Design Of The Stretching Mechanism And Positioning System Of CRUST.I.04 Iron Roughneck

“CRUST I” ten thousand meters deep drilling rig combine ultra-deep drilling capability of oil drilling equipment with advanced drilling technology of geological core drilling, its drilling capacity is 10000 m, its maximum hook load is 700 tons, its total power is 4610 kw. Equipped with high-torque fully hydraulic top drive, automatic drill pipe discharging device, automatic high-precision drilling system, intelligent fully hydraulic iron roughneck and automatic fully hydraulic Catwalk which is designed by Jilin university, the rig has a high level of intelligence and automation. CRUST.I.04 iron roughneck is the automated wellhead breakout equipment on ten thousand meters deep drilling rig, it was manufactured by engineering college, Jilin University and Honghua. This type iron roughneck is mainly composed of stretching mechanism, rotating mechanism, lifting mechanism, spinner mechanism and holding breakout mechanism. The stretching mechanism of CRUST.I.04 iron roughneck is mainly composed of extending cylinder, upper translation tackle, lower translation tackle, stretching stick and supporting stick. Compared to the same series of domestic and international iron roughneck product, CRUST.I.04 iron roughneck has advantages of larger spinner torque and wider range of clamping drill.In this paper, we conducted a comprehensive and in-depth study on the stretching mechanism of CRUST.I.04 iron roughneck, and came up with an improved design of stretching mechanism of CRUST.I.04 iron roughneck, and redesigned the structure of related components. The improved upper translation tackle replaced wearable pieces with the rolling bearings and roller assembly, this structure reduced the friction with the rail. At the same time the extending cylinder was arranged vertically, the piston rod of extending cylinder connect with lower translation tackle. In order to meet environmental conditions of Sonko 2 Mine site, CRUST.I.04 iron roughneck also need a high precision extending positioning control system. Based on this, we designed an new extending positioning control system, designed the hydraulic system diagram and control program. The designed hydraulic system was composed of a pressure control loop and a direction and speed control loop, pressure control loop used a pilot electro-hydraulic proportional relief valve to control the system operating pressure, direction and speed control loop used a three-way electro-hydraulic proportional valve to adjust the speed and direction. The designed control system was electro-hydraulic proportional closed-loop control system, the closed-loop control system consisted of instruction device, the amplifying device, proportional solenoid, detecting component, feedback component, three-way electro-hydraulic proportional valve, load sensing variable displacement pump, single rod double-acting hydraulic cylinders and other components.Contrary to the redesigned stretching mechanism, we used ADAMS to conduct a dynamic simulation analysis. Through rigid- flexible hybrid modeling and analysis, we obtained the law of plier’s speed variation under different control signals over time. Simulation results showed that the design of the stretching mechanism was reasonable. Contrary to the designed extending positioning control system,we used AMESim to conduct a simulation analysis. By adjusting the value of gain 2 in the control system,we obtained the steady-state error of control system under different gain values. Simulation results showed that the design of the control system was reasonable.