| The automatic geological rig pipe handling system is a working device for the automatic loading and unloading of the drill pipe by the geological rig.It can realize automatic clamping,shifting and lifting of the drill pipe,centering and shackle action.It is an indispensable equipment for automated drilling,improved drilling efficiency and safety,and reduced labor intensity.It solves the current situation that China still uses manual loading and unloading of drill pipes.In this paper,the dynamic characteristics of the newly developed working equipment of the pipe handling system are studied.The purpose is to improve the working efficiency and safety of the pipe handling system,and it has engineering application background and scientific research value.In this paper,the mechanical structure and hydraulic system of the newly developed pipe handling system are taken as the research object,and the multi-rigid dynamic model of the pipe handling system is established.The composite motion relationship of the automatic loading and unloading drill pipe is revealed,and the pipe handling system is further improved Real-time control of the motion trajectory.Simulations were carried out using SolidWorks Motion,AMEsim and Adams software,and AMEsim boundary parameter settings were guided by SolidWorks Motion simulation results.AMEsim-based and Adams real-time joint simulation platform was established.The electro-hydraulic combined simulation platform was used to control the hydraulics of the pipe handling system.The hydraulics of the pipe handling system analyzes and studies the parameters such as working pressure,flow rate and power consumption,and expounds the relationship of compound action flow distribution.The main actuators that affect the flow saturation of the system are hydraulic cylinders,which provide theoretical and experimental basis for the newly developed pipe handling system.In this paper,the existing geological drilling rigs is upgraded by electro-hydraulic system,and the sensor and electro-hydraulic proportional valve module are installed to realize the automatic remote control drilling rigs.The loading and unloading of the drill pipe screw is automatically completed with the pipe handling system to further enhance the working efficiency of the pipe handling system.A buffering charge valve group is added to the power head motor of the drilling rigs to reduce the antitorsion impact of the drill pipe on the hydraulic motor,and the selection and pressure setting requirements of the relief valve in the buffer valve group are proposed.The natural frequency of the relief valve is required to be no less than 20 Hz,and the pressure is set to 1.25 times the working pressure.Differentiation compares the effect of the buffer valve group and the presence or absence of the oil supply line on the power head motor.For drilling rig winch system,stall fault occurs repeatedly.Starting from the scene of the fault feedback and winch system hydraulic principles.The mathematical model of the winch system is used to analyze theoretically,the causes of failure are verified by AMESim established simulation model of the hydraulic winch system.Key factors and parameters inducing stall fault are derived.Theoretical analysis and simulation verification show that the factors mainly include the followings: the load changes dramatically and the hydraulic motor lifting side cartridge one-way relief valve can not be closed after opening and the hydraulic motor lowering side fill oil shortage,steady-state hydrodynamic force of main valve is caused by hydraulic motor lifting side of the one-way relief valve can not be closed after the opening of the root causes.According to the simulation results,the opening pressure for the hydraulic motor lifting side cartridge one-way relief valve should be 1.9 times greater than the side of the maximum stable pressure.In this paper,the basis for optimum design and fault diagnosis of hydraulic winch system are provided.In this paper,the correctness of the simulation model is verified by the measured data of the hydraulic system of the drilling machine,and the one-way test of the flowmeter is solved,which ensures the continuity of the measured data. |
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