Full-automatic pipe rolling drilling machine and working method thereof

Abstract

The application discloses a full-automatic pipe rolling drilling machine and a working method thereof, and belongs to the technical field of pipe rolling drilling machines, and comprises a chassis assembly, a lower clamping jaw, an upper clamping jaw, pipe rolling oil cylinders, a lifting oil cylinder and an adjusting oil cylinder. One end of the adjusting oil cylinder is hinged to the upper clamping jaw, and the other end is hinged to the chassis assembly. The pipe rolling oil cylinders comprise symmetrically arranged left and right pipe rolling oil cylinders, one end of each of the pipe rolling oil cylinders is hinged to the left side or the right side of the upper clamping jaw, and the other end of each of the pipe rolling oil cylinders is hinged to the chassis assembly. The upper end of the lifting oil cylinder is hinged to the upper clamping jaw, and the lower end is hinged to the chassis assembly. The lower clamping jaw and the upper clamping jaw are respectively provided with lower clamping oil cylinders and upper clamping oil cylinders. Each oil cylinder is respectively provided with an oil cylinder stroke detection unit, each oil cylinder stroke detection unit is connected with a controller, and the controller is connected with and controls each oil cylinder. The full-automatic pipe rolling drilling machine realizes full-automatic operation of all working processes of the pipe rolling drilling machine, greatly reduces construction cost and improves construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of pipe-rolling drilling technology, and in particular to a fully automatic pipe-rolling drilling machine and its working method. Background Technology

[0002] A casing drilling rig (or casing drill for short) is an engineering device used for the construction of full-casing bored piles and interlocking piles. It consists of casing-rolling cylinders, lifting cylinders, clamping cylinders, a base, and upper and lower clamping chucks. The two casing-rolling cylinders reciprocate to twist the casing, while the clamping cylinder in the upper clamping chuck holds the casing. The lifting cylinder applies drilling pressure downwards to the clamped casing, causing the cutting tool at the bottom of the casing to cut through the rock and soil, thus drilling the casing into the ground.

[0003] During the drilling process of the casing rigging drilling rig, the operator needs to continuously operate the hydraulic directional valve control handles of each cylinder, causing the casing rigging cylinder, lifting cylinder, upper chuck built-in clamping cylinder, and chassis built-in lower clamping cylinder to repeatedly extend and retract. The casing rigging cylinder drives the casing to swing clockwise / counterclockwise, the lifting cylinder drives the upper chuck to move up and down, the upper chuck built-in clamping cylinder drives the chuck to repeatedly clamp and release the casing, and the chassis built-in lower clamping cylinder repeatedly clamps and releases the casing, thus carrying out continuous operation. This manual reversing method is not only low in automation and efficiency, but also prone to operator fatigue due to prolonged and high-frequency manual operation, resulting in high labor intensity, increased risk of misoperation, and further impacting construction efficiency.

[0004] Chinese patent document CN218971115U discloses an automatic pipe-rolling mechanism for a pipe-rolling drilling rig. A limiter is installed on the piston rod of the pipe-rolling cylinder, and a trigger is installed on the pipe-rolling cylinder. The trigger is connected to a control terminal. After the limiter touches the trigger, the control terminal can control the pipe-rolling cylinder to switch directions, thereby realizing the automatic reciprocating motion of the pipe-rolling drilling rig in rolling the casing.

[0005] Although the aforementioned patent achieves automatic pipe rolling in the pipe rolling drill, it cannot achieve automatic operation of other parts of the pipe rolling drill, such as automatic lifting, lowering, and clamping of the upper jaws, thus making it impossible to achieve fully automatic operation of the pipe rolling drill.

[0006] Furthermore, the aforementioned patent achieves automatic reversing of the pipe-rubbing cylinder through limiters and triggers. Since the positions of the limiters and triggers are fixed, they can only achieve pipe-rubbing reversing within a fixed stroke of the pipe-rubbing cylinder. When it is necessary to change the reversing stroke of the pipe-rubbing cylinder, the above structure needs to be disassembled and the limiters and triggers reinstalled in different positions, which is inconvenient, time-consuming, and labor-intensive. Summary of the Invention

[0007] This invention provides a fully automatic pipe-rolling drilling machine and its working method, which realizes the full automation of the entire process of the pipe-rolling drilling machine, greatly reducing construction costs and improving construction efficiency.

[0008] The technical solution provided by this invention is as follows:

[0009] A fully automatic pipe-rolling drilling machine includes a chassis assembly, a lower clamping jaw located on the chassis assembly, an upper clamping jaw disposed above the chassis assembly, a pipe-rolling cylinder, a lifting cylinder, and an adjusting cylinder, wherein:

[0010] One end of the adjusting cylinder is hinged to the upper clamping jaw, and the other end is hinged to the chassis assembly; the pipe rubbing cylinder includes a left pipe rubbing cylinder and a right pipe rubbing cylinder symmetrically arranged on the left and right sides of the adjusting cylinder, one end of the left pipe rubbing cylinder and the right pipe rubbing cylinder are respectively hinged to the left and right sides of the upper clamping jaw, and the other end is respectively hinged to the chassis assembly.

[0011] The lifting cylinder is located between the chassis assembly and the upper clamping jaws. The upper end of the lifting cylinder is hinged to the upper clamping jaws, and the lower end is hinged to the chassis assembly.

[0012] The lower clamping jaw and the upper clamping jaw are respectively equipped with a lower clamping cylinder and an upper clamping cylinder;

[0013] Each of the adjusting cylinder, the rubbing cylinder, the lifting cylinder, the lower clamping cylinder, and the upper clamping cylinder is equipped with a cylinder stroke detection unit. Each cylinder stroke detection unit is connected to a controller, which connects to and controls the adjusting cylinder, the rubbing cylinder, the lifting cylinder, the lower clamping cylinder, and the upper clamping cylinder.

[0014] Furthermore, each of the adjusting cylinder, the rubbing cylinder, the lifting cylinder, the lower clamping cylinder, and the upper clamping cylinder is equipped with a cylinder pressure detection unit, and each cylinder pressure detection unit is connected to the controller.

[0015] Furthermore, an attitude sensor is provided on the chassis assembly and the upper clamping jaw, and the attitude sensor is connected to the controller.

[0016] Furthermore, the controller connects to and controls the solenoid valves and flow regulators of the regulating cylinder, the pipe-rubbing cylinder, the lifting cylinder, the lower clamping cylinder, and the upper clamping cylinder.

[0017] Furthermore, the hydraulic system of the fully automatic pipe-rolling drilling machine is equipped with an oil pressure detection unit and a temperature detection unit, which are connected to the controller. The controller is connected to the intelligent remote control unit through a first wireless transmission module.

[0018] Furthermore, the number of lifting cylinders is at least three, and not all of the lifting cylinders are distributed on the same straight line.

[0019] Furthermore, the upper clamping jaw includes a middle slip and clamping slips symmetrically arranged on the left and right sides of the middle slip. One end of the two clamping slips is hinged to the middle slip, and the other end of the two clamping slips is hinged to both ends of the upper clamping cylinder.

[0020] The number of lifting cylinders is three. The upper ends of the three lifting cylinders are respectively hinged to the middle slip and two clamping slips, and the other end is vertically downward and hinged to the chassis assembly.

[0021] Furthermore, a fixed bracket is fixedly installed on the chassis assembly, and one end of the left and right tube rubbing cylinders is hinged to the left and right sides of the upper clamping jaw, while the other end is hinged to the fixed bracket.

[0022] Furthermore, one end of the adjusting cylinder is hinged to the upper clamping jaw, and the other end is hinged to the fixed bracket.

[0023] Furthermore, a sliding box assembly is provided on the chassis assembly.

[0024] Furthermore, a horizontal pressure plate assembly is provided on the side of the chassis assembly.

[0025] A method for operating the fully automatic pipe-rolling drill, the method comprising:

[0026] The controller automatically controls the adjusting cylinder, the rubbing cylinder, the lifting cylinder, the lower clamping cylinder, and the upper clamping cylinder to achieve automatic self-inspection, automatic rubbing, and / or automatic pipe pulling processes.

[0027] Furthermore, the automatic self-test process includes:

[0028] S101: The controller determines whether the chassis assembly and / or the upper clamping jaws are horizontal based on the signal from the attitude sensor. If they are horizontal, proceed to the next step; otherwise, give an attitude alarm.

[0029] S102: The controller controls the lower clamping cylinder to perform clamping and opening actions on the lower clamping jaws, and determines whether the clamping and opening of the lower clamping jaws are normal. If they are normal, proceed to the next step; otherwise, give an alarm prompt for the lower clamping jaws.

[0030] S103: The controller controls the lifting cylinder to lift and pull down the upper clamping jaws, and determines whether the lifting and pulling down of the lifting cylinder is normal. If it is normal, proceed to the next step; otherwise, give an alarm prompt for the lifting cylinder.

[0031] During the lifting and lowering process of the lifting cylinder, the controller determines in real time whether the upper clamping jaw is horizontal based on the signal from the attitude sensor of the upper clamping jaw. If it is not horizontal, the controller adjusts the balance valve connected to each lifting cylinder.

[0032] S104: The controller controls the upper clamping cylinder to perform clamping and opening actions on the upper clamping jaws, and determines whether the clamping and opening of the upper clamping jaws are normal. If they are normal, proceed to the next step; otherwise, give an alarm prompt for the upper clamping jaws.

[0033] S105: The controller controls the pipe-rubbing cylinder to perform forward and reverse rubbing actions on the upper clamping jaws, and determines whether the forward and reverse rubbing are normal. If they are normal, proceed to the next step; otherwise, give an alarm prompt to the pipe-rubbing cylinder.

[0034] S106: The controller controls the adjusting cylinder to extend and retract, and determines whether the extension and retraction of the adjusting cylinder are normal. If normal, the self-test ends; otherwise, an alarm prompt is given for the adjusting cylinder.

[0035] Furthermore, the automatic tube-rolling process includes:

[0036] S201: The controller monitors in real time whether it receives an instruction to insert the sleeve into place. If it does, it proceeds to the next step; otherwise, it provides a prompt to insert the sleeve.

[0037] S202: The controller controls the lifting cylinder to lift the upper clamping jaws to the set highest position, and after lifting to the position, proceed to the next step;

[0038] S203: The controller uses the upper clamping cylinder to clamp the sleeve with the upper clamping jaws, and proceeds to the next step after clamping is in place;

[0039] S204: The controller controls the rubbing cylinder to perform forward rubbing on the upper clamping jaws. After rubbing forward to the set maximum stroke, the next step is executed.

[0040] S205: The controller controls the pipe-rubbing cylinder to perform reverse rotation and rubbing on the upper clamping jaws. After the reverse rotation and rubbing reaches the set maximum stroke, the next step is executed.

[0041] S206: During the forward and reverse rotary drilling process, the controller continuously controls the lifting cylinder to continuously pull down the upper clamping jaw, and the controller detects the pull-down height of the upper clamping jaw in real time through the cylinder stroke detection unit of the lifting cylinder, and simultaneously adds the pull-down height to the stored total drilling depth in real time.

[0042] When the controller determines that the upper clamping jaws have been pulled down to the set lowest position based on the pull-down height, it proceeds to the next step; otherwise, it repeats steps S204 and S205, continuously alternating between forward and reverse rotary rubbing.

[0043] S207: The controller controls the tubing rubbing cylinder to stop forward and reverse rubbing, and determines whether casing connection is needed based on the total drilling depth. If casing connection is not needed, proceed directly to the next step; if casing connection is needed, the controller monitors in real time whether a connection completion instruction is received, and proceeds to the next step after receiving the connection completion instruction.

[0044] S208: The controller controls the upper clamping cylinder to open the upper clamping jaws. After opening to the correct position, the process proceeds to step S202 and repeats until the set drilling depth is reached.

[0045] S210: In steps S204 to S207, the controller determines in real time whether the set drilling depth has been reached based on the total drilling depth; if so, drilling is stopped.

[0046] Furthermore, the automatic tube removal process includes:

[0047] S301: The controller controls the upper clamping cylinder to open the upper clamping jaws. After the jaws are fully opened, the controller controls the lifting cylinder to pull the upper clamping jaws down to the set lowest position. After the jaws are fully pulled down, proceed to the next step.

[0048] S302: The controller uses the upper clamping cylinder to clamp the sleeve with the upper clamping jaws, and proceeds to the next step after clamping is in place;

[0049] S303: The controller lifts the upper clamping jaws to a set height position via the lifting cylinder, and proceeds to the next step after the jaws are in place.

[0050] During the lifting process, the controller detects the lifting height of the upper clamping jaw in real time through the cylinder stroke detection unit of the lifting cylinder, and simultaneously adds the lifting height to the stored total tube pulling length in real time.

[0051] During the lifting process, the controller determines whether the lifting is stuck based on the signal from the cylinder pressure detection unit of the lifting cylinder in real time. If it is stuck, the controller controls the rubbing cylinder to perform a set number of forward and reverse rubbing motions on the upper clamping jaws.

[0052] S304: The controller uses the lower clamping cylinder to clamp the sleeve with the lower clamping jaws. After clamping, the controller controls the upper clamping cylinder to open the upper clamping jaws. After opening, proceed to the next step.

[0053] S305: The controller controls the lifting cylinder to pull the upper clamping jaws down to the set lowest position, and after pulling them down to the position, proceed to the next step;

[0054] S306: The controller uses the upper clamping cylinder to clamp the sleeve with the upper clamping jaws, and proceeds to the next step after clamping is in place;

[0055] S307: The controller determines whether the sleeve needs to be removed based on the total tube length. If the sleeve does not need to be removed, proceed directly to the next step. If the sleeve needs to be removed, the controller monitors in real time whether it receives a tube removal completion instruction. After receiving the tube removal completion instruction, proceed to the next step.

[0056] S308: The controller determines whether all tubes have been removed based on the total tube length. If so, the tube removal process ends; otherwise, it returns to step S303 and continues removing tubes until all tubes have been removed.

[0057] The present invention has the following beneficial effects:

[0058] This invention equips each hydraulic cylinder with a cylinder stroke detection unit, which is connected to a controller. The controller detects the signals from the stroke detection units of each cylinder and can automatically control the extension, retraction, and stopping actions of each cylinder according to the set control logic. This enables fully automatic control of all cylinders in the casing drilling rig, thereby achieving fully automated operation of the entire workflow of the casing drilling rig, such as automatic lifting and lowering of the upper jaws, automatic casing rolling, automatic clamping and loosening of the upper and lower jaws, and automatic casing extraction. This invention eliminates the need for frequent manual operation, saving manpower, reducing the labor intensity of operators and the impact of human factors on casing construction, greatly reducing construction costs and improving construction efficiency. Attached Figure Description

[0059] Figure 1 This is a perspective view of the fully automatic pipe-rolling drill of the present invention from one angle;

[0060] Figure 2 This is a perspective view of the fully automatic pipe-rolling drill of the present invention from another angle;

[0061] Figure 3 This is a side view of the fully automatic pipe-rolling drill of the present invention;

[0062] Figure 4 This is a top view of the fully automatic pipe-rolling drill of the present invention;

[0063] Figure 5 This is a schematic diagram of the fully automatic pipe-rolling drill of the present invention in use;

[0064] Figure 6 This is a schematic diagram showing the connection of various electronic control modules of the present invention;

[0065] Figure 7 This is a schematic diagram of the intelligent remote control unit in this invention. Detailed Implementation

[0066] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0067] This invention provides a fully automatic pipe-rolling drilling machine, such as... Figure 1-7 As shown, the system includes a chassis assembly 1, a lower clamping jaw 2 located on the chassis assembly 1, an upper clamping jaw 3 located above the chassis assembly 1, pipe rubbing cylinders 4 and 5, a lifting cylinder 6, and an adjusting cylinder 7, wherein:

[0068] One end (piston end or cylinder end, the same below) of the adjusting cylinder 7 is hinged to the upper clamping jaw 3, and the other end (cylinder end or piston end, the same below) is hinged to the chassis assembly 1. The pipe rubbing cylinders 4 and 5 include a left pipe rubbing cylinder 4 and a right pipe rubbing cylinder 5 symmetrically arranged on the left and right sides of the adjusting cylinder 7. One end of the left pipe rubbing cylinder 4 and the right pipe rubbing cylinder 5 are respectively hinged to the left and right sides of the upper clamping jaw 3, and the other end is respectively hinged to the chassis assembly 1.

[0069] The lifting cylinder 6 is located between the chassis assembly 1 and the upper clamping jaw 3. The upper end of the lifting cylinder 6 is hinged to the upper clamping jaw 3, and the lower end is hinged to the chassis assembly 1.

[0070] The lower clamping jaw 2 and the upper clamping jaw 3 are respectively equipped with a lower clamping cylinder 8 and an upper clamping cylinder 9.

[0071] Each of the adjusting cylinder 7, the rubbing cylinders 4 and 5, the lifting cylinder 6, the lower clamping cylinder 8, and the upper clamping cylinder 9 is equipped with a cylinder stroke detection unit, namely the adjusting cylinder stroke detection unit 10, the rubbing cylinder stroke detection unit 11, the lifting cylinder stroke detection unit 12, the lower clamping cylinder stroke detection unit 13, and the upper clamping cylinder stroke detection unit 14.

[0072] Each hydraulic cylinder has a stroke detection unit used to monitor the stroke of the piston rod. This unit can be a displacement sensor that directly detects the cylinder's stroke. Alternatively, it can be a flow sensor installed in the hydraulic circuit of the cylinder, detecting the flow rate of the hydraulic oil injected into the cylinder. Since the hydraulic oil flow rate is proportional to the stroke, the cylinder's stroke can be indirectly detected through the hydraulic oil flow rate.

[0073] Each hydraulic cylinder stroke detection unit is connected to the controller 15. The controller 15 can acquire signals from each hydraulic cylinder's stroke detection unit in real time, determine the stroke of each hydraulic cylinder based on the signals, and judge whether the cylinder's action is in place. The controller 15 connects to and controls the adjusting cylinder 7, the rubbing cylinders 4 and 5, the lifting cylinder 6, the lower clamping cylinder 8, and the upper clamping cylinder 9. For example, when the cylinder's stroke is detected to have reached the specified position (i.e., the action is in place), the controller logic automatically controls the cylinder to stop or switch the direction of action.

[0074] This invention equips each hydraulic cylinder with a cylinder stroke detection unit, which is connected to a controller. The controller detects the signals from the stroke detection units of each cylinder and can automatically control the extension, retraction, and stopping actions of each cylinder according to the set control logic. This enables fully automatic control of all cylinders in the casing drilling rig, thereby achieving fully automated operation of the entire workflow of the casing drilling rig, such as automatic lifting and lowering of the upper jaws, automatic casing rolling, automatic clamping and loosening of the upper and lower jaws, and automatic casing extraction. This invention eliminates the need for frequent manual operation, saving manpower, reducing the labor intensity of operators and the impact of human factors on casing construction, greatly reducing construction costs and improving construction efficiency.

[0075] In addition, the actions of each cylinder in this invention are controlled by a controller. When the working scene changes and it is necessary to change the action parameters of each cylinder, such as the change of the stroke of the pipe-rubbing cylinder (not exceeding the maximum stroke limit of the pipe-rubbing cylinder itself), the change of the lifting height of the lifting cylinder (not exceeding the maximum stroke limit of the lifting cylinder itself), etc., only the control parameters of the controller need to be changed. There is no need to modify the hardware. The operation is simpler and more flexible, and it can be conveniently applied to various working conditions.

[0076] As an improvement to this embodiment of the invention, each of the aforementioned adjusting cylinder 7, rubbing cylinders 4 and 5, lifting cylinder 6, lower clamping cylinder 8, and upper clamping cylinder 9 is equipped with a cylinder pressure detection unit, namely, adjusting cylinder pressure detection unit 16, rubbing cylinder pressure detection unit 17, lifting cylinder pressure detection unit 18, lower clamping cylinder pressure detection unit 19, and upper clamping cylinder pressure detection unit 20. Each cylinder pressure detection unit is connected to the controller 15.

[0077] Through the pressure detection unit, the controller 15 can detect the pressure of the hydraulic oil in the cylinder, thereby determining the output force of the cylinder and judging the state of the mechanical structure connected to each cylinder. For example, by using the cylinder pressure detection units of the upper clamping cylinder 9 and the lower clamping cylinder 8, combined with their cylinder stroke detection units, it is possible to detect whether the upper clamping jaws 3 and the lower clamping jaws 2 are clamping the sleeve, and to detect the magnitude of the clamping force or holding force on the sleeve. For example, the cylinder pressure detection units of each cylinder can also be used to detect whether the mechanical structure connected to each cylinder is jammed.

[0078] The controller 15 connects to and controls the solenoid valves and flow regulators of the regulating cylinder 7, the pipe-rubbing cylinders 4 and 5, the lifting cylinder 6, the lower clamping cylinder 8, and the upper clamping cylinder 9. Specifically, this includes the regulating cylinder solenoid valve 21, the regulating cylinder flow regulator 22, the pipe-rubbing cylinder solenoid valve 23, the pipe-rubbing cylinder flow regulator 24, the lifting cylinder solenoid valve 25, the lifting cylinder flow regulator 26, the lower clamping cylinder solenoid valve 27, the lower clamping cylinder flow regulator 28, the upper clamping cylinder solenoid valve 29, and the upper clamping cylinder flow regulator 30.

[0079] The controller controls the movement or stop of each hydraulic cylinder through the solenoid valves of each cylinder, and controls the movement speed of each cylinder through the flow regulator of each cylinder. The faster the flow, the faster the movement speed of the cylinder.

[0080] To monitor whether the fully automatic pipe-rolling drilling rig is level, attitude sensors are installed on the chassis assembly 1 and the upper clamping jaw 3, namely chassis attitude sensor 31 and upper clamping jaw attitude sensor 32. Each attitude sensor is connected to the controller 15. The controller determines whether the chassis assembly 1 or the upper clamping jaw 3 is level based on the signals from each attitude sensor.

[0081] The hydraulic system of the fully automatic pipe-rolling drilling rig of the present invention is equipped with an oil pressure detection unit and a temperature detection unit. The oil pressure detection unit includes an inlet oil pressure detection unit 33 and a return oil pressure detection unit 34. The temperature detection unit may only include a return oil temperature detection unit 35, or it may include an inlet oil temperature detection unit. Each oil pressure detection unit and temperature detection unit is connected to a controller 15 to monitor the temperature and pressure status of the hydraulic system in real time.

[0082] In addition, the controller 15 can also be connected to various signal indicator lights, such as the system operation indicator light 36 and the alarm indicator light 37.

[0083] The controller 15, consisting of an embedded industrial computer and other components, is installed on the fully automatic pipe-rolling drilling machine. It is connected to various components such as cylinder stroke detection units, cylinder pressure detection units, solenoid valves, flow regulators, hydraulic pressure detection units, temperature detection units, attitude sensors, and signal indicator lights via wired or wireless means. The controller 15 receives signals from the connected cylinder stroke detection units, cylinder pressure detection units, hydraulic pressure detection units, temperature detection units, attitude sensors, etc., and controls the solenoid valves, flow regulators, signal indicator lights, etc., to execute preset actions.

[0084] Furthermore, the controller 15 is connected to the intelligent remote control unit 39 via the first wireless transmission module 38 to achieve long-distance wireless transmission. All power-consuming components of the fully automatic pipe-rolling drill are powered by the first power supply module 53.

[0085] The intelligent remote control unit 39 is a handheld device or control computer, etc., and is not installed on the fully automatic pipe-rolling drilling machine, but is an independent external device. The intelligent remote control unit 39 includes a processing module 40, a second wireless transmission module 41, a second power supply module 42, and a touch screen 43.

[0086] The processing module 40 is the core management unit of the entire intelligent remote control unit 39, which realizes functions such as parameter setting, data management and storage, system self-test, automatic operation control, input and output status detection, and alarm control.

[0087] The second power module 42 provides power to the intelligent remote control unit 39. It can be a battery, an external power source, or a combination of both.

[0088] Touch screen 43 is the human-machine interface of the intelligent control system, enabling parameter input, monitoring screen display, action flow control, etc., and displaying relevant parameters in real time to realize the visual operation of the pipe-rolling drilling rig.

[0089] The second wireless transmission module 41 is the data transmission unit of the intelligent control system, which realizes the function of long-distance wireless transmission. It transmits various settings and instructions of the intelligent remote control unit 39 to the controller 15 wirelessly, so as to realize the setting and control of the fully automatic pipe-rolling drilling machine.

[0090] Both the aforementioned first and second wireless transmission modules are equipped with a transmitting unit and a receiving feedback unit for transmitting and receiving signals.

[0091] Existing technologies (such as CN218971115U) support the upper clamping jaws with two lifting cylinders. The lifting cylinders and the upper clamping jaws are hinged, and the connection points between the two lifting cylinders and the upper clamping jaws are in a straight line. That is, the upper clamping jaws are supported by two points located on a straight line. This support is unstable. During the lifting and lowering process of the two lifting cylinders, the upper clamping jaws are prone to rotate along the straight line where the two support points are located, which makes it difficult to ensure the levelness of the upper clamping jaws. The upper clamping jaws are tilted and not parallel to the chassis assembly.

[0092] During casing drilling, an inclined upper clamping jaw can cause the casing to be non-perpendicular to the horizontal plane, resulting in casing tilt and affecting its verticality, thus impacting the drilling depth of the casing-rolling drilling rig. Furthermore, the inclined upper clamping jaw can cause the casing-rolling cylinder to easily interfere with related structural components during operation, increasing the equipment failure rate and causing problems such as high resistance when pulling out the casing, making it difficult to pull out smoothly.

[0093] Furthermore, the pipe-rolling drilling rig is prone to instability during transportation, hoisting, and commissioning. The upper clamping jaws of the rig are connected to the chassis assembly and slide block using hydraulic cylinders. Due to the weight of the upper clamping jaws, relative movement occurs between the upper clamping jaws and the chassis during transportation, hoisting, and commissioning. This instability can lead to damage to structural components or even the overturning of the equipment or transport vehicle, posing a significant safety hazard.

[0094] To address the aforementioned issues, this invention employs at least three lifting cylinders 6, with not all cylinders 6 aligned in a straight line. By using three or more lifting cylinders 6, and ensuring that the support points are not all on a straight line, this invention provides surface support for the upper clamping jaws. This guarantees the parallelism and positional accuracy of the upper clamping jaws 3 and the chassis assembly 1 during casing drilling, ensuring the verticality of the casing drilling and making the upper clamping jaws stable and reliable. It prevents tilting or falling when lifting the upper clamping jaws 3, reducing equipment failure rates and providing greater casing pulling force. Furthermore, the surface support of the upper clamping jaws effectively ensures their stability, resolving the issue of overall machine instability during transportation, hoisting, and commissioning of the casing drilling rig, thus ensuring the safety and reliability of the rig.

[0095] In a specific example, the upper clamping jaw 3 includes a middle slip 44 and clamping slips 45 and 46 symmetrically arranged on the left and right sides of the middle slip 44. One end of the two clamping slips 45 and 46 is hinged to the middle slip 44, and the other end of the two clamping slips 45 and 46 is hinged to both ends of the upper clamping cylinder 9. By extending and retracting the upper clamping cylinder 9, the two clamping slips 45 and 46 are driven to open and clamp.

[0096] Specifically, there are three lifting cylinders 6. The upper ends of the three lifting cylinders 6 are respectively hinged to the middle slip 44 and the two clamping slips 45 and 46, and the other end is vertically downward and hinged to the chassis assembly 1.

[0097] To facilitate connection between the chassis assembly 1 and the rotary drilling rig 47 or the crawler crane, the chassis assembly 1 is provided with a sliding box assembly 48, which is connected to the rotary drilling rig 47 or the crawler crane, for example, by articulation.

[0098] In existing technologies (such as CN218971115U), two tubing-rolling cylinders are symmetrically hinged at one end to the upper jaw and at the other end to a slider. The slider is located inside a slide box, which is fixed to the chassis and has internal slide rails on which the slider can slide. When the tubing-rolling cylinder reciprocates, it exerts a reaction force on the connected slider, causing the slider to move in the opposite direction along the slide rail within the slide box. This movement, combined with the action of the tubing-rolling cylinder, wastes a portion of the cylinder's stroke, limiting the rotation angle of the tubing-rolling cylinder in a single reciprocating stroke and preventing it from achieving its theoretically maximum performance. Furthermore, the reciprocating motion of the slider within the slide box, and the spatial dimensions of the slide box, also limit the rotation angle of the tubing-rolling drilling rig. These drawbacks limit the final rotation angle of the tubing-rolling cylinder in a single reciprocating stroke, typically only achieving 20°~28°, resulting in low construction efficiency.

[0099] To solve the above problems, the present invention provides a fixed bracket 49 fixedly mounted on the chassis assembly 1. The fixed bracket can be a lug-like structure, which can be integrally formed with the chassis assembly 1, welded together, or fixedly connected together by connectors (bolts, etc.). One end of the left pipe-rubbing cylinder 4 and the right pipe-rubbing cylinder 5 are hinged to the left and right sides of the upper clamping jaw 3, and the other end is hinged to the fixed bracket 49.

[0100] In this invention, one end of each of the two pipe-rubbing cylinders is hinged to the upper clamping jaw 3, and the other end is hinged to the fixed bracket 49 on the chassis assembly 1. The reaction force generated by the two pipe-rubbing cylinders during pipe rubbing is directly transmitted to the connected rotary drilling rig 47 or crawler crane through the chassis assembly 1. The frictional force generated by the ground pressure of the rotary drilling rig 47 or crawler crane is sufficient to counteract the reaction force generated by the pipe-rubbing cylinders during pipe rubbing, so that the pushing and pulling force generated by the pipe-rubbing cylinders generates torque on the upper clamping jaw and the casing. Unlike the prior art, it does not weaken the torque generated by the pushing and pulling force generated by the pipe-rubbing cylinders on the upper clamping jaw and the casing, thus realizing large-angle twisting of the casing in a single pipe rubbing operation and improving construction efficiency.

[0101] Similar to the pipe-rubbing cylinder, one end of the adjusting cylinder 7 is hinged to the upper clamping jaw 3, and the other end is hinged to the fixed bracket 49.

[0102] Specifically, the left rubbing cylinder 4 and the right rubbing cylinder 5 are respectively hinged to the two clamping slips 45 and 46, and the adjusting cylinder 7 is hinged to the middle slip 44 between the two clamping slips 45 and 46.

[0103] The fixed bracket 49 is at least 1 / 2 the outer circumference diameter of the upper clamping jaw 3 at the center of the upper clamping jaw 3, so as to ensure that there is enough space to arrange the pipe rubbing cylinders 4 and 5 and the adjusting cylinder 7.

[0104] Because the chassis assembly 1 of the casing drilling rig is hinged to the rotary drilling rig 47 or the crawler crane, the casing drilling rig moves up and down along the hinge point. The cutting tool at the bottom of the casing is generally made of cemented carbide, and the rock-breaking mechanism is high drilling pressure and low rotation speed. During construction, the clamping jaws on the casing drilling rig are pressurized by a lifting cylinder. The reaction force generated by the lifting cylinder can easily lift the chassis assembly 1, resulting in a lifting phenomenon. The maximum pressure applied during casing drilling relies solely on the weight of the casing drilling rig itself, and the pressure applied by the lifting cylinder cannot be effectively utilized. The casing drilling speed is slow during short periods, affecting construction efficiency.

[0105] To solve the above problems, the present invention provides a horizontal pressure plate assembly 50 on the side of the chassis assembly 1. Specifically, the pressure plate assembly 50 can be located on the left and right sides of the chassis assembly 1, and can be integrally formed with or fixedly connected to the chassis assembly 1. The tracks of the rotary drilling rig 47 or the crawler crane press on the pressure plate assembly 50. To prevent slippage, anti-slip strips 51 can also be provided on the pressure plate assembly 50.

[0106] This invention uses the pressure plate assembly 50 to ensure effective contact between the casing drilling rig chassis assembly 1 and the tracks of the rotary drilling rig 47 or crawler crane. The tracks of the rotary drilling rig or crane apply the weight of the entire machine to the chassis assembly 1, increasing the frictional resistance between the casing drilling rig and the ground, and transmitting the reaction force generated by the casing-rubbing cylinder to the rotary drilling rig or crawler crane. This effectively utilizes the thrust and pull of the casing-rubbing cylinder, increasing the rubbing torque on the upper clamping jaws, thereby increasing the casing torque; the lifting cylinder generates a downward pull on the upper clamping jaws. The reaction force is offset by the weight of the rotary drilling crawler crane itself. The downward pull generated by the lifting cylinder on the upper clamping jaws is directly transmitted to the casing, becoming a downward pressure on the casing. Together with the torque, this allows the pressure rock crushing tool at the bottom of the casing to better break the rock and soil, fully utilizing and effectively transmitting the hydraulic pressure of the lifting cylinder, satisfying the rock crushing mechanism of casing construction, and improving construction efficiency. At the same time, it prevents the safety hazards caused by the upward tilting of the pipe-rolling drilling rig due to the reaction force generated by the lifting cylinder, and improves construction efficiency.

[0107] In one example, the lower clamping jaw 2 is built into the chassis assembly 1, and the lower clamping jaw 2 is concentrically positioned with the upper clamping jaw 3. The adjusting cylinder 7 can move left and right during the reciprocating swing of the pipe rubbing cylinders 4 and 5, and can move up and down during the up and down operation of the lifting cylinder 6. During the adjustment process, it can move back and forth to adjust the front and back position of the upper clamping jaw 3 to ensure that it is concentric with the lower clamping jaw 2.

[0108] This invention also provides a method for operating the aforementioned fully automatic pipe-rolling drill, the method comprising:

[0109] The controller 15 automatically controls the adjusting cylinder 7, the rubbing cylinder 4 and 5, the lifting cylinder 6, the lower clamping cylinder 8 and the upper clamping cylinder 10 to realize the automatic self-inspection process, the automatic rubbing process and / or the automatic pipe pulling process.

[0110] Specifically, before the pipe-rolling drilling rig is delivered to the site, installed, and put into operation, a commissioning procedure is first executed to perform a self-check on each of the equipment's operating units (i.e., equipment status initialization) to ensure the normal operation of the equipment. Specifically, the intelligent remote control unit 39 issues a self-check command. After receiving the self-check command, the controller 15 performs an automatic self-check process, which includes:

[0111] S101: The controller 15 determines whether the chassis assembly 1 and / or the upper clamping jaw 3 are horizontal based on the signal from the attitude sensor. If they are horizontal, the controller proceeds to the next step; otherwise, it issues an attitude alarm.

[0112] This step is used to detect the equipment's attitude, ensuring it is level and preventing excessive tilt. The alarm can be a tilt alarm, prompting the user to adjust the equipment's attitude. After this alarm is issued, the attitude sensor signal is monitored in real time until the equipment is level before proceeding to the next step.

[0113] S102: The controller 15 controls the lower clamping cylinder 8 to perform clamping and opening actions on the lower clamping jaw 2, and judges whether the clamping and opening of the lower clamping jaw 2 is normal. If it is normal, proceed to the next step; otherwise, give an alarm prompt for the lower clamping jaw 2.

[0114] Before proceeding with this step, the hydraulic station needs to be turned on to provide hydraulic power to the entire system. The lower clamping jaw 2 can determine whether to clamp or open first.

[0115] When determining the clamping and opening actions, the signal from the lower clamping cylinder stroke detection unit 13 is used to determine whether the clamping and opening are in place. If they are in place, the next step is performed. If they are not in place, the hydraulic system oil pressure is first checked by the oil pressure detection unit. If the oil pressure is not qualified, an alarm is issued to remind the system oil pressure. If the system oil pressure is qualified, and the clamping and opening time has expired without being in place, an overdue alarm is issued, prompting the detection of whether the lower clamping cylinder 8 or the lower clamping jaw 2 is stuck or otherwise malfunctioning.

[0116] This step checks whether the lower clamping jaws are functioning properly. After completion, it is preferable to keep the lower clamping jaws 2 open.

[0117] S103: Controller 1 controls the lifting cylinder 6 to lift and pull the upper clamping jaw 3, and determines whether the lifting and pulling of the lifting cylinder 6 is normal. If it is normal, proceed to the next step; otherwise, give an alarm prompt to the lifting cylinder 6.

[0118] This step checks whether the upper clamping jaw 3 is moving up and down normally. After completion, it is preferable to pull the upper clamping jaw 3 down to the set lowest position. Whether the lifting and lowering of the lifting cylinder 6 is normal is detected by the signal of the lifting cylinder stroke detection unit 12. The specific process is similar to the process in S102 above, and will not be described again.

[0119] Meanwhile, during the lifting and lowering process of the lifting cylinder 6, the controller 15 determines in real time whether the upper clamping jaw 3 is horizontal based on the signal from the attitude sensor of the upper clamping jaw 3. If it is not horizontal, the controller adjusts the balance valve connected to each lifting cylinder 6 to make the actions of each lifting cylinder 6 consistent.

[0120] S104: The controller 15 controls the upper clamping cylinder 9 to perform clamping and opening actions on the upper clamping jaw 3, and judges whether the clamping and opening of the upper clamping jaw 3 is normal. If it is normal, proceed to the next step; otherwise, give an alarm prompt for the upper clamping jaw 3.

[0121] This step checks whether the upper clamping jaws are functioning correctly. The specific operation is similar to S102 and will not be repeated here. After this step is completed, it is preferable to keep the upper clamping jaws 3 in the open state.

[0122] S105: Controller 15 controls the pipe-rubbing cylinders 4 and 5 to perform forward and reverse rubbing actions on the upper clamping jaws 3, and judges whether the forward and reverse rubbing are normal. If they are normal, proceed to the next step; otherwise, give an alarm prompt to the pipe-rubbing cylinders 4 and 5.

[0123] The rubbing of the pipe rubbing cylinders 4 and 5 is reciprocating. In this invention, rubbing in one direction is defined as forward rubbing, and rubbing in another direction is defined as reverse rubbing.

[0124] This step is used to check whether the upper clamping jaw 3 is rotating normally. Specifically, whether the forward and reverse rotation of the pipe-rolling cylinders 4 and 5 are in place is also determined by the signal from their stroke detection unit, which is similar to the above and S102, and will not be repeated here. After completion, it is preferable to return the pipe-rolling cylinders 4 and 5 to the neutral position.

[0125] S106: Controller 15 controls the extension and retraction of the regulating cylinder 7, and determines whether the extension and retraction of the regulating cylinder 7 are normal. If normal, the self-test ends; otherwise, an alarm prompt is given for the regulating cylinder 7.

[0126] This step is used to check whether the adjustment action of the upper clamping jaw 3 is normal. Specifically, whether the extension and retraction of the adjusting cylinder 7 are in place is also checked through the signal of its stroke detection unit, which is similar to the above and S102, and will not be repeated here. After this step is completed, it is preferable to return the adjusting cylinder 7 to the neutral position.

[0127] After the self-test is completed, a message indicating that the self-test is normal will appear, and the process will end, proceeding to the subsequent automatic tube rolling process.

[0128] It should be noted that the numbers in the above steps are only used for differentiation and are not used to limit the order of the steps. There can be multiple self-test sequences during the self-test process, and this invention does not limit them.

[0129] Specifically, the automatic tube rolling process includes:

[0130] S201: Controller 15 monitors in real time whether it receives an instruction to insert the sleeve into place. If it does, it proceeds to the next step; otherwise, it provides a prompt to insert the sleeve 52.

[0131] After the self-test is completed, the lower clamping jaw 2 and the upper clamping jaw 3 are in the open state, with the upper clamping jaw 3 in the lowest position. These conditions can be automatically set during the automatic pipe rolling process. Alternatively, at the very beginning of the automatic pipe rolling process, it can be checked whether the lower clamping jaw 2 and the upper clamping jaw 3 are in the open state and whether the upper clamping jaw 3 is in the lowest position. If not, they need to be adjusted to the correct positions before proceeding to this step.

[0132] The prerequisite for tube twisting is the insertion of the sleeve 52. Currently, sleeve insertion can only be done manually and cannot be automated. Therefore, after manually inserting the sleeve, the insertion completion button needs to be clicked on the touch screen of the intelligent remote control unit 39 to wirelessly send a command that the sleeve is inserted in place. The controller 15 monitors this command in real time and then proceeds to the next step. Otherwise, the controller 15 will continue to monitor and wait.

[0133] S202: Controller 15 controls the lifting cylinder 6 to lift the upper clamping jaw 3 to the set highest position. After the position is reached, proceed to the next step; otherwise, an alarm prompt will be given.

[0134] This step uses the stroke detection unit of the lifting cylinder 6 to determine whether the lifting is in place. Lifting to the set highest position can be either lifting to the maximum stroke of the lifting cylinder 6 or lifting to a set position that is less than the maximum stroke of the lifting cylinder 6.

[0135] S203: The controller 15 uses the upper clamping cylinder 9 to clamp the upper clamping jaws 3 onto the sleeve 52. Once the clamping is in place, proceed to the next step; otherwise, an alarm will be issued.

[0136] Whether the upper clamping jaw 3 clamps the sleeve 52 is determined by its stroke detection unit and pressure detection unit. If the stroke detection unit reaches the set stroke and the pressure detection unit reaches the set pressure, then it is determined that the clamp is tight.

[0137] S204: Controller 15 controls the rubbing cylinders 4 and 5 to perform forward rubbing against the upper clamping jaws 3. After the forward rubbing reaches the set maximum stroke, the next step is executed; otherwise, an alarm prompt is given.

[0138] S205: Controller 15 controls the rubbing cylinders 4 and 5 to perform reverse rubbing against the upper clamping jaws 3. After rubbing in the reverse direction to the set maximum stroke, proceed to the next step.

[0139] After the forward rotation reaches the set maximum stroke, the controller 15 automatically switches the movement direction of the rubbing cylinders 4 and 5 to achieve reverse rotation, and vice versa.

[0140] S206: During the forward and reverse rotary drilling process, the controller 15 continuously controls the lifting cylinder 6 to continuously pull down the upper clamping jaw 3, and the controller 15 detects the pull-down height of the upper clamping jaw 3 in real time through the cylinder stroke detection unit of the lifting cylinder 6, and simultaneously adds the pull-down height to the stored total drilling depth in real time.

[0141] When the controller 15 determines that the upper clamping jaw 3 has been pulled down to the set lowest position based on the pull-down height, it proceeds to the next step; otherwise, it repeats steps S204 and S205, continuously alternating between forward and reverse rotation.

[0142] S207: Controller 15 controls the tubing cylinders 4 and 5 to stop forward and reverse rotation, and determines whether casing connection is needed based on the total drilling depth. If casing connection is not needed, proceed directly to the next step; if casing connection is needed, controller 15 monitors in real time whether a connection completion instruction is received, and proceeds to the next step after receiving the connection completion instruction.

[0143] Connecting the sleeve is similar to inserting the sleeve; it is done manually, and then a command to complete the connection is issued by clicking on the touch screen of the intelligent remote control unit 39.

[0144] S208: Controller 15 controls the upper clamping cylinder 9 to open the upper clamping jaw 3. After opening to the correct position, proceed to step S202 and repeat until the set drilling depth is reached.

[0145] S210: In steps S204 to S207, the controller 15 determines in real time whether the set drilling depth has been reached based on the total drilling depth. If so, drilling is stopped.

[0146] The automatic pipe pulling process is the reverse of the automatic pipe rolling process; it involves automatically pulling the rotary sleeve, which has been rotary-drilled to the set drilling depth, out of the pile hole. Specifically, the automatic pipe pulling process includes:

[0147] S301: Controller 15 controls the upper clamping cylinder 9 to open the upper clamping jaw 3. After opening to the correct position, controller 15 controls the lifting cylinder 6 to pull the upper clamping jaw 3 down to the set lowest position. After pulling down to the correct position, proceed to the next step.

[0148] Before removing the tube, the lower clamping jaw 2 is usually in the open position, which can be automatically enabled during the automatic tube removal process. Alternatively, at the very beginning of the automatic tube removal process, it can be checked whether the lower clamping jaw 2 is in the open position. If not, the lower clamping jaw 2 needs to be opened before proceeding to this step.

[0149] S302: The controller 15 uses the upper clamping cylinder 9 to clamp the upper clamping jaws 5 onto the sleeve 52. After clamping, proceed to the next step.

[0150] S303: The controller 15 lifts the upper clamping jaw 3 to the set height position through the lifting cylinder 6, and proceeds to the next step after the position is reached.

[0151] During the lifting process, the controller 15 detects the lifting height of the upper clamping jaw 3 in real time through the cylinder stroke detection unit of the lifting cylinder 6, and simultaneously adds the lifting height to the stored total tube removal length in real time.

[0152] Furthermore, during the lifting process, the controller 15 determines whether the lifting is stuck based on the signal from the cylinder pressure detection unit of the lifting cylinder 6 in real time. When the signal from the cylinder pressure detection unit shows that the hydraulic oil pressure of the lifting cylinder 6 exceeds the set value, and the stroke detection unit of the lifting cylinder 6 detects that its stroke has not changed, it is determined that the lifting is stuck.

[0153] If stuck, controller 15 controls the rubbing cylinders 4 and 5 to perform a set number of forward and reverse rubbing operations on the upper clamping jaws 3 in order to eliminate the stuck fault.

[0154] If the device still gets stuck after the set number of forward and reverse rotations, a message will appear indicating that manual troubleshooting is required.

[0155] S304: The controller 15 uses the lower clamping cylinder 8 to clamp the lower clamping jaw 2 onto the sleeve 52. After clamping, there is a 1-5 second delay. The controller 15 then controls the upper clamping cylinder 9 to open the upper clamping jaw 3. After opening, the next step is performed.

[0156] S305: Controller 15 controls the lifting cylinder 6 to pull down the upper clamping jaw 3 to the set lowest position. After pulling down to the position, proceed to the next step.

[0157] S306: The controller 15 uses the upper clamping cylinder 9 to clamp the upper clamping jaws 3 onto the sleeve 52. After clamping, proceed to the next step.

[0158] S307: The controller 15 determines whether the sleeve needs to be removed based on the total tube length. If the sleeve does not need to be removed, it proceeds directly to the next step. If the sleeve needs to be removed, the controller 15 monitors in real time whether it receives a tube removal completion instruction. After receiving the tube removal completion instruction, it proceeds to the next step.

[0159] Similar to inserting and attaching the sleeve, removing the sleeve is also done manually by clicking on the touchscreen of the intelligent remote control unit 39 and issuing a command to complete the removal.

[0160] S308: Controller 15 determines whether all tubes have been removed based on the total tube length. If so, the tube removal process ends; otherwise, it returns to step S303 and continues removing tubes until all tubes have been removed.

[0161] Through the above steps, this invention realizes the entire process of self-inspection, pipe rolling, and pipe pulling of the pipe rolling drilling rig system, which greatly improves work efficiency and reduces manual labor.

[0162] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A fully automatic pipe-rolling drilling machine, characterized in that, The system includes a chassis assembly, a lower clamping jaw located on the chassis assembly, an upper clamping jaw located above the chassis assembly, a pipe-rubbing cylinder, a lifting cylinder, and an adjusting cylinder, wherein: One end of the adjusting cylinder is hinged to the upper clamping jaw, and the other end is hinged to the chassis assembly; the pipe rubbing cylinder includes a left pipe rubbing cylinder and a right pipe rubbing cylinder symmetrically arranged on the left and right sides of the adjusting cylinder, one end of the left pipe rubbing cylinder and the right pipe rubbing cylinder are respectively hinged to the left and right sides of the upper clamping jaw, and the other end is respectively hinged to the chassis assembly. The lifting cylinder is located between the chassis assembly and the upper clamping jaws. The upper end of the lifting cylinder is hinged to the upper clamping jaws, and the lower end is hinged to the chassis assembly. The lower clamping jaw and the upper clamping jaw are respectively equipped with a lower clamping cylinder and an upper clamping cylinder; Each of the adjusting cylinder, the rubbing cylinder, the lifting cylinder, the lower clamping cylinder, and the upper clamping cylinder is equipped with a cylinder stroke detection unit. Each cylinder stroke detection unit is connected to a controller, which connects to and controls the adjusting cylinder, the rubbing cylinder, the lifting cylinder, the lower clamping cylinder, and the upper clamping cylinder.

2. The fully automatic pipe-rolling drilling machine according to claim 1, characterized in that, Each of the adjusting cylinder, the rubbing cylinder, the lifting cylinder, the lower clamping cylinder, and the upper clamping cylinder is equipped with a cylinder pressure detection unit, and each cylinder pressure detection unit is connected to the controller.

3. The fully automatic pipe-rolling drilling machine according to claim 2, characterized in that, An attitude sensor is provided on the chassis assembly and the upper clamping jaw, and the attitude sensor is connected to the controller.

4. The fully automatic pipe-rolling drilling machine according to claim 2, characterized in that, The controller connects to and controls the solenoid valves and flow regulators of the regulating cylinder, the pipe-rubbing cylinder, the lifting cylinder, the lower clamping cylinder, and the upper clamping cylinder.

5. The fully automatic pipe-rolling drilling machine according to claim 4, characterized in that, The hydraulic system of the fully automatic pipe-rolling drilling machine is equipped with an oil pressure detection unit and a temperature detection unit. The oil pressure detection unit and the temperature detection unit are connected to the controller. The controller is connected to the intelligent remote control unit through a first wireless transmission module.

6. The fully automatic pipe-rolling drilling machine according to any one of claims 1-5, characterized in that, The number of lifting cylinders is at least three, and not all of the lifting cylinders are distributed on the same straight line.

7. The fully automatic pipe-rolling drilling machine according to claim 6, characterized in that, The upper clamping jaws include a middle jaw and clamping jaws symmetrically arranged on the left and right sides of the middle jaw. One end of the two clamping jaws is hinged to the middle jaw, and the other end of the two clamping jaws is hinged to both ends of the upper clamping cylinder. The number of lifting cylinders is three. The upper ends of the three lifting cylinders are respectively hinged to the middle slip and two clamping slips, and the other end is vertically downward and hinged to the chassis assembly.

8. The fully automatic pipe-rolling drilling machine according to claim 1, characterized in that, A fixed bracket is fixedly installed on the chassis assembly. One end of the left and right tube rubbing cylinders is hinged to the left and right sides of the upper clamping jaws, and the other end is hinged to the fixed bracket.

9. The fully automatic pipe-rolling drilling machine according to claim 8, characterized in that, One end of the adjusting cylinder is hinged to the upper clamping jaw, and the other end is hinged to the fixed bracket.

10. The fully automatic pipe-rolling drilling machine according to claim 8 or 9, characterized in that, The chassis assembly is equipped with a sliding box assembly.

11. The fully automatic pipe-rolling drilling machine according to claim 1, characterized in that, The chassis assembly has a horizontal pressure plate assembly on its side.

12. A method for operating a fully automatic pipe-rolling drill as described in any one of claims 3-11, characterized in that, The working method includes: The controller automatically controls the adjusting cylinder, the rubbing cylinder, the lifting cylinder, the lower clamping cylinder, and the upper clamping cylinder to achieve automatic self-inspection, automatic rubbing, and / or automatic pipe pulling processes.

13. The working method according to claim 12, characterized in that, The automatic self-test process includes: S101: The controller determines whether the chassis assembly and / or the upper clamping jaws are horizontal based on the signal from the attitude sensor. If they are horizontal, proceed to the next step; otherwise, give an attitude alarm. S102: The controller controls the lower clamping cylinder to perform clamping and opening actions on the lower clamping jaws, and determines whether the clamping and opening of the lower clamping jaws are normal. If they are normal, proceed to the next step; otherwise, give an alarm prompt for the lower clamping jaws. S103: The controller controls the lifting cylinder to lift and pull down the upper clamping jaws, and determines whether the lifting and pulling down of the lifting cylinder is normal. If it is normal, proceed to the next step; otherwise, give an alarm prompt for the lifting cylinder. During the lifting and lowering process of the lifting cylinder, the controller determines in real time whether the upper clamping jaw is horizontal based on the signal from the attitude sensor of the upper clamping jaw. If it is not horizontal, the controller adjusts the balance valve connected to each lifting cylinder. S104: The controller controls the upper clamping cylinder to perform clamping and opening actions on the upper clamping jaws, and determines whether the clamping and opening of the upper clamping jaws are normal. If they are normal, proceed to the next step; otherwise, give an alarm prompt for the upper clamping jaws. S105: The controller controls the pipe-rubbing cylinder to perform forward and reverse rubbing actions on the upper clamping jaws, and determines whether the forward and reverse rubbing are normal. If they are normal, proceed to the next step; otherwise, give an alarm prompt to the pipe-rubbing cylinder. S106: The controller controls the adjusting cylinder to extend and retract, and determines whether the extension and retraction of the adjusting cylinder are normal. If normal, the self-test ends; otherwise, an alarm prompt is given for the adjusting cylinder.

14. The working method according to claim 12 or 13, characterized in that, The automatic tube-rolling process includes: S201: The controller monitors in real time whether it receives an instruction to insert the sleeve into place. If it does, it proceeds to the next step; otherwise, it provides a prompt to insert the sleeve. S202: The controller controls the lifting cylinder to lift the upper clamping jaws to the set highest position, and after lifting to the position, proceed to the next step; S203: The controller uses the upper clamping cylinder to clamp the sleeve with the upper clamping jaws, and proceeds to the next step after clamping is in place; S204: The controller controls the rubbing cylinder to perform forward rubbing on the upper clamping jaws. After rubbing forward to the set maximum stroke, the next step is executed. S205: The controller controls the pipe-rubbing cylinder to perform reverse rotation and rubbing on the upper clamping jaws. After the reverse rotation and rubbing reaches the set maximum stroke, the next step is executed. S206: During the forward and reverse rotary drilling process, the controller continuously controls the lifting cylinder to continuously pull down the upper clamping jaw, and the controller detects the pull-down height of the upper clamping jaw in real time through the cylinder stroke detection unit of the lifting cylinder, and simultaneously adds the pull-down height to the stored total drilling depth in real time. When the controller determines that the upper clamping jaws have been pulled down to the set lowest position based on the pull-down height, it proceeds to the next step; otherwise, it repeats steps S204 and S205, continuously alternating between forward and reverse rotary rubbing. S207: The controller controls the tubing rubbing cylinder to stop forward and reverse rubbing, and determines whether casing connection is needed based on the total drilling depth. If casing connection is not needed, proceed directly to the next step; if casing connection is needed, the controller monitors in real time whether a connection completion instruction is received, and proceeds to the next step after receiving the connection completion instruction. S208: The controller controls the upper clamping cylinder to open the upper clamping jaws. After opening to the correct position, the process proceeds to step S202 and repeats until the set drilling depth is reached. S210: In steps S204 to S207, the controller determines in real time whether the set drilling depth has been reached based on the total drilling depth; if so, drilling is stopped.

15. The working method according to claim 14, characterized in that, The automatic tube removal process includes: S301: The controller controls the upper clamping cylinder to open the upper clamping jaws. After the jaws are fully opened, the controller controls the lifting cylinder to pull the upper clamping jaws down to the set lowest position. After the jaws are fully pulled down, proceed to the next step. S302: The controller uses the upper clamping cylinder to clamp the sleeve with the upper clamping jaws, and proceeds to the next step after clamping is in place; S303: The controller lifts the upper clamping jaws to a set height position via the lifting cylinder, and proceeds to the next step after the jaws are in place. During the lifting process, the controller detects the lifting height of the upper clamping jaw in real time through the cylinder stroke detection unit of the lifting cylinder, and simultaneously adds the lifting height to the stored total tube pulling length in real time. During the lifting process, the controller determines whether the lifting is stuck based on the signal from the cylinder pressure detection unit of the lifting cylinder in real time. If it is stuck, the controller controls the rubbing cylinder to perform a set number of forward and reverse rubbing motions on the upper clamping jaws. S304: The controller uses the lower clamping cylinder to clamp the sleeve with the lower clamping jaws. After clamping, the controller controls the upper clamping cylinder to open the upper clamping jaws. After opening, proceed to the next step. S305: The controller controls the lifting cylinder to pull the upper clamping jaws down to the set lowest position, and after pulling them down to the position, proceed to the next step; S306: The controller uses the upper clamping cylinder to clamp the sleeve with the upper clamping jaws, and proceeds to the next step after clamping is in place; S307: The controller determines whether the sleeve needs to be removed based on the total tube length. If the sleeve does not need to be removed, proceed directly to the next step. If the sleeve needs to be removed, the controller monitors in real time whether it receives a tube removal completion instruction. After receiving the tube removal completion instruction, proceed to the next step. S308: The controller determines whether all tubes have been removed based on the total tube length. If so, the tube removal process ends; otherwise, it returns to step S303 and continues removing tubes until all tubes have been removed.

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