绳索取心钻杆自动排放装置设计与研究

发布时间：2018-05-03 21:27

  本文选题：钻杆 + 自动排放系统　； 参考：《中国地质大学(北京)》2017年硕士论文

【摘要】：钻杆自动操作设备替代人工操作,减少施工作业安全事故,提高施工效率,节约施工成本。近年来,该设备的研制已成为钻探领域的研究热点。国外逐步研制出全自动化操作钻杆的系统,但仍存在钻杆库容量小、操作稳定性差、效率低下等缺点;而国内对钻杆自动化操作设备的研制侧重于钻杆移摆功能,还未研制出较成熟的具有大容量、高效率、全自动的钻杆排放系统。本文针对项目预期任务及初代样机试验所存在的问题,设计了一套全新的钻杆单根自动排放系统;该系统采用无垫梁式存放+直角坐标机械手的排放方案,单根重量50kg,单根长度6米,能够在36秒之内完成钻杆单根的排放过程。首先,对装置的总体结构进行设计。基于2000米的钻探深度,设计了容量345根的钻杆库;基于无垫梁式存放,建立了钻杆库侧挡柱的受力模型,并对受倾覆力矩的侧挡柱螺栓组作受力分析;基于直角坐标机械手排放方案,对三轴伺服电机作选型计算。其次,对直角坐标机械手排管过程进行三阶运动规划。采用积分法与图形面积法对三阶运动规划进行推导;通过将时间及倍数关系取整、简化,确定了具体形式的运动规划;基于36秒排放最远路径钻杆,作出了具体运动规划,并推导出排放不同路径钻杆耗时的最大值、最小值与平均值。再次,运用虚拟仿真软件ADAMS,对装置进行了运动学与动力学分析。将上述36秒的三阶规划分别与相同耗时的二阶规划、改变参数后的三阶规划作比较,研究钻杆的位移、速度和加速度的变化曲线及钻杆与夹持器接触力的变化曲线;结果表明:钻杆在三阶规划下历时36秒运行更加平稳,验证了装置能在36秒内排放最远钻杆的合理性及可行性。最后,运用Solidworks-simulation模块对关键部件进行有限元分析。通过在主梁上安装带有圆弧定位槽的支撑梁,将最底层钻杆对侧支撑挡柱的压力进行转移,优化了侧挡柱的受力状况;同时验证了其他关键部件均满足结构强度要求。
[Abstract]:Drilling rod automatic operation equipment replace manual operation, reduce construction work safety accidents, improve construction efficiency and save construction cost. In recent years, the development of the equipment has become a hot spot in the field of drilling. The development of the automatic drilling rod operation equipment in China focuses on the drilling rod displacement function, and has not developed a mature discharge system with large capacity, high efficiency and full automatic drilling rod. In this paper, a set of new automatic emission system for drilling rod is designed for the project expected task and the problems existing in the preliminary prototype test. The emission scheme with a non cushion beam storage + Cartesian coordinate manipulator is adopted, with a single weight of 50kg and a single length of 6 meters, the single root discharge process can be completed within 36 seconds. First, the overall structure of the device is designed. Based on the drilling depth of 2000 meters, a drilling rod tank with capacity of 345 is designed. Based on the non cushion beam storage, a drill is established. The force model of the side retaining column of the rod reservoir and the force analysis of the side retaining column bolt group under the overturning moment are analyzed. Based on the Cartesian coordinate manipulator emission scheme, the three axis servo motor is selected and calculated. Secondly, the three order motion planning is carried out on the Cartesian coordinate mechanical hand row tube process. The integral method and the graphic area method are used to push the three order motion planning. By simplifying the time and multiple relations and simplifying the specific form of motion planning; based on the 36 second emission of the farthest path drill rod, the concrete motion planning is made, and the maximum, minimum and average value of the time consuming of different path drilling rods are derived. Thirdly, the kinematics and dynamics of the device are carried out by using the virtual simulation software ADAMS. By comparing the above 36 second three order programming with the same time consuming two order programming and the three order plan after changing the parameters, the change curves of the displacement, velocity and acceleration of the drill rod and the change curve of the contact force between the drill rod and the clamp are studied. The results show that the drill rod runs more smoothly in 36 seconds under the three order plan, verifying the device. The rationality and feasibility of the farthest drill pipe can be discharged in 36 seconds. Finally, the Solidworks-simulation module is used to analyze the key components by finite element analysis. By installing a supporting beam with a circular arc positioning trough on the main beam, the pressure of the bottom support column is transferred to optimize the force condition of the side retaining column, and it is verified at the same time. Other key components meet the strength requirements of the structure.

【学位授予单位】：中国地质大学(北京)
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：P634.3
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本文编号：1840177