修井作业机接送管柱机械手  

Manipulators of workover rig using for transporting pipe columns

作　　者：金嘉琦[1] 相禹来 王显荣[1] 

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870

出　　处：《机械》2015年第6期56-58,共3页Machinery

基　　金：车载式蒸汽机驱注高温不压井修井作业机关键技术研究(2013020087-301)

摘　　要：机械手是修井作业机管柱接送过程中最关键的机构。针对修井作业中管柱的卸下与上装,首先介绍这组机械手的运动过程以及其中的关键技术;其次利用齐次坐标变换法建立机构的运动学方程,并对运动学位资正反解进行求解与分析;最后计算出机械手转动时必须遵循的安全速度,从而获得一组安全可靠的接送管柱机械手机构。The manipulator is the key mechanism in the process of the pipe columns＇ transfer in the workover rig. At the beginning of this article aimed at the discharge and installation of pipe columns in the process of the workover rig, it will introduce the motor process of this group of manipulators and the key technology. And then, creating the kinematics equation of this mechanism using the homogeneous coordinate transformation method, solving and analyzing the positive and inverse solution of kinematic gesture. Eventually calculating the safe speed that must be followed when manipulators rotating. Therefore, we can get a safe and reliable group of manipulators using for transporting pipe columns.

关 键 词：机械手 齐次坐标变换法 运动学方程 位资正反解 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]