydraulic lifting clamp 4 is used to grip the drill rod, enabling its lifting and lowering. The iron drill 5 is used to install or disassemble connections between drill rods, while the pipe-laying robot 6 can grasp and transport the drill rod. The rat hole, as an automated pipe handling device, works with other equipment to complete offline pipe connection or disconnection operations, facilitating the transport, discharge, and storage of drill rods between the drilling platform and the ground. The upper gripping assembly 1 and the lower support assembly 2 together secure the drill rod, while the centering assembly 12 positions the drill rod, ensuring its bottom is on the support platform 21. The drill rod can be directly inserted into the centering assembly 12 from one side via the inlet / outlet, reducing energy consumption during lifting and lowering and improving operational efficiency.

[0058] Specifically, in the new drilling rig, the base of the standpipe box is arched in the middle to avoid the Christmas tree. The rat hole device is set on the arch via the manipulator platform 3. In operations that require frequent changes of drill pipes or drill tools of different lengths and types, this makes the drill pipe changing process more efficient, reduces the time required for drill pipe handover and transportation, simplifies operating procedures, reduces the movement of operators between different positions, and improves operational safety and convenience. However, if the rat hole device is set below the manipulator platform 3, it conflicts with the arched structure in the middle of the standpipe box base, making it impossible to avoid the Christmas tree during standpipe box movement. In this solution, the upper gripping component 1 and the lower support component 2 are both set on the outside of the manipulator platform 3, which can distinguish the placement height of the drill pipe from the height of the manipulator platform 3. In addition, the lateral space between the support frame 11 and the centering component 12 can also provide operating space for the pipe-laying manipulator 6. The upper gripping component 1 and the lower support component 2 are respectively located above and below the robotic arm platform 3. The upper gripping component 1 can fix the upper part of a single rod and straighten it; while the lower support component 2 provides the main force support for the single rod from below, thereby achieving fixation and temporary storage of the rod. The lower support component 2 is hinged to the robotic arm platform 3, allowing it to unfold and fold. Specifically, during temporary storage or rod attachment, the lower support component 2 is unfolded downwards along the hinge point; during the overall translation of the rod holder, the lower support component 2 is folded upwards along the hinge point to the top of the robotic arm platform 3, allowing the rod holder to pass smoothly around the tree trunk. This ensures the rodhole device is close to the ground, making the addition or removal of drill pipe more convenient and rapid, reducing energy consumption during the vertical movement of the entire drilling system; and it also helps improve the stability of the entire rod holder, reducing platform tilting or instability that may be caused by high-level rod storage.

[0059] Furthermore, since the powered catwalk needs to transport the drill rod to the location of the mouse hole, which is above the robotic arm platform 3 in this application, the transport opening of the powered catwalk should be placed as close as possible to the mouse hole device to reduce the interval distance and improve the efficiency of the transfer process. The support frame 11 structure can reduce the footprint of the upper gripping component 1, avoiding obstruction of the powered catwalk. Preferably, the support frame 11 is a truss structure, which, while ensuring structural strength, can reduce the cross-sectional area, facilitating the passage of other components, simplifying transfer, and improving work efficiency. It also saves on the manufacturing materials of the support frame 11, reducing costs.

[0060] As one specific implementation method, such as Figure 3As shown, the centering component 12 is mounted on the support frame 11 via the arm 13, with the arm 13 and the inlet / outlet located on opposite sides of the centering component 12. In this design, the drill rod is moved to the mouse hole device, then inserted into the centering device 12 through the inlet / outlet. The centering component 12 then positions and secures the drill rod. This eliminates the need to lift the drill rod before inserting it into the centering device, optimizing the workflow and improving efficiency.

[0061] As one specific implementation, the arm body 13 is telescopic and includes a fixed arm 131 and a movable arm 132. The movable arm 132 can move along the fixed arm 131. A telescopic cylinder 133 is fixedly installed on the fixed arm 131. The telescopic end of the telescopic cylinder 133 is connected to the movable arm 132. The movable arm 132 is connected to the centering component 12.

[0062] In this design, after the drill rod is moved to the rat hole device, the centering assembly 12 can be extended by the arm 13, allowing the centering assembly 12 to move according to the position of the drill rod to meet it. The centering assembly 12 then positions and fixes the drill rod. After connecting or disconnecting the support column, the centering assembly 12 retracts. The hydraulic lifting clamp 4 and the pipe-laying robot 6 can move the drill rod from multiple directions without considering the position of the centering assembly 12's inlet and outlet, nor requiring the drill rod to be moved out of the inlet and outlet first. This reduces the movement path and steps, optimizes the work process, and improves efficiency. Specifically, driven by the telescopic cylinder 133, the moving arm 132 moves relative to the fixed arm 131, thereby enabling the extension and retraction of the entire centering assembly 12.

[0063] As one specific implementation method, such as Figure 4 As shown, the centering assembly 12 includes a rotatable positioning frame 121 mounted on a support frame 11. The positioning frame 121 is connected to a centering cylinder 122. The positioning frame 121 has two conical rollers 123, which are symmetrically arranged on both sides of the positioning frame 121 along its axis of rotation, with a gap between them. In the initial position, the two conical rollers 123 are on the same horizontal plane, and the horizontal distance between them is at its maximum. Driven by the centering cylinder 122, the positioning frame 121 rotates, and the two conical rollers 123 revolve around the axis of rotation of the positioning frame 121, reducing the horizontal distance between them and thus driving the drill pipe to center.

[0064] As another specific implementation method, which differs from the previous setting method, such as... Figure 5As shown, the centering assembly 12 includes a positioning frame 121 mounted on a support frame 11. Two conical rollers 123 are slidably mounted on the positioning frame 121 via a centering cylinder 122. The positioning frame 121 has a through-hole sliding groove 124, in which the central shafts of the conical rollers 123 pass. The two conical rollers 123 are symmetrically arranged on both sides of the positioning frame 121 along its center, with a gap between them. The centering cylinder 12 directly drives the central shafts of the conical rollers 123 or drives them via a connecting mechanism, causing the conical rollers 123 to slide horizontally relative to or towards each other within the sliding groove 124, thereby adjusting the gap between the two conical rollers 123.

[0065] As one specific implementation method, such as Figure 6 As shown, a guide structure 14 is provided above the centering component 12. The guide structure 14 corresponds vertically to the centering component 12. The guide structure 14 includes a U-shaped frame 141. The opening of the U-shaped frame 141 is in the same direction as the entrance and exit of the centering component 12. The opening of the U-shaped frame 141 has an outwardly curved arc portion 1411. An outwardly curved arc guide plate 142 is provided above the U-shaped frame 141.

[0066] The drill rod can be guided to move into the U-shaped frame 141 by the arc-shaped part 1411 and the arc-shaped guide plate 142 for initial positioning. At this time, the drill rod is also located in the centering component 12, and then the centering component 12 is used for secondary positioning.

[0067] When the arm 13 is not telescopic, the guide device 14, located directly above the centering device 12 via another non-telescopic arm 13, guides the drill rod. When the arm 13 is telescopic, the centering device 12 can move. To ensure that the guide structure 14 can always guide the drill rod into the centering assembly 12, and to prevent obstruction or interference when moving the drill rod, the guide structure 14 is horizontally telescopically mounted on the support frame 11 via another telescopic arm 13. Specifically, the centering component 12 is mounted on the support frame 11 and can extend and retract horizontally via the first arm 13, which includes a first fixed arm 131 and a first movable arm 132. The guide structure 14 is mounted on the support frame 11 and can extend and retract horizontally via the second arm 13, which includes a second fixed arm 131 and a second movable arm 132. A connecting member 134 is provided between the first movable arm 132 and the second movable arm 132. A telescopic cylinder 133 is fixedly mounted on the first fixed arm 131 or the second fixed arm 131. The telescopic end of the telescopic cylinder 133 is connected to the connecting member 134, thereby driving the first movable arm 132 and the second movable arm 132 to move synchronously.

[0068] As one specific implementation method, such as Figure 7 ,8 As shown, the support platform 21 has an inner cavity with a buffer groove 212 inside. A guide post 213 is located below the buffer groove 212. A vertically arranged spring 214 is positioned between the bottom surface of the buffer groove 212 and the top surface of the support platform 21, and the spring 214 is sleeved on the guide post 213. During the lowering process of the drill rod, if the lowering speed is too fast, the impact force generated when the lower end of the drill rod touches the bottom may cause damage or breakage of the threads at the drill rod joint. The vertically arranged spring 214 can achieve a buffering process, ensuring a smooth lowering of the drill rod and avoiding damage to the drill rod caused by excessive impact. The guide post 213 can guide the spring 214, reducing the torsional deformation of the spring 214.

[0069] In one specific implementation, the support platform 21 has a recovery port 211 at its bottom; the buffer tank 212 has a V-shaped cross-section; and a grid plate 215 is also provided on the support platform 21, surrounding the buffer tank 212. Since drilling mud contains various heavy metals such as chromium, nickel, copper, and lead, which are costly and pollute the environment, the V-shaped buffer tank 212 reduces the amount of mud adhering to it, allowing the mud to flow towards the recovery port 211. The grid plate 215 allows the mud on the drill pipe to flow through the gaps in the grid plate 215 into the inner cavity of the support platform 21, where it is collected through the recovery port 211. This achieves certain economic benefits and reduces environmental pollution.

[0070] As another specific implementation method, such as Figure 13 As shown, the rat hole device includes two components. When connecting three vertical supports, the two rat hole devices are used to first connect two vertical supports, and then connect these two vertical supports to another single vertical support. This allows the operating positions of equipment such as the hydraulic lifting clamp 4, the iron drill 5, and the pipe laying robot 6 to be relatively fixed, ensuring operational feasibility within the height and operating range. Specifically, the two rat hole devices are set up side by side.

[0071] As one specific implementation method, such as Figure 9 As shown, a pair of lugs 31 are provided on one side of the robotic arm platform 3. The support platform 21 is hinged to the lugs 31 via an L-shaped frame 22 to achieve the conversion between the unfolded and retracted states of the lower support component 2. The lugs 31 provide the hinge position, the vertical part of the L-shaped frame 22 provides downward distance for the support platform 21, and the horizontal part of the L-shaped frame 22 houses the support platform 21. In the unfolded state, the L-shaped frame 22 is placed in an upright L-shape, while in the retracted state, it is placed in an inverted L-shape. Specifically, the lugs 31 are welded to the robotic arm platform 3, and the L-shaped frame 22 is connected to the lugs 31 via pins. Furthermore, to ensure the stability of the L-shaped frame 22 when unfolded, a bracket 26 is provided below the support platform 21.

[0072] Regarding the flipping mechanism of the L-shaped frame 22, two implementation methods are provided below:

[0073] As one specific implementation method, such as Figure 10 As shown, a crank-slider mechanism is also provided between the L-shaped frame 22 and the robot arm platform 3. The crank-slider mechanism includes a slide groove 32 on the robot arm platform 3, a slider 23 slidably mounted on the slide groove 32, a tilting cylinder 33 connected to the slider 23, and a connecting rod 24 hinged between the slider 23 and the L-shaped frame 22. The slide groove 32 and the tilting cylinder 33 are both perpendicular to the hinge axis of the L-shaped frame 22. Driven by the tilting cylinder 33, the slider 23 slides left and right, and the slider 23 drives the L-shaped frame 22 to tilt downwards or upwards via the connecting rod 24.

[0074] As another specific implementation method, such as Figure 11 As shown, a hoist 25 is provided at the outer end of the L-shaped frame 22. The L-shaped frame 22 can be flipped up manually using the hand-operated hoist 25. Specifically, after the L-shaped frame 22 is flipped up, it can be connected to the upper holding component 1 to fix the L-shaped frame 22.

[0075] A method for relocating a rootstock system, requiring avoidance of the oil well tree during relocation, includes the following steps:

[0076] Step 1: The hydraulic cylinder 33 drives the retraction, the slider 23 slides to the left, and the slider 23 drives the L-shaped frame 22 to flip and fold upward through the connecting rod 24; or, the hoist 25 is used manually to drive the L-shaped frame 22 to flip, fold upward and fix it.

[0077] Step 2: Move the root system.

[0078] A method for grafting roots includes the following steps:

[0079] Step 1, Initial state: The centering component is in its maximum open state, and the L-shaped frame in the lower support component flips downward.

[0080] Step 2: Use a hydraulic lifting clamp to lift a single section and place the lower end onto the lower support assembly;

[0081] Step 3: The centering component operates to center the single section, while simultaneously straightening the single section. The hydraulic lifting clamp moves away from the single section to lift the next single section.

[0082] Step 4: The drill maker assists in completing the double-root connection work;

[0083] Step 5: The pipe-laying robot grips the stand, the centering component of the upper structure is released, the pipe-laying robot lifts the stand a certain distance and suspends it in the air, and then transports it to the stand box area.

[0084] For the non-extendable boom 13, a hydraulic lifting clamp and a pipe-laying robot are required to actively move the drill rod from the inlet / outlet into / out of the alignment device. Therefore, step 2 also includes: the hydraulic lifting clamp moving a single drill rod into the alignment assembly along the inlet / outlet; step 5 also includes: the pipe-laying robot moving the drill rod out of the alignment assembly along the inlet / outlet.

[0085] Unlike the previous method, for the telescopic arm 13, after the drill rod is moved to the mouse hole device, the centering component 12 can be extended by controlling the arm 13 to actively meet the drill rod. Therefore, step 1 also includes: the arm in the upper holding component is in a retracted state; step 3 also includes: the arm extends, extending the centering component and guide structure to the single centerline; step 5 also includes: the arm retracts, and the centering component is withdrawn from the center of the support.

[0086] When connecting three roots, the steps between steps 4 and 5 include the following:

[0087] Step 4.5: Place the other single root into another rat hole device and center it upright. Use the hydraulic lifting clamp 4 to lift the two roots from step 4 and move them to the top of the single root to complete the connection of the three roots.

[0088] This invention is not limited to the specific embodiments described above. The invention extends to any new feature or combination disclosed in this specification, as well as any new method or process step or combination disclosed herein.

Claims

1. A root grafting system, characterized in that: The device includes a hydraulic lifting clamp (4), a drill bit (5), a pipe laying robot (6), a robot platform (3), and a mouse hole device. The mouse hole device includes an upper gripping assembly (1) located above the robot platform (3). The upper gripping assembly (1) includes a support frame (11). The support frame (11) is provided with a centering assembly (12). The centering assembly (12) has an entrance / exit on one side in the horizontal direction. The centering assembly (12) is located on the outside of the robot platform (3). The mouse hole device also includes a lower support assembly (2) hinged to the outside of the robot platform (3) to realize the conversion between the unfolded and folded states of the lower support assembly (2). The lower support assembly (2) includes a support platform (21). When the lower support assembly (2) is flipped down and unfolded, the centering assembly (12) is located above the support platform (21). A pair of ear seats (31) are provided on one side of the robotic arm platform (3). The support platform (21) is hinged to the ear seats (31) through an L-shaped frame (22) to realize the conversion between the unfolded and retracted states of the lower support component (2).

2. The root grafting system as described in claim 1, characterized in that: The centering component (12) is mounted on the support frame (11) via an arm (13), with the arm (13) and the inlet / outlet located on opposite sides of the centering component (12).

3. The root grafting system as described in claim 2, characterized in that: The arm (13) is telescopic and includes a fixed arm (131) and a movable arm (132). The movable arm (132) can move along the fixed arm (131). A telescopic cylinder (133) is fixedly installed on the fixed arm (131). The telescopic end of the telescopic cylinder (133) is connected to the movable arm (132). The movable arm (132) is connected to the centering assembly (12).

4. The root grafting system as described in claim 1, characterized in that: The centering assembly (12) includes a rotatable positioning frame (121) mounted on a support frame (11). The positioning frame (121) is connected to a centering cylinder (122). The positioning frame (121) is provided with two conical rollers (123). The two conical rollers (123) are symmetrically arranged on both sides of the positioning frame (121) along the axis of rotation of the positioning frame (121), and there is a gap between the two conical rollers (123); or, the centering assembly (12) includes a positioning cylinder (121) mounted on a support frame (11). The positioning frame (121) on 11) has two conical rollers (123) slidably arranged on it via a centering cylinder (122). The positioning frame (121) has a through sliding groove (124). The central axis of the conical roller (123) passes through the sliding groove (124). The two conical rollers (123) are symmetrically arranged on both sides of the positioning frame (121) along the center of the positioning frame (121), and there is a gap between the two conical rollers (123).

5. The root grafting system as described in claim 1, characterized in that: A guide structure (14) is provided above the centering component (12). The guide structure (14) moves synchronously with the centering component (12). The guide structure (14) includes a U-shaped frame (141). The opening of the U-shaped frame (141) is in the same direction as the entrance and exit of the centering component (12). The opening of the U-shaped frame (141) has an outwardly curved arc portion (1411). An outwardly curved arc guide plate (142) is provided above the U-shaped frame (141).

6. The root grafting system as described in claim 1, characterized in that: The support platform (21) has an inner cavity, and a buffer groove (212) is provided in the inner cavity. A guide post (213) is provided below the buffer groove (212). A vertically arranged spring (214) is provided between the bottom surface of the buffer groove (212) and the top surface of the support platform (21). The spring (214) is sleeved on the guide post (213).

7. The root grafting system as described in claim 6, characterized in that: The bottom of the support platform (21) is provided with a recycling port (211); the cross section of the buffer groove (212) is V-shaped; the support platform (21) is also provided with a grid plate (215), which is located around the buffer groove (212).

8. The root grafting system as described in claim 1, characterized in that: The rat hole device comprises two.

9. The root grafting system as described in claim 1, characterized in that: A crank-slider mechanism is also provided between the L-shaped frame (22) and the robot arm platform (3). The crank-slider mechanism includes a slide groove (32) on the robot arm platform (3), a slider (23) is slidably arranged on the slide groove (32), the slider (23) is connected to a tilting cylinder (33), and a connecting rod (24) is hinged between the slider (23) and the L-shaped frame (22). The sliding groove (32) and the tilting cylinder (33) are both perpendicular to the hinge axis of the L-shaped frame (22).

10. The root grafting system as described in claim 1, characterized in that: The outer end of the L-shaped frame (22) is equipped with a hoist (25).

11. A method for transporting a root grafting system, used in the root grafting system as described in claim 9 or 10, characterized in that: Includes the following steps: Step 1: The retracting cylinder (33) drives the retraction, the slider (23) slides to the left, and the slider (23) drives the L-shaped frame (22) to flip and fold upward through the connecting rod (24); or, the hoist (25) is used manually to drive the L-shaped frame (22) to flip, fold upward and fix it. Step 2: Move the root system.

12. A method for grafting roots, used in the grafting root system of claim 5, characterized in that: Includes the following steps: Step 1, Initial state: The centering component (12) is in the maximum open state, and the L-shaped frame (22) in the lower support component (2) is flipped downwards; Step 2: The hydraulic lifting clamp (4) lifts the single section and places the lower end onto the lower support assembly (2); Step 3: The centering component (12) is activated, thereby centering the single root and straightening it. The hydraulic lifting clamp (4) leaves the single root and lifts the next single root. Step 4: The drill maker (5) works together to complete the double-root connection. Step 5: The pipe-laying robot (6) clamps the stand, the centering component (12) of the upper structure is released, the pipe-laying robot (6) lifts the stand a distance and suspends it in the air, and then transports it to the stand box area.

13. The root grafting method as described in claim 12, characterized in that: Step 2 further includes: the hydraulic lifting clamp (4) inserts the single piece into the centering assembly (12) along the inlet and outlet; Step 5 further includes: the pipe laying robot (6) moves the uprights out of the centering assembly (12) along the inlet and outlet.

14. The root grafting method as described in claim 12, characterized in that: The centering component (12) is mounted on the support frame (11) via the arm (13); Step 1 further includes: the arm (13) in the upper grip assembly (1) is in a retracted state; Step 3 further includes: extending the arm (13) to extend the centering assembly (12) and the guide structure (14) to a single centerline; Step 5 further includes: retracting the arm body (13) and removing the centering component (12) from the support center.

15. The root grafting method as described in claim 12, characterized in that: The following steps are included between steps 4 and 5: Step 4.5: Place the other single root into another rat hole device and center it upright. Use the hydraulic lifting clamp (4) to lift the double root from step 4 and move it to the top of the single root to complete the connection of the three roots.

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