Automatic aligning device and method for drill rods

Abstract

The invention belongs to the technical field of petroleum drill rod aligning equipment, and particularly discloses an automatic drill rod aligning device which comprises a to-be-aligned supporting frame, an aligned supporting frame, at least two rolling devices, a material passing device, a first lifting device, a laser induction sensor and a control device. The rolling wheels are fixedly arranged on the ground on the first side of the to-be-aligned supporting frame side by side at intervals, the material passing devices are fixedly arranged on the ground on the first side of the to-be-aligned supporting frame side by side at intervals, and the laser induction sensor is fixedly arranged on the ground in the direction of a straight line connected with the sunken lowest points of all the rolling wheels. According to the automatic aligning device for the drill rods, automatic operation can be achieved, the number of operators is reduced, automatic operation in the aligning process of the drill rods is achieved, the overall operation efficiency is improved, and the automatic aligning device is suitable for aligning the drill rods.

Description

Technical Field

[0001] This invention relates to the field of oil drill pipe alignment equipment technology, specifically an automatic drill pipe alignment device and method. Background Technology

[0002] Drill pipe is a crucial tool in oil drilling. With the development of drilling technology, the number of deep and ultra-deep wells is gradually increasing, leading to a corresponding increase in the number of drill pipes used. This results in more frequent drill pipe maintenance, handling, and transportation, causing a surge in drill pipe alignment work. Currently, the drill pipe alignment process typically involves five people: two to hold rollers to pry up the drill pipe, two to push both ends of the drill pipe to align it, and one to assist in rolling the drill pipe. This process suffers from problems such as a large number of operators and the inability to automate the operation, failing to meet the requirements of standardized on-site operations. Summary of the Invention

[0003] To address the aforementioned shortcomings in the existing technology, this invention aims to provide an automatic drill pipe alignment device and method, thereby reducing the number of operators and achieving automatic drill pipe alignment.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An automatic drill pipe alignment device includes a support frame to be aligned, an aligned support frame, a rolling device, a material feeding device, a first lifting device, a laser sensor, and a control device; the support frame to be aligned is a cubic frame structure, and the top of the support frame to be aligned has an alignment ramp that slopes downward toward the first side of the support frame to be aligned; the aligned support frame includes at least two parallel alignment tracks, all of which are at the same height and horizontal at the top, and the alignment tracks are fixedly and intermittently arranged on the ground at intervals along their length direction on the first side of the support frame to be aligned, and the height of the aligned support frame is lower than the height of the top of the first end of the support frame to be aligned; the number of rolling devices is at least two, which are fixedly and intermittently arranged on the ground near the lowest point of the alignment ramp, and each rolling device includes two first support seats fixedly and intermittently arranged on the ground, with a rolling wheel with a concave center rotatably connected between the two first support seats, and the line connecting the lowest points of all the concave parts of the rolling wheels lies on a straight line parallel to the ground and perpendicular to the length direction of the alignment track, and all the rolling wheels roll along the same direction. The rolling occurs in the same direction; there are at least two material conveying devices, which are fixedly installed side by side at intervals on the ground near the lowest point of the alignment ramp. Each material conveying device includes an upper plate and a lower plate. The upper part of the upper plate has a downward-sloping ramp and an upward-sloping ramp in the direction from away from to near the first side of the alignment support frame. The upper part of the lower plate slopes downward toward the first side of the alignment support frame. The end of the upper plate near the first side of the alignment support frame and the end of the lower plate away from the first side of the alignment support frame are respectively hinged to a second support fixedly installed on the ground. The support base and the third support base are hinged to a first lifting device fixedly installed on the ground on the side of the upper plate away from the first side of the support frame to be aligned and the side of the lower plate close to the first side of the support frame to be aligned. The first lifting device is used to make the side of the upper plate away from the first side of the support frame to be aligned and the side of the lower plate close to the first side of the support frame to be aligned move vertically at the same time. The laser sensing sensor is fixedly installed on the ground along the straight line connecting the lowest points of the recesses of all the rolling wheels. The control device is electrically connected to the rolling wheels, the first lifting device, and the laser sensing sensor.

[0005] As a limitation of the present invention: a lifting platform is fixedly provided at the lower end of the rolling device and the feeding device, and a lifting mechanism is fixedly provided at the lower end of the lifting platform. The control device is electrically connected to the lifting mechanism.

[0006] As a limitation of the present invention: the end of the feeding plate away from the first side of the support frame to be aligned and the end of the unloading plate close to the first side of the support frame to be aligned are simultaneously hinged to a fourth support base fixedly set on the ground and having an external prismatic shape. The upper part of the fourth support base has a rectangular groove for simultaneously placing the other end of the feeding plate and the unloading plate. The first lifting device is fixedly connected to the lower part of the fourth support base.

[0007] As a limitation of the present invention: the upper part of the loading plate and the unloading plate has a downward inclined ramp and an upward inclined ramp in sequence from the direction away from to the direction of the first side of the support frame to be aligned.

[0008] As a limitation of the present invention: the alignment support frame includes a rectangular frame structure fixedly installed on the ground, and columnar second lifting devices fixedly installed on the upper surfaces of the four corners of the rectangular frame structure in a vertical direction.

[0009] As a limitation of the present invention: the top heights of the two second lifting devices close to the first side of the support frame to be aligned are the same, and the top heights of the two second lifting devices far from the first side of the support frame to be aligned are the same.

[0010] As a limitation of the present invention: the shape of the rolling wheel is a horizontal "hourglass" shape, and the middle part of the rolling wheel has a concave shape.

[0011] As a limitation of the present invention: the side length of the rectangular frame structure located on the first side of the support frame to be aligned is 4000mm, the side length of the rectangular frame structure located in the direction perpendicular to one side of the first side of the support frame to be aligned is 3000mm, the vertical lifting range of the support frame to be aligned is 800mm to 14000mm, and the length of the ramp to be aligned is 2600mm.

[0012] As a limitation of the present invention: the laser source of the laser sensing sensor is a laser diode capable of emitting a wavelength of 6500nm, and the detection distance of the laser sensing sensor is 5mm to 2000mm.

[0013] As a limitation of the present invention: A method for automatically aligning drill rods using the aforementioned automatic drill rod alignment device includes the following steps: placing the support frame to be aligned parallel and centered at one end of the length direction of the already aligned support frame; adjusting the height of the alignment ramp to be aligned to be no less than the height of the alignment track using a control device, and tilting the alignment ramp downwards towards the alignment track; placing a laser sensor at one end of the drill rod at the position to be aligned; using a pipe gripper to place the drill rods to be aligned sequentially into the alignment ramp, avoiding stacking of the drill rods; and using a control device to push the loading plate away from the first side of the support frame to be aligned using a first lifting device. One end of the upper plate and the end of the lower plate near the first side of the alignment support frame move upwards simultaneously until the height of the upper plate's upward-sloping ramp near the first side of the alignment support frame is lower than the height of the alignment ramp. The drill rod on the alignment support frame then rolls into the upper plate. Through the control device, the first lifting device causes the end of the upper plate away from the first side of the alignment support frame and the end of the lower plate near the first side of the alignment support frame to move downwards simultaneously until the lowest point of the recess formed by the upper plate away from the first side of the alignment support frame and the lower plate near the first side of the alignment support frame is lower than the lowest point of the recess of the rolling wheel. The height of the end of the feeding plate near the first side of the alignment support frame is higher than the height of the end of the feeding plate away from the first side of the alignment support frame. The drill rod located at the end of the feeding plate near the first side of the alignment support frame rolls into the recess in the middle of the rolling wheel by the ramp of the feeding plate. Through the control device, the drill rod moves horizontally relative to the direction of the vertical alignment track. At the same time, the direction of the rolling wheel is determined by the result detected by the laser sensing sensor until the drill rod moves to the predetermined position. Through the control device, the first lifting device moves the end of the feeding plate away from the first side of the alignment support frame and the end of the unloading plate near the first side of the alignment support frame. One end moves upward simultaneously until the height of the end of the upper plate away from the first side of the support frame to be aligned and the end of the lower plate near the first side of the support frame to be aligned are higher than the height of the lowest point of the central recess of the rolling wheel, and ensure that the height of the end of the lower plate near the first side of the support frame to be aligned is higher than the height of the end of the lower plate away from the first side of the support frame to be aligned. The drill rod located in the central recess of the rolling wheel is supported by the end of the lower plate near the first side of the support frame to be aligned. The drill rod will leave the rolling wheel from above the central recess of the rolling wheel and roll along the lower plate to the alignment track. The drill rod rolls on the alignment track until it is in contact with the aligned drill rod.

[0014] Due to the adoption of the above technical solution, the beneficial effects achieved by this invention compared with the prior art are as follows: Multiple rolling wheels with concave centers roll in the same direction, allowing the drill rods on the rolling wheels to move in a direction perpendicular to the alignment track. A laser sensor is used to move one end of the drill rod to be aligned to a preset position, achieving automatic alignment of the drill rods. Simultaneously, the first lifting device drives the hinged joint of the upper plate, lower plate, and fourth support seat upwards, raising the joint above the concave part of the rolling wheel. This pushes the drill rod, now in the appropriate position, off the rolling wheel, and through inertia, it rolls down onto the alignment track, avoiding the need for manual handling and alignment. Furthermore, the lifting mechanism drives the rolling device and the feeding device on the lifting platform to move up and down together with the second lifting device, allowing for the alignment of multiple layers of drill rods on an already aligned support frame, making it well-suited for situations requiring the alignment of a large number of drill rods.

[0015] Therefore, the drill pipe alignment device disclosed herein saves manpower and realizes the automated operation of the drill pipe alignment process. It eliminates the need for multiple people to work together outdoors to move and align the drill pipes. The drill pipe alignment process does not need to be paused or interrupted due to weather conditions, making it more adaptable to various outdoor weather types. This improves overall work efficiency and better meets the requirements of standardized on-site operations. Attached Figure Description

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0017] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention; Figure 2 This is a three-dimensional structural diagram of the rolling device and the feeding device according to an embodiment of the present invention; Figure 3 This is a three-dimensional structural diagram of an embodiment of the present invention during use.

[0018] In the diagram: 1- Support frame to be aligned, 2- Already aligned support frame, 3- Ramp to be aligned, 4- Alignment track, 5- First support seat, 6- Rolling wheel, 7- Loading plate, 8- Unloading plate, 9- Second support seat, 10- Third support seat, 11- Fourth support seat, 12- Laser sensor, 13- First cylinder, 14- First piston, 15- Second cylinder, 16- Second piston. Detailed Implementation

[0019] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the automatic drill pipe alignment device and method described herein are preferred embodiments and are only used for illustration and explanation of the present invention, and do not constitute a limitation thereof.

[0020] The directional terms or positional relationships used in this invention, such as "up," "down," "left," and "right," are based on the positional relationships in the accompanying drawings of this invention. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or component must have a specific orientation, or that it must be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the content protected by this invention.

[0021] Example 1 like Figure 1 and Figure 2 As shown, an automatic drill pipe alignment device includes a support frame to be aligned 1, an aligned support frame 2, a rolling device, a material feeding device, a first lifting device, a laser sensor 12, and a control device. In the accompanying drawings of this disclosure, the left side of the support frame to be aligned 1 is the first side of the support frame to be aligned.

[0022] The alignment support frame 1 is a cubic frame structure, consisting of an alignment ramp 3, a second lifting device, and a rectangular frame structure from top to bottom. The rectangular frame structure is fixedly installed on the ground. The side length of the rectangular frame structure on the first side of the alignment support frame is 4000mm, and the side length of the rectangular frame structure perpendicular to one side of the first side of the alignment support frame is 3000mm.

[0023] The second lifting devices are fixedly installed vertically on the upper surfaces of the four corners of the rectangular frame structure. The top heights of the two second lifting devices closest to the first side of the support frame to be aligned are the same, and the top heights of the two second lifting devices furthest from the first side of the support frame to be aligned are the same, with the top heights of the two second lifting devices furthest from the first side of the support frame to be aligned being greater than those of the two second lifting devices closest to the first side of the support frame to be aligned. Specifically, the second lifting device includes a second cylinder 15 fixedly installed vertically on the upper surface of the rectangular frame structure, and a second piston 16 slidably installed within the second cylinder 15 and capable of vertical lifting and lowering. The top of the second piston 16 is fixedly connected to the bottom wall of the ramp 3 to be aligned.

[0024] There are two alignment ramps 3, both perpendicular to the first side of the rectangular frame structure's alignment support. These two plate-shaped alignment ramps 3 are parallel, have the same height, and slope downwards towards the first side of the alignment support. Each alignment ramp 3 is 2600mm long and can simultaneously accommodate 15 drill rods with a diameter of 127mm. Because each alignment ramp 3 has the same height difference at both ends, the two ramps 3 have the same inclination angle, facilitating the sliding of the drill rods towards the first side of the alignment support under gravity.

[0025] When the four second lifting devices move simultaneously, the two alignment ramps 3 have different heights in the vertical direction. The alignment support frame 1 can be raised or lowered in the vertical direction by 800mm to 14000mm using the second lifting devices. After one layer of drill rods is aligned on the alignment track 4, the height of the alignment ramps 3 is raised using the second lifting devices to perform the alignment of the second and subsequent layers of drill rods.

[0026] The pre-aligned support frame 2 includes at least two parallel, long, rod-shaped alignment tracks 4. All alignment tracks 4 are at the same height and horizontal at the top. The alignment tracks 4 are fixedly positioned along their length on the ground on the first side of the support frame to be aligned via alignment track 4 support frames fixedly installed on their lower surfaces. The height of the pre-aligned support frame 2 is lower than the height of the lowest point of the ramp 3 to be aligned, so that the drill rod can roll off the support frame 1 to be aligned onto the alignment tracks 4 due to inertia. In this embodiment, there are two alignment tracks 4.

[0027] At least two rolling devices are used to adjust the position of the drill rod, and they are fixedly installed side by side at intervals on the ground near the lowest point of the ramp 3 to be aligned. In this embodiment, there are two rolling devices, and the number of rolling devices can be increased adaptively according to the length of the drill rod. When the drill rod to be aligned rolls down from the first side of the alignment support frame onto the rolling devices, the drill rod can be moved to a predetermined position by rotating all the rolling devices in the same direction.

[0028] Specifically, the rolling device includes two first support seats 5 fixedly mounted on the ground at relative intervals, and a rolling wheel 6 with a central depression is rotatably connected between the two first support seats 5. The line connecting the lowest points of the depressions of all the rolling wheels 6 lies on a straight line parallel to the ground and perpendicular to the length direction of the alignment track 4, ensuring that the drill rods can be arranged parallel to each other on the aligned support frame 2. At the same time, all the rolling wheels 6 roll in the same direction, ensuring that the drill rods can be displaced in a specific orientation along the length direction of the drill rods. In this embodiment, the shape of the rolling wheel 6 is a horizontally placed "hourglass" shape, and the central depression of the rolling wheel 6 facilitates the smooth entry and exit of the drill rods from the rolling device. Figure 1 When the two rollers 6 rotate in the same direction, the drill rod mounted above the two rollers 6 will move horizontally toward one end of the drill rod along its length. That is, when the two rollers 6 rotate simultaneously toward the paper and outwards, the drill rod will move toward the paper and outwards.

[0029] At least two material handling devices are used to smoothly roll the drill rod from the first side of the alignment support frame into the rolling device. These devices are fixedly installed side by side at intervals on the ground near the lowest point of the alignment ramp 3, and are placed alongside the rolling device. In this embodiment, there are two material handling devices. The number of material handling devices can be increased adaptively depending on the length of the drill rod.

[0030] Specifically, the material handling device includes an upper plate 7 and a lower plate 8, both inclined downwards towards the first side of the support frame to be aligned. The end of the upper plate 7 near the first side of the support frame and the end of the lower plate 8 away from the first side of the support frame are respectively hinged to a second support base 9 and a third support base 10, both prismatic in shape and fixed to the ground. The upper parts of both the second support base 9 and the third support base 10 have rectangular grooves for placing one end of the upper plate 7 or the lower plate 8, thus supporting the upper plate 7 and the lower plate 8 on the ground. The end of the upper plate 7 away from the first side of the support frame and the end of the lower plate 8 near the first side of the support frame are simultaneously hinged to a first lifting device fixed to the ground. The first lifting device is used to simultaneously move the upper plate 7 away from the first side of the support frame and the lower plate 8 near the first side of the support frame in a vertical direction. Preferably, the upper part of the upper plate 7 and the lower plate 8 has a downward slope and an upward slope in sequence from the direction away from to the direction of the first side of the support frame to be aligned, and the front view of the upper surface of the upper plate 7 and the lower plate 8 is "hook" shaped.

[0031] Furthermore, the end of the feeding plate 7 away from the first side of the alignment support frame and the end of the unloading plate 8 near the first side of the alignment support frame are simultaneously hinged to a fourth support base 11, which is fixedly mounted on the ground and has an external prismatic shape. The upper part of the fourth support base 11 has a rectangular groove for simultaneously placing the other ends of the feeding plate 7 and the unloading plate 8. A first lifting device is fixedly connected to the lower part of the fourth support base 11, and the first lifting device is used to move the fourth support base 11 vertically. Specifically, the first lifting device includes a first cylinder 13 vertically fixedly mounted on the ground, and a first piston 14 slidably mounted inside the first cylinder 13 and moving vertically. The upper part of the first piston 14 is fixedly connected to the lower part of the fourth support base 11.

[0032] When the first lifting device pushes the fourth support seat 11 upward, the end of the upper plate 7 away from the first side of the support frame to be aligned and the end of the lower plate 8 close to the first side of the support frame to be aligned can move upward relative to the hinge on the fourth support seat 11 at the same time, until the height of the upper plate 7 at the end of the upward inclined ramp close to the first side of the support frame to be aligned is lower than the height of the alignment ramp 3, and the drill rod located on the support frame to be aligned can roll into the upper plate 7.

[0033] Subsequently, the first lifting device drives the fourth support seat 11 to move downward. The end of the upper plate 7 away from the first side of the support frame to be aligned and the end of the lower plate 8 near the first side of the support frame to be aligned can move downward relative to the hinge on the fourth support seat 11 at the same time. Until the lowest point of the recess formed by the end of the upper plate 7 away from the first side of the support frame to be aligned and the end of the lower plate 8 near the first side of the support frame to be aligned is lower than the lowest point of the recess of the rolling wheel 6, the height of the end of the upper plate 7 near the first side of the support frame to be aligned is higher than the height of the end of the upper plate 7 away from the first side of the support frame to be aligned. The drill rod located at the end of the upper plate 7 near the first side of the support frame to be aligned will roll into the recess in the middle of the rolling wheel 6 through the action of gravity, passing the slope of the upper plate 7.

[0034] After the multiple rollers 6 have adjusted the position of the drill rod, the first lifting device pushes the fourth support seat 11 upward again until the height of the joint of the upper plate 7, the lower plate 8, and the fourth support seat 11 is higher than the height of the lowest point of the middle recess of the roller 6, and ensures that the height of the end of the lower plate 8 near the first side of the alignment support frame is higher than the height of the end of the lower plate 8 away from the first side of the alignment support frame. At this time, the drill rod located in the middle recess of the multiple rollers 6 is supported by the end of the lower plate 8 near the first side of the alignment support frame, and the drill rod will leave the roller 6 from the top of the middle recess of the roller 6. Since the end of the lower plate 8 away from the first side of the alignment support frame is tilted downward at this time, the drill rod at the end of the lower plate 8 near the first side of the alignment support frame is subjected to gravity and rolls downward. The drill rod will roll from the lower plate 8 onto the alignment track 4.

[0035] When aligning multiple drill rods, the alignment position can be preset, and the projection positions of both ends of the drill rods onto the ground can be marked. Then, using the projection point of one end of the drill rod as a reference, a laser sensor 12 capable of emitting laser light directly upwards is fixedly installed on the ground along a direction parallel to the length of the alignment track 4, and the laser sensor 12 is simultaneously located in the direction of the straight line connecting the lowest points of all the recesses of the rolling wheels 6. Therefore, when one end of the drill rod is exactly above the laser sensor 12, it can be considered that the drill rods have been aligned to the predetermined position.

[0036] When the drill rod is on the roller 6, if the laser sensor 12 does not detect a signal, meaning one end of the drill rod is not directly above the laser sensor 12, it can be assumed that the drill rod is not in the predetermined position. At this point, a control device is used to control the rotation of the roller 6, the lifting device, and the laser sensor 12 to rotate all the rollers 6 towards the direction of one end of the drill rod until the laser sensor 12 can just detect a signal. At this point, the drill rod can be considered to be in the predetermined position. The control device is electrically connected to the first lifting device and the laser sensor 12, and is also electrically connected to the roller 6 via a motor.

[0037] If the laser sensor 12 can detect a signal, i.e., one end of the drill rod, or the drill rod body is directly above the laser sensor 12, it can also be considered that the drill rod is not in the predetermined position. At this time, all the rolling wheels 6 are rotated in the direction of the other end of the drill rod until the laser sensor 12 can just detect the disappearance of the signal, at which point it can be considered that the drill rod is in the predetermined position. In this embodiment, the laser light source of the laser sensor 12 is a laser diode capable of emitting a wavelength of 6500nm, and the detection distance of the laser sensor 12 is 5mm to 2000mm.

[0038] Furthermore, a lifting platform (not shown in the figure) is fixedly installed at the lower end of the rolling device and the feeding device, and a lifting mechanism (not shown in the figure) is fixedly installed at the lower end of the lifting platform. By operating the control device (not shown in the figure) electrically connected to the lifting mechanism, the lifting mechanism can drive the lifting platform to move up and down in the vertical direction. After one layer of drill rods has been aligned on the alignment track 4, the height of the lifting platform can be raised by the lifting mechanism so that the rolling device and the feeding device are located at the end of the alignment ramp 3. Therefore, the drill rods on the feeding device can roll down under inertia to the top of the first layer of aligned drill rods on the aligned support frame 2. Using the above device, at least 6 layers of drill rods with a diameter of 127mm can be aligned on the aligned support frame 2, so as to facilitate the alignment of a large number of drill rods.

[0039] The drill pipe alignment device with the above structure saves manpower and realizes the automated operation of the drill pipe alignment process. It eliminates the need for multiple people to work together outdoors to move and align the drill pipes. The drill pipe alignment process does not need to be paused or interrupted due to weather conditions, making it more adaptable to various outdoor weather types. This improves overall work efficiency and better meets the requirements of standardized on-site operations.

[0040] like Figure 3As shown, when using the above-mentioned automatic drill rod alignment device, firstly, the alignment support frame 1 is placed parallel and centered at one end of the length direction of the already aligned support frame 2. The second lifting device is used to ensure that the height of the alignment ramp 3 is not lower than the height of the alignment track 4, and the alignment ramp 3 is tilted downwards towards the alignment track 4. Next, the laser sensor 12 is placed at one end of the drill rod at the position to be aligned. The drill rods to be aligned are placed into the alignment ramp 3 in sequence using a pipe gripper, avoiding the stacking of drill rods. Then, the control device is operated to make the drill rod roll onto the rolling wheel 6, so that the drill rod moves horizontally relative to the direction perpendicular to the alignment track 4. At the same time, the direction in which the rolling wheel 6 will roll is determined by the result detected by the laser sensor 12, until the drill rod moves to the predetermined position. Finally, the control device is operated to use the first lifting device to push the drill rod out of the rolling wheel 6. After the drill rod passes the feed plate 8, due to inertia, the drill rod rolls on the alignment track 4 until it is in contact with the already aligned drill rods. Repeat the above steps to arrange all the drill pipes one by one.

[0041] Example 2 A method for automatically aligning drill pipes includes the following steps: Place the support frame 1 to be aligned parallel and centered at one end of the length of the already aligned support frame 2; Using the control device, the height of the ramp 3 to be aligned is adjusted to be no less than the height of the alignment track 4, and the ramp 3 to be aligned is tilted downward toward the alignment track 4. Place the laser sensor 12 at one end of the drill rod where it is to be aligned, and use the pipe grabber to place the drill rods to be aligned into the alignment ramp 3 in sequence, while avoiding the stacking of drill rods. Through the control device, the first lifting device pushes the upper plate 7 away from the first side of the support frame to be aligned and the lower plate 8 close to the first side of the support frame to be aligned, and moves upward at the same time until the height of the upper plate 7's upward inclined ramp close to the first side of the support frame to be aligned is lower than the height of the alignment ramp 3, and the drill rod on the support frame to be aligned rolls into the upper plate 7. Through the control device, the first lifting device drives the end of the upper plate 7 away from the first side of the support frame to be aligned and the end of the lower plate 8 close to the first side of the support frame to be aligned to move downwards simultaneously until the lowest point of the recess formed by the end of the upper plate 7 away from the first side of the support frame to be aligned and the end of the lower plate 8 close to the first side of the support frame to be aligned is lower than the lowest point of the recess of the rolling wheel 6. When the height of the end of the upper plate 7 close to the first side of the support frame to be aligned is higher than the height of the end of the upper plate 7 away from the first side of the support frame to be aligned, the drill rod located at the end of the upper plate 7 close to the first side of the support frame to be aligned rolls into the recess in the middle of the rolling wheel 6 from the slope of the upper plate 7. The control device moves the drill rod horizontally relative to the vertical alignment track 4, and at the same time uses the results detected by the laser sensor 12 to determine the direction in which the rolling wheel 6 will roll until the drill rod moves to the predetermined position. Through the control device, the first lifting device drives the end of the upper plate 7 away from the first side of the support frame to be aligned and the end of the lower plate 8 close to the first side of the support frame to be aligned to move upward simultaneously until the height of the end of the upper plate 7 away from the first side of the support frame to be aligned and the end of the lower plate 8 close to the first side of the support frame to be aligned are higher than the height of the lowest point of the middle recess of the rolling wheel 6, and ensure that the height of the end of the lower plate 8 close to the first side of the support frame to be aligned is higher than the height of the end of the lower plate 8 away from the first side of the support frame to be aligned. The drill rod located in the middle recess of the rolling wheel 6 is supported by the end of the lower plate 8 close to the first side of the support frame to be aligned, and the drill rod will leave the rolling wheel 6 from above the middle recess of the rolling wheel 6 and roll along the lower plate 8 to the alignment track 4. The drill pipe rolls on the alignment track 4 until it is in contact with the already aligned drill pipes.

Claims

1. An automatic drill pipe alignment device, characterized in that: It includes a support frame to be aligned, a support frame already aligned, a rolling device, a material conveying device, a first lifting device, a laser sensing sensor, and a control device; The alignment support frame is a cubic frame structure, and the top of the alignment support frame has an alignment ramp that slopes downward toward the first side of the alignment support frame. The aligned support frame includes at least two parallel alignment tracks. All alignment tracks are at the same height and horizontal at the top. The alignment tracks are fixedly installed at intervals along their length on the ground on the first side of the support frame to be aligned. The height of the aligned support frame is lower than the height of the top of the first end of the support frame to be aligned. The number of rolling devices is at least two. They are fixedly installed side by side at intervals on the ground near the lowest point of the ramp to be aligned. The rolling device includes two first support seats fixedly installed on the ground at relative intervals. A rolling wheel with a concave center is rotatably connected between the two first support seats. The line connecting the lowest points of all the concave points of the rolling wheels is located on a straight line parallel to the ground and perpendicular to the length direction of the alignment track. All the rolling wheels roll in the same direction when rolling. The number of material conveying devices is at least two. They are fixedly installed side by side at intervals on the ground near the lowest point of the ramp to be aligned. The material conveying device includes an upper plate and a lower plate. The upper part of the upper plate has a downward slope and an upward slope in sequence from the direction away from the first side of the support frame to be aligned. The upper part of the lower plate slopes downward toward the first side of the support frame to be aligned. The end of the upper plate near the first side of the support frame to be aligned and the end of the lower plate away from the first side of the support frame to be aligned are respectively hinged to a second support seat and a third support seat fixed on the ground. The side of the upper plate away from the first side of the support frame to be aligned and the side of the lower plate near the first side of the support frame to be aligned are simultaneously hinged to a first lifting device fixed on the ground. The first lifting device is used to make the side of the upper plate away from the first side of the support frame to be aligned and the side of the lower plate near the first side of the support frame to be aligned move up and down in the vertical direction at the same time. The laser sensor is fixedly installed on the ground along the straight line connecting the lowest points of all the rollers' indentations. The control device is electrically connected to the rollers, the first lifting device, and the laser sensor.

2. The automatic drill pipe alignment device according to claim 1, characterized in that: A lifting platform is fixedly installed at the lower end of the rolling device and the material conveying device. A lifting mechanism is fixedly installed at the lower end of the lifting platform. The control device is electrically connected to the lifting mechanism.

3. The automatic drill pipe alignment device according to claim 1, characterized in that: The end of the feeding plate away from the first side of the support frame to be aligned and the end of the unloading plate close to the first side of the support frame to be aligned are simultaneously hinged to a fourth support base fixed on the ground. The fourth support base has a rectangular groove on its upper part for simultaneously placing the other end of the feeding plate and the unloading plate. The first lifting device is fixedly connected to the lower part of the fourth support base.

4. The automatic drill pipe alignment device according to claim 1, characterized in that: The upper part of the loading plate and unloading plate has a downward sloping ramp and an upward sloping ramp in sequence from the direction away from to the direction of the first side of the support frame to be aligned.

5. The automatic drill pipe alignment device according to any one of claims 1 to 4, characterized in that: The support frame to be aligned includes a rectangular frame structure fixedly installed on the ground, and columnar second lifting devices fixedly installed on the upper surfaces of the four corners of the rectangular frame structure in a vertical direction.

6. The automatic drill pipe alignment device according to claim 5, characterized in that: The top heights of the two second lifting devices closest to the first side of the support frame to be aligned are the same, and the top heights of the two second lifting devices furthest from the first side of the support frame to be aligned are the same.

7. The automatic drill pipe alignment device according to claim 1, characterized in that: The roller is shaped like a horizontal hourglass, with a concave center.

8. The automatic drill pipe alignment device according to claim 6, characterized in that: The rectangular frame structure has a side length of 4000mm on the first side of the support frame to be aligned, and a side length of 3000mm on the side perpendicular to the first side of the support frame to be aligned. The vertical lifting range of the support frame to be aligned is 800mm to 14000mm, and the length of the ramp to be aligned is 2600mm.

9. The automatic drill pipe alignment device according to claim 1, characterized in that: The laser source of the laser sensor is a laser diode capable of emitting a wavelength of 6500nm, and the detection distance of the laser sensor is from 5mm to 2000mm.

10. A method for automatically aligning drill pipes using the automatic drill pipe alignment device according to any one of claims 1 to 9, characterized in that: Includes the following steps, Place the support frame to be aligned parallel and centered at one end of the length of the already aligned support frame; Using a control device, the height of the ramp to be aligned is adjusted to be no less than the height of the alignment track, and the ramp to be aligned is tilted downwards toward the alignment track. Place the laser sensor at one end of the drill rod where it is to be aligned, and use the pipe grabber to place the drill rods to be aligned into the alignment ramp one by one, avoiding the stacking of drill rods. Through the control device, the first lifting device pushes the end of the upper plate away from the first side of the support frame to be aligned and the end of the lower plate close to the first side of the support frame to be aligned to move upward at the same time until the height of the upper plate's upward inclined ramp close to the first side of the support frame to be aligned is lower than the height of the alignment ramp, and the drill rod on the support frame to be aligned rolls into the upper plate. Through the control device, the first lifting device drives the end of the upper plate away from the first side of the support frame to be aligned and the end of the lower plate close to the first side of the support frame to be aligned to move downwards simultaneously until the lowest point of the recess formed by the end of the upper plate away from the first side of the support frame to be aligned and the end of the lower plate close to the first side of the support frame to be aligned is lower than the lowest point of the recess of the rolling wheel. When the height of the end of the upper plate close to the first side of the support frame to be aligned is higher than the height of the end of the upper plate away from the first side of the support frame to be aligned, the drill rod located at the end of the upper plate close to the first side of the support frame to be aligned rolls into the recess in the middle of the rolling wheel from the slope of the upper plate. The control device moves the drill rod horizontally relative to the vertical alignment track, and at the same time uses the results detected by the laser sensor to determine the direction in which the rolling wheel will roll until the drill rod moves to the predetermined position. Through the control device, the first lifting device drives the end of the upper plate away from the first side of the alignment support frame and the end of the lower plate close to the first side of the alignment support frame to move upward simultaneously until the height of the end of the upper plate away from the first side of the alignment support frame and the end of the lower plate close to the first side of the alignment support frame are higher than the height of the lowest point of the middle recess of the rolling wheel, and ensure that the height of the end of the lower plate close to the first side of the alignment support frame is higher than the height of the end of the lower plate away from the first side of the alignment support frame. The drill rod located in the middle recess of the rolling wheel is supported by the end of the lower plate close to the first side of the alignment support frame, and the drill rod will leave the rolling wheel from above the middle recess of the rolling wheel and roll along the lower plate to the alignment track. The drill pipe rolls on the alignment track until it comes into contact with the already aligned drill pipes.

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