Research On Pipe String Conveying Mechanism Suitable For Drilling And Repairing Machines In Inclined Straight Wells

Since twenty-first Century,unconventional energy has been paid attention to in all countries.Coal bed gas is one of the representatives.It has a broad prospect of development,and its characteristics are safety,pollution-free and high calorific value.According to the exploration,coal bed gas in China is generally buried in hills.The terrain is complex and difficult to mine.The coal seam gas which is easy to be mined is within 2000 m of the stratum,and the inclined straight drilling rig can be used for drilling.In this paper,the structure and the hydraulic system of a pipe string conveying device which suitable for drilling and repairing machines in inclined straight wells are introduced in detail.The type selection of the hydraulic cylinder is determined,and the three-dimensional model of the device is established by Solidworks.Based on the basic theory of kinematics and dynamics of multi rigid body system,three mathematical model of plane system are established for lifting mechanism,turning over mechanism and scaling mechanism according to relevant basic knowledge.On the basis of the mathematical model,the relationship between displacement,velocity and acceleration is determined.Secondly,on the basis of the kinetic theory knowledge in ADAMS,the The solution of inverse dynamics of lifting mechanism,overturning mechanism and telescopic boom expansion are solved on the basis of the above solved kinematic equations,and the driving force equations of lifting,turning and telescopic for hydraulic cylinders are obtained.The three-dimensional entity is modeled in Solidworks and introduced into ADAMS.Then the kinematic and dynamic simulation analysis of the lifting mechanism in the pipe column conveying device is carried out by using ADAMS.The driving force of the hydraulic cylinder,the change of the piston elongation of the hydraulic cylinder,the change of the lifting arm angle and lifting arm hoisting angle speed are obtained.On the basis of the kinematics and dynamics simulation analysis of the overturning mechanism,four curves of the turning angle and the turning angle velocity of the V type groove,the piston elongation at the right hydraulic cylinder and the left hydraulic cylinder are obtained.The contact impact simulation analysis of the pipe column and V groove in the above process is carried out.The curves of contact impact force and the contact impact moment are obtained under the different size and weight of pipe columns when the right end of the V groove is up to 5 degrees.At the same time,The curves of contact impact force and the contact impact moment are obtained under the different size and weight of pipe columns when the right end of the V-shaped groove is inclined upward by 5 degrees and 3 degrees respectively.These simulation results will provide a theoretical basis for future design improvements.Combining the force conditions of the components of the column conveyor device,strength analysis were performed on the main components such as the pedestal-fixed lug plate and lift arm-fixed lug plate of the string-conveyor device through ABAQUS.According to the results,the designed components meet the strength requirements.The buckling analysis were performed on the lift cylinder rods and the reverse cylinder rods of the column conveyor.According to the results,it can be seen that the 1-5 steps of each part meet the stability requirements.