二层台自动排管机械手有限元强度分析

Finite Element Strength Analysis of Monkey-board Automatic Pipe-racking Manipulator

二层台排管装置是钻机自动化系统关键设备之一,主要由上部的二层台排管机械手以及钻台面的钻台机械手及其控制系统组成。二层台排管机械手高位安装在井架的二层台处,其安全可靠性直接影响自动排管工艺能否顺利进行,也直接影响整个钻井管柱操作过程的安全性。对二层台排管机械手进行受力分析,手抓部位施加负载,分析二层台排管机械手各部件之间的载荷传递关系,确定二层台机械手手抓处与各力臂之间的受力关系式,并得出机械臂的运动拟合公式。二层台机械手强度校核主要包括强度校核和刚度校核,分析查找二层台机械手的薄弱位置,验证不同工况下薄弱位置是否能达到使用要求。从理论上对极限工况和许用应力工况进行可靠性分析。

The monkey-board pipe-racking device is one of the key equipment of the automation system of the drilling rig,which mainly consists of the upper monkey-board pipe-racking manipulator,the drill floor manipulator,and its control system.The monkey-board pipe-racking manipulator at a high position is installed on the money board of the derrick.Its safety and reliability directly affect the smooth process of automatic pipe racking and the safety of the whole drilling string operation.Force on the monkey-board pipe-racking manipulator is analyzed,and hand-grasping parts are loaded.The load transfer relationship between the components of the monkey-board pipe-racking manipulator is analyzed,the force relationship between the grip of the monkey-board manipulator and the force arm is determined,and the motion fitting formula of the manipulator arm is obtained.The strength check of the monkey-board manipulator mainly includes strength check and stiffness check.The weakness of the monkey-board manipulator is to seek and analyze,and whether the weakness can meet the use requirements under different working conditions may be verified.The limit and allowable stress conditions are analyzed on reliability theoretically.