定向钻机辅助上钻杆机械手结构设计研究

Research on Structural Design of Manipulator for Assistant Loading Drill Pipe of Directional Drilling Rig

针对目前定向钻机上钻杆工作量大、劳动强度高的情况,设计出了一种辅助上钻杆机械手。该辅助机械手采用模块化设计,将钻杆箱、滑轨架、伸缩板等机构集成于一体,机械手夹爪可将钻杆箱中的钻杆通过夹抓、垂直提升、水平推出等动作实现辅助上钻杆功能。同时,设计考虑了机械手操作安全性,在机械结构上设置了多重安全保护装置,可有效避免上杆过程中出现误操作而引发的安全事故。整套机械手装置结构简单可靠,能有效提高定向钻机的机械化程度。样机试验表明:辅助上钻杆机械手可满足定向钻机上钻杆功能,各安全辅助装置亦工作可靠,能有效降低工人劳动强度。

In view of the heavy workload and high labor intensity of loading drill pipe on directional drilling rig, an manipulator for assistant loading drill pipe was designed. The auxiliary manipulator adopts modular design, and integrates the drill pipe box, slide rail frame and telescopic plate into a whole. The gripper of the manipulator can realize the auxiliary function of loading drill pipe by gripping, vertically lifting and horizontally pushing out the drill pipe in the drill pipe box. At the same time, the design takes into account the operation safety of the manipulator, and multiple safety protection devices are set on the mechanical structure, which can effectively avoid safety accidents caused by misoperation in the process of loading drill pipe. The whole manipulator device is simple and reliable in structure, and can effectively improve the mechanization degree of directional drilling rig.The prototype test shows that the manipulator for assistant loading drill pipe can meet the function of loading drill pipe on directional drilling rig, and the safety auxiliary devices also work reliably, which can effectively reduce the labor intensity of workers.