二层台排管机械手作业工况载荷与强度分析  

Load and Strength Analysis of Monkeyboard Pipe Racking Manipulator under Operating Conditions

作　　者：许爱荣[1] 王超 何攀攀 

机构地区：[1]西安石油大学机械工程学院

出　　处：《工程机械》2024年第4期45-49,I0014,共6页Construction Machinery and Equipment

摘　　要：二层台排管机械手是钻井自动化立根排管系统的重要设备,应力分布影响因素较多,为了分析某ZJ50DJDB/3150型钻机配套机械手的强度及服役性能,利用SolidWorks建模软件和ANSYS Workbench有限元分析软件,建立机械手的有限元强度分析实体模型,进行排管立根类型、机械手抓送作业方式及作业姿态等作业工况机械手的力学性能仿真。研究结果表明:机械手的最大等效应力为307.46 MPa。在各分析作业工况下,机械手主前臂及主后臂肘关节轴、主后机械臂的应力比较大,最大应力发生在主后臂肘关节轴处。机械手的等效应力分布与作业工况有关,因此,应依据各零部件不同作业工况的最大等效应力值选取机械手各零部件材料,研究结果为二层台排管机械手的设计提供了理论参考。The monkey-board pipe racking manipulator is the important equipment of the automatic vertical pipe arrangement system for drilling,with many factors affecting the stress distribution.To analyze the strength and service performance of the manipulator of a ZJ50DJDB/3150 drilling rig,the modelling software Solidworks and finite element analysis software ANSYS Workbench are used to establish a solid model for finite element strength analysis of the manipulator and to carry out mechanical property simulation of the manipulator under operating conditions of different vertical pipe arrangement types,manipulator gripping modes and operating postures.The research results show that,the maximum equivalent stress of the manipulator is 307.46 MPa.Under various operating conditions,the stress on the elbow joint axis between the main front arm and main rear arm as well as the main rear arm of the manipulator is relatively high,and the maximum stress appears at the elbow joint axis of the main rear arm.The equivalent stress distribution of the manipulator is related to the operating conditions.Therefore,the materials of manipulator parts shall be selected based on the maximum equivalent stress of each part under different operating conditions.The research results provide a theoretical reference for the design of monkey-board pipe racking manipulator.

关 键 词：排管机械手 作业工况 工况载荷 力学性能 有限元仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TE92[自动化与计算机技术—控制科学与工程]