曲面斜楔驱动的钻杆夹持机械手设计及机液联合仿真分析  

Design of drill pipes clamping manipulator driven by curved wedge and mechanical-hydraulic co-simulation analysis

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 130026,China;Ministry of Land and Resources Key Laboratory of Complicated Conditions Drilling Technology(Jilin University),Changchun 130026,China)

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

出　　处：《世界地质》2022年第4期898-906,共9页World Geology

基　　金：国家深部探测技术与实验研究专项(SinoProbe-09-05)。

摘　　要：为解决钻杆旋转时易偏斜的问题,设计了一种具有滚轮结构和曲面斜楔结构的机械手。该机械手保留了钻杆旋转自由度,避免拧卸时钻杆偏斜导致的螺纹破损,保障了施工安全性。为提高机械手工作稳定性,利用蓄能器和负载敏感变量泵提高液压系统的保压性能、减少了能耗。为验证机械手在实际工况中夹紧功能的可靠性,利用Recurdyn和AMEsim进行机液联合仿真分析和刚柔耦合分析,模拟在改变钻杆直径和回路额定压力的情况下钻杆受力、回路压力和机械手关键零部件所受应力的变化情况。结果表明:当钻杆直径为φ127 mm、φ108 mm、φ89 mm和φ73 mm时,回路许用压力范围分别为8~12 MPa、8~12 MPa、6~8 MPa和3~5 MPa。在许用压力范围内,机械手既满足可靠夹紧的需求,其结构强度也满足设计要求。In order to solve the problem that the drill pipe is easily deflected when it is rotated,a manipulator with the roller structure and the curved wedge structure were designed.The manipulator retains the rotational degree of freedom of the drill pipe,avoiding thread breakage caused by the deflection of the drill pipe during unscrewing,and ensuring construction safety.In order to improve the working stability of the manipulator,the accumulator and the load-sensitive variable pump are used to improve the pressure-keeping performance of the hydraulic system and reduce the energy loss.For verifying the reliability of the clamping function of the manipulator in actual working conditions,the mechanical-hydraulic co-simulation analysis and rigid-soft coupling analysis were carried out by Recurdyn and AMEsim to simulate the change of the drill pipe force,circuit pressure and stress on the key components of the manipulator under the condition of changing the diameter of the drill pipe and the rated pressure of the circuit.The results show that when the diameter of the drill pipe isφ127 mm,φ108 mm,φ89 mm andφ73 mm,the allowable pressure range of the circuit is 8~12 MPa,8~12 MPa,6~8 MPa and 3~5 MPa,respectively.Within the allowable pressure range,the manipulator not only fits the need for reliable clamping,but also meets the design requirements for the structural strength.

关 键 词：旋转自由度 曲面斜楔 保压 机液联合仿真分析 刚柔耦合分析 

分 类 号：P634.4[天文地球—地质矿产勘探]