89钻杆自动排放机械手设计与研究  

Design and research of 89 drill pipe automatic discharge manipulator

作　　者：张嘉钰[1] 杨佳俊 杨晨虎 牛虎利[1] ZHANG Jiayu;YANG Jiajun;YANG Chenhu;NIU Huli(School of Mechanical Engineering,Hebei University of Science and Technology,Shijiazhuang,Hebei 050018,China)

机构地区：[1]河北科技大学机械工程学院,河北石家庄050018

出　　处：《河北工业科技》2024年第4期313-320,共8页Hebei Journal of Industrial Science and Technology

基　　金：河北省高水平人才团队引进专项(215A2101D)。

摘　　要：为了解决目前人工辅助完成陆地钻台立柱存取存在排放工作劳动强度大、安全性低等问题,以KV3000钻井平台为大环境、89钻杆组成的立柱为研究对象,设计了钻杆自动排杆机械手。首先,对钻井过程中存取立柱的动作及时序过程进行分析;其次,采用动力学仿真分析方法对自动排放机械手进行干涉检查和行程检验,并针对核心零部件进行有限元分析。结果表明:研究装置可顺利完成钻杆存取工作,实现立柱在立柱盒与井口之间的位置转换,加速度均为线性,变化比较平稳,整体无较大波动;核心零部件最大变形为0.15167 mm,最大应力为59.875 MPa,均在允许范围。设备结构合理、运动轨迹规划合理、核心受力部件满足使用要求,提高了钻井作业过程中的自动化程度和安全性,为钻井作业钻杆自动排放提供了解决方案。In order to solve the problems of high labor intensity and low safety in the current manual assisted storage and retrieval of land drilling platform columns,a drill rod automatic discharge manipulator was designed with the KV3000 drilling platform as the environment and the column composed of 89 drill rods as the research object.Firstly,the action and sequential process of storing and retrieving the column during drilling were analyzed;Secondly,the interference check and stroke test of the automatic discharge manipulator were carried out by dynamic simulation analysis,and the finite element analysis was performed on the core components.The results show that the research device can successfully complete the storage and retrieval of drill rods and realize the position conversion of the column between the column box and the wellhead.The acceleration is linear,the change is relatively stable,and there is no large fluctuation overall;The maximum deformation of the core components is 0.15167 mm,and the maximum stress is 59.875 MPa,both of which are within the allowable range.The equipment structure is reasonably designed,the motion trajectory is reasonably planned,and the core force-bearing components meet the use requirements,which improves the automation and safety of the drilling operation process and provides a solution for the automatic discharge of drill rods in drilling operations.

关 键 词：工业机器人技术 机械手 自动排杆 结构设计 动力学仿真 钻井作业 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]