| The automated piping system can replace the derrick worker,improve the drilling efficiency and reduce the operating cost.Therefore,it is of great significance to carry out the design research of the automatic drilling system of the land drilling rig.Based on the investigation of a large number of domestic and foreign literatures,this paper designs a new type of manipulator based on the slow development of domestic land drilling rig piping system based on the technical parameters and working requirements of the domestic land rig ZJ50 D DC drive rig.The piping system,this paper mainly from the following aspects of the paper research:Firstly,according to the characteristics of China’s land drilling rigs,a robotic electric transmission automatic piping system scheme is proposed.Secondly,according to the working requirements of the automatic piping system,the overall scheme and working process of the system are determined,and the overall mechanical structure design is completed.Part modeling and assembly with CATIA software and interference testing between model components.In addition,the model is imported into the dynamic simulation software ADAMS,and kinematics simulation is performed for the process of taking the drill pipe.Data on the drive mechanism and the motion mechanism are derived,the desired motion is verified,and the simulation results are discussed.Finally,the overall control plan was developed,and the PLC control program was written to realize the automatic control of the automatic control system of the second floor.The content and analysis results studied in this paper have certain guiding significance for the optimization of automatic piping system.The system can simulate the automatic discharge of the two-stage on-column string in the drilling process,improve the drilling efficiency,and the single-cycle work is less than 35 s,meeting the expected requirements. |
