自动抢接钻具止回阀装置运动学仿真研究

Simulation Study on Kinematics of the Device for Automatically Connecting Check Valve of Drilling Tools

针对发生井喷事故时人工抢接钻具止回阀存在的抢接时间长、可靠性差、易造成人员伤亡等问题,设计了一种可用于抢接钻具止回阀的自动化装置。利用SolidWorks软件建立自动抢接钻具止回阀装置的运动学模型,对移运单元进行运动学分析,采用五次多项式法对装置执行机构进行了轨迹规划;利用ADAMS仿真软件对装置进行运动学与动力学仿真分析,验证了装置理论模型的正确性,得到了装置末端携带的钻具止回阀与装置执行元件的运动特性曲线,以及执行元件的驱动力与驱动力矩。分析结果表明:自动抢接钻具止回阀装置能够将钻具止回阀准确运送至指定位置,误差不超过1 mm,满足设计的误差要求;经过轨迹规划后装置运行平稳、无冲击,能够较好地完成钻具止回阀的抢接工作;驱动力与驱动力矩的变化曲线可为执行元件的选取和装置优化提供参考依据。

In order to solve the problems of long connecting time,poor reliability and easy injury and death caused by manual connection of drilling tool check valves in the event of a blowout accident,an automated device used for connecting drilling tool check valves was designed.The SolidWorks software was used to build a kinematic model for the device of automatically connecting check valve of drilling tools,and the model was used to conduct kinematic analysis on the transport unit;the ADAMS simulation software was used to conduct kinematic and dynamic simulation analysis on the device;the correctness of the theoretical model of the device was verified;and the kinetic characteristic curves of the drilling tool check valve carried at the end of the device and the actuator of the device as well as the driving force and driving moment of the actuator were obtained.The analysis results show that the automatic connecting drilling tool check valve device can accurately transport the drilling tool check valve to the designated position,with an error of no more than 1 mm,meeting the error requirements of the design;after trajectory planning,the device runs smoothly,has no impact,and can effectively complete the connecting work of the drilling tool check valve;the variation curves of driving force and driving moment provide a reference basis for the selection of actuator and optimization of the device.