基于PLC控制系统的油田修井作业移运油管机械手设计研究

Design and Research of Robotic Arm for Transporting Oil Pipes During Oilfield Well Repair Operations Based on PLC Control System

我国油田修井作业中,人工辅助管柱的起、下操作存在危险性,且人工效率低下,为此,研制了一种修井作业移运油管机械手,以解决机械手抓取油管的难题。通过分析机械手的动作流程,确定了该机械手控制系统所需的输入/输出点数以及PLC的硬件型号,完成了I/O地址的配置,并设计了PLC的接线原理图和控制程序。研究成果对移运物体机械手的设计和应用具有一定的指导价值,并为修井作业机械化、自动化提供了良好的研究方向。

In the oil field repair operations in China,there are risks and low manual efficiency in manually assisting the lifting and lowering of the tubing string.Therefore,robotic arm for transporting oil pipes during the repair operation has been developed to solve the problem of the robotic arm grasping the tubing.By analyzing the action process of the robotic arm,the required input/output points for the robotic arm control system and the hardware model of the PLC were determined.The configuration of I/O addresses was completed,and the wiring schematic and control program of the PLC were designed.The research results have certain guiding value for the design and application of robotic arms for transporting objects,and provide a good research direction for the mechanization and automation of well repair operations.