A drilling rig floating unhooking device and an adaptive unhooking method thereof

Abstract

The application discloses a drilling machine floating unhooking device and a self-adaptive unhooking method thereof and belongs to the technical field of drilling. The device comprises a vice support seat, upper and lower vices arranged on the vice support seat, the upper vice being axially fixed and being capable of rotating and resetting through a vice unhooking oil cylinder, a sliding seat arranged between the lower vice and the vice support seat, and a floating oil cylinder connected to the lower vice and capable of driving the lower vice to move up and down along the sliding seat. During the unhooking process, the vice unhooking oil cylinder drives the upper vice to rotate around the axis of the drill rod for unhooking, the floating oil cylinder is stretched along with the unhooking process, and the lower vice is driven to move downward to offset the axial sliding stroke of the thread pair of the drill rod during the unhooking process. The upper vice rotates by one circle, the floating oil cylinder is stretched by a fixed pitch, the lower vice moves downward along the sliding seat by a floating distance, and the floating distance is equal to the thread stroke during the unhooking of the loosened thread of the clamped drill rod. The application solves the problem that the thread connection of the drill rod is easily damaged and effectively prolongs the service life of the drill rod.

Description

Technical Field

[0001] This invention belongs to the field of drilling technology, specifically relating to a floating uncoupling device for drilling rigs and its adaptive uncoupling method. Background Technology

[0002] Fully hydraulic drilling rigs drive the drill rod through a power head, which in turn drives the drill bit to rotate and drill. Drill rod uncoupling is a critical step in the drilling process and is typically performed by the rig's uncoupling device. Currently, in common drilling rigs, the fixed positions of the upper and lower vises during drill rod uncoupling concentrate stress at the threaded connection of the two drill rods, easily damaging the threads and frequently causing disengagement or drill rod breakage at the threaded connection—accidents within the hole. To prevent damage to the internal and external threads of the drill rod, extend its service life, and reduce disengagement or breakage accidents, this method is designed to address these issues.

[0003] Prior art, disclosed in CN114837581A, is an automatic drill pipe clamping and uncoupling device, belonging to the field of mechanical equipment for engineering or geological drilling. It includes a support assembly, a uncoupling pliers, a rotary uncoupling device, a hydraulic integrated valve, and hydraulic pipelines. The uncoupling pliers include a fixed uncoupling pliers and a moving uncoupling pliers. The moving uncoupling pliers can rotate around the central axis of the automatic drill pipe clamping and uncoupling device. Its rotation is achieved by four uncoupling cylinders, each with a rod chamber and a rodless chamber. A rod chamber return spring is installed in the rod chamber of each uncoupling cylinder, and a rodless chamber return spring is installed in the rodless chamber. The rotary uncoupling device includes a rotary clamping mechanism and a rotary rotation mechanism, which are connected by a balancing mechanism. This invention achieves stable clamping of drill pipes of various diameters while automatically aligning the upper and lower drill pipes. After the moving pliers uncouple the first turn of the drill pipe, they can automatically return to their original position using the springs inside the cylinders. The floating rotary uncoupling device automatically matches the drill pipe diameter to tighten and loosen the drill pipe without excessively wearing down the drill pipe threads. During drill pipe uncoupling operations, the torque applied by the uncoupling pliers is usually the maximum value set by the system, which is greater than the actual torque required for drill pipe uncoupling. This can easily cause damage or even deformation to the drill pipe, affecting its subsequent use. Therefore, there is an urgent need to propose an adaptive uncoupling method for the drilling rig's floating uncoupling device. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a floating uncoupling device for drilling rigs and its adaptive uncoupling method. The device has a simple structure and is easy to use. A floating hydraulic cylinder is installed between the upper and lower vises, thereby increasing the degree of freedom and allowing the lower vise to move downward during the uncoupling process. This counteracts the axial sliding stroke of the drill rod connection thread pair during the uncoupling process, realizing the adjustment of the lower vise position and adaptive uncoupling during drill rod uncoupling operations.

[0005] To achieve the above-mentioned technical objectives, this invention discloses a floating uncoupling device for a drilling rig, comprising a vise support base, with an upper vise and a lower vise respectively positioned above and below the vise support base for clamping two drill rods. The upper vise has a fixed axial height and is rotated and reset via a vise uncoupling cylinder. A sliding seat is provided between the lower vise and the vise support base, and a floating cylinder is connected to the lower vise to drive it to move up and down along the sliding seat. During the uncoupling process, the vise uncoupling cylinder drives the upper vise to rotate around the drill rod axis to uncouple, and the floating cylinder extends as the uncoupling process proceeds, driving the lower vise to move downward to counteract the axial sliding stroke of the drill rod threaded joint during the uncoupling process. For each rotation of the upper vise, the floating cylinder extends by a fixed pitch, and the lower vise moves downward along the sliding seat by a floating distance equal to the thread stroke of the clamped drill rod when uncoupling. The thread stroke distance for each rotation is different for drill rods of different diameters.

[0006] Furthermore, the vise support is connected to a robotic arm, which includes a longitudinal traversing mechanism, a connecting arm, a release device swing arm, and a swing cylinder connected in sequence. The lower end of the longitudinal traversing mechanism is connected to the vise support via bolts. A release device lifting cylinder for driving the vise support to move up and down is mounted on the longitudinal traversing mechanism via shackles. The swing cylinder drives the release device swing arm to achieve positioning and resetting actions. When the worker performs wellhead operations such as applying thread oil and straightening the drill pipe, the release device lifting cylinder extends, the swing cylinder swings, and the drilling rig floating release device is raised and swung out to the standby position. When performing drill pipe release operations, the drilling rig floating release device moves to the working position under the drive of the release device lifting cylinder and the swing cylinder.

[0007] Furthermore, the upper vise includes a vise upper clamping cylinder support seat connected to the vise support seat. The vise upper clamping cylinder support seat is provided with two mutually symmetrical vise upper clamping cylinders. The piston rods of the two vise upper clamping cylinders are provided with two symmetrically arranged upper vise slips. The two symmetrical upper vise slips form a through hole for the drill rod to pass through. The drill rod is clamped and its position is fixed by the upper vise clamping cylinders.

[0008] Furthermore, the lower vise includes a lower vise clamping cylinder support seat connected to the vise support seat. The lower vise clamping cylinder support seat is provided with two mutually symmetrical lower vise clamping cylinders. Lower vise slips are fixedly installed on the piston rod of the lower vise clamping cylinders by bolts. The two symmetrical lower vise slips form a through hole for the drill rod to pass through, thereby clamping the drill rod and fixing its position.

[0009] Furthermore, on the two clamping cylinders of the upper vise, vise release cylinders are respectively installed on the left and right sides. The vise release cylinder includes a release cylinder barrel, and the front end of the release cylinder barrel is connected to a release cylinder lug through the release cylinder piston rod. The release cylinder barrel is fixed to the bracket of the vise support seat through an external connecting seat, and the release cylinder lug is connected to the bracket of the vise support seat through a pin. When the drill pipe is uncoupled, the upper and lower clamping cylinders of the vise extend, causing the upper vise to clamp the upper drill pipe and the lower vise to clamp the lower drill pipe and remain stationary. The right-side vise uncoupling cylinder of the upper vise extends, driving the upper vise to rotate around the drill pipe axis to uncouple. The threaded joint between the two drill pipes reverses to loosen the threads. After the action is completed, the upper clamping cylinder of the vise retracts, the upper vise releases the upper drill pipe, the right-side vise uncoupling cylinder retracts, and the left-side vise uncoupling cylinder extends, causing the upper vise to rotate in the opposite direction to reset.

[0010] Furthermore, both the upper and lower clamping cylinders of the vise are equipped with pressure sensors. When the drill pipe uncoupling operation begins, the upper and lower clamping cylinders extend together, clamping the upper and lower drill pipes respectively. The upper and lower clamping cylinders determine whether the upper and lower vises have clamped the drill pipes based on whether the pressure detected by the pressure sensors exceeds a preset value, and record the pressure value P at this time.

[0011] Furthermore, displacement sensors are installed on the piston rods of the clamping cylinders of the two upper vises. Let l be the distance between the upper vise jaws when the piston rods of the clamping cylinders are not extended. When the upper vise clamps the drill rod above, the displacement sensors detect the extension amounts of the piston rods of the two upper vises' clamping cylinders as x1 and x2, respectively. Using the formula: d=l-x1-x2, the diameter d of the drill rod being clamped can be calculated.

[0012] An adaptive unhooking method for a drilling rig floating unhooking device includes the following steps: S1. During the drill pipe uncoupling process, the upper and lower vises clamp the upper and lower drill pipes respectively, ensuring that the connection between the upper and lower drill pipes is located between the upper and lower vises. The piston rod of the vise uncoupling cylinder on the right side of the upper vise extends to provide linear thrust to drive the upper vise to rotate around the drill pipe axis for uncoupling. Based on the resistance F of the drill pipe and the drill pipe diameter d, the torque T required for the upper vise to rotate for uncoupling of drill pipes with different diameters can be calculated using the formula: T=F·d. S2. When the upper vise applies the corresponding torque T, the threads between the upper and lower drill rods are loosened, and a thrust is generated between the threaded joints to move away from each other. Every time the upper vise rotates the drill rod, the lower vise's clamping cylinder retracts, the lower vise releases the drill rod, and the floating cylinder extends a preset distance, causing the lower vise to float downwards along the sliding seat. The floating distance is determined by the pitch of the thread at the drill rod connection, which is equal to the thread stroke of the upper vise rotating the drill rod once. S3. The lower clamping cylinder of the lower vise extends, the lower vise clamps the drill rod, the upper clamping cylinder of the upper vise retracts, the upper vise releases the drill rod, the piston rod of the right vise release cylinder of the upper vise retracts, the left vise release cylinder extends, and the upper vise rotates to reset. S4. Repeat S1~S3 until the drill pipe is uncoupled.

[0013] Furthermore, before the drill pipe is uncoupled, when the upper and lower vises clamp the drill pipe, the displacement sensor detects the extension amount of the piston rods of the upper and lower clamping cylinders of the upper and lower vises, thereby calculating the diameter d of the drill pipe clamped by the upper and lower vises.

[0014] Furthermore, based on measured data from drill pipe uncoupling operations conducted by the drilling rig at the test site and drilling field, as well as expert experience, a relevant historical database was established, containing the friction coefficients of threaded connections for drill pipes of different diameters. The coefficient of friction Multiplying the pressure P by the resistance F required to uncouple the drill pipe gives the resistance F that needs to be overcome.

[0015] Beneficial Effects: In the floating uncoupling device for drilling rigs of the present invention, the lower vise moves downwards by a floating cylinder during the uncoupling operation, thereby offsetting the axial slippage of the drill rod threaded joint during the uncoupling process. This solves the problem of easy damage to the drill rod threaded joint, effectively reducing structural impact and extending the service life of the drill rod. Furthermore, addressing the issue of excessive torque during drill rod uncoupling causing deformation and damage, the adaptive uncoupling method of the floating uncoupling device provided by the present invention can provide corresponding torque according to different diameter drill rods during the uncoupling operation, protecting the drill rod threaded joint and extending the service life of the drill rod. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the floating unhooking device for drilling rigs described in this invention.

[0017] Figure 2 This is a partial schematic diagram of the upper and lower vises in the floating unhooking device for drilling rigs described in this invention.

[0018] Figure 3 This is a partial schematic diagram of the right-side vise unscrewing cylinder of the upper vise in this invention.

[0019] Figure 4 This is a schematic diagram of the adaptive unhooking method of a drilling rig floating unhooking device in an embodiment of the present invention.

[0020] In the diagram: 1. Upper vise; 101. Upper vise clamping cylinder support; 102. Upper vise clamping cylinder; 103. Upper vise slip; 2. Lower vise; 201. Lower vise clamping cylinder support; 202. Lower vise clamping cylinder; 203. Lower vise slip; 3. Floating cylinder; 4. Vise shackle cylinder; 401. Shackle cylinder barrel; 402. Shackle cylinder piston rod; 403. Shackle cylinder lug; 5. Shackle device lifting cylinder; 6. Longitudinal movement mechanism; 7. Connecting arm; 8. Shackle device swing arm; 9. Swing cylinder; 10. Vise support; 11. Sliding seat. Detailed Implementation

[0021] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0022] like Figure 1 As shown, this invention discloses a floating uncoupling device for a drilling rig, including a vise support base 10. The vise support base 10 is provided with an upper vise 1 and a lower vise 2 for clamping two drill rods, one above and one below. The upper vise 1 has a fixed axial height and is rotated and reset by a vise uncoupling cylinder 4. A sliding seat 11 is provided between the lower vise 2 and the vise support base 10. The lower vise 2 is connected to a floating cylinder 3 that drives it to move up and down along the sliding seat 11. During the uncoupling process, the vise uncoupling cylinder 4 drives the upper vise 1 to rotate around the drill rod axis to uncouple. The floating cylinder 3 extends with the uncoupling process, driving the lower vise 2 to move downward to counteract the axial sliding stroke of the drill rod thread pair during the drill rod uncoupling process. For each rotation of the upper vise 1, the floating cylinder 3 extends by a fixed pitch, and the lower vise 2 moves downward along the sliding seat 11 by a floating distance equal to the thread stroke of the clamped drill rod when uncoupling. The thread stroke distance for each rotation of the drill rod is different when uncoupling drill rods of different diameters. The vise support 10 is connected to a robotic arm, which includes a longitudinal movement mechanism 6, a connecting arm 7, a detachment device swing arm 8, and a swing cylinder 9 connected in sequence. The lower end of the longitudinal movement mechanism 6 is connected to the vise support 10 by bolts. A detachment device lifting cylinder 5 for driving the vise support 10 to move up and down is installed on the longitudinal movement mechanism 6 by an ear. The swing cylinder 9 drives the detachment device swing arm 8 to achieve positioning and resetting actions. When the worker performs wellhead operations such as applying thread oil and straightening the drill pipe, the detachment device lifting cylinder 5 extends, the swing cylinder 9 swings, and the drilling rig floating detachment device is raised and swung out to the standby position. When the drill pipe is detached, the drilling rig floating detachment device moves to the working position under the drive of the detachment device lifting cylinder 5 and the swing cylinder 9.

[0023] like Figure 2As shown, the upper vise 1 includes a vise upper clamping cylinder support 101 connected to the vise support base 10. The upper vise upper clamping cylinder support 101 has two symmetrically arranged upper vise clamping cylinders 102. The piston rods of the two upper vise clamping cylinders 102 have two symmetrically arranged upper vise slips 103. The two symmetrical upper vise slips 103 form a through hole for the drill rod to pass through, thereby clamping and fixing the drill rod's position. The lower vise 2 includes a vise lower clamping cylinder support 201 connected to the vise support base 10. The lower vise lower clamping cylinder support 201 has two symmetrically arranged lower vise clamping cylinders 202. The piston rods of the lower vise clamping cylinders 202 are fixedly installed with lower vise slips 203 by bolts. The two symmetrical lower vise slips 203 form a through hole for the drill rod to pass through, thereby clamping and fixing the drill rod's position. Both the upper clamping cylinder 102 and the lower clamping cylinder 202 of the vise are equipped with pressure sensors. When the drill pipe uncoupling operation begins, the upper clamping cylinder 102 and the lower clamping cylinder 202 extend together, causing the upper vise 1 and the lower vise 2 to clamp the upper and lower drill pipes respectively. The upper clamping cylinder 102 and the lower clamping cylinder 202 determine whether the upper vise 1 and the lower vise 2 have clamped the drill pipe based on whether the pressure detected by the pressure sensor exceeds the preset value, and record the pressure value P at this time. Displacement sensors are installed on the piston rods of the two clamping cylinders 102 of the upper vise 1. When the piston rods of the upper clamping cylinders 102 are not extended, the distance between the jaws of the upper vise is l. When the upper vise 1 clamps the upper drill rod, the displacement sensors detect the extension amounts of the piston rods of the two clamping cylinders 102 of the upper vise as x1 and x2, respectively. Using the formula: d=l-x1-x2, the diameter d of the upper drill rod can be calculated.

[0024] like Figure 3 As shown, on the two vises of the upper vise 1, clamping cylinders 102 are respectively installed on the left and right sides of the vise uncoupling cylinders 102. The vise uncoupling cylinder 4 includes a cylinder barrel 401, and the front end of the cylinder barrel 401 is connected to a cylinder shackle 403 through a piston rod 402. The cylinder barrel 401 is fixed to the bracket of the vise support 10 through an external connecting seat 13, and the cylinder shackle 403 is connected to the bracket of the vise support 10 through a pin 12. When the drill pipe is uncoupled, the vise clamps... When the hydraulic cylinder 102 and the lower clamping cylinder 202 of the vise extend, the upper vise 1 clamps the upper drill rod, and the lower vise 2 clamps the lower drill rod and keeps it stationary. The right vise release cylinder 4 of the upper vise 1 extends and drives the upper vise 1 to rotate around the drill rod axis to release the threads. The threaded joint between the two drill rods reverses and loosens the threads. After the action is completed, the upper clamping cylinder 102 of the vise retracts, the upper vise 1 releases the upper drill rod, the right vise release cylinder 4 retracts, and the left vise release cylinder 4 extends to make the upper vise 1 rotate in the opposite direction to reset.

[0025] like Figure 4 As shown, based on the above-mentioned floating uncoupling device for drilling rigs, the present invention provides an adaptive uncoupling method, comprising the following steps: 1) Since the thickness of the drill rod affects the pitch of the thread at the connection of the drill rod, and thus affects the floating distance of the floating cylinder 3 during the uncoupling process, the displacement sensor detects the extension of the piston rod of the clamping cylinder 102 on both ends of the left and right vises when the upper vise 1 and the lower vise 2 clamp the drill rod, thereby calculating the diameter d of the drill rod. 2) Based on measured data from drill pipe uncoupling operations conducted by the drilling rig at the test site and drilling field, and expert experience, a coefficient of friction for threaded connections of drill pipes with different diameters was established. Relevant historical databases, friction coefficient Multiplying the pressure P by the resistance P gives the resistance F that needs to be overcome to uncouple the drill pipe. 3) During the drill pipe uncoupling process, the upper vise 1 and the lower vise 2 clamp the connection of the two drill pipes respectively to prevent slippage. The piston rod of the right vise uncoupling cylinder 4 extends to provide linear thrust to drive the upper vise 1 to rotate around the drill pipe axis to uncouple. Based on the resistance F and the drill pipe diameter d, the torque T required for uncoupling drill pipes of different diameters is obtained. The corresponding torque is applied when the upper vise 1 rotates to uncouple. 4) When the upper vise 1 is subjected to the corresponding torque T, the threads between the drill rods are loosened, and the threaded joints generate a thrust that moves them away from each other. Each time the upper vise 1 is rotated, the lower vise clamping cylinder 202 retracts, the lower vise 2 releases the drill rod, and the floating cylinder 3 extends a fixed distance, causing the lower vise 2 to float downwards a certain distance. This floating distance is determined by the pitch of the thread at the drill rod connection and is equal to the thread stroke of the upper vise 1 rotating once. 5) The lower clamping cylinder 202 of the vise extends, the lower vise 2 clamps the drill rod, the pressure sensor detects the pressure of the lower clamping cylinder 202 of the vise to determine whether it is clamped and to prevent slippage; after the action is completed, the upper clamping cylinder 102 of the vise retracts, the upper vise 1 releases the drill rod, the piston rod of the right vise uncoupling cylinder 4 retracts, the left vise uncoupling cylinder 4 extends, and the upper vise 1 rotates to reset. 6) Repeat steps 1) to 5) until the drill pipe is uncoupled.

[0026] The above description is merely one embodiment of the present invention and is not intended to limit the present invention. Any minor modifications, equivalent substitutions, and improvements made to the above embodiment based on the technical essence of the present invention should be included within the protection scope of the present invention.

Claims

1. A floating uncoupling device for drilling rigs, characterized in that, The vise includes a vise support base (10), on which an upper vise (1) and a lower vise (2) are respectively provided for clamping the upper and lower drill rods. The upper vise (1) is fixed in axial height and rotated and reset by a vise uncoupling cylinder (4). A sliding seat (11) is provided between the lower vise (2) and the vise support base (10). The lower vise (2) is connected to a floating cylinder (3) that drives it to move up and down along the sliding seat (11). During the uncoupling process, the vise uncoupling cylinder (4) drives the upper vise (1) to move up and down. Rotate around the drill rod axis to uncouple. The floating cylinder (3) extends during the uncoupling process, driving the lower vise (2) to move downward to counteract the axial sliding stroke of the drill rod thread pair during the uncoupling process. For each rotation of the upper vise (1), the floating cylinder (3) extends with a fixed pitch. The lower vise (2) moves downward along the sliding seat (11) by a floating distance. The floating distance is equal to the thread stroke when the drill rod is uncoupled. The thread stroke distance when uncoupling is different for drill rods of different diameters.

2. The floating uncoupling device for drilling rigs according to claim 1, characterized in that, The vise support base (10) is connected to a mechanical arm, which includes a longitudinal movement mechanism (6), a connecting arm (7), a detachment device swing arm (8), and a swing cylinder (9) connected in sequence. The lower end of the longitudinal movement mechanism (6) is connected to the vise support base (10) by bolts. The detachment device lifting cylinder (5) is installed on the longitudinal movement mechanism (6) by an ear ring to drive the vise support base (10) to move up and down. The swing cylinder (9) drives the detachment device swing arm (8) to achieve positioning and resetting actions. When the worker performs wellhead operations such as applying thread oil and straightening the drill pipe, the detachment device lifting cylinder (5) extends, the swing cylinder (9) swings, and the drilling rig floating detachment device is lifted and swings out to the standby position. When the drill pipe is detached, the drilling rig floating detachment device moves to the working position under the drive of the detachment device lifting cylinder (5) and the swing cylinder (9).

3. The floating uncoupling device for drilling rigs according to claim 1, characterized in that, The upper vise (1) includes a vise upper clamping cylinder support (101) connected to the vise support base (10). The vise upper clamping cylinder support base (101) is provided with two mutually symmetrical vise upper clamping cylinders (102). The piston rods of the two vise upper clamping cylinders (102) are provided with two symmetrically arranged upper vise slips (103). The two symmetrical upper vise slips (103) form a through hole for the drill rod to pass through. The drill rod is clamped and the position of the drill rod is fixed by the vise upper clamping cylinder (102).

4. The drilling rig floating uncoupling device according to claim 3, characterized in that, The lower vise (2) includes a lower vise clamping cylinder support (201) connected to the vise support (10). The lower vise clamping cylinder support (201) is provided with two mutually symmetrical lower vise clamping cylinders (202). The piston rod of the lower vise clamping cylinder (202) is fixedly installed with a lower vise slip (203) by bolts. The two symmetrical lower vise slips (203) form a through hole for the drill rod to pass through, thereby clamping the drill rod and fixing the position of the drill rod.

5. The drilling rig floating uncoupling device according to claim 4, characterized in that, On the two clamping cylinders (102) of the upper vise (1), the left and right sides of the vise shackle cylinders (4) are respectively installed. The vise shackle cylinder (4) includes a shackle cylinder barrel (401). The front end of the shackle cylinder barrel (401) is connected to a shackle cylinder lug (403) through the shackle cylinder piston rod (402). The shackle cylinder barrel (401) is fixed on the bracket of the vise support base (10) through the external connecting seat (13). The shackle cylinder lug (403) is connected to the bracket of the vise support base (10) through the pin (12). When the drill pipe is uncoupled, the upper clamping cylinder (102) and the lower clamping cylinder (202) of the vise extend, so that the upper vise (1) clamps the upper drill pipe and the lower vise (2) clamps the lower drill pipe and keeps it still. The right vise uncoupling cylinder (4) of the upper vise (1) extends and drives the upper vise (1) to rotate around the drill pipe axis to uncouple. The threaded joint between the two drill pipes reverses to loosen the threads. After the action is completed, the upper clamping cylinder (102) of the vise retracts, the upper vise (1) releases the upper drill pipe, the right vise uncoupling cylinder (4) retracts, and the left vise uncoupling cylinder (4) extends, so that the upper vise (1) rotates back to reset.

6. The drilling rig floating uncoupling device according to claim 5, characterized in that, Pressure sensors are installed in both the upper clamping cylinder (102) and the lower clamping cylinder (202) of the vise. When the drill pipe uncoupling operation begins, the upper clamping cylinder (102) and the lower clamping cylinder (202) of the vise extend together, so that the upper vise (1) and the lower vise (2) clamp the upper and lower drill pipes respectively. The upper clamping cylinder (102) and the lower clamping cylinder (202) of the vise determine whether the upper vise (1) and the lower vise (2) clamp the drill pipe according to whether the pressure detected by the pressure sensor exceeds the preset value, and record the pressure value P at this time.

7. The drilling rig floating uncoupling device according to claim 6, characterized in that, Displacement sensors are installed on the piston rods of the two clamping cylinders (102) of the upper vise (1). When the piston rods of the clamping cylinders (102) of the upper vise are not extended, the distance between the jaws of the upper vise is l. When the upper vise (1) clamps the upper drill rod, the displacement sensors detect the extension amounts of the piston rods of the two clamping cylinders (102) of the upper vise as x1 and x2, respectively. Using the formula: d=l-x1-x2, the diameter d of the upper drill rod can be calculated.

8. An adaptive unhooking method using the floating unhooking device of a drilling rig according to any one of claims 1 to 7, characterized in that, Includes the following steps: S1. During the drill pipe uncoupling process, the upper vise (1) and the lower vise (2) clamp the upper and lower drill pipes respectively, and ensure that the connection between the upper and lower drill pipes is located between the upper vise (1) and the lower vise (2). The piston rod of the vise uncoupling cylinder (4) on the right side of the upper vise (1) extends to provide linear thrust to drive the upper vise (1) to rotate around the drill pipe axis for uncoupling. Based on the resistance F and the diameter d of the drill pipe, the torque T required for the upper vise (1) to rotate for uncoupling is calculated by the formula: T=F·d. S2. Apply the corresponding torque T to the upper vise (1) to loosen the thread between the upper and lower drill rods, and generate a thrust that moves away from each other between the threaded joints. Every time the upper vise (1) rotates the drill rod once, the lower clamping cylinder (202) of the lower vise (2) retracts. The lower vise (2) loosens the drill rod, and the floating cylinder (3) extends a preset distance, so that the lower vise (2) floats downward along the sliding seat (11). The floating distance is determined by the pitch of the thread at the drill rod connection, which is equal to the thread stroke of the upper vise (1) rotating the drill rod once. S3. The lower clamping cylinder (202) of the lower vise (2) extends, the lower vise (2) clamps the drill rod, the upper clamping cylinder (102) of the upper vise (1) retracts, the upper vise (1) releases the drill rod, the piston rod of the right vise uncoupling cylinder (4) of the upper vise (1) retracts, the left vise uncoupling cylinder (4) extends, and the upper vise (1) rotates to reset. S4. Repeat S1~S3 until the drill pipe is uncoupled.

9. The adaptive unhooking method according to claim 8, characterized in that, Before the drill pipe is uncoupled, when the upper vise (1) and lower vise (2) clamp the drill pipe, the extension amount of the piston rod of the upper clamping cylinder (102) and the lower clamping cylinder (202) on the upper vise (1) and lower vise (2) is detected by the displacement sensor, so as to calculate the diameter d of the drill pipe clamped by the upper vise (1) and lower vise (2).

10. The adaptive unhooking method according to claim 8, characterized in that, Based on measured data from drill pipe uncoupling operations conducted by drilling rigs at test sites and drilling fields, as well as expert experience, a relevant historical database was established, containing the friction coefficients of threaded connections for drill pipes of different diameters. The coefficient of friction Multiplying the pressure P by the resistance F required to uncouple the drill pipe gives the resistance F that needs to be overcome.

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