单机械手夹持状态下钻杆运移平稳性分析  

Analysis of smooth movement of drill pipes clamped with a single manipulator

作　　者：李昊轩 王清岩[1,2] 金赠伍 李苓豪 郭乃铭 LI Haoxuan;WANG Qingyan;JIN Zengwu;LI Linghao;GUO Naiming(College of Construction Engineering,Jilin University,Changchun Jilin 130026,China;Key Laboratory of Complicated Conditions Drilling Technology(Jilin University),Ministry of Land and Resources,Changchun Jilin 130026,China)

机构地区：[1]吉林大学建设工程学院,吉林长春130026 [2]复杂条件钻采技术自然资源部重点实验室(吉林大学),吉林长春130026

出　　处：《钻探工程》2022年第3期76-82,共7页Drilling Engineering

基　　金：国家深部探测技术与实验研究专项之“深部大陆科学钻探装备研制”(编号:SinoProbe-09-05)。

摘　　要：本文主要针对一种新型的可以保留钻杆旋转自由度的机械手,研究其运移钻杆时的稳定性和安全性是否满足要求。该机械手通过蓄能器提高了停泵保压效果,通过滚轮结构保留了钻杆的旋转自由度。本文建立了机械手的多体动力学模型及配套的液压控制回路,并进行机-液联合仿真分析。在分别改变钻杆直径和液压回路压力的条件下,观察机械手夹紧效果。通过仿真得到了钻杆的夹紧力变化曲线及钻杆重心位置变化曲线,确定了液压系统的许用压力范围,并验证了单机械手夹持状态下钻杆运移平稳性满足要求。This paper studies a new type of manipulator that can retain the freedom of rotation of the drill pipe in terms of its stability and safety in movement of the drill pipe.The manipulator improves the pressure⁃keeping retention effect through the accumulator during pump shut⁃off,and retains the rotational freedom of the drill pipe through the roller structure.In this paper,the multibody dynamic model of the manipulator and the supporting hydraulic control circuit are established,and the mechanic⁃hydraulic co⁃simulation is performed.Under the condition of changing the drill pipe diameter and the hydraulic circuit stress respectively,the clamping effect of the manipulator was observed.Through simulation,the clamping force change curve and the gravity position change curve of the drill pipe are obtained,the allowable pressure range of the hydraulic system is determined,and the movement smoothness of the drill pipe clamped with the single manipulator is verified to meet the requirements.

关 键 词：单机械手 钻杆运移 管具可旋转 保压 机液联合仿真 平稳性分析 

分 类 号：P634[天文地球—地质矿产勘探]