Design And Research To The Automatic Daub Thread Compound And Install Thread Protector Manipulator Of Drill Pipe

Now almost all the domestic petroleum drill pipe production enterprises in the process of installing thread protector,is manual daub thread sealing grease(thread compound),and then install thread protector.The backward mode of production,the worker labor intensity,bad working conditions,low production efficiency,severely restricts the petroleum drill pipe production technology progress.In order to solve the above problems,this topic according to the actual production of oil drill pipe and manipulator technology status at home and abroad.Design a set of automatic daub thread compound and install thread protector manipulator,to improve the production environment of oil drill pipe,improve the efficiency of the drill pipe production.By analyzing the actual situation of petroleum drill pipe production and repair based on the latest technology of the industrial robots,this paper designs the overall scheme of the manipulator.Then based on the theory knowledge of the kinematics of manipulator,Master manipulator kinematics model is established,calculates and analyzes kinematics forward problem and inverse problem of install thread protector manipulator,and provides theory basis for automatic control of the main manipulator.Then with CAD、solidworks as software platform.For the main manipulator and thread protector supply device carried on the detailed mechanical structure design,drive scheme is determined,and checking calculation for key components of manipulator.Finally with Siemens PLC as the core control components,the main manipulator and thread protector supply device were analyzed hardware selection and software design,and write the manual and automatic control of PLC program,Finally completed the simulation debugging of the control program.