自动排管中数控扶持机械手与夹持机械手轨迹同步分析  

Analysis of the Locus Synchronization Between the Manipulator and the Manipulator in the Automatic Control System

作　　者：孙俊林[1] 葛乐通[1] 石浦 刘涛[1] 刘志刚[2] 

机构地区：[1]常州大学机械工程学院,江苏常州213016 [2]江苏如石机械有限公司,江苏南通226400

出　　处：《机械设计与研究》2018年第1期5-7,共3页Machine Design And Research

基　　金：2015年江苏省企业创新与成果转化资金项目(BA2015128)

摘　　要：针对目前国内外钻井平台中钻杆排放系统的现状，提出一种新型适合钻井平台使用的无立柱分体自动排放钻杆系统。运用SolidWorks建立钻杆排放系统的装配体模型，分析和计算钻杆在移运过程中上下钳正确的运动轨迹，使用MATLAB对所计算结果进行处理。通过对运输过程中的上下钳的运动轨迹分析，首次采用电动缸数控技术控制平行四杆机构组成的扶持机械手，并对扶持机械手优化设计，本文主要分析扶持机械手跟踪上夹持机械手运动轨迹实现上下钳垂直同步完成排管运动。Based on the present situation of drilling pipe discharge system in drill platform at home and abroad, a new type of automatic placing drill pipe system suitable for drilling platform was proposed. Establish the assembly model of the drilling pipe discharge system in SolidWorks, analyze and calculate the correct trajectory of the pipes during transportation, and draw calculated results in MATLAB and make further process. According to the analysis of the trajectory of upper and lower clamps in the conveying process, the supporting robot manipulated by the parallel four- bar mechanism was controlled under the electric cylinder numerical control technology for the first time. At last, an optimization on the design of the support manipulator was given. The main task of the manipulator is tracking in clamped and vertical way to realize synchronous movements of the pipes.

关 键 词：钻井平台 自动排放钻杆系统 电动缸 垂直同步 

分 类 号：TH122[机械工程—机械设计及理论] TH123.1