本文關(guān)鍵詞：管具臥排機(jī)械手設(shè)計(jì)與分析　出處：《重慶科技學(xué)院》2017年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 管具臥排機(jī)械手 結(jié)構(gòu)設(shè)計(jì) 運(yùn)動(dòng)學(xué)分析 動(dòng)力學(xué)分析 仿真分析 液壓回路

【摘要】：常規(guī)自動(dòng)化管具排放系統(tǒng)是自動(dòng)化鉆井設(shè)備的重要組成部分,它能夠通過(guò)動(dòng)力貓道、二層臺(tái)機(jī)械手及扶正機(jī)械手完成起下鉆過(guò)程中管具的抓取、移動(dòng)等操作,該系統(tǒng)主要應(yīng)用于處理立根的鉆機(jī)。隨著鉆井技術(shù)的發(fā)展,井下工具壽命時(shí)間增長(zhǎng),起下鉆頻率越來(lái)越低,因此,在淺井或中深井中單根鉆機(jī)的應(yīng)用越來(lái)越廣泛。若單根鉆機(jī)配置上述常規(guī)自動(dòng)化管具排放系統(tǒng),則需要設(shè)計(jì)相應(yīng)的二層臺(tái)和立根盒結(jié)構(gòu),使得鉆臺(tái)底座和井架模塊變大,并且井架承載嚴(yán)重,不利于鉆機(jī)的快速移運(yùn)和搬遷。針對(duì)上述單根鉆機(jī)自動(dòng)化管具排放系統(tǒng)存在的問(wèn)題,本文提出了一種管具臥排機(jī)械手,該機(jī)械手能從鉆臺(tái)下方將位于臥式排放架的管具起升運(yùn)往井口,實(shí)現(xiàn)對(duì)管具的自動(dòng)抓取、翻轉(zhuǎn)、移動(dòng)和對(duì)中等基本動(dòng)作,直接將管具移送至頂驅(qū)下方,替代了動(dòng)力貓道、二層臺(tái)機(jī)械手及扶正機(jī)械手,并簡(jiǎn)化了自動(dòng)化管具排放流程。本文主要內(nèi)容包括以下幾個(gè)方面:根據(jù)管具臥排機(jī)械手的功能確定了其結(jié)構(gòu)由臂部和兩組由8只夾持手指錯(cuò)位組成的末端夾持器構(gòu)成。根據(jù)管具特征設(shè)計(jì)了末端夾持器,其中采用了連桿與夾持手指組成的機(jī)構(gòu)實(shí)現(xiàn)了末端夾持手指的同步運(yùn)動(dòng),根據(jù)鉆機(jī)特征和管具位置設(shè)計(jì)了機(jī)械手臂部的結(jié)構(gòu)尺寸和性能參數(shù),為后續(xù)結(jié)構(gòu)建模提供了依據(jù),并進(jìn)行了機(jī)械手臂部和末端夾持器的結(jié)構(gòu)建模。上述結(jié)構(gòu)設(shè)計(jì)為后續(xù)運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)和有限元分析提供了結(jié)構(gòu)模型,是進(jìn)行機(jī)械手結(jié)構(gòu)優(yōu)化的基礎(chǔ)。通過(guò)D-H坐標(biāo)法建立了機(jī)械手連桿坐標(biāo)系,在此基礎(chǔ)上進(jìn)行了正逆運(yùn)動(dòng)學(xué)分析并得出了正運(yùn)動(dòng)學(xué)方程和運(yùn)動(dòng)學(xué)反解,同時(shí)采用基于五次插值多項(xiàng)式的方法進(jìn)行了機(jī)械手軌跡規(guī)劃。運(yùn)用ADAMS軟件進(jìn)行了運(yùn)動(dòng)學(xué)仿真,根據(jù)仿真結(jié)果確定了機(jī)械手的最優(yōu)運(yùn)動(dòng)軌跡和合理運(yùn)行時(shí)間,確保了機(jī)械手運(yùn)行平穩(wěn)且效率高,通過(guò)仿真驗(yàn)證了機(jī)械手方案設(shè)計(jì)的可行性。通過(guò)微分變換法推導(dǎo)了速度的雅克比矩陣和運(yùn)用拉格朗日法建立了機(jī)械手動(dòng)力學(xué)方程,得出了其運(yùn)動(dòng)過(guò)程中控制力矩的變化規(guī)律。通過(guò)動(dòng)力學(xué)分析及仿真研究了機(jī)械手運(yùn)動(dòng)過(guò)程中的受力情況,并分析了上述受力情況的原因以便于機(jī)械手的結(jié)構(gòu)和液壓系統(tǒng)設(shè)計(jì)。根據(jù)動(dòng)力學(xué)分析結(jié)果,對(duì)機(jī)械手大臂進(jìn)行了有限元仿真分析,由仿真結(jié)果可知,應(yīng)力及變形情況并不影響機(jī)械手的性能,因而管具臥排機(jī)械手的結(jié)構(gòu)設(shè)計(jì)是安全的。在對(duì)機(jī)械手運(yùn)動(dòng)分析的基礎(chǔ)上,設(shè)計(jì)了其液壓驅(qū)動(dòng)回路,介紹了液壓系統(tǒng)各回路的組成及工作原理,并對(duì)重要液壓元件的功能進(jìn)行了闡述。
[Abstract]:The conventional automatic pipe discharge system is an important part of the automatic drilling equipment. It can carry out the grasping and moving of the pipe in the process of drilling through the power catwalk, the two-layer manipulator and the leveling manipulator. With the development of drilling technology, the life time of downhole tools increases and the drilling frequency becomes lower and lower. The application of single rig in shallow or middle or deep wells is more and more extensive. If the single rig is equipped with the conventional automatic pipe discharge system mentioned above, it is necessary to design the corresponding two-layer platform and vertical root box structure. Make the drilling platform base and Derrick module become larger, and the Derrick load is serious, which is not conducive to the rapid movement and relocation of drilling rig. In this paper, a kind of horizontal pipe manipulator is proposed, which can lift the pipe located in the horizontal discharge rack from the bottom of the drilling platform to the wellhead, and realize the automatic grasping, turning, moving and medium basic action of the pipe. The pipe is transferred directly to the top drive, replacing the power cat road, the second floor manipulator and the leveling manipulator. The main contents of this paper include the following aspects:. According to the function of the tube and horizontal row manipulator, the structure of the manipulator is determined to be composed of the arm and two groups of terminal grippers composed of 8 fingers. The end gripper is designed according to the characteristics of the pipe. Among them, the mechanism composed of connecting rod and gripping finger is used to realize the synchronous movement of end-clamping finger. According to the characteristics of drilling rig and the position of pipe, the structural dimensions and performance parameters of the arm are designed. It provides the basis for the subsequent structural modeling and the structural modeling of the mechanical arm and the end gripper. The structural design provides the structural model for the subsequent kinematics dynamics and finite element analysis. Through D-H coordinate method, the linkage coordinate system of manipulator is established, and the forward and inverse kinematics analysis is carried out, and the positive kinematics equation and inverse kinematics solution are obtained. At the same time, the trajectory planning of manipulator is carried out based on the method of quintic interpolation polynomial, and the kinematics simulation is carried out by using ADAMS software. According to the simulation results, the optimal trajectory and reasonable running time of the manipulator are determined, which ensures the manipulator running smoothly and efficiently. The feasibility of the scheme design of manipulator is verified by simulation. The Jacobian matrix of velocity is derived by differential transformation method and the dynamics equation of manipulator is established by Lagrangian method. The changing law of control torque in the course of motion is obtained, and the force acting on the manipulator is studied by dynamic analysis and simulation. In order to facilitate the structure and hydraulic system design of the manipulator, the finite element simulation analysis of the manipulator arm is carried out according to the dynamic analysis results, which can be seen from the simulation results. The stress and deformation do not affect the performance of the manipulator, so the structural design of the tubular horizontal manipulator is safe. Based on the motion analysis of the manipulator, the hydraulic drive circuit is designed. This paper introduces the composition and working principle of each circuit of hydraulic system, and expounds the functions of important hydraulic components.
【學(xué)位授予單位】：重慶科技學(xué)院
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TE921

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