河北工业科技2024，Vol.41Issue(4)：313-320,8.DOI:10.7535/hbgykj.2024yx04010
89钻杆自动排放机械手设计与研究
Design and research of 89 drill pipe automatic discharge manipulator
摘要
Abstract
In order to solve the problems of high labor intensity and low safety in the current manual assisted storage and retrieval of land drilling platform columns,a drill rod automatic discharge manipulator was designed with the KV3000 drilling platform as the environment and the column composed of 89 drill rods as the research object.Firstly,the action and sequential process of storing and retrieving the column during drilling were analyzed;Secondly,the interference check and stroke test of the automatic discharge manipulator were carried out by dynamic simulation analysis,and the finite element analysis was performed on the core components.The results show that the research device can successfully complete the storage and retrieval of drill rods and realize the position conversion of the column between the column box and the wellhead.The acceleration is linear,the change is relatively stable,and there is no large fluctuation overall;The maximum deformation of the core components is 0.151 67 mm,and the maximum stress is 59.875 MPa,both of which are within the allowable range.The equipment structure is reasonably designed,the motion trajectory is reasonably planned,and the core force-bearing components meet the use requirements,which improves the automation and safety of the drilling operation process and provides a solution for the automatic discharge of drill rods in drilling operations.关键词
工业机器人技术/机械手/自动排杆/结构设计/动力学仿真/钻井作业Key words
industrial robot technology/manipulator/automatic rod arrangement/structural design/dynamic simulation/drilling operations分类
信息技术与安全科学引用本文复制引用
张嘉钰,杨佳俊,杨晨虎,牛虎利..89钻杆自动排放机械手设计与研究[J].河北工业科技,2024,41(4):313-320,8.基金项目
河北省高水平人才团队引进专项(215A2101D) （215A2101D）
