海洋钻井平台自动排管系统模型样机设计

The Design of Automatic Drill Stem Processing System Model on Ocean Drilling Platform

二层台自动排管系统是海洋钻井平台自动控制系统的重要组成部分。设计了一套二层台自动排管系统模型样机,主要包括机械系统与控制系统两部分。机械系统包括两个协同动作的机械手,上机械手可完成横向平移、纵向平移、机械臂旋转和升降、机械手夹紧动作等功能,下机械手可完成纵向平移、机械臂前伸和后缩、机械臂旋转、夹持动作等功能;控制系统通过建立上下机械臂之间运动的数学模型,规划了钻杆的运动路径并对上下机械手进行协同控制,可实现立根在井口、排杆区、鼠洞之间的自由运移。现场试验结果表明,该系统能够精确地控制立根的运移,并且大大降低工人劳动强度,提高工作效率。

Automatic drill stem processing system on the second floor is an important part of ocean drilling platform.A set of model of automatic drill stem processing system on the second floor is designed which mainly includes mechanical system and control system.The mechanical system includes two manipulators work together. The above manipulator can accomplish the horizontal, vertical, rotation, scaling, clamping movement, and the below manipulator can accomplish the vertical,scaling,rotation,clamping movement.The control system is established by mathematical model of the movement between two manipulators, the drill stem＇ s motion path is planned, and the two manipulators are coordinated to work together. Finally, the drill stem can be motived freely among the well, drill area and the rat hole.The experimental results showed that the system can accurately control the motion of drill stem,greatly reduce the labor intensity and improve work efficiently.