修井用钻台机械手设计与仿真

Design and Simulation of Drill Floor Manipulator for Workover Operation

修井作业过程中,需要对管柱进行大量的起下、排放作业,劳动强度大、安全风险高。钻台机械手能够实现管柱在操作平台与排放架之间的移送操作,可有效提高作业效率,降低劳动强度,提升修井作业自动化水平,为此研制了一种专门用于修井作业的钻台机械手,并对钻台机械手的结构、主要技术参数、技术特点进行了阐述。采用静力学分析方法对臂架各构件进行受力分析,验证臂架满足强度理论要求;运用ADAMS软件对臂架伸展推扶管柱过程进行运动仿真,为钻台机械手臂架轨迹控制及变幅油缸计算选型提供依据,验证了钻台机械手水平推力及推扶半径满足技术参数要求。修井用钻台机械手的成功研制及推广应用,促进了大修自动化管柱处理系统的发展。

In the process of workover operation,it is necessary to carry out a lot of tripping and discharging operations on the pipe string,which has high labor intensity and high safety risk.The drill floor manipulator can realize the transfer operation of the pipe string between the operating platform and the discharge rack,which can effectively improve the operation efficiency,reduce labor intensity,and improve the automation level of workover operation.A drill floor manipulator specially used in well workover operation was developed.The structure,main technical parameters,and technical characteristics of the drill floor manipulator were described.The static analysis method was used to analyze the force of each member of the boom,verifying that the boom met the strength theory requirements.ADAMS software was used to simulate the process of extending and pushing the pipe string,providing a basis for controlling the boom path and calculating and selecting the variable amplitude cylinder,as well as verifying that the horizontal thrust and pushing radius of the manipulator met the requirements of the technical parameters.The successful development and popularization of drill floor manipulators for workover have promoted the development of an automatic workover string handling system.