基于旋量运动学模型全液压钻机变幅机构位姿与振动分析研究

Analysis and Research of Posture and Vibration of All-hydraulic Drill Luffing Mechanism Based on Kinematics Model in Screw Theory

通过运动学原理分析了一种空气套管钻机变幅机构的运动对钻机姿态的影响,并在运动学模型基础上分析了钻杆的振动对变幅机构的影响。对变幅机构进行了等效变形,建立了变幅机构的运动学模型,运用运动旋量原理得出运动学模型的正解和逆解。描述了调角油缸的运动与钻机姿态的相互关系,为设计钻机工作空间参数提供了理论支持。利用逆解分析了调角油缸的振动随钻杆振动的变化情况,分析表明变幅机构对钻杆振动起到了分散振动能量的作用。

Using the kinematics principle, analyzed the influence of the motion of a air casing drill luffing mechanism on posture of drilling rig. Based on the kinematics model, the influence of the vibration of the drill pipe on luffing mechanism was also analyzed. Basing on the equivalent deformation model to luffing mechanism and screw theory,we Obtained positive solution and inverse solution of movement of the luffing oil cylinder and posture built the kinematics model of luffing mechanism. the kinematic model. The relationship between the of drilling rig was described. And the researching results could be used to be a theoretical support for designing parameters of the drill rig motion space. By using the inverse kinematics, the influence of the vibration of the drill pipe for cylinders was analyzed. Analysis shows that the luffing mechanism played an important role in distributing impact energy of drill pipe vibration.