The Design And Study Of Pipe Automatic Transferring System Of Drilling Platform

Automatic pipe transferring is an important part of automatic drilling. This has been researched for many years abroad. In the 1990s, the technology became sophisticated and began extensively applied. In china, its research and application are relatively less. As China began to drilling in deep and ultral-deep ocean area, research of pipe transferring system is imperative. This subject is brought forward under this situation. It aims to design an automatic pipe transferring system on the basis of similar systems abroad.This thesis focuses on the study of general arrangement,actuating system and mechanism design of pipe automatic transferring system. Those tasks have been complated in this thesis as follows:First, development of the pipe automatic transferring system is introduced and content and significance of the subject are analysed. Secondly, on the basis of analyzing functional requirements, general arrangement of pipe automatic transferring system is decided, including principle design, general layout design and preliminary structural design. On the base of preliminary structural design, detailing designs of the end gripper yoke, boom, amplitude variation mechanism, rotation gear of knuckle boom crane and reversal mechanism, pipe separating mechanism, shuttle and the actuating system of pipe catwalk machine. Then, three-dimensional models of complex parts are created by Pro/ENGINEER and structural analysis is done by Pro/MECHANICA. Then, the kinematics and dynamics of the knuckle boom crane are analysed with robotics theory and the kinematics equation and dynamics equation are obtained. Finally, hydraulic drive is chosen as driving mode of whole system and the hydraulic drive system of pipe transferring system is designed.