斜直井钻机石油钻杆管具拾取机械手运动规划及动力学建模与仿真  

Motion Planning and Dynamics Simulation and Modeling of Oil Drill Pipe Picking Manipulator for Oblique Straight Well Drilling

作　　者：张世界[1] 李一浩[1] 刘海伟 王新杰[1] 陈鹿民[1] ZHANG Shijie, LI Yihao1 , LIU Haiwei2 , WANG Xinjie1 , CHEN Lumin1(1. Zhengzhou University of Light Industry, Zhengzhou Henan 450003, China ; 2. RG Petro-Machinery （Group） Co., Ltd., Nanyang Henan 473006, China)

机构地区：[1]郑州轻工业学院,河南郑州450003 [2]南阳二机石油装备(集团)有限公司,河南南阳473006

出　　处：《机床与液压》2018年第5期37-41,58,共6页Machine Tool & Hydraulics

摘　　要：目前,国内市场用于钻杆管具抬升的机械手产品较少,据此某公司根据市场需要自行设计了一款用于斜直井管具拾取的机械手。由于该机械手户外工况较复杂,确保其工作时的安全性则极为重要。现以该机械手为对象进行运动规划,并运用理论计算与虚拟建模仿真相结合的方法对其运动进行动力学分析。利用ADAMS模拟该机械手在8~11级风载和基座振动频率为50 Hz情况下结构的动态受力状况,并与无风载无基座振动情况下的结构受力进行对比,分析其结构是否满足户外阵风或基座振动工况下安全工作的要求。结果表明,该机械手结构设计和运动规划设计较为合理,并提出了进一步优化的可能性,同时数值仿真技术也大大降低了新产品的技术开发成本和开发周期。There are few varieties and applications about the oil drill pipe picking manipulator in the domestic market at present.A kind of oil drill pipe picking manipulator for oblique straight well drilling is designed according to the market demand. For the com-plicated operation condition outdoor of the manipulator, it is very important for ensuring its safety during working. The manipulator istaken as an object for motion planning. Theoretic computation and virtual modeling simulation integrated method was used for its motionand dynamics analysis. Dynamics simulation was conducted by ADAMS to this kind oil drill pipe picking manipulator for structuralstress state under the circumstance of 8 ~ 11 level wind load and base vibration at the frequency of 50 Hz. The results were compared towith those in the ideal case without wind load and base vibration. The structure of the manipulator was analyzed whether met the safetyrequirements or not while working in the case of wind and base vibration. Rationality of structural design of the manipulator and motionplanning are verified by the results, further possible optimization is proposed, and the technology development costs and cycle of newproducts are greatly reduced through the digital simulation.

关 键 词：石油钻杆 拾取机械手 运动规划 阵风载荷 动力学分析 

分 类 号：TH123[机械工程—机械设计及理论]